EP0289367A2 - Driving and guiding system for a hydraulic crane with articulating arms - Google Patents
Driving and guiding system for a hydraulic crane with articulating arms Download PDFInfo
- Publication number
- EP0289367A2 EP0289367A2 EP88400400A EP88400400A EP0289367A2 EP 0289367 A2 EP0289367 A2 EP 0289367A2 EP 88400400 A EP88400400 A EP 88400400A EP 88400400 A EP88400400 A EP 88400400A EP 0289367 A2 EP0289367 A2 EP 0289367A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- crane
- lever
- computer
- hydraulic
- control
- 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.)
- Withdrawn
Links
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
- B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
- B66C13/54—Operator's stands or cabins
- B66C13/56—Arrangements of handles or pedals
Definitions
- the present invention relates to a control system for a hydraulic crane with articulated arms.
- the present invention proposes to provide a system for driving and piloting a hydraulic crane with articulated arms, or any other similar system, allowing simpler and more intuitive handling while providing great precision in controlling the trajectory. articulated arms.
- the invention relates to a control and piloting system for a hydraulic crane with articulated arms, characterized in that it consists of a lever of the "stick" type with three control axes: - The rotation of the lever on itself controlling the rotation of the crane relative to its support, in particular on its turret; - the other two axes, orthogonal, used to obtain the horizontal and vertical components of the desired speed of the load.
- the system according to the invention is characterized in that it comprises: - a set of sensors, measuring at all times the quantity of hydraulic fluid delivered to each thrust cylinder and therefore the geometric position of each articulated arm (in accordance with the device described in the patent application filed on the same day as this application by the same holder for a "device for measuring the geometric position of the articulated arms of a mobile crane"); - a control box, provided with said lever or “stick”, on which the user displays the desired speed vector for the load in a coordinate system in Cartesian coordinates; - a computer to determine the hydraulic fluid flow rates to supply the cylinders to obtain the desired path and - proportional electrically controlled hydraulic distributors to convert the electrical control voltages from the computer into flows delivered to the cylinders.
- the computer can also prohibit certain movements requested by the user when these risk causing the safety limits of the crane to be exceeded or overturning the carrier vehicle.
Abstract
Description
La présente invention est relative à un système de conduite d'une grue hydraulique à bras articulés.The present invention relates to a control system for a hydraulic crane with articulated arms.
On sait que les systèmes de commande des mouvements d'une grue hydraulique à bras articulés exige de la part de l'utilisateur de piloter directement les distributeurs hydrauliques de chaque mouvement des bras. Une telle commande, dans les systèmes connus, s'effectue soit mécaniquement, soit électriquement, et éventuellement en utilisant un système de télécommande.It is known that the systems for controlling the movements of a hydraulic crane with articulated arms requires from the user to directly control the hydraulic distributors for each movement of the arms. Such control, in known systems, is carried out either mechanically or electrically, and possibly using a remote control system.
Les bras d'une grue hydraulique étant articulés les uns par rapport aux autres, on conçoit qu'il faut à l'utilisateur une grande habitude pour apprécier la trajectoire de la charge en fonction d'une action sur un distributeur commandant l'un des mouvements des bras articulés. En effet, une même action sur un distributeur peut, par exemple, engendrer soit une montée soit une descente de la charge, selon la position des bras. Les systèmes connus présentent en particulier une quasi impossibilité de décrire des trajectoires horizontales ou verticales.The arms of a hydraulic crane being articulated with respect to each other, it is understandable that it takes a great habit for the user to appreciate the trajectory of the load according to an action on a distributor controlling one of the articulated arm movements. Indeed, the same action on a dispenser can, for example, cause either a rise or a fall of the load, depending on the position of the arms. The known systems present in particular an almost impossibility of describing horizontal or vertical trajectories.
La présente invention se propose d'apporter un système de conduite et de pilotage d'une grue hydraulique à bras articulés, ou de tout autre système similaire, permettant un maniement plus simple et plus intuitif tout en apportant une grande précision de contrôle de la trajectoire des bras articulés.The present invention proposes to provide a system for driving and piloting a hydraulic crane with articulated arms, or any other similar system, allowing simpler and more intuitive handling while providing great precision in controlling the trajectory. articulated arms.
A cet effet, l'invention concerne un système de commande et de pilotage d'une grue hydraulique à bras articulés caractérisé en ce qu'il est constitué d'un levier du type "stick" à trois axes de commande :
- la rotation du levier sur lui-même commandant la rotation de la grue par rapport à son support, notamment sur sa tourelle ;
- les deux autres axes, orthogonaux, servant à obtenir les composantes horzontales et verticales de la vitesse souhaitée de la charge.To this end, the invention relates to a control and piloting system for a hydraulic crane with articulated arms, characterized in that it consists of a lever of the "stick" type with three control axes:
- The rotation of the lever on itself controlling the rotation of the crane relative to its support, in particular on its turret;
- the other two axes, orthogonal, used to obtain the horizontal and vertical components of the desired speed of the load.
On comprend que grâce à ce système, le mouvement de la grue correspond à la position du levier ou "stick" ce qui rend le maniement de la grue plus simple et plus intuitif.It is understood that thanks to this system, the movement of the crane corresponds to the position of the lever or "stick" which makes the handling of the crane simpler and more intuitive.
Selon un mode de réalisation préféré, le système selon l'invention est caractérisé en ce qu'il comporte :
- un ensemble de capteurs, mesurant à tout instant la quantité du fluide hydraulique délivré à chaque vérin de poussée et donc la position géométrique de chaque bras articulé (conformément au dispositif décrit dans la demande de brevet déposée le même jour que la présente demande par le même titulaire pour un "dispositif de mesure de la position géométrique des bras articulés d'une grue mobile") ;
- un boitier de commande, muni dudit levier ou "stick", sur lequel l'utilisateur affiche le vecteur vitesse souhaité pour la charge dans un repère en coordonnées cartésiennes ;
- un calculateur pour déterminer les débits de fluide hydraulique devant alimenter les vérins pour obtenir la trajectoire désirée et
- des distributeurs hydrauliques à commande électrique proportionnelle pour convertir les tensions électriques de commande issues du calculateur, en débits, délivrés aux vérins.According to a preferred embodiment, the system according to the invention is characterized in that it comprises:
- a set of sensors, measuring at all times the quantity of hydraulic fluid delivered to each thrust cylinder and therefore the geometric position of each articulated arm (in accordance with the device described in the patent application filed on the same day as this application by the same holder for a "device for measuring the geometric position of the articulated arms of a mobile crane");
- a control box, provided with said lever or "stick", on which the user displays the desired speed vector for the load in a coordinate system in Cartesian coordinates;
- a computer to determine the hydraulic fluid flow rates to supply the cylinders to obtain the desired path and
- proportional electrically controlled hydraulic distributors to convert the electrical control voltages from the computer into flows delivered to the cylinders.
Selon une autre caractéristique de cette invention le calculateur peut en outre interdire certains mouvements demandés par l'utilisateur lorsque ceux-ci risquent d'engendrer un dépassement des limites de sécurité de la grue ou de renverser le véhicule porteur.According to another characteristic of this invention, the computer can also prohibit certain movements requested by the user when these risk causing the safety limits of the crane to be exceeded or overturning the carrier vehicle.
Bien entendu, cette invention n'est pas limitée aux exemples de réalisation décrits ci-dessus mais elle en englobe toutes les variantes.Of course, this invention is not limited to the exemplary embodiments described above, but it encompasses all variants thereof.
Claims (3)
- la rotation du levier sur lui-même commandant la rotation de la grue par rapport à son support, notamment sur sa tourelle ;
- les deux autres axes, orthogonaux, servant à obtenir les composantes horizontales et verticales de la vitesse souhaitée de la charge.1- Control and piloting system for a hydraulic crane with articulated arms, characterized in that it consists of a "stick" type lever with three control axes:
- The rotation of the lever on itself controlling the rotation of the crane relative to its support, in particular on its turret;
- the other two axes, orthogonal, used to obtain the horizontal and vertical components of the desired speed of the load.
