WO1992020608A1 - Procede pour limiter le rayon d'action d'un engin muni d'une fleche mobile - Google Patents

Procede pour limiter le rayon d'action d'un engin muni d'une fleche mobile Download PDF

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Publication number
WO1992020608A1
WO1992020608A1 PCT/EP1992/000964 EP9200964W WO9220608A1 WO 1992020608 A1 WO1992020608 A1 WO 1992020608A1 EP 9200964 W EP9200964 W EP 9200964W WO 9220608 A1 WO9220608 A1 WO 9220608A1
Authority
WO
WIPO (PCT)
Prior art keywords
boom
vertical
fictitious
pivoting
jib
Prior art date
Application number
PCT/EP1992/000964
Other languages
German (de)
English (en)
Inventor
Hans Bronk
Original Assignee
Pietzsch Automatisierungstechnik Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pietzsch Automatisierungstechnik Gmbh filed Critical Pietzsch Automatisierungstechnik Gmbh
Publication of WO1992020608A1 publication Critical patent/WO1992020608A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track electrical

Definitions

  • Jib cranes or other work equipment with cantilevered and, in addition, length-adjustable, tilt-adjustable and pivotable about a vertical axis jibs often have to be used in areas that are surrounded by adjacent high-voltage lines, facades, buildings or the like and are limited by these. It is therefore necessary to maintain a predetermined minimum distance from the end of the boom from such limitations when operating this work equipment.
  • the invention is intended to provide a method for limiting the work area in the case of a work equipment which has a telescopic, tilt-adjustable boom which can be pivoted about a vertical axis, in order to ensure that it is independent of the operation of the work equipment and in so far as errors that can never be excluded, the risk of the end of the jib colliding with buildings, power lines or other limitations is eliminated.
  • the work equipment can preferably be a jib crane or a work platform, but in principle also any other jib equipment.
  • This object is achieved according to the invention in such a way that, by pivoting the boom with the end of the boom, two spaced-apart spatial points, which lie on a fictitious vertical plane, are approached one after the other and the positions of these spatial points are stored so that they block the pivoting of the boom end over the Space points are added that the vertical distance of the vertical boom pivot axis from the fictitious vertical plane is determined and that depending on this distance, the drives for telescoping and adjusting the inclination of the boom are coordinated and controlled so that the boom in its entirety Working area with its end cannot be moved beyond the fictitious vertical plane.
  • the invention is thus that after approaching two spaced-apart spatial points and their position detection for lateral limitation
  • a fictitious vertical plane is set up, in which the spatial points mentioned lie and which forms a kind of invisible "wall" beyond which movement of the boom end is prevented.
  • a part of the area that the boom could reach with its end due to its dimensions is separated by the construction of the fictitious vertical plane, and the working area of the work equipment that can be realized under the conditions of the respective application is therefore restricted.
  • the fictitious vertical plane is expediently to be erected at a suitable safety distance from any obstacles which protrude into or touch the work area which can be covered by the boom of the work equipment, so that when the boom is moved there is a risk of the boom end colliding with such a boom Obstacle is effectively removed.
  • the vertical distance between the boom pivot axis, which is designed as a vertical axis, and the fictitious vertical plane, in which the spatial points mentioned are located can be determined in a very simple manner using triangular considerations.
  • the vertical projection of the cantilever with its end in one of the approached spatial points forms the hypotenuse of a right-angled triangle, one leg of which extends in the fictitious vertical plane, while the other leg is perpendicular to the vertical plane and forms the desired vertical distance.
  • the locks against the pivoting of the cantilever end beyond the approached spatial points or the fictitious vertical plane spanned by the latter can be implemented by limiting the angle of rotation. These limits of rotation angle prevent the boom end from pivoting beyond the approached spatial points and thus prevent the fictitious vertical plane from being penetrated.
  • Another important development of the invention provides that the movability of the boom end is limited to a preselectable height level in a fictitious horizontal plane that extends parallel to the level at which the work equipment is installed.
