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EP1149796A2 - Steuervorrichtung für Turmkräne - Google Patents

Steuervorrichtung für Turmkräne Download PDF

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Publication number
EP1149796A2
EP1149796A2 EP01420056A EP01420056A EP1149796A2 EP 1149796 A2 EP1149796 A2 EP 1149796A2 EP 01420056 A EP01420056 A EP 01420056A EP 01420056 A EP01420056 A EP 01420056A EP 1149796 A2 EP1149796 A2 EP 1149796A2
Authority
EP
European Patent Office
Prior art keywords
signals
signal
control
crane
coming
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.)
Granted
Application number
EP01420056A
Other languages
English (en)
French (fr)
Other versions
EP1149796A3 (de
EP1149796B1 (de
Inventor
Pascal Ducrot
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.)
Manitowoc Crane Group France SAS
Original Assignee
Potain SA
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 Potain SA filed Critical Potain SA
Publication of EP1149796A2 publication Critical patent/EP1149796A2/de
Publication of EP1149796A3 publication Critical patent/EP1149796A3/de
Application granted granted Critical
Publication of EP1149796B1 publication Critical patent/EP1149796B1/de
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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • B66C13/44—Electrical transmitters

Definitions

  • the present invention relates to a control-command device for tower cranes, especially for small cranes, with integration of a set of functions, and suitable for radio control.
  • radio control systems composed of a transmitting unit, incorporated into the control station used by the crane operator, and a receiving unit located in the electrical cabinet of crane control, the receiving unit usually being connected to the connector of a conventional cable remote control.
  • redundancy security management systems identical circuits or by redundancy with diversity, based on circuits can be electromechanical or electronic.
  • the aforementioned functions do not usually exist not for small cranes, which are the area of application principal of the present invention, the cost of these functions, separate the each other, being considered too high compared to the overall price of the crane.
  • the present invention therefore aims to bring the cost of these functions, by their integration, at a level acceptable for small cranes, so as to bring them significant technological progress, their conferring technicality, a variety of functions and security comparable to those of larger cranes for an affordable price.
  • the invention essentially relates to a device control command which includes, for all movements of the crane such as lifting, rotation, distribution and translation, one unit control electronics receiving at its inputs and processing the control signal from the radio control unit, as well as signals from sensors and switches, and delivering to its outputs from start and stop orders, controlling the action of variable speed drives or other control devices assigned to movements, as well as the action of the crane safety devices.
  • the electronic control unit receives and processes including signals from position sensors and load, a signal from a brake status feedback sensor associated with each movement of the crane, a signal from a horizontal sensor of part of the crane, inclinometer type, and a signal from an anemometer.
  • the electronic control and command unit can still receive and process signals from a normal / emergency switch.
  • the electronic control unit control-command issues in particular a start or stop order controlled at variable speed drives, an instant stop order sent to same variable speed drives, and a signal directed to an actuator of general shutdown.
  • the electronic unit of control-command receives and still processes signals from a normal run / mount switch, as well as signals related to configuration of the crane being assembled, and it includes a sequencer receiving these signals and delivering control signals actuators, such as cylinders, for folding and unfolding the crane in one continuous sequence.
  • the electronic control unit can also deliver, by radio, information corresponding to the input signals processed, information which is transmitted to driving assistance means, especially in the form of an indicator placed on the housing radio control.
  • the same electronic control unit can still issue a crane vane signal, from a signal wind vane command issued by the radio control unit.
  • the electronic control unit also includes at least one data and program memory, which receives, processes and stores position, load, inclinometer signals and the anemometer, as well as a copy of the state of the brake, the memories can be queried from terminals, such as terminal operator or remote terminal.
  • terminals such as terminal operator or remote terminal.
  • the device according to the invention can also perform an action zone limitation, using threshold comparator-multiplier receiving and processing signals from position sensors, and according to the parameters in memory, with issuance of a stop command immediate directed to the drive.
  • the electronic unit may include an input for the downloading update information from a terminal at distance, to the memory (s).
  • the device represented in the form of a block diagram, mainly includes an electronic control unit, designated as a whole by the reference 2, operating on the basis of low level electrical signals, particularly in connection with a box radio control 3 and with various sensors.
  • Each movement of the crane such as: lifting, rotation, distribution or translation, has parts of a control unit 2 similar to that described above, the example here detailed more particularly concerning the lifting movement.
  • the radio remote control 3 transmits a radio signal 4, which is received by the device and transformed, by the decoder 43, into a running order 27 transmitted via the "AND" gate 50 to the speed controller 28, which powers the motor 29 and the brake 10.
  • the motor 29 drives the corresponding mechanism (for example for the lifting movement), and one of the position sensors 6, according to the controlled movement, delivers the signal 5.
  • the signal 4, emitted by the radio control 3, is deleted.
  • the speed controller 28 no longer receives a run command 22, which generates a controlled movement stop, the variator 28 ceasing to supply the motor 29 and the brake 10 which, being a lack brake current, then blocks the movement.
  • the operator switches switch 16 to its position emergency march, which has the effect of making the emergency operation command 58, and to make signal 4 inoperative by from the radio remote control unit 3.
  • the signal issued by this emergency run command 58 is transmitted by through the “AND” gate 50, and generates a run command 27 for the variator 28.
  • the operation is then carried out in a similar manner to the normal operation, explained at the beginning of this description of operation.
  • the work / assembly switch 14 is toggled, by the operator, in the mounting position, which has the effect of directing the signal command 4, from radio control 3, or the signal from emergency run command 58, to sequencer 49.
  • the sequencer 49 respectively controls the solenoid valves 35, 36 for folding and unfolding the boom and mast, by the signals 33, 34, this alternately depending on the signals 21 which represent the position boom and mast. Folding or unfolding is thus carried out in one continuous sequence.
  • the operator By pressing a button on the radio control unit 3, the operator sends a particular control signal received by the decoder 43, which then transmits the wind vane signal 61, causing the action of the crane weather vane device 62.
  • the signal 17 from the inclinometer 18 attacks the comparator-filter with fixed threshold 47.
  • the signal 19 from the anemometer 20 attacks the comparator - filter with adjustable thresholds 48.
  • the output signals of these two comparators 47 and 48 are received at the corresponding inputs of the “AND” door 50, which authorizes the controlled start or stop order 27 sent to the speed controller 28, or inhibits this command in the event of tilting excessive crane or too strong wind.
  • the position sensors 6 deliver the signals 5 which attack the comparator - threshold multiplier 45.
  • This comparator 45 delivers, in function of the parameters in memory, the immediate stop order 30 directed to the drive 28.
  • the signals 5 and 7, respectively of position and load, are received and processed by the encoder 44, which transmits the information 37 by radio to the indicator 38 on the radio control unit 3.
  • the position 5, charge 7 and feedback 9 signals of the state of the brake 10 and anemometer 19 are also received, processed and stored in the data memory 59 and program memory 60, which can be interrogated via operator terminal 40 or terminal remote 26.
  • the signal 25, coming from the remote terminal 26, makes it possible to set update the data memory 59 and the program memory 60.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP01420056A 2000-04-28 2001-03-01 Steuervorrichtung für Turmkräne Expired - Lifetime EP1149796B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITMI200940 2000-04-28
IT2000MI000940A IT1317433B1 (it) 2000-04-28 2000-04-28 Dispositivo di controllo di comando per gru a torre

