EP3378823B1 - Grue - Google Patents

Grue

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Publication number
EP3378823B1
EP3378823B1 EP17162557.7A EP17162557A EP3378823B1 EP 3378823 B1 EP3378823 B1 EP 3378823B1 EP 17162557 A EP17162557 A EP 17162557A EP 3378823 B1 EP3378823 B1 EP 3378823B1
Authority
EP
European Patent Office
Prior art keywords
crane
implement
arm
movement
gripper
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.)
Active
Application number
EP17162557.7A
Other languages
German (de)
English (en)
Other versions
EP3378823A1 (fr
EP3378823C0 (fr
Inventor
Johannes Steindl
Martin Galler
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.)
Epsilon Kran GmbH
Original Assignee
Epsilon Kran 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
Priority to EP17162557.7A priority Critical patent/EP3378823B1/fr
Application filed by Epsilon Kran GmbH filed Critical Epsilon Kran GmbH
Priority to JP2018054856A priority patent/JP2018158840A/ja
Priority to RU2018110065A priority patent/RU2683918C1/ru
Priority to BR102018005767-7A priority patent/BR102018005767A2/pt
Priority to US15/928,883 priority patent/US20180273350A1/en
Priority to KR1020180033510A priority patent/KR20180108500A/ko
Publication of EP3378823A1 publication Critical patent/EP3378823A1/fr
Application granted granted Critical
Publication of EP3378823B1 publication Critical patent/EP3378823B1/fr
Publication of EP3378823C0 publication Critical patent/EP3378823C0/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Program control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • 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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • 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
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/705—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic telescoped by hydraulic jacks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/005—Grab supports, e.g. articulations; Oscillation dampers; Orientation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/04—Tine grabs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/20—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs mounted on, or guided by, jibs
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0328—Cranes on rails or on rail vehicles
    • B66C2700/0335—Cranes on rails or on rail vehicles with a slewing arm

Definitions

  • the invention relates to a crane having the features of the preamble of claim 1.
  • the crane arm and any work equipment or parts thereof located at the crane tip can be moved relative to the crane arm by a user issuing corresponding control commands via the crane control system. Coordinating certain movements of the crane arm and certain movements of the work equipment or parts thereof can place high demands on the crane operator and may result in increased operating effort and reduced working speed. Furthermore, incorrect operation, for example, by an insufficiently trained operator or carelessness, can lead to damage to the crane, the work equipment, any load being lifted, or the ground that serves as the crane's base or the load's support surface, either during the coordination of certain movements of the crane arm and certain movements of the work equipment or parts thereof, or even during unfavorable movements of the work equipment or parts thereof.
  • the US 4614476 A shows a crane arm according to the preamble of claim 1 with hydraulic actuators and a working device in the form of a gripper arranged on this crane arm, wherein the hydraulic circuits of the crane arm and the gripper can be connected to each other in series or in parallel.
  • the WO 2015/113084 A1 shows a crane control system for a crane with an operating mode in which the crane geometry can be changed by the crane control system in a predetermined sequence of movements.
  • the EP 0397076 A1 Figure 1 shows a lifting device with a crane arm and a load or work tool picked up by it, wherein the control has an operating mode in which a predetermined orientation of the picked-up load or work tool is maintained during movement of the crane arm.
  • the GB 2327076 A shows a lifting device in the form of a forklift truck with a lifting arm and a working device attached to it, wherein the forklift truck has hydraulically coupled travels.
  • the US 2006/096137 A1 shows a bucket excavator with a control system in which the orientation of an arm-attached tool is automatically maintained when an arm of the bucket excavator is moved.
  • the JP 2007 308904 A Figure 1 shows a lifting device with a crane arm and a grab bucket, wherein a mechanical compensating device is arranged between the crane arm and the grab bucket.
  • the object of the invention is to provide a crane that offers easier operation and increased safety against incorrect operation.
  • the crane according to the invention also initially comprises at least one crane arm with a crane tip, wherein a working device can be arranged at the crane tip.
  • the crane tip can, for example, be understood as a free end of the crane arm.
  • the working device itself and/or at least a part of the working device is positioned relative to the crane tip.
  • movable can generally be understood as an attachment that can be positioned at the crane tip for manipulating objects or items, for example, a load to be lifted.
  • a crane control system allows the control of at least one crane arm and the work attachment and/or at least one part of the work attachment.
  • the crane control system is configured to issue control commands from a user to move at least one crane arm and the work attachment and/or at least one part of the work attachment.
  • a user can issue these control commands to the crane arm and the work attachment (or at least one movable part of the work attachment).
  • the crane arm and the work attachment (or at least one movable part of the work attachment) can be controlled separately or together by the user issuing corresponding control commands.
  • the crane arm or the crane tip of the crane arm can move essentially freely within the possible, structurally determined range of motion and, if necessary, taking into account the stability of the crane.
  • the crane control of the crane according to the invention has an activatable further operating mode in which the crane control is designed so that, when a work device is arranged at the crane tip, and a user issues predetermined control commands for the movement of the work device arranged at the crane tip and/or for the movement of at least a part of the work device arranged at the crane tip, the crane control can issue additional control commands for the movement of at least one crane arm to at least partially compensate for at least one component of the movement of the work device and/or the movement of at least a part of the work device.
  • the additional operating mode can be activated by the user, for example, before or during certain work processes with the equipment; that is, the user switches the crane control to this additional operating mode. However, activation of the additional operating mode can also occur automatically, for example, upon detection of certain work processes being carried out with the equipment.
  • the crane arm or the crane arm tip can also move essentially freely in the second operating mode of the crane control – within the possible, structurally determined range of motion and, if necessary, taking into account the crane's stability.
  • Predetermined control commands for the movement of the work tool mounted at the crane tip and/or for the movement of at least a part of the work tool mounted at the crane tip are understood to mean possible working movements of the work tool.
  • the predetermined control commands may include control commands for the opening and/or closing movement of the grab jaws or grab shells.
  • the predetermined control commands may include control commands issued by the user for the relative movement of the bucket to the crane arm or crane tip.
  • the crane control system is now designed so that, when the user issues such exemplary, predetermined control commands, the crane control system can issue additional control commands to move at least one crane arm.
  • the crane control system can issue control commands to move the crane arm, or at least a part of the crane arm.
  • These additional control commands for moving at least one crane arm serve the purpose of at least partial compensation of at least one component of the movement of the work tool and/or the movement of at least a part of the work tool.
  • the additional control commands thus allow parts of the work tool's movement to be at least partially compensated for by a movement of the crane arm.
  • the additional control commands can be issued depending on at least one parameter of the movement of the work tool arranged at the crane tip and/or the movement of at least one part of the work tool arranged at the crane tip.
  • Appropriate sensors can be provided to detect the parameter of the movement of the work tool or of the at least one movable part of the work tool.
  • the additional control commands can be issued proportionally to the at least one parameter of the movement of the work tool arranged at the crane tip and/or the movement of at least one part of the work tool arranged at the crane tip.
  • the crane control system can issue additional control commands essentially simultaneously with the predetermined control commands for moving the work equipment and/or at least part of it. This allows for at least partial compensation of part of the work equipment's movement to occur concurrently with the work equipment's movement itself.
  • the crane tip can be moved in a plane of the crane arm by means of additional control commands from the crane control system.
  • the position of the crane arm, or the position of parts of the crane arm relative to each other, can also be changed by these additional control commands.
  • the crane tip – preferably – is controlled by the additional control commands of the crane control system.
  • the crane arm can be moved along a straight line in the direction of at least one component.
  • the control of the crane arm by the additional control commands can be such that the crane tip moves in the direction of the part of the movement to be compensated, preferably along a straight line.
  • the direction of movement of the crane tip can be substantially opposite to the direction of the part of the movement of the working device to be compensated and/or to the part of the movement of the at least one movable part of the working device to be compensated.
  • the movement of the working tool and/or at least part of the working tool is a slewing movement relative to the crane tip.
  • the working tool itself can perform a slewing movement relative to the crane tip, and/or a movable part of the working tool can perform a slewing movement relative to the crane tip.
  • the crane arm has at least one crane column - preferably rotatable about a vertical axis of rotation - and at least one lifting arm - preferably pivotable about a first horizontal pivot axis - mounted on the crane column, wherein the lifting arm preferably has at least one push arm.
  • the crane arm can further have at least one knuckle arm, a so-called jib, which is pivotably mounted on the lifting arm - preferably about a second horizontal pivot axis - wherein the knuckle arm preferably has at least one push arm.
  • the crane arm can have at least one additional jib-in-jib arm, preferably pivotable about a third horizontal pivot axis, mounted on the knuckle arm, wherein the additional jib-in-jib arm preferably has at least one push arm.
  • the crane control system is designed to include at least one memory for storing data specific to the crane and/or data specific to work equipment that can be mounted on the crane.
  • Crane-specific data may include information about the crane's design, such as arm lengths, the number and length of extension arms, and the like.
  • Specific data for work equipment that can be mounted on the crane may include information about the work equipment's design, such as the number and length or size of gripper jaws or gripper shells in the case of a gripper.
  • the crane control system also includes signal inputs for supplying sensor signals from sensors that can be mounted on the crane and/or from sensors that can be mounted on work equipment mounted on the crane. The sensors mounted on the crane enable the detection of the crane's position or geometry, or the position or geometry of the crane or crane arm.
  • the crane control system includes signal outputs for sending control signals to at least one crane arm and/or the working attachment and/or at least one part of the working attachment.
  • the control signals output via these signal outputs can, for example, be used to implement movement at control devices such as the crane's control valves.
  • the crane control system also features user-operated controls for generating and sending control commands to move at least one crane arm and/or the working attachment and/or at least one part of the working attachment.
  • the crane control system includes a processing unit for processing data from memory and sensor signals and for generating control commands.
  • the crane control system can be designed so that a user can specify a work device positioned at the crane tip and/or the crane control system can automatically detect a work device positioned at the crane tip.
  • the crane control system This allows specific information to be predefined for a work tool positioned at the crane tip, or for this information to be automatically detected by the crane control system.
  • the output of additional control commands can then be based on the specified and/or detected work tool and its specific information.
  • the work device can be designed as a gripper with at least two gripper jaws with gripper tips, each pivotable about a bearing point on the work device, or with at least two gripper shells with gripper edges, each pivotable about a bearing point on the work device.
  • a movement of the work device can correspond to a pivoting movement (opening and/or closing movement) of the gripper jaws or gripper shells.
  • the gripper tips or gripper edges can move along a path that is essentially, at least in sections, circularly curved around the bearing points on the work device.
  • the gripper tips or gripper cutting edges move essentially along a straight line or in a plane during an opening and/or closing movement of the gripper jaws or gripper shells.
  • the movement of the crane arm resulting from the additional control commands can move the crane tip in such a way that at least one component of the opening and/or closing movement of the gripper jaws or gripper shells is at least partially compensated.
  • a component of the pivoting movement of the working tool and/or the pivoting movement of at least one movable part of the working tool during the opening and/or closing movement can be compensated, so that the gripper tips or gripper cutting edges no longer move essentially in a circular path but effectively move in a largely straight line.
  • the closing movement of the gripper jaws or gripper shells allows the gripper tips or gripper cutting edges to move effectively in a largely straight line away from or towards each other.
  • this can achieve a movement of the gripper tips or gripper shells that is essentially horizontal and at a constant height (measured from the ground on which the crane is placed or from the bottom edge of the crane column).
  • the at least partially compensated component of the movement is the normal distance of the line or plane to the respective bearing point, which changes during an opening and/or closing movement.
  • the normal distance refers to the distance, measured along the shortest path, of the line or plane along which the gripper tips or gripper cutting edges effectively move, to the respective bearing point.
  • the crane arm can be moved by additional control commands in such a way that the movement of the crane tip compensates for the increase or decrease in the normal distance.
  • the predetermined control commands issued by a user for moving the work tool and/or for moving at least a part of the work tool include control commands for opening and/or closing the gripper jaws or gripper shells of the gripper.
  • the crane control system can issue additional control commands to at least partially compensate for at least one component of the movement during the opening and/or closing of the gripper jaws or gripper shells.
  • the closing movement is output by movements performed by the gripper jaws or gripper shells.
  • At least one parameter of the movement is the opening and/or closing angle of the gripper jaws or gripper shells.
  • Appropriate sensors for detecting the opening and/or closing angle of the gripper jaws or gripper shells can be provided on the gripper.
  • the additional control commands can be issued proportionally to the detected opening and/or closing angle of the gripper jaws or gripper shells.
  • FIG 1a are a side view and detail views of a first embodiment of a crane 1 with a crane column 5 (possibly rotatable about a vertical axis of rotation), a lifting arm 6 pivotably mounted on this column and A pivotable articulated arm 7 is shown on the crane 1.
  • the lifting arm 6 is arranged at a first articulation angle k1 on the crane column 5
  • the articulated arm 7 is arranged at a second articulation angle k2 on the lifting arm 6.
  • a main cylinder 17 and an articulation cylinder 18, respectively, are provided for pivoting the lifting arm 6 and the articulated arm 7.
  • the articulated arm 7 has two extension arms 8 and 9, by means of which the length of the articulated arm 7 can be changed.
  • a freely suspended working device 3 in the form of a grab is arranged at the crane tip 2, which in the illustrated embodiment is formed by the free end of the articulated arm 7.
  • the crane arm of the crane 1 comprises the crane column 5, the lifting arm 6, and the articulated arm 7 with its extension arms 8 and 9.
  • the adjacent detail views each show a lower section of the articulated arm 7 with a grab attachment 3 attached to it.
  • the grab is rotated 90° relative to the overall view of the crane 1 on the left, revealing two grab jaws 13, 14 with grab tips 15, 16.
  • the grab jaws 13, 14 are pivotally mounted about bearing points 24.
  • the opening angle of the grab, or rather of the grab jaws 13, 14, is indicated by the reference numeral ⁇ .
  • the grab is shown with the grab jaws 13, 14 in the closed position
  • the grab is shown with the grab jaws 13, 14 in the open position.
  • the pivoting of the gripper jaws 13, 14 during opening and/or closing results in different heights (vertical distances) for the gripper tips 15, 16 relative to, for example, the lower edge of the crane column 5, whose position is shown by the horizontal line in the drawing.
  • first distance L1 between the gripper tips 15, 16 and the lower edge of the crane column 5.
  • second distance L2 between the gripper tips 15, 16 and the lower edge of the crane column 5.
  • the difference between the distances L1, L2 is given by
  • the reference symbol z is used, and as shown, it corresponds to the vertical component of the pivoting movement of the gripper jaws 15, 16.
  • the illustrated opening or closing position of the gripper-designed working device 3 results, for example, when the working device 3 is controlled in a first operating mode of the crane control (in Figure 1a or 1b not shown, see for details, for example Figure 3 ).
  • FIG 1b is a to Figure 1a
  • the analogous opening and closing positions of the gripper-designed working device 3 are shown, wherein the control of the working device 3 takes place in a second operating mode of the crane control according to the invention.
  • the distance L2 or the effective height of the gripper tips 15, 16 can be kept constant. This results in the same distance L2 to the lower edge of the crane column 5 in both the closed and open positions of the gripper.
  • FIG. 2 A second embodiment of crane 1 is shown, wherein structurally and functionally similar elements of crane 1 have the same reference numerals as in the embodiment of Figure 1a or 1b.
  • the crane arm of crane 1 again comprises, as shown in this embodiment, the crane column 5, the lifting arm 6 and the knuckle arm 7 with its push arms 8, 9.
  • Crane 1 has a first rotary encoder d1 for detecting the first
  • the crane has a third rotary encoder d3 for detecting the opening angle ⁇ .
  • the first articulation angle k1 is detected by a second rotary encoder d2 for detecting the second articulation angle k2.
  • a first thrust position sensor s1 detects the thrust position of the first extension arm 8, and a second thrust position sensor s2 detects the thrust position of the second extension arm 9.
  • the detection of the first articulation angle k1 and/or the second articulation angle k2 can also be achieved by detecting the extension length of the main cylinder 17 or the extension length of the articulation cylinder 18, respectively.
  • the working device 3, mounted on the crane and designed as a gripper, has a third rotary encoder d3 for detecting the opening angle ⁇ .
  • the detection of the opening angle ⁇ can also be achieved by detecting the extension length of a hydraulic cylinder (not shown) for actuating the gripper jaws 13, 14.
  • the crane position can be detected by sensors installed on the crane and the work attachment 3 by recording the crane geometry and the open or closed position of the work attachment 3.
  • the crane control unit 4 has signal inputs 25 for supplying sensor signals via signal lines from the sensors and signal outputs 26 for issuing control commands via a control line 20.
  • the crane 1 has a valve block 19, through which, for example, hydraulic valves for the hydraulic supply of hydraulic actuators (such as the main cylinder 17 and the knuckle cylinder 18) can be controlled by means of corresponding control commands.
  • the crane control unit 4 also has a memory 10, a processing unit 12, and operating elements 11 by means of which a user can enter control commands for the crane 1 or the work attachment 3.
  • the control elements 11 can, for example, also be arranged on or present on a mobile radio remote control.
  • the processing unit 12 serves, for example, to generate control commands, possibly including data stored in memory 10.
  • the extension position of the first extension arm 8 and the second extension arm 9 – and thus the effective length of the articulation arm 7 – can be detected by a single or common extension position sensor, as can be advantageous, for example, in a motion-coupled design of the extension arms 8 and 9 (e.g., by a chain, not shown).
  • the corresponding sensor signals can be fed to the crane control 4 via the signal inputs 25 and stored in the memory 10 and used for further calculations by the computing unit 12.
  • the crane control 4 automatically issues additional control commands for the movement of the crane arm without any further action by the user, in order to at least partially compensate for the vertical component of the movement of the gripper jaws 13, 14 or the gripper tips 15, 16 of the work device 3 designed as a gripper.
  • crane 1 is now in the Figure 3b The position shown.
  • the first articulation angle k1 has the measured value k12
  • the second articulation angle k2 has the measured value k22
  • the extension position of the first extension arm 8 has the measured value s12
  • the extension position of the second extension arm 9 has the measured value s22
  • the opening angle ⁇ of the working device 3, designed as a grab has the measured value ⁇ 2.
  • the change in the articulation angle positions as well as the The thrust positions can be continuous and simultaneous with the change of the opening angle ⁇ of the working device 3 designed as a gripper.
  • FIG 4 are the in Figure 3a and 3b The positions of crane 1 and working device 3 are shown side by side. It can be seen that the additional control commands issued by the crane control 4 in the second operating mode during the closing of the working device 3, which is designed as a gripper, effectively caused the crane tip 2 to be raised by the vertical component z, due to the resulting change in the geometry of the crane arm. As a result, the gripper tips 15, 16 of the gripper jaws 14, 15 of the working device 3, which is designed as a gripper, effectively remained at the same height during the closing process, i.e., were guided essentially horizontally.
  • Figure 4 shows a comparison of the closing movement of a gripper-designed working device 3 without compensation of the vertical component z, as would be the case, for example, when the working device 3 is controlled in the first operating mode of the crane control 4, and with compensation of the vertical component z, as would be the case, for example, when the working device 3 is controlled in the second operating mode of the crane control 4.
  • a gripper-designed working device 3 is shown, suspended freely from a crane tip 2 of a crane arm shown in sections.
  • the working device 3 in the open position is shown with solid lines
  • the working device 3 in the closed position is shown with dashed or broken lines.