- un ensemble de capteurs, mesurant à tout instant la quantité du fluide hydraulique délivré à chaque vérin de poussée et donc la position géométrique de chaque bras articulé ;
- un boitier de commande, muni dudit levier ou "stick", sur lequel l'utilisateur affiche le vecteur vitesse souhaité pour la charge dans un repère en coordonnées cartésiennes ;
- un calculateur pour déterminer les débits de fluide hydraulique devant alimenter les vérins pour obtenir la trajectoire désirée et
- des distributeurs hydrauliques à commande électrique proportionnelle pour convertir les tensions électriques de commande issues du calculateur, en débits, délivrés aux vérins.2- System according to claim 1, characterized in that it comprises:
- a set of sensors, measuring at all times the quantity of hydraulic fluid delivered to each thrust cylinder and therefore the geometric position of each articulated arm;
- a control box, provided with said lever or "stick", on which the user displays the desired speed vector for the load in a coordinate system in Cartesian coordinates;
- a computer to determine the hydraulic fluid flow rates to supply the cylinders to obtain the desired path and
- proportional electrically controlled hydraulic distributors to convert the electrical control voltages from the computer into flows delivered to the cylinders.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8706122A FR2614610B1 (en) | 1987-04-29 | 1987-04-29 | SYSTEM FOR OPERATING AND CONTROLLING A HYDRAULIC CRANE WITH ARTICULATED ARMS |
| FR8706122 | 1987-04-29 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0289367A2 true EP0289367A2 (en) | 1988-11-02 |
| EP0289367A3 EP0289367A3 (en) | 1990-02-07 |
Family
ID=9350650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP88400400A Withdrawn EP0289367A3 (en) | 1987-04-29 | 1988-02-22 | Driving and guiding system for a hydraulic crane with articulating arms |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0289367A3 (en) |
| FR (1) | FR2614610B1 (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR1081821A (en) * | 1953-05-04 | 1954-12-23 | Device for the individual or simultaneous maneuvering of three perpendicular shafts to each other | |
| DE951763C (en) * | 1953-03-08 | 1956-10-31 | Kienzle Feinbau K G | Hydraulic control unit for unloading and transport devices |
| US3814199A (en) * | 1972-08-21 | 1974-06-04 | Cleveland Machine Controls | Motor control apparatus adapted for use with a motorized vehicle |
| US3870161A (en) * | 1973-02-28 | 1975-03-11 | Heede International Inc | Joy stick controller for tower crane |
| FR2256101A1 (en) * | 1973-12-28 | 1975-07-25 | Biron Didier | Telescopic jib crane overload protection system - compares jib angle derricking force with permissible maxima |
| DE2759263A1 (en) * | 1977-12-31 | 1979-07-05 | Kracht Pumpen Motoren | MONITORING SYSTEM FOR HYDRAULICALLY OPERATED FITTINGS |
| US4281561A (en) * | 1979-10-09 | 1981-08-04 | Spar Aerospace Limited | Three axes controller |
| FR2501660A1 (en) * | 1981-03-16 | 1982-09-17 | Precilec | Safety circuit preventing overload condition in e.g. fork lift truck - uses CPU to address force, load detectors and jib length detectors, and issue cut=off signals to relays in power circuits |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1002966C2 (en) * | 1955-07-21 | 1957-07-25 | Hans Juergen Dudenhausen Dipl | Multi-axis dynamometer |
-
1987
- 1987-04-29 FR FR8706122A patent/FR2614610B1/en not_active Expired - Fee Related
-
1988
- 1988-02-22 EP EP88400400A patent/EP0289367A3/en not_active Withdrawn
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE951763C (en) * | 1953-03-08 | 1956-10-31 | Kienzle Feinbau K G | Hydraulic control unit for unloading and transport devices |
| FR1081821A (en) * | 1953-05-04 | 1954-12-23 | Device for the individual or simultaneous maneuvering of three perpendicular shafts to each other | |
| US3814199A (en) * | 1972-08-21 | 1974-06-04 | Cleveland Machine Controls | Motor control apparatus adapted for use with a motorized vehicle |
| US3870161A (en) * | 1973-02-28 | 1975-03-11 | Heede International Inc | Joy stick controller for tower crane |
| FR2256101A1 (en) * | 1973-12-28 | 1975-07-25 | Biron Didier | Telescopic jib crane overload protection system - compares jib angle derricking force with permissible maxima |
| DE2759263A1 (en) * | 1977-12-31 | 1979-07-05 | Kracht Pumpen Motoren | MONITORING SYSTEM FOR HYDRAULICALLY OPERATED FITTINGS |
| US4281561A (en) * | 1979-10-09 | 1981-08-04 | Spar Aerospace Limited | Three axes controller |
| FR2501660A1 (en) * | 1981-03-16 | 1982-09-17 | Precilec | Safety circuit preventing overload condition in e.g. fork lift truck - uses CPU to address force, load detectors and jib length detectors, and issue cut=off signals to relays in power circuits |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2614610B1 (en) | 1991-03-29 |
| EP0289367A3 (en) | 1990-02-07 |
| FR2614610A1 (en) | 1988-11-04 |
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| 18D | Application deemed to be withdrawn |
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