EP3556710B1 - Grue avec bras articulé - Google Patents

Grue avec bras articulé Download PDF

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Publication number
EP3556710B1
EP3556710B1 EP19153039.3A EP19153039A EP3556710B1 EP 3556710 B1 EP3556710 B1 EP 3556710B1 EP 19153039 A EP19153039 A EP 19153039A EP 3556710 B1 EP3556710 B1 EP 3556710B1
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EP
European Patent Office
Prior art keywords
effector
arm
crane
actuators
articulated arm
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.)
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EP19153039.3A
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German (de)
English (en)
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EP3556710A1 (fr
Inventor
Ivan MAFFEIS
Valentino Birolini
Roberto Signori
Rossano Ceresoli
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FASSI GRU SpA
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FASSI GRU SpA
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Publication of EP3556710A1 publication Critical patent/EP3556710A1/fr
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    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices

Definitions

  • the present invention refers to a crane with articulated arm, such as an articulated crane or an elevating work platform (EWP), provided with a system for compensating deformations caused by applied loads.
  • articulated arm generally means a system provided with a plurality of bodies consecutively connected to each other in order to form an open kinematic chain having a plurality of translative and/or rotative degrees of freedom in the space.
  • these generally have a vertically rotative column, a main arm rotative with respect to the column, one or more secondary arms provided with extensions.
  • the free end of the last extension of the secondary arm is commonly known as end-effector.
  • a hook for hoisting loads or, in case of an EWP, a basket for lifting persons could be for example associated to the end-effector.
  • a typical example of such crane is disclosed in document EP3239092A1 which shows a hydraulic crane having a column and an articulated boom with plurality of bodies consecutively connected, one or more first sensors associated to the respective bodies and a control unit.
  • the articulated arm Due to the load applied at the end-effector, the articulated arm is subjected to elastic deformations which disappear when the load is removed. Consequently, sometimes the end-effector could be subjected to height variations because a load is added or removed from it.
  • the above described condition can be dangerous. It is cited the case, for example, of a yard crane operated for moving materials into a recess. As soon as the crane unloads the materials, the elastic deformation of the arm disappears, consequently the crane can hit the structure where the recess is located. Now it is made reference to an EWP, the load thereof being composed by one or more persons contained in a basket. If the basket is positioned at a right height for enabling these persons to easily descend, as soon as the basket is empty, it moves up to a higher level. Consequently, the persons will not be capable to get up again on the basket because it is at this higher level.
  • a crane with articulated arm such as an articulated crane or an EWP, which is capable of overcoming the inconveniences cited with reference to the prior art, particularly which enables to control height variations of the end-effector determined by load variations of the end-effector in a sufficiently accurate way.
  • the articulated crane can be of a different type, for example can be a robotic arm or an elevating work platform (EWP).
  • EWP elevating work platform
  • FIG. 1 shows an example of a possible crane with articulated arm, particularly an articulated crane, for example a “hydraulic loader crane” generally indicated by reference 101.
  • the crane 101 comprises a column 102 rotative with respect to a stationary reference about its own axis, and one or more possibly extendable arms 103', 103".
  • the possibility of extending the arms, if provided, is obtained by a plurality of extensions 104 translatingly movable from each other in order to modify the axial length of the corresponding arm.
  • just the secondary arm 103" can be lengthened by actuating the extensions 104.
  • the first arm 103', devoid of extensions is termed "main arm”
  • the secondary arm 103" provided with the extensions 104
  • the free end 105 of the last extension of the secondary arm 103 is commonly termed end-effector.
  • a hook 106 actuatable by a rope winch 107 can be provided at the end-effector 105, for example. If the articulated arm is an EWP, the hook can be substituted with a basket (not shown in the figures), for hoisting persons, for example.
  • the crane 101 without considering the degree of freedom of the hook 106 or basket, consequently, has the following degrees of freedom:
  • the above described crane implements an open kinematic chain, with a plurality of consecutively connected bodies (column, main arm, secondary arm, extensions) and a free end (end-effector 105).
  • the end-effector 105 is the point of the kinematic chain wherein the load transported by the articulated arm itself is applied.
  • the crane 101 is provided with a plurality of actuators, particularly at least one actuator corresponding to a determined degree of freedom, for executing such movements.
  • a first hydraulic jack 108, moving the main arm 103' with respect to the column 102, a second hydraulic jack 109, moving the secondary arm 103" with respect to the main arm 103', and an actuator 110 for moving the column 102 with respect to the stationary reference are shown, for example.
  • further actuators will be provided (not shown in the figures) for example of a hydraulic type, for moving the extensions 104.
  • the actuators of the cranes are usually of a hydraulic type, generally it is possible to provide actuators of a different type (electric or pneumatic, for example) for the articulated arms.
  • the crane 101 comprises a plurality of sensors adapted to measure an angle or a linear extension of a body of the kinematic chain, with respect to the preceding body of the chain or with respect to a stationary reference.
  • the first sensors are selected and positioned to obtain measurements which enable to determine the theoretical absolute coordinates of the end-effector 105, particularly the Cartesian coordinates thereof with respect to a stationary reference. For example, if the origin of a reference Cartesian system coincides with the base of the column 102, the theoretical absolute coordinates of the end-effector 105 can be expressed by the three values x, y, z.
  • the plurality of first sensors can include:
  • the first sensors can include linear or angular encoders, magnetostrictive sensors, inertial platforms or similar, for example. From the signals of the above cited first sensors, it is possible, by geometrical relationships, to determine the theoretical absolute coordinates of the end-effector 105. As it will be more clearly explained in the following, such coordinates are termed "theoretical" since they do not consider the deformations of the bodies forming the kinematic chain, or, in other words, they consider such bodies as they were perfectly rigid bodies.
  • the first sensors can be selected and positioned in order to obtain measurements which enable to determine only the theoretical height of the end-effector 105, for example the theoretical absolute coordinate y.
  • the articulated arm 101 further comprises at least one second absolute angular sensor placed in proximity of or at the end-effector 105.
  • Such second absolute angular sensor is particularly capable of measuring an absolute inclination angle with respect to a stationary reference, of a segment of the body of the articulated arm on which the end-effector 105 lies.
  • the absolute inclination of the body on which the end-effector 105 lies can be measured with respect to the horizontal (or vertical), for example.
  • such sensor will measure, e.g. the absolute angle included between a line joining the point connecting the secondary arm 103" to the first movable extension, and the end-effector 105, with respect to the horizontal, for example.
  • the second absolute angular sensor can comprise, for example, an inertial sensor capable of measuring a rotation angle between the gravity, which is per se perfectly vertical, and an acceleration lying on a reference line rotating with respect to the vertical.
  • FIG. 2 schematically illustrating an articulated arm 101, with a column 102 (schematically shown in the example as perfectly vertical, even though physically it can have a certain inclination angle with respect to the vertical) of length a, a main arm 103' of length b and rotative with respect to the column 104, and a secondary arm 103" rotative with respect to the main arm 103' and of length c, wherein the main arm further comprises one or more extensions 104 which can project of a varying amount ⁇ d from the secondary arm 103".
  • the sensors of the articulated arm comprise a sensor for measuring an absolute angle ⁇ of the main arm 103', a sensor for measuring an absolute angle ⁇ of the secondary arm 103", a sensor for measuring the linear projection ⁇ d of the extensions 104 from the secondary arm 103", and the second absolute angular sensor for measuring the absolute angle ⁇ of the extensions 104, at the end thereof the end-effector 105 is placed.
  • the above cited angles are referred to the horizontal.
  • Figure 2 shows a pair of Cartesian axes x-y, the origin thereof conventionally coincides with the base of the column 102.
  • a rotation sensor of the column 102 with respect to a stationary reference (axis z of the pair x-y not shown in the figures) can be provided, which however is not relevant for determining the height of the end-effector.