  • Figure 1 shows a superposition of the end positions of crane 1 during a closing or opening movement of a grabber-type work device 3 located at the crane tip 2 of crane 1, when the work device 3 is controlled in the second operating mode of the crane control 4. It is clearly evident that the additional control commands result in a movement, and thus a change in the geometry, of the crane arm of crane 1 to compensate for the vertical component z of the grabber's closing or opening movement.
  • the crane arm of the crane 1 comprises the crane column 5, the lifting arm 6, the knuckle arm 7 with at least one extension arm 8, and a forward knuckle arm 21 with at least one extension arm 22.
  • a further knuckle cylinder 27 is provided to change the knuckle position of the forward knuckle arm 21 relative to the knuckle arm 7.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (15)

  1. Grue (1) avec
    - au moins un bras de grue avec une pointe de grue (2), dans laquelle un outil de travail (3) peut être disposé sur la pointe de grue (2), dans laquelle l'outil de travail (3) et/ou au moins une partie de l'outil de travail (3) est mobile par rapport à la pointe de grue (2), et
    - une commande de grue (4) pour la commande de l'au moins un bras de grue et de l'outil de travail (3) et/ou de l'au moins une partie de l'outil de travail (3), dans laquelle la commande de grue (4) est réalisée dans un premier mode de fonctionnement pour la délivrance d'instructions de commande par un utilisateur pour le mouvement de l'au moins un bras de grue et pour le mouvement de l'outil de travail (3) et/ou pour le mouvement de l'au moins une partie de l'outil de travail (3), caractérisée en ce que
    la commande de grue (4) présente au moins ce qui suit :
    - une mémoire (10) pour mettre en mémoire des données spécifiques à la grue (1) et/ou des données spécifiques aux outils de travail (3) pouvant être disposés sur la grue (1)
    - des entrées de signaux (25) pour l'amenée de signaux de capteur à partir de capteurs (d1, d2, s1, s2) pouvant être disposés sur la grue (1) et/ou de capteurs (d3) pouvant être disposés sur un outil de travail (3) disposé sur la grue (1)
    - des sorties de signaux (26) pour l'émission de signaux de commande pour l'au moins un bras de grue et/ou l'outil de travail (3) et/ou l'au moins une partie de l'outil de travail (3)
    - des éléments de commande utilisateur (11) pour la délivrance d'instructions de commande pour le mouvement de l'au moins un bras de grue et/ou de l'outil de travail (3) et/ou de l'au moins une partie de l'outil de travail (3)
    une unité de calcul (12) pour le traitement de données provenant de la mémoire (10) et de signaux de capteurs et pour la génération d'instructions de commande, dans laquelle la commande de grue (4) présente un autre mode de fonctionnement activable, dans lequel la commande de grue (4) est réalisée pour, lorsque l'outil de travail (3) est disposé sur la pointe de grue (2), lors de la délivrance d'instructions de commande prédéterminés pour des mouvements de travail possibles de l'outil de travail (3) par un utilisateur pour le mouvement de l'outil de travail (3) disposé sur la pointe de grue (2) et/ou pour le mouvement de l'au moins une partie de l'outil de travail (3) disposé sur la pointe de grue (2) de la commande de grue (4), des instructions de commande supplémentaires pour le mouvement de l'au moins un bras de grue puissent être émises pour compenser au moins partiellement au moins une composante du mouvement de l'outil de travail (3) et/ou du mouvement de l'au moins une partie de l'outil de travail (3), dans laquelle le mouvement de l'outil de travail (3) et/ou de l'au moins une partie de l'outil de travail (3) est un mouvement de pivotement par rapport à la pointe de grue (2).
  2. Grue (1) selon la revendication précédente, dans laquelle les instructions de commande supplémentaires peuvent être émises en fonction d'au moins un paramètre du mouvement de l'outil de travail (3) disposé sur la pointe de grue (2) et/ou du mouvement de l'au moins une partie de l'outil de travail (3) disposé sur la pointe de grue (2).
  3. Grue (1) selon au moins l'une des revendications précédentes, dans laquelle les instructions de commande supplémentaires peuvent être émises par la commande de grue (4) sensiblement en même temps que la délivrance des instructions de commande prédéterminées pour le mouvement de l'outil de travail (3) et/ou de l'au moins une partie de l'outil de travail (3).
