EP0321789B1 - Dispositif de commande de la compensation de niveau d'un engin de travail, en particulier d'une échelle de pompier orientable, déployable et mobile - Google Patents

Dispositif de commande de la compensation de niveau d'un engin de travail, en particulier d'une échelle de pompier orientable, déployable et mobile Download PDF

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Publication number
EP0321789B1
EP0321789B1 EP88120505A EP88120505A EP0321789B1 EP 0321789 B1 EP0321789 B1 EP 0321789B1 EP 88120505 A EP88120505 A EP 88120505A EP 88120505 A EP88120505 A EP 88120505A EP 0321789 B1 EP0321789 B1 EP 0321789B1
Authority
EP
European Patent Office
Prior art keywords
implement
inclination sensor
value
control device
superstructure
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 - Lifetime
Application number
EP88120505A
Other languages
German (de)
English (en)
Other versions
EP0321789A1 (fr
Inventor
Helmut Link
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.)
Iveco Magirus AG
Original Assignee
Iveco Magirus AG
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 Iveco Magirus AG filed Critical Iveco Magirus AG
Publication of EP0321789A1 publication Critical patent/EP0321789A1/fr
Application granted granted Critical
Publication of EP0321789B1 publication Critical patent/EP0321789B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/40—Devices for canting ladders laterally

Definitions

  • the invention relates to a device for controlling the level compensation of an implement with a base frame and a device structure connected to it rotatably and pivotably for the purpose of setting a vertical of the device structure when the base frame comes into contact with the base in an inclined position, in particular a movable height-adjustable fire escape, according to the preamble of claim 1.
  • Known devices for level control of the vertical axis of the device structure of work equipment work with inclination sensors for the vertical control of the structure and for position feedback with two switches for parallel placement or return with regard to the position of the base (see DE-AS 2 036 559 , EP 00 63 709).
  • EP 00 63 709 practically after ongoing measurement of the vehicle inclination in two mutually perpendicular directions by means of sensors known per se, a theoretical prediction of the misalignment correction speed in combination with the swiveling speed of the ladder and then a corresponding implementation of the misalignment correction is carried out via known ones Proportional valves.
  • a further correction of the misalignment correction speed can be carried out using a sensor which is obviously attached to the ladder and is known per se.
  • a sensor which is obviously attached to the ladder and is known per se.
  • the value of the inclination sensor is stored in a commissioning position of the implement, which is normally positioned at an angle, before setting the vertical of the implement, and after a control operation of the implement, the value of the incline is stored, in which the control device uses current values of the inclined sensor as compared to the zero value of the sensor Control variable works, for the purpose of returning the device structure from the vertical to its starting position, the stored value is used as the return control variable.
  • the inclination sensor detects the maximum inclined position of the implement that is proportional to the position and direction.
  • the start-up position of the implement can be determined by reaching a maximum ground support pressure value in hydraulic ground support cylinders of the implement, by which the point in time for storing the value of the inclination sensor is triggered.
  • the time for storing the value of the inclination sensor can also be triggered by switching on the perpendicular control process of the implement structure, for example by engaging a power take-off to create a replacement variable for a feedback control variable.
  • the inclination sensor can also be provided in the form of a curved electrolyte tube.
  • the inclination sensor is conveniently arranged on the circuit board of an electronic control, for example a microcomputer.
  • the microcomputer records the value of the inclination sensor corresponding to the inclined position of the implement structure, executes the control of the implement structure in the vertical and then uses the stored value of the inclination sensor again as a feedback control variable to reset the implement to the starting position (commissioning position) .
  • Known analog or digital memories can be used to store the values.
  • a simple and reliable control device can be created by the invention.
  • the invention makes it possible to dispense with the switches of the position control provided that the signals for the correction of the misalignment or the feedback are recorded analogously.
  • a control device for lifting systems is also known from DE-OS 29 47 303, but the control device controls individual articulated axes and not, as in the invention, the adjustment of a pivot axis for controlling the side adjustment.
  • a working device (2) is shown schematically from behind in the form of a mobile fire brigade turntable, which has a base frame (3) which is pivotally and pivotally connected to a device structure (4) in the form of the actual extendable turntable ladder.
  • the device structure (4) can thus with respect to an obliquely positioned base frame (3), which is supported by lateral floor support cylinders (6), in a commissioning position of the working device (2) by a device (1) for controlling the level compensation in a horizontal position or in a plumb line is set and returned to the starting position.
  • the hydraulic floor support cylinders (6) are connected to a hydraulic pressure switch (7) in the base frame (3).
  • the hydraulic adjusting means for adjusting the vertical of the device structure (4) or the actual fire brigade aerial ladder are, in particular, hydraulic actuating cylinders (8) which enable the device structure (4) to be pivoted with respect to the base frame (3) about the horizontal pivot axis (9).
  • An inclination sensor (5) for example in the form of a hydraulically damped pendulum, for detecting the value of an inclined position of the implement structure (4) in the commissioning position of the implement (2) is located on the side of the implement structure (4) which can be pivoted and pivoted to the base frame (3) ) and for the purpose of carrying out the control process of the device structure (2) in and out of the vertical.
  • the hydraulic control comprises a hydraulic valve (10) in the form of a proportional valve known per se, which allows the control device (1) to be steplessly regulated.
  • the hydraulic valve (10) is hydraulically connected to the hydraulic actuating cylinders (8), which is connected to the floor support cylinder (6) via a control line.
  • the hydraulic valve (10) can also be designed as a simple three / four-way valve that works more or less black and white with a defined dead zone.
  • the normally slanted base (3) is fixed in its inclined position by extending the floor support cylinder (6), namely by actuating the hydraulic pressure switch (7) of the base. If a maximum support pressure value is reached, the value of the inclined position displayed in the inclination sensor (5) is stored in a microcomputer (11), in particular in known analog or digital memory modules (12) as a feedback variable.
  • the inclination sensor (5) is able to record the maximum possible inclined position of the vehicle.
  • control device (1) works in permissible working ranges for the plumb control with current values of the inclination sensor (5) in comparison with the zero value of the sensor as a control variable.
  • the working device (2) or the vertically positioned device structure (4) is to be returned to its starting position parallel to the base frame (3), which is done automatically or by command by known sensors of the rotating and erecting position when the sensor is brought into operation.
  • the stored feedback value of the inclination sensor (5) delivers the setpoint of the control.
  • FIG. 2 shows the electrical voltage angle diagram of an inclination sensor (5) or pendulum.
  • the required output signal must allow a distinction to be made between the two possible swivel directions.
  • Appropriate measures for example supplying the sensor with a positive voltage u o + and a negative voltage u o -or through evaluation by means of a bridge circuit, assign a polarity to each side.
  • positive and negative voltages u o + and u o - are plotted over the angular range -a - + a of an inclination sensor.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Fire-Extinguishing By Fire Departments, And Fire-Extinguishing Equipment And Control Thereof (AREA)
  • Ladders (AREA)