Publications (3)

Publication Number Publication Date
EP1149796A2 true EP1149796A2 (de) 2001-10-31
EP1149796A3 EP1149796A3 (de) 2003-04-16
EP1149796B1 EP1149796B1 (de) 2005-06-22

Family

ID=11444940

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01420056A Expired - Lifetime EP1149796B1 (de) 2000-04-28 2001-03-01 Steuervorrichtung für Turmkräne

Country Status (7)

Country Link
US (1) US6634514B2 (de)
EP (1) EP1149796B1 (de)
JP (1) JP2002003157A (de)
DE (1) DE60111591T2 (de)
ES (1) ES2243424T3 (de)
IT (1) IT1317433B1 (de)
RU (1) RU2259579C2 (de)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7061438B2 (en) 2002-10-10 2006-06-13 Potain Radio-control antenna support arm for lifting machinery
WO2014173609A1 (de) * 2013-04-22 2014-10-30 Manitowoc Crane Group Frances Sas Sensorbasierte überwachung von windrichtung und wärmeeinstrahlung für ein mobiles arbeitsgerät
CN104261260A (zh) * 2014-08-13 2015-01-07 青岛盛嘉信息科技有限公司 一种起重机控制方法
US11267681B2 (en) * 2018-02-28 2022-03-08 Tadano Ltd. Crane