  4. Grue (1) selon au moins l'une des revendications précédentes, dans laquelle, lors du mouvement du bras de grue du fait des instructions de commande supplémentaires de la commande de grue (4), la pointe de grue (2) est déplaçable dans un plan du bras de grue.
  5. Grue (1) selon au moins l'une des revendications précédentes, dans laquelle, lors du mouvement du bras de grue du fait des instructions de commande supplémentaires de la commande de grue (4), la pointe de grue (2) est déplaçable dans une direction de l'au moins une composante - de préférence le long d'une ligne droite -.
  6. Grue (1) selon au moins l'une des revendications précédentes, dans laquelle le bras de grue présente au moins une colonne de grue (5) - de préférence pouvant tourner autour d'un axe de rotation vertical - et au moins un bras de levage (6) monté sur la colonne de grue (5) de manière à pouvoir pivoter - de préférence autour d'un premier axe de pivotement horizontal -, dans laquelle le bras de levage (6) présente de préférence au moins un bras de poussée.
  7. Grue (1) selon la revendication précédente, dans laquelle le bras de grue présente en outre au moins un bras articulé (7) monté sur le bras de levage (6) de manière à pouvoir pivoter - de préférence autour d'un deuxième axe de pivotement horizontal -, dans laquelle le bras articulé (7) présente de préférence au moins un bras de poussée (8, 9).
  8. Grue (1) selon la revendication précédente, dans laquelle le bras de grue présente en outre au moins un bras articulé auxiliaire (21) monté sur le bras articulé (7) de manière à pouvoir pivoter - de préférence autour d'un troisième axe de pivotement horizontal -, dans laquelle le bras articulé auxiliaire (21) présente de préférence au moins un bras de poussée (22).
  9. Grue (1) selon au moins l'une des revendications précédentes, dans laquelle la commande de grue (4) est réalisée pour qu'un outil de travail (3) disposé sur la pointe de grue (2) puisse être indiqué à la commande de grue (4) par un utilisateur et/ou qu'un outil de travail (3) disposé sur la pointe de grue (2) soit automatiquement reconnaissable par la commande de grue (4), et que des instructions de commande supplémentaires spécifiques à l'outil de travail (3) puissent être émises en fonction de l'outil de travail (3) prédéterminé et/ou reconnu.
  10. Grue (1) selon au moins l'une des revendications précédentes avec un outil de travail (3) disposé sur la pointe de grue (2) du bras de grue.
  11. Grue (1) selon la revendication précédente, dans laquelle l'outil de travail (3) est réalisé en tant que grappin avec
    - au moins deux mâchoires de grappin (13, 14) mobiles de manière à pouvoir pivoter autour de respectivement un point d'appui (24) sur l'outil de travail (3) avec des pointes de grappin (15, 16) ou avec
    - au moins deux coques de grappin mobiles de manière à pouvoir pivoter autour de respectivement un point d'appui sur l'outil de travail (3) avec des lames de grappin.
  12. Grue (1) selon la revendication précédente, dans laquelle, les pointes de grappin (15, 16) ou lames de grappin se déplacent sensiblement le long d'une ligne droite ou dans un plan lors d'un mouvement d'ouverture et/ou de fermeture des mâchoires de grappin (13, 14) ou coques de grappin par l'intermédiaire du mouvement du bras de grue du fait des instructions de commande supplémentaires.
  13. Grue (1) selon la revendication précédente, dans laquelle la composante au moins partiellement compensée du mouvement est la distance normale des lignes droites ou du plan changeant lors d'un mouvement d'ouverture et/ou de fermeture par rapport au point d'appui respectif.
  14. Grue (1) selon l'une quelconque des deux revendications précédentes, dans laquelle les instructions de commande prédéterminées par un utilisateur pour le mouvement de l'outil de travail (3) et/ou pour le mouvement de l'au moins une partie de l'outil de travail (3) comprennent des instructions de commande pour ouvrir et/ou fermer les mâchoires de grappin (13, 14) ou coques de grappin du grappin.