Claims (7)

1. Dispositif (1) de commande de la compensation de niveau d'un engin de travail (2) comportant un châssis (3) et une structure d'engin (4) reliée à ce châssis de façon à pouvoir tourner et basculer, pour permettre le réglage d'une verticalité de la structure (4) lorsque le châssis (3) est en contact avec le sol dans une position inclinée, notamment d'un engin de travail sous la forme d'une échelle de pompier orientable, mobile et réglable en hauteur, avec un détecteur d'inclinaison (5) fonctionnant de façon analogique et fixé sur la structure (4) de l'engin, dispositif caractérisé en ce que dans une position de mise en service de l'engin de travail (2), notamment positionné.obliquement, la valeur du détecteur d'inclinaison (5) est mémorisée avant le réglage de la verticalité de la structure (4) de l'engin, et en ce que, après un processus de commande de la structure (4) de l'engin dans la position verticale, processus pendant lequel le dispositif de commande (1) fonctionne avec comme grandeur de commande, les valeurs actuelles du détecteur d'inclinaison (5) rapportées à la valeur zéro du détecteur, la valeur mémorisée est utilisée comme grandeur de commande de retour pour permettre de ramener la structure (4) de l'engin de sa position verticale dans sa position de départ.
2. Dispositif de commande selon la revendication 1, caractérisé en ce que le détecteur d'inclinaison (5) détecte la position oblique maximale intervenant de l'engin de travail (2) proportionnellement en position et en direction.
3. Dispositif de commande selon la revendication 1 ou la revendication 2, caractérisé en ce que la position de mise en service de l'engin de travail (2) est déterminée parce que l'on atteint une valeur maximale de la pression d'appui sur le sol dans des vérins hydrauliques d'appui sur le sol (6) de l'engin, valeur maximale par laquelle est déclenché l'instant pour la mémorisation de la valeur du détecteur d'inclinaison (5).
4. Dispositif de commande selon la revendication 1 ou la revendication 2, caractérisé en ce que l'instant pour la mémorisation de la valeur du détecteur d'inclinaison (5) est déclenché par la mise en route du processus de commande à la verticale de la structure (4) de l'engin.
5. Dispositif de commande selon une des revendications 1 à 4, caractérisé en ce que le détecteur d'inclinaison (5) est prévu sous la forme d'un pendule amorti hydrauliquement.
6. Dispositif de commande selon une des revendications 1 à 4, caractérisé en ce que le détecteur d'inclinaison (5) est prévu sous la forme d'un tube électrolytique courbé.
7. Dispositif de commande selon une des revendications 1 à 6, caractérisé en ce que le détecteur d'inclinaison (5) est disposé sur la platine d'une commande électronique.
EP88120505A 1987-12-22 1988-12-08 Dispositif de commande de la compensation de niveau d'un engin de travail, en particulier d'une échelle de pompier orientable, déployable et mobile Expired - Lifetime EP0321789B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19873743546 DE3743546A1 (de) 1987-12-22 1987-12-22 Einrichtung zur steuerung des niveauausgleichs eines arbeitsgeraetes, insbesondere einer fahrbaren hoehenverstellbaren feuerwehrdrehleiter
DE3743546 1987-12-22

Publications (2)

Publication Number Publication Date
EP0321789A1 EP0321789A1 (fr) 1989-06-28
EP0321789B1 true EP0321789B1 (fr) 1991-03-13

Family

ID=6343279

Family Applications (1)

Application Number Title Priority Date Filing Date
EP88120505A Expired - Lifetime EP0321789B1 (fr) 1987-12-22 1988-12-08 Dispositif de commande de la compensation de niveau d'un engin de travail, en particulier d'une échelle de pompier orientable, déployable et mobile

Country Status (3)

Country Link
EP (1) EP0321789B1 (fr)
JP (1) JP2637206B2 (fr)
DE (2) DE3743546A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB9711317D0 (en) * 1997-06-03 1997-07-30 William Hook Limited Safety monitoring device
US5934409A (en) * 1997-06-26 1999-08-10 Genie Industries, Inc. Trailer personnel lift with a level sensor and manually set outriggers
FR2924703B1 (fr) * 2007-12-11 2010-01-15 Gimaex Internat Dispositif elevateur aerien et vehicule equipe d'un tel dispositif
DE102016000531A1 (de) * 2016-01-21 2017-07-27 Putzmeister Engineering Gmbh Mobiles Arbeitsgerät
CN106955445B (zh) * 2017-04-28 2020-03-20 陕西专壹知识产权运营有限公司 一种液压升降式智能消防机器人及其控制方法
CN112408223A (zh) * 2020-11-26 2021-02-26 江麓机电集团有限公司 一种自升式塔式起重机顶升防倾翻警报系统

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2188036B1 (fr) * 1972-06-06 1977-02-11 Metz Gmbh Carl
DE2839419A1 (de) * 1978-09-11 1980-03-27 Krupp Gmbh Drehwinkelmesseinrichtung
SE419211B (sv) * 1978-12-15 1981-07-20 Jan Axel Gunnar Ekman Anordning for styrning av luftsystem
DE2933333A1 (de) * 1979-08-17 1981-03-26 Iveco Magirus Ag, 89079 Ulm Elektronische schaltung zum lotrechten einstellen eines drehgestells von hoehenveraenderlichen arbeitsgeraeen
FR2504701A1 (fr) * 1981-04-22 1982-10-29 Camiva Dispositif de commande de correction automatique de devers pour echelle orientable deployable ou bras elevateur analogue sur vehicule

Also Published As

Publication number Publication date
JP2637206B2 (ja) 1997-08-06
DE3862020D1 (de) 1991-04-18
JPH028493A (ja) 1990-01-11
DE3743546A1 (de) 1989-07-13
EP0321789A1 (fr) 1989-06-28

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