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004137035A (ja) * 2002-10-17 2004-05-13 Nippon Sharyo Seizo Kaisha Ltd 移動式クレーンの監視カメラの表示制御装置
DE102005048386A1 (de) * 2005-10-10 2007-04-12 Huber Und Brendel Inhaber: Wolfgang Brendel Funkfernsteuereinrichtung für ein Arbeitsgerät
DE102007018646A1 (de) * 2007-04-19 2008-10-30 Liebherr-Werk Nenzing Gmbh Verfahren zum Steuern einer Lastbewegungsvorrichtung und Steuerung einer Lastbewegungsvorrichtung
FR2931466B1 (fr) * 2008-05-22 2011-01-07 Manitowoc Crane Group France Procede de commande du mouvement d'orientation de la partie tournante d'une grue a tour
DE102013006258A1 (de) * 2013-04-11 2014-10-16 Liebherr-Components Biberach Gmbh Kran
CN104760892B (zh) * 2014-01-06 2016-09-28 中国特种设备检测研究院 港口起重机健康监测与预报可视化系统
CN104192716A (zh) * 2014-08-01 2014-12-10 青岛盛嘉信息科技有限公司 塔式起重机控制方法
CN104176640A (zh) * 2014-08-13 2014-12-03 青岛盛嘉信息科技有限公司 一种塔式起重机地面控制台
CN104192717A (zh) * 2014-08-13 2014-12-10 青岛盛嘉信息科技有限公司 一种高空作业控制台
CN104310223A (zh) * 2014-08-18 2015-01-28 青岛盛嘉信息科技有限公司 一种高空塔吊控制方法
CN104932404B (zh) * 2015-05-22 2018-02-27 四川建设机械（集团）股份有限公司 变频器频率指令控制系统
CN106429842B (zh) * 2016-09-28 2018-11-20 山东华旗新能源科技有限公司 安全智能无人塔机系统及方法
CN111879503B (zh) * 2020-06-13 2022-02-22 临澧金华天机械制造有限公司 一种塔机起重臂性能检测装置
CN112209239B (zh) * 2020-10-29 2023-04-28 芜湖新兴铸管有限责任公司 一种起重机大车行走应急安全制动装置及方法
CN116812792A (zh) * 2023-06-26 2023-09-29 四川锦城建筑机械有限责任公司 一种塔机控制系统及控制方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3774217A (en) * 1973-02-21 1973-11-20 Tele E Lect Inc Radio control system for mobile aerial platforms
FR2501660A1 (fr) * 1981-03-16 1982-09-17 Precilec Dispositif de securite s'opposant a la surcharge d'une grue mobile ou d'un engin de levage et de manutention
EP0481501A1 (de) * 1990-10-18 1992-04-22 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Verfahren und Vorrichtung zum Steuern des Anhaltens der Drehbewegung eines drehenden Oberteils einer Baumaschine
EP0866022A2 (de) * 1997-03-20 1998-09-23 Hans Warner GmbH & Co. KG Prüfvorrichtung und - verfahren

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2495593B1 (fr) * 1980-12-05 1987-03-06 Setri Installation de levage pour locaux confines, comprenant un equipement de grue a fleche cantilever
US4752012A (en) * 1986-08-29 1988-06-21 Harnischfeger Corporation Crane control means employing load sensing devices
CN1083040C (zh) * 1997-08-11 2002-04-17 东芝株式会社 共用图像信息的工厂建设方法和使用期间检查方法
JPH11106180A (ja) * 1997-10-07 1999-04-20 Tokyu Constr Co Ltd 揚重装置管理システム
US20010044789A1 (en) * 2000-02-17 2001-11-22 The Board Of Trustees Of The Leland Stanford Junior University Neurointerface for human control of complex machinery

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3774217A (en) * 1973-02-21 1973-11-20 Tele E Lect Inc Radio control system for mobile aerial platforms
FR2501660A1 (fr) * 1981-03-16 1982-09-17 Precilec Dispositif de securite s'opposant a la surcharge d'une grue mobile ou d'un engin de levage et de manutention
EP0481501A1 (de) * 1990-10-18 1992-04-22 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Verfahren und Vorrichtung zum Steuern des Anhaltens der Drehbewegung eines drehenden Oberteils einer Baumaschine
EP0866022A2 (de) * 1997-03-20 1998-09-23 Hans Warner GmbH & Co. KG Prüfvorrichtung und - verfahren

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7061438B2 (en) 2002-10-10 2006-06-13 Potain Radio-control antenna support arm for lifting machinery
WO2014173609A1 (de) * 2013-04-22 2014-10-30 Manitowoc Crane Group Frances Sas Sensorbasierte überwachung von windrichtung und wärmeeinstrahlung für ein mobiles arbeitsgerät
CN104261260A (zh) * 2014-08-13 2015-01-07 青岛盛嘉信息科技有限公司 一种起重机控制方法
US11267681B2 (en) * 2018-02-28 2022-03-08 Tadano Ltd. Crane

Also Published As

Publication number Publication date
IT1317433B1 (it) 2003-07-09
US20020011457A1 (en) 2002-01-31
US6634514B2 (en) 2003-10-21
ITMI20000940A0 (it) 2000-04-28
JP2002003157A (ja) 2002-01-09
ITMI20000940A1 (it) 2001-10-28
EP1149796A3 (de) 2003-04-16
ES2243424T3 (es) 2005-12-01
DE60111591T2 (de) 2006-05-18
EP1149796B1 (de) 2005-06-22
DE60111591D1 (de) 2005-07-28
RU2259579C2 (ru) 2005-08-27

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