  • y 105 a + b ⁇ sin ⁇ + c + ⁇ d ⁇ sin ⁇
  • the second absolute angular sensor at the end-effector 105 would theoretically measure an angle ⁇ equal to ⁇ without any deformations.
  • the extensions 104 will inflect (broken line) due to the deformations and allowances in the joints, particularly in the extensions, and the end-effector 105 will reach an effective height y 105 * less than the theoretical height y 105 , so that the second absolute angular sensor will measure an angle ⁇ less than ⁇ .
  • the articulated arm 101 therefore comprise one or more further second absolute angular sensors associated to the bodies forming the open kinematic chain, arranged at or in proximity of the joints of the following body of the kinematic chain.
  • second additional absolute angular sensors can be provided at least on the bodies implementing linear relative movements since these latter are more susceptible to deformations due to the joints.
  • the main arm 103' were provided with extensions, it would be possible to provide a further absolute angular sensor at the last extension in proximity of the rotative joint for connecting the secondary arm 103".
  • the articulated arm 101 comprises a control unit operatively connected to the actuators, for moving them, and to the above cited first and second sensors, for receiving signals indicative of the above given magnitudes.
  • the control unit is configured to:
  • Compensating the difference between the theoretical height and actual height can be differently performed according to the circumstances. Moreover, it can be performed both when the end-effector is still and when the same is moving.
  • the end-effector 105 should remain at the same height even though a load is removed.
  • a load is removed.
  • the control unit can be configured to operate the actuators in order to hold the end-effector at the actual height estimated in the presence of the load, also when the load is removed because the unloaded end-effector would tend to return to the theoretical height.
  • the end-effector 105 should be held at the same height as the one it had in an unloaded condition even though the load is applied.
  • the control unit can be configured to operate the actuators for holding the end-effector in the position corresponding to the theoretical absolute coordinates of a loaded condition when the end-effector would tend to move down.
  • Another possibility consists of compensating the deformations when the crane is moving.
  • the movement by supplying a sequence of absolute coordinates of the end-effector to the control unit.
  • the movement instructions can be imparted by providing a user interface device connected to the control unit, in order to enable an operator to manually move the crane and possibly to gain access to other functions.
  • the user interface device can comprise a remote control and the control unit can comprise a transmission module for communicating with this latter (a radio transmission module, for example).
  • the absolute coordinate sequence can be directly set by the operator or a previously performed stored movement sequence can be repeated.
  • the operator can also activate or deactivate the compensation of the deformation by the user interface device.
  • control unit is configured to act on the actuators so that the end-effector 105 follows a trajectory intercepting the points set as the desired coordinates.
  • operative predefined logics are generally provided, so that the control unit selects which actuators must be operated for performing a certain desired movement of the end-effector.
  • an actuation logic can be one which minimizes the oil flow rate or the hydraulic power required to operate the actuators.
  • a further logic can be one of the minimum distance travelled by the end-effector for arriving to a desired position.
  • a further often used criterion for example in combination with one of the above cited criteria, consists of holding the actuators away from the stop position.
  • the predetermined operative logics are per se known and therefore they are not specifically described.
  • control unit is advantageously configured to monitor, for each coordinate of the predefined sequence, the actual height of the end-effector, estimated according to said modes, and to act on the actuators for taking the end-effector to the theoretical height, which is the height corresponding to the absolute coordinates set by the operator.
  • control unit and the elements indicated by the term “module” can be implemented by hardware devices (central units, for example), by software or by a combination of hardware and software.
  • the articulated arm of the crane can be moved by means of a Cartesian coordinate logic and that it is possible to compensate, both under static and dynamic conditions, the height reduction of the end-effector caused by applied loads.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Jib Cranes (AREA)

Claims (9)

  1. Grue avec bras articulé, le bras articulé (101) comprenant :
    - une pluralité de corps reliés de manière consécutive pour former une chaîne cinématique ouverte avec un effecteur terminal (105), ayant une pluralité de degrés de liberté en translation et/ou en rotation et une pluralité d'actionneurs pour déplacer lesdits corps ;
    - un ou plusieurs premiers capteurs associés auxdits corps, adaptés pour fournir des signaux indicatifs de positions linéaires ou angulaires des corps de la chaîne cinématique afin de permettre de déterminer une hauteur théorique de l'effecteur terminal (105) ;
    - au moins un second capteur angulaire absolu adapté pour mesurer un angle absolu du corps de la chaîne cinématique où se situe l'effecteur terminal (105) et pour fournir un signal indicatif de celui-ci ;
    - une unité de commande fonctionnellement connectée auxdits actionneurs, auxdits un ou plusieurs premiers capteurs, et audit au moins un second capteur angulaire absolu, configurée pour :
    - déterminer ladite hauteur théorique de l'effecteur terminal (105) sur la base des signaux provenant du ou des premiers capteurs ;
    - estimer une variation de hauteur de l'effecteur terminal (105) entre la hauteur théorique et une hauteur effective déterminée par des charges appliquées au bras sur la base de signaux provenant du ou des premiers capteurs et de l'au moins un second capteur angulaire absolu ;
    - commander les actionneurs pour réduire la variation de hauteur estimée de l'effecteur terminal (105), ladite grue articulée comprend une colonne (102) pouvant tourner autour de son axe, ladite pluralité de corps comprend un bras principal (103') pouvant tourner par rapport à la colonne (102), un bras secondaire (103") pouvant tourner par rapport au bras principal (103') et comprenant au moins une extension extensible en translation par rapport au bras secondaire lui-même, et lesdits un ou plusieurs premiers capteurs comprennent un capteur angulaire pour mesurer la rotation du bras principal (103'), un capteur angulaire pour mesurer la rotation du bras secondaire (103"), un capteur linéaire pour mesurer la translation de l'au moins une extension (104) par rapport au bras secondaire (103"), et ledit au moins un second capteur angulaire absolu est disposé sur l'au moins une extension (104) du bras secondaire (103') à proximité de ou au niveau de l'effecteur terminal (105).
  2. Grue avec bras articulé (101) selon la revendication 1, dans laquelle ladite unité de commande est configurée de sorte que ladite étape de commande des actionneurs pour réduire la variation de hauteur estimée de l'effecteur terminal (105) comprend la commande des actionneurs pour maintenir l'effecteur terminal (105) à la hauteur effective estimée en présence d'une charge appliquée lors du retrait de ladite charge.
  3. Grue avec bras articulé (101) selon la revendication 1 ou 2, dans laquelle ladite unité de commande est configurée de sorte que ladite étape de commande des actionneurs pour réduire la variation de hauteur estimée de l'effecteur terminal (105) comprend la commande des actionneurs pour maintenir l'effecteur terminal (105) à la hauteur théorique lors de l'application d'une charge.
  4. Grue avec bras articulé (101) selon l'une quelconque des revendications précédentes, dans laquelle ladite unité de commande est configurée de sorte que ladite étape de commande des actionneurs pour réduire la variation de hauteur estimée de l'effecteur terminal (105) est effectuée lorsque le bras articulé est immobile.
  5. Grue avec bras articulé (101) selon l'une quelconque des revendications précédentes, dans laquelle ladite unité de commande est configurée pour déplacer le bras articulé selon une séquence de coordonnées absolues prédéterminées de l'effecteur terminal (105), l'unité de commande étant en outre configurée pour commander les actionneurs pour réduire la variation de hauteur estimée de l'effecteur terminal dans chaque coordonnée absolue prédéterminée de la séquence des coordonnées absolues prédéterminées.
  6. Grue avec bras articulé (101) selon l'une quelconque des revendications précédentes, comprenant en outre un ou plusieurs seconds capteurs angulaires absolus supplémentaires associés aux corps formant la chaîne cinématique, dans laquelle ladite unité de commande est fonctionnellement connectée auxdits seconds capteurs angulaires absolus supplémentaires et est configurée pour estimer la variation de hauteur de l'effecteur terminal entre la hauteur théorique et la hauteur effective déterminée par des charges appliquées au bras en se basant en outre sur les signaux provenant des seconds capteurs angulaires absolus supplémentaires.
  7. Grue avec bras articulé (101) selon l'une quelconque des revendications précédentes, comprenant en outre un dispositif d'interface utilisateur communiquant avec l'unité de commande et configuré pour activer et désactiver l'étape de commande des actionneurs pour réduire la variation de hauteur estimée de l'effecteur terminal (105).
  8. Grue avec bras articulé (101) selon l'une quelconque des revendications précédentes, dans laquelle lesdits un ou plusieurs premiers capteurs comprennent un capteur angulaire absolu adapté pour mesurer un angle absolu d'un corps de la chaîne cinématique par rapport à une référence, et/ou un capteur linéaire adapté pour mesurer l'étendue linéaire d'un ou plusieurs desdits corps par rapport au corps précédent de la chaîne cinématique.
  9. Grue avec bras articulé (101) selon l'une quelconque des revendications précédentes, dans laquelle ledit bras articulé (101) comprend une plateforme de travail élévatrice (PLE).
EP19153039.3A 2018-04-19 2019-01-22 Grue avec bras articulé Active EP3556710B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT102018000004717A IT201800004717A1 (it) 2018-04-19 2018-04-19 Braccio articolato provvisto di un sistema per la compensazione di deformazioni dovute a carichi