  • staggered height and / or side limits can also be implemented.
  • the drive for telescoping the boom and / or the drive for tilt adjustment is switched off when the end of the boom moves to a point in the fictitious vertical or horizontal plane. This effectively prevents the fictitious vertical or horizontal plane from penetrating the boom end. Nevertheless, any point within the above-mentioned levels can be approached with the end of the boom.
  • the invention has thus created a method which eliminates the risk of collisions of the end of the boom with structures, power lines or other obstacles by limiting the work area which can be used in the respective application.
  • FIG. 1 is a plan view of a jib crane in which the work area which can be covered by the jib is impaired by neighboring structures and is therefore limited by the construction of fictitious walls, and
  • FIG. 2 shows, in a perspective view enlarged compared to FIG. 1, the limitation of the available working area of the jib crane by means of fictitious walls.
  • the crane shown in the drawing is a mobile jib crane 10 with its own undercarriage 11, which is erected in the manner shown in FIG. 2 by means of laterally extended supports 12 at the place of use and is aligned in such a way that a vertical axis for Swiveling the boom 14 extends exactly vertically.
  • the boom can be telescoped for length changes and can also be tilted around a horizontal axis.
  • the free end 15 of the boom 14 is designed as a rolling head, on which a crane hook 16, which can be moved up and down via a pulley, hangs.
  • Fig. 1 the crane stands with the extension partially extended and set at a predetermined angle of inclination Boom 14 near structures 20, 21 which protrude into the pivoting area of the boom and accordingly hinder the pivoting of the boom when it is telescoped to its full extension position.
  • the dash-dotted circular line 22 indicates the path curve of the boom end 15 when the boom is extended to its full length and is at a predetermined angle of inclination.
  • the working area is limited by the construction of fictitious vertical planes 24, 25 which extend equidistantly from the facades of the structures 20, 21 and are indicated in FIG. 1 by the dash-dotted lines colliding in a corner.
  • the vertical distance which is the pivoting of the boom enabling the boom vertical axis is determined from the line connecting the two spatial points 26, 28 and stored in the crane control. This distance is determined in a simple manner by viewing the triangles spanned by the approached spatial points 26, 28, the vertical axis of the crane 10 and the perpendicular 30 on the connecting line of the two spatial points.
  • the drives of the crane boom 14 are then controlled in its three degrees of freedom (telescoping, tilt adjustment, swiveling) in such a way that the drives switch off as soon as the boom end 15 reaches an imaginary vertical plane 24, which of the two
  • the aforementioned spatial points 26, 28 is spanned and extends equidistant from the wall of the building 20 pointing towards the crane.
  • the usable working area of the crane boom is therefore limited by the construction of the fictitious vertical plane 24 and thereby eliminates the risk of collisions with the building.
  • FIG. 1 also shows the erection of a further fictitious vertical plane 25 equidistant from the further building 21, with which the boom 14 could collide in its full extension position.
  • This second vertical plane 25 collides with the first vertical plane in the spatial point 28 approached when the first vertical plane 24 was erected.
  • the spatial point 28 forms the starting point for the erection of the second vertical plane by moving the end of the boom from the point 28 according to the arrow 31 into a further spatial point 32 and then setting a rotation angle limitation accordingly and the distance dimension of the connecting line of the two spatial points 28, 32 and thus the fictitious vertical plane 25 to be erected from the vertical axis of the crane 10 is determined in the same way as set out above.
  • This distance dimension is indicated by the plumb line 33 indicated in the drawing on the connecting line extending between the spatial points 28, 32.
  • FIG. 2 shows the limitation of the movability of the jib end 15 to a preselectable height level by means of a fictitious horizontal plane 35 which extends parallel to the erection level of the crane Completed above, so to speak, by the erection of a fictitious ceiling, which cannot be penetrated by the boom end 15 in view of the height limitation set for the drives of the boom 14.
  • the rotation arrows 36, 37 in FIG. 2 indicate that the boom 14 can only be pivoted about its vertical axis on the side pointing away from the fictitious vertical plane 24.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

Par pivotement, l'extrémité de la flèche atteint successivement deux points de l'espace situés dans un plan vertical fictif. Les positions de ces points de l'espace sont mises en mémoire, et des blocages sont posés pour éviter le pivotement de l'extrémité de la flèche au-delà de ces points de l'espace. Ensuite, la distance perpendiculaire entre l'axe de pivotement vertical de la flèche et le plan vertical fictif est déterminée, et les entraînements pour le mouvement télescopique et le réglage de l'inclinaison de la flèche sont coordonnés et commandés en fonction de cette distance de telle façon, que dans la totalité du rayon d'action, l'extrémité de la flèche ne puisse être deplacée au-delà du plan vertical fictif.
PCT/EP1992/000964 1991-05-10 1992-05-04 Procede pour limiter le rayon d'action d'un engin muni d'une fleche mobile WO1992020608A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19914115165 DE4115165A1 (de) 1991-05-10 1991-05-10 Verfahren zum begrenzen des arbeitsbereichs bei einem arbeitsmittel mit einem verfahrbaren ausleger
DEP4115165.8 1991-05-10

Publications (1)

Publication Number Publication Date
WO1992020608A1 true WO1992020608A1 (fr) 1992-11-26

Family

ID=6431318

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1992/000964 WO1992020608A1 (fr) 1991-05-10 1992-05-04 Procede pour limiter le rayon d'action d'un engin muni d'une fleche mobile

Country Status (2)

Country Link
DE (1) DE4115165A1 (fr)
WO (1) WO1992020608A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1306343A2 (fr) * 1995-03-03 2003-05-02 Komatsu Ltd. Grue mobile sur véhicule comportant un appareil d' indication de la portée
CN104098032A (zh) * 2014-07-23 2014-10-15 徐州重型机械有限公司 起重机工作区域边界限制的控制系统及控制方法
EP3037376A1 (fr) * 2014-12-23 2016-06-29 Manitowoc Crane Companies, LLC Techniques spatiales de travail de grue 3d pour opération de grue à proximité d'obstacles
JP2019099278A (ja) * 2017-11-28 2019-06-24 株式会社タダノ 作業機械
EP3530607A1 (fr) * 2018-02-22 2019-08-28 Manitowoc Crane Companies, LLC Techniques spatiales de travail de grue 3d pour opération de grue à proximité d'obstacles
EP3556712A1 (fr) * 2018-04-20 2019-10-23 Cargotec Patenter AB Système de sécurité
JP2020132307A (ja) * 2019-02-14 2020-08-31 大成建設株式会社 クレーン制御システム及びこれを備えたクレーン並びにクレーン共用制御システム
US10822208B2 (en) 2014-12-23 2020-11-03 Manitowoc Crane Companies, Llc Crane 3D workspace spatial techniques for crane operation in proximity of obstacles

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4331776C2 (de) * 1993-09-18 1997-11-06 Schaeff Karl Gmbh & Co Lademaschine mit einer Grenzbereichsteuerung für ein neigungs- und längenveränderliches Auslegersystem
DE19604428C2 (de) * 1995-12-13 1998-06-18 Liebherr Werk Ehingen Steuervorrichtung für ein Hubwerk eines Krans
EP0907805B1 (fr) * 1996-06-03 2001-01-31 Siemens Aktiengesellschaft Procede et dispositif de surveillance de la zone de travail lors du deplacement d'un engin de travaux

