EP0187772B1 - Systeme de surveillance et de commande pour grues a fleche - Google Patents

Systeme de surveillance et de commande pour grues a fleche Download PDF

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Publication number
EP0187772B1
EP0187772B1 EP85902979A EP85902979A EP0187772B1 EP 0187772 B1 EP0187772 B1 EP 0187772B1 EP 85902979 A EP85902979 A EP 85902979A EP 85902979 A EP85902979 A EP 85902979A EP 0187772 B1 EP0187772 B1 EP 0187772B1
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EP
European Patent Office
Prior art keywords
data
crane
load moment
control
load
Prior art date
Legal status (The legal status 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 status listed.)
Expired
Application number
EP85902979A
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German (de)
English (en)
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EP0187772A1 (fr
Inventor
Gerhard KÖGEL
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Pietzsch AG
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Pietzsch AG
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Publication date
Application filed by Pietzsch AG filed Critical Pietzsch AG
Publication of EP0187772A1 publication Critical patent/EP0187772A1/fr
Application granted granted Critical
Publication of EP0187772B1 publication Critical patent/EP0187772B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the invention relates to a monitoring and control system for jib cranes with the features of the preamble of claim 1 (US-A-4 178 591).
  • Conventional jib cranes have a control device that the crane operator can use to operate the individual crane drives.
  • This is e.g. B. the slewing gear control, the hoist control, the telescopic control for telescopic cranes, the luffing cylinder control, the support monitoring when the supports are extended and the like.
  • jib cranes such as the one according to US-A-4 178 591, today have load torque limiters which automatically switch the crane off when a permissible load torque is exceeded, depending on the lifted load and the jib length and jib angle.
  • today's load torque limiters allow the lifting capacity of the jib crane to be used to a large extent over its entire unloading area, accidents still occur, e.g. B. when setting up the crane, in the event of failure of the overload protection, giving way when operating with the supports extended or the like.
  • Uncertainty conditions also frequently arise due to improper influencing of the control device by the crane driver. For example, an unauthorized jerk may occur when lifting a load from a standstill due to full actuation of the hoist drive.
  • the crane operator can also inadvertently cause the boom to rock too quickly for the prevailing load on the crane, select an excessively high rotational speed or the like.
  • a device for controlling a crane boom drive is known (DE-OS-25 04 455), in which intervention by the crane operator in a critical load condition of the crane is to be avoided in that the actuator of the crane boom drive is divided by the quotient of the current load torque and the predetermined maximum load torque is applied via a link that connects the setpoint adjuster of the load torque limiter to the actuator of the crane boom drive.
  • the stability depends on a number of other parameters such as the length of the boom, the angle of the boom or radius, the set-up condition of the crane and the like.
  • a monitoring and control system for harbor cranes in which the drive motors are regulated via a programmable computer (Brown Boveri Rev. 9 / 10-83, p.351-356).
  • the invention has for its object to provide a monitoring and control system for jib cranes, which leads to greater safety in crane operation.
  • load torque limitation such as radius, load, utilization, set-up state and the like
  • safety in crane operation is increased in that the processing device sets limits for the control commands which are still triggered by the crane operator and which, depending on the respective crane condition, always entail control functions which are on the safe side.
  • the extension status and the hydraulic pressure in the supports can be displayed and monitored, whereby a warning or switch-off of the crane is triggered when a support is relieved.
  • control functions can also be implemented with the system according to the invention.
  • the usual control functions are optimized, which contributes to an increase not only in safety but also in the service life due to the protection of the crane and its components.
  • control device remains functional even if the load torque limiter fails.
  • control functions can also be limited by the data previously supplied to the processing device, which were previously generated when the load torque was limited.
  • the data transmission device expediently includes a program memory for the coupling software and an interface module on the load torque limiter side and on the control device side.
  • the processing device has a central unit with a computer, a system program memory and a programmable data memory and that the inputs of the central unit are connected to outputs of switch and encoder modules of the control device and of the load torque limiter.
  • the data transmission device can transmit digitized data, and in addition there can be a device for the data transmission of the data recorded analogously when the load torque is limited, which is particularly desirable for fast regulation.
  • the programming device also enables the functions of the medium and higher performance range, such as arithmetic operations, sequence controls, time functions and controls, to be designed programmably.
  • the block diagram shows a load torque limiter 1 and a control device 2 for a jib crane, here a mobile telescopic crane.
  • the load torque limiter 1 is expanded by a data transmission device 10.
  • This data transmission device includes a program memory 11 for the coupling software and an interface module 12 of a serial interface.
  • a device part 13 is provided for the data transmission of the data acquired and preprocessed analogously when the load torque is limited, such as the boom length, the boom angle, the radius or radius of the boom, the actual load torque and, if applicable, the actual load.
  • a device part 23 in the control device 2 corresponds to this device part 13.
  • An interface module 22 in the control device 2 corresponds to the interface module 12 in the load torque limiter 1.
  • Analog encoders for the length, the angle, the actual force applied by the luffing cylinder of the crane are designated by the reference numerals 30, 30 'and shown in the drawing between the load torque limiter 1 and the control device 2.
  • the corresponding analog data acquisition modules in the device parts 13 and 23 are designated by the reference numerals 14 and 24.
  • the control device 2 contains a processing device in the form of a central unit 25 with a computer (CPU), a system program memory 26 and a programmable data memory 27.
  • a processing device in the form of a central unit 25 with a computer (CPU), a system program memory 26 and a programmable data memory 27.
  • the individual components are connected to one another via a bus coupling 24.
  • Each output monitored by the central unit 25 contains a power amplifier 28, which acts on a crane drive, in the illustrated case on a hydraulic valve 31, and enables a security check to be carried out via a feedback module with an alarm transmitter 29.
  • the load torque limiter 1 and the control device 2 are in constant data traffic, be it via the interface modules 12, 22, via which digital data are transmitted, or via the device parts 13, 23, via which analog data are transmitted for fast control.
  • the user program of the crane operator is stored in the system program memory 26, while the programming device is linked to the data memory 27 via a so-called "shadow" memory 27 'with a program connection as an interface.
  • the outside of switches, for. B. stroke limit switch, signals input into the input module 20 are processed together with the signals supplied by the load torque limiter 1 in the central unit 25, which in turn provides the signals required for controlling the individual digital / analog outputs of the output module 21 for actuating the crane drives 31.

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

Abstract

Un système de surveillance et de commande pour grues à flèche avec un limiteur de moment de charge (1) et un dispositif de commande (2) influençable par le grutier pour l'actionnement de la grue comporte un appareil de transmission de données (10) pour transmettre des données de grue survenant lors de la limitation du moment de charge et un appareil de traitement dans le dispositif de commande (2), grâce auquel il est possible de produire des grandeurs de guidage pour le dispositif de commande (2) à partir des données transmises par l'appareil de transmission de données (10), ainsi que de signaux du dispositif de commande (2).

Claims (5)

1. Système de surveillance et de commande pour grues à flèche comportant un limiteur du moment de la charge et un dispositif de commande des moyens d'entraînement de la grue, manoeuvrable par le grutier et en liaison avec le limiteur du moment de la charge, le limiteur du moment de la charge contenant un calculateur qui détermine une valeur de consigne du moment de la charge à comparer avec la valeur réelle du moment de la charge, calculateur auquel sont appliquées, comme paramètres, des données telles que la charge de travail ainsi que des valeurs représentant la longueur de la flèche, l'angle de la flèche ou la portée, la charge au crochet de la grue et l'état de la construction de manière que, dans une unité logique, l'instant auquel la valeur de consigne du moment de la charge est atteinte soit saisi et qu'un signal de surveillance correspondant soit délivré, caractérisé par le fait qu'il est prévu un autre calculateur (25) auquel les paramètres cités sont appliqués par d'autres éléments logiques de l'unité logique et par une unité (12, 22) de transmission de données et qui produit, à partir de ces paramètres et de données du dispositif de commande, des grandeurs de référence pour la commande.
2. Système selon la revendication 1, caractérisé en ce que l'unité (10) de transmission de données possède une mémoire (11) de programme et des éléments d'interface (12,22).
3. Système selon la revendication 1 ou 2, caractérisé en ce que l'unité de traitement de données présente une mémoire (26) de programme système et une mémoire programmable (27) de données, et en ce que les entrées du calculateur (25) sont reliées aux sorties d'éléments de commutation et de captage (21; 30, 30') du dispositif (2) de commande et du limiteur (1) du moment de la charge.
4. Système selon la revendication 3, caractérisé en ce qu'une unité (32) de programmation peut être raccordée à la mémoire (27) de données.
5. Système selon l'une des revendications 1 à 4, caractérisé en ce que l'unité (10) de transmission de données est conçue pour la transmission de données numérisées et en ce qu'il est prévu en outre une unité (13, 23) pour la transmission des données saisies de façon analogique lors de la limitation du moment de la charge.
EP85902979A 1984-06-01 1985-05-31 Systeme de surveillance et de commande pour grues a fleche Expired EP0187772B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3420596A DE3420596C2 (de) 1984-06-01 1984-06-01 Überwachungs- und Steuersystem für Auslegerkrane
DE3420596 1984-06-01

Publications (2)

Publication Number Publication Date
EP0187772A1 EP0187772A1 (fr) 1986-07-23
EP0187772B1 true EP0187772B1 (fr) 1988-08-31

Family

ID=6237471

Family Applications (1)

Application Number Title Priority Date Filing Date
EP85902979A Expired EP0187772B1 (fr) 1984-06-01 1985-05-31 Systeme de surveillance et de commande pour grues a fleche

Country Status (4)

Country Link
EP (1) EP0187772B1 (fr)
JP (1) JPS61502254A (fr)
DE (2) DE3420596C2 (fr)
WO (1) WO1985005614A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9637355B2 (en) 2014-06-10 2017-05-02 Liebherr-Werk Ehingen Gmbh Process and system for the calculation of data for the operation of a crane

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3613870A1 (de) * 1986-04-24 1987-10-29 Mo N Proizv Ob Str Dorozh Mash Einrichtung fuer den ueberlastungs- und kippschutz von hebezeugen
FI862627A0 (fi) * 1986-06-19 1986-06-19 Fiskars Ab Oy System foer reglerande av en krans hastighet.
IT1204913B (it) * 1987-03-06 1989-03-10 3B6 Sistemi Elettro Idraulici Dispositivo limitatore di sbraccio e/o di momento per piataforme elevatrici
GB8818074D0 (en) * 1988-07-29 1988-09-01 Markload Systems Ltd Monitoring system for load carriers
DE3835522A1 (de) * 1988-10-19 1990-05-03 Man Ghh Krantechnik Kransteuerung
US5730305A (en) * 1988-12-27 1998-03-24 Kato Works Co., Ltd. Crane safety apparatus
DE68923278T3 (de) * 1988-12-27 2004-08-05 Kato Works Co. Ltd. Sicherheitsanordnung für kräne.
EP0470289A1 (fr) * 1990-08-10 1992-02-12 ABUS Kransysteme GmbH & Co. KG. Installation pour exécuter des travaux d'entretien et de montage à une installation de grue
WO1992006349A2 (fr) * 1990-10-08 1992-04-16 Dotronic Mikroprozessortechnik Gmbh Procede et dispositif de saisie et de transmission d'informations avec des conducteurs electriques ou similaires mutuellement mobiles les uns par rapport aux autres
DE4108969A1 (de) * 1991-03-19 1992-09-24 Motion Systems Gmbh Rechnergesteuertes hubzugsystem mit wenigstens zwei hubzuegen
TW213468B (fr) * 1991-06-29 1993-09-21 Hoechst Ag
US5721208A (en) * 1991-06-29 1998-02-24 Hoechst Aktiengesellschaft Glycopeptides a process for their preparation and their use
DE4223695C2 (de) * 1992-07-21 1994-12-08 Weber Anlagenbau Gmbh & Co Kg Steuerung für das Verschwenken eines in seiner effektiven Länge veränderlichen Auslegers
DE19538264C2 (de) * 1995-10-13 1999-02-18 Pietzsch Automatisierungstech Verfahren und interaktive Bedienkonsole zur Vorbereitung und Einrichtung eines mobilen Arbeitsgerätes
DE29519928U1 (de) * 1995-12-15 1996-04-04 Liebherr-Werk Ehingen Gmbh, 89584 Ehingen Kranfahrzeug mit einer Überlastsicherungseinrichtung
US6140930A (en) * 1997-02-27 2000-10-31 Shaw; Jack B. Crane safety devices and methods
US6744372B1 (en) 1997-02-27 2004-06-01 Jack B. Shaw Crane safety devices and methods
DE10023418A1 (de) * 2000-05-12 2001-11-15 Liebherr Werk Nenzing Verfahren zur Überlastsicherung eines mobilen Kranes
DE102005035460A1 (de) 2005-07-28 2007-02-01 Liebherr-Werk Ehingen Gmbh Verfahren zur Traglastermittlung bei Kranen
RU2381171C1 (ru) * 2008-10-24 2010-02-10 Общество с ограниченной ответственностью "Научно-производственное предприятие "Резонанс" Система безопасности грузоподъемной машины с электроприводом
DE102009040258A1 (de) 2009-09-04 2011-03-24 Jaeckel, Manfred, Dipl.-Ing. Verfahren zur Herstellung eines zellularen Sinterformkörpers

Citations (1)

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Publication number Priority date Publication date Assignee Title
US4178591A (en) * 1978-06-21 1979-12-11 Eaton Corporation Crane operating aid with operator interaction

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US4052602A (en) * 1975-08-14 1977-10-04 Forney Engineering Company Load and radius indicating system
JPS5451166A (en) * 1977-09-30 1979-04-21 Hokushin Electric Works Crane control monitor
SU719085A1 (ru) * 1977-12-15 1981-09-07 Предприятие П/Я В-2156 Плавучий кран
DE3103728A1 (de) * 1981-02-04 1982-09-02 Fried. Krupp Gmbh, 4300 Essen "einrichtung zur verbesserung des betriebsverhaltens mobiler drehkrane"

Patent Citations (1)

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Publication number Priority date Publication date Assignee Title
US4178591A (en) * 1978-06-21 1979-12-11 Eaton Corporation Crane operating aid with operator interaction

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
BROWN BOVERI REV. 9/10-83, S. 351-356 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9637355B2 (en) 2014-06-10 2017-05-02 Liebherr-Werk Ehingen Gmbh Process and system for the calculation of data for the operation of a crane
DE102015006992B4 (de) * 2014-06-10 2021-04-15 Liebherr-Werk Ehingen Gmbh Verfahren und System zur Berechnung von Daten für den Betrieb eines Krans

Also Published As

Publication number Publication date
EP0187772A1 (fr) 1986-07-23
DE3564676D1 (en) 1988-10-06
DE3420596C2 (de) 1986-10-02
DE3420596A1 (de) 1985-12-05
WO1985005614A1 (fr) 1985-12-19
JPS61502254A (ja) 1986-10-09

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