Publications (2)

Publication Number Publication Date
EP3556710A1 EP3556710A1 (fr) 2019-10-23
EP3556710B1 true EP3556710B1 (fr) 2023-01-11

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EP19153039.3A Active EP3556710B1 (fr) 2018-04-19 2019-01-22 Grue avec bras articulé

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EP (1) EP3556710B1 (fr)
DK (1) DK3556710T3 (fr)
FI (1) FI3556710T3 (fr)
IT (1) IT201800004717A1 (fr)
PL (1) PL3556710T3 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT17596U1 (de) * 2021-05-14 2022-08-15 Palfinger Ag Verfahren zum Steuern und/oder Regeln eines fahrzeuggebundenen Hebezeuges
EP4389678A1 (fr) * 2022-12-21 2024-06-26 Hiab AB Ensemble vérin hydraulique et grue comprenant un tel ensemble

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3239092A1 (fr) * 2016-04-25 2017-11-01 Cargotec Patenter AB Grue hydraulique

Family Cites Families (5)

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Publication number Priority date Publication date Assignee Title
JPS571195A (en) * 1980-06-03 1982-01-06 Komatsu Mfg Co Ltd Safety device for crane
BRPI0914428A2 (pt) * 2008-10-16 2015-10-20 Eaton Corp método para controlar um conjunto de lança, veículo de trabalho, método para calibrar razão de amortecimento e frequencia natural de um conjunto de lança e método para conformar um sinal de controle a uma estrutura flexível
WO2013006625A2 (fr) * 2011-07-05 2013-01-10 Trimble Navigation Limited Assistance pour manœuvre de grue
CN103206090B (zh) * 2012-12-27 2016-08-10 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 一种混凝土泵车智能臂架控制及其变形补偿的方法
DE202013003782U1 (de) * 2013-04-22 2013-05-07 Manitowoc Crane Group France Sas Sensorbasierte Überwachung von Windrichtung und Wärmeeinstrahlung für ein mobiles Arbeitsgerät

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3239092A1 (fr) * 2016-04-25 2017-11-01 Cargotec Patenter AB Grue hydraulique

Also Published As

Publication number Publication date
EP3556710A1 (fr) 2019-10-23
FI3556710T3 (fi) 2023-02-22
DK3556710T3 (da) 2023-01-30
PL3556710T3 (pl) 2023-03-27
IT201800004717A1 (it) 2019-10-19

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