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2240884A1 (fr) * 1973-08-17 1975-03-14 Krupp Gmbh
DE2509401A1 (de) * 1974-03-04 1975-09-11 Shimizu Construction Co Ltd Vorrichtung zur begrenzung des arbeitsbereiches von kranen
EP0252841A1 (fr) * 1986-07-09 1988-01-13 Societe De Materiel Industriel Et D'equipement Dispositif de commande de ralentissement automatique de la rotation de flèche et/ou de contreflèches d'engins de levage
US4833615A (en) * 1986-10-15 1989-05-23 A.G.A. Credit System for the protection of an aerial device having a pivotable boom
FR2638151A1 (fr) * 1988-10-24 1990-04-27 Materiel Indl Equipement Procede de selection de zone
EP0382231A1 (fr) * 1989-02-09 1990-08-16 Man Ghh Logistics Gmbh Procédé et disposition pour la limitation de la zone de déplacement d'une grue

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2495593B1 (fr) * 1980-12-05 1987-03-06 Setri Installation de levage pour locaux confines, comprenant un equipement de grue a fleche cantilever
DD220581A1 (de) * 1983-10-17 1985-04-03 Cottbus Ing Hochschule Verfahren zum sperren der arbeitsbewegungen von turmdrehkranen
JPH07110759B2 (ja) * 1990-10-18 1995-11-29 株式会社神戸製鋼所 建設機械における上部旋回体の旋回停止制御方法および装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2240884A1 (fr) * 1973-08-17 1975-03-14 Krupp Gmbh
DE2509401A1 (de) * 1974-03-04 1975-09-11 Shimizu Construction Co Ltd Vorrichtung zur begrenzung des arbeitsbereiches von kranen
EP0252841A1 (fr) * 1986-07-09 1988-01-13 Societe De Materiel Industriel Et D'equipement Dispositif de commande de ralentissement automatique de la rotation de flèche et/ou de contreflèches d'engins de levage
US4833615A (en) * 1986-10-15 1989-05-23 A.G.A. Credit System for the protection of an aerial device having a pivotable boom
FR2638151A1 (fr) * 1988-10-24 1990-04-27 Materiel Indl Equipement Procede de selection de zone
EP0382231A1 (fr) * 1989-02-09 1990-08-16 Man Ghh Logistics Gmbh Procédé et disposition pour la limitation de la zone de déplacement d'une grue

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1306343A2 (fr) * 1995-03-03 2003-05-02 Komatsu Ltd. Grue mobile sur véhicule comportant un appareil d' indication de la portée
EP1306343A3 (fr) * 1995-03-03 2003-05-21 Komatsu Ltd. Grue mobile sur véhicule comportant un appareil d' indication de la portée
CN104098032A (zh) * 2014-07-23 2014-10-15 徐州重型机械有限公司 起重机工作区域边界限制的控制系统及控制方法
EP3037376A1 (fr) * 2014-12-23 2016-06-29 Manitowoc Crane Companies, LLC Techniques spatiales de travail de grue 3d pour opération de grue à proximité d'obstacles
US9850109B2 (en) 2014-12-23 2017-12-26 Manitowoc Crane Companies, Llc Crane 3D workspace spatial techniques for crane operation in proximity of obstacles
US10822208B2 (en) 2014-12-23 2020-11-03 Manitowoc Crane Companies, Llc Crane 3D workspace spatial techniques for crane operation in proximity of obstacles
JP2019099278A (ja) * 2017-11-28 2019-06-24 株式会社タダノ 作業機械
EP3530607A1 (fr) * 2018-02-22 2019-08-28 Manitowoc Crane Companies, LLC Techniques spatiales de travail de grue 3d pour opération de grue à proximité d'obstacles
EP3556712A1 (fr) * 2018-04-20 2019-10-23 Cargotec Patenter AB Système de sécurité
US11649146B2 (en) 2018-04-20 2023-05-16 Hiab Ab Safety system
JP2020132307A (ja) * 2019-02-14 2020-08-31 大成建設株式会社 クレーン制御システム及びこれを備えたクレーン並びにクレーン共用制御システム

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