  15. Grue (1) selon la revendication 2 et au moins l'une des revendications 11 à 14, dans laquelle l'au moins un paramètre du mouvement est l'angle d'ouverture et/ou de fermeture (α) des mâchoires de grappin (13, 14) ou coques de grappin.
EP17162557.7A 2017-03-23 2017-03-23 Grue Active EP3378823B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP17162557.7A EP3378823B1 (fr) 2017-03-23 2017-03-23 Grue
RU2018110065A RU2683918C1 (ru) 2017-03-23 2018-03-22 Кран
BR102018005767-7A BR102018005767A2 (pt) 2017-03-23 2018-03-22 guindaste
US15/928,883 US20180273350A1 (en) 2017-03-23 2018-03-22 Crane
JP2018054856A JP2018158840A (ja) 2017-03-23 2018-03-22 クレーン
KR1020180033510A KR20180108500A (ko) 2017-03-23 2018-03-22 크레인

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP17162557.7A EP3378823B1 (fr) 2017-03-23 2017-03-23 Grue

Publications (3)

Publication Number Publication Date
EP3378823A1 EP3378823A1 (fr) 2018-09-26
EP3378823B1 true EP3378823B1 (fr) 2025-12-17
EP3378823C0 EP3378823C0 (fr) 2025-12-17

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Country Link
US (1) US20180273350A1 (fr)
EP (1) EP3378823B1 (fr)
JP (1) JP2018158840A (fr)
KR (1) KR20180108500A (fr)
BR (1) BR102018005767A2 (fr)
RU (1) RU2683918C1 (fr)

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DE102017123895A1 (de) * 2017-10-13 2019-04-18 Albach Maschinenbau GmbH Schwerlasthebeeinheit mit einem einen Hub durchführenden Schwerlastgreifer sowie ein Verfahren zur Durchführung einer Greifbewegung
SI25991B (sl) 2020-04-23 2024-02-29 Tajfun Liv, Proizvodnja In Razvoj D.O.O. Računalniško vodeno mobilno dvigalo
SI26015A (sl) * 2020-06-12 2021-12-31 Tajfun Liv, Proizvodnja In Razvoj D.O.O. Mobilno teleskopsko hidravlično dvigalo
KR102429306B1 (ko) * 2020-11-26 2022-08-04 김완수 복합작업용 어태치먼트 장착 지게차
SE545075C2 (sv) * 2021-09-06 2023-03-21 Komatsu Forest Ab Kran med kranstyrning, samt skogsmaskin innefattande sådan kran
CN114476950B (zh) * 2021-12-24 2023-10-27 南京港机重工制造有限公司 一种基于重量传感器信号采集的抓斗抓取量智能控制系统
CN115321334A (zh) * 2022-07-25 2022-11-11 山东中衡光电科技有限公司 一种柔索式矿用并联组装平台
CN117023404A (zh) * 2023-04-20 2023-11-10 宝武物流资产有限公司南京分公司 一种固定式起重机抓斗开闭动态控制系统
EP4474333A1 (fr) * 2023-06-05 2024-12-11 EPSILON Kran GmbH. Grue
CN117342428A (zh) * 2023-12-06 2024-01-05 河南卫华重型机械股份有限公司 一种酿酒用平层取糟抓斗起重机控制方法
KR102689470B1 (ko) 2024-03-30 2024-07-29 주식회사 집카 진동 방지용 메인 완충 모듈을 포함하는 크레인
CN119976650B (zh) * 2025-01-13 2026-01-06 中联重科股份有限公司 起重机控制方法、电子设备、起重机及可读存储介质

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Also Published As

Publication number Publication date
BR102018005767A2 (pt) 2018-12-18
EP3378823A1 (fr) 2018-09-26
JP2018158840A (ja) 2018-10-11
KR20180108500A (ko) 2018-10-04
RU2683918C1 (ru) 2019-04-02
EP3378823C0 (fr) 2025-12-17
US20180273350A1 (en) 2018-09-27

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