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WO2015001401A1 - Grue avec segments télescopiques et procédé de commande correspondant - Google Patents

Grue avec segments télescopiques et procédé de commande correspondant Download PDF

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Publication number
WO2015001401A1
WO2015001401A1 PCT/IB2014/000953 IB2014000953W WO2015001401A1 WO 2015001401 A1 WO2015001401 A1 WO 2015001401A1 IB 2014000953 W IB2014000953 W IB 2014000953W WO 2015001401 A1 WO2015001401 A1 WO 2015001401A1
Authority
WO
WIPO (PCT)
Prior art keywords
segment
crane
segments
articulated joint
rotation
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.)
Ceased
Application number
PCT/IB2014/000953
Other languages
English (en)
Inventor
Albert PADULLES OMEDES
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.)
Palvi SL
Original Assignee
Palvi SL
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 Palvi SL filed Critical Palvi SL
Priority to CN201480038175.XA priority Critical patent/CN105358469B/zh
Publication of WO2015001401A1 publication Critical patent/WO2015001401A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
    • B65F3/00—Vehicles particularly adapted for collecting refuse
    • B65F3/02—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto
    • B65F3/0203—Vehicles particularly adapted for collecting refuse with means for discharging refuse receptacles thereinto with crane-like mechanisms
    • 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
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration

Definitions

  • the present invention relates to a crane of telescopic segments mounted on a moving platform provided with two articulated joints perpendicularly arranged relative to each other, allowing the correction of deviations of the crane end from the vertical in case the moving platform is not horizontal due to the conditions of the corresponding bearing area.
  • the invention also relates to a control method of said crane and to the actuator means of said articulated joints so as to carry out corrections that will allow to automatically recover the verticality of said crane end at any time.
  • Cranes with telescopic segments, mounted on a moving platform or vehicle so as to enable their movement are known, such as, for instance, the crane described in document EP 1084069, wherein a first vertical segment acts as a rail for the vertical movement of a second horizontal telescopic segment in whose end an engagement device is arranged so as to grasp and lift loads.
  • This invention does not allow altering the angles between the crane segments, so that any tilt of the vehicle or of the terrain where it is outrigged will produce inclined lifting conditions of the load.
  • Document WO 2012032438 which constitutes the preamble of claim 1 , discloses a crane with mutually articulated telescopic segments that comprise first and second telescopic segments and a third segment with an engagement device in its more distal end, wherein a first articulated joint arranged between the first and second segments allows altering the angle that said two segments form therebetween relative to a vertical plane including both, hereinafter the working plane.
  • said first articulated joint allows reducing the crane envelope in the retracted position, and increasing its vertical reach in the working position, but it does not allow correcting the verticality of said third segment relative to a vertical plane perpendicular to said working plane.
  • Document JPH0398993 describes a crane mounted on a vehicle, being provided said crane with a first vertical segment and a second horizontal segment, being said second segment able to rotate relative to said first segment about a vertical axis.
  • a third segment is joined to the distal end of the second segment through a horizontal axis articulation, allowing to change the angle between said second and third segments, moving them in a vertical geometric plane containing both segments. These joints do not allow offset the slope of the vehicle to keep the load vertically.
  • the document FR2973360 describes an elevator car, fitted with a crane with suction cups for handling large glasses.
  • Said crane can be raised by a first vertical segment, but cannot rotate or extend his range of action horizontally, therefore lacks from a rotational basis or telescopic horizontal segments. These functions must be compensated with the maneuverability of the car.
  • the end of the crane, where the suction cups that act as gripper are located, has three joints with three mutually perpendicular axes, each with a wide angle range. This configuration gives great freedom of movement to said grippmeans, allowing the collection of glass from almost any position, and their placement in virtually any position.
  • the short distance of the second horizontal segment which is not telescopic, means that torsional stresses due to the eccentricity of the load will be small and bearable.
  • the gripping means with suction cups means that the center of gravity of the load is always centered about the distal end of the crane, and may even be above, and this could be the desired placement position. For all that reasons do not make sense to equip this crane, a system that would keep the load in a vertical, because that does not bring any improvement to this invention.lt is apparent that there is the need of providing a crane of telescopic segments like the ones mentioned above with means that allow solving the referred disadvantages.
  • the present invention helps to solve the above and other disadvantages through a crane of telescopic segments mounted on a moving platform and a method for controlling the actuation thereof.
  • the crane consists of three mutually transverse segments, a first segment being arranged perpendicularly on a moving platform and provided with a telescopic mechanism. Attached to the distal end of this first segment, there is a second segment, also provided with a telescopic mechanism, in whose distal end a third segment is found.
  • Said third segment is provided with grasping means that let it secure and lift a load, but said grasping means might be replaced, for instance, with an interdependent platform of said third segment for other functionalities.
  • the crane has two mutually perpendicular articulated joints, the first articulated joint having its axis of rotation approximately horizontal and perpendicular to a vertical plane, or working plane, containing the first and second segments, and said second articulated joint having its axis of rotation approximately horizontal and perpendicular to the axis of the first articulated joint.
  • This arrangement allows correcting the tilt of the distal end of the crane along two axes perpendicular to each other, and approximately horizontal, which allows counteracting the effect of the tilt of said third lifting segment derived from whichever tilt of the moving platform, and restoring the vertical orientation of said third segment at all times.
  • the first articulated joint allows changing the angle formed by at least one portion of the first segment relative to at least one portion of the second segment
  • the second articulated joint allows changing the angle of at least one portion of the second segment relative to at least one portion of the third segment.
  • the segment telescoping means might be sliding, or use a scissors mechanism, without thereby altering the scope of the present invention, as will be obvious for a skilled artisan.
  • Said third segment has a tilt sensor, which makes it possible to know the deviation of said third segment relative to the vertical, which will have to be corrected for through the corresponding actuation of the articulated joints described in the present invention.
  • the method for deviation correction consists of a first measurement step, by means of said tilt sensor, of the spatial orientation of said third crane segment and, in particular, of its deviation relative to the vertical orientation.
  • the collected information is transmitted to an electronic control device, where, during the second step of the method, the adjustments necessary for reducing or eliminating any deviation relative to the vertical orientation of said third segment are computed.
  • the first and second actuator means responsible for altering the angles of the first and/or second articulated joints, are actuated so that, through their actuation, the adjustment calculated by the electronic control device is affected.
  • a first and/or second detecting means associated with said first and/or second actuator means, analyse the shift caused in the crane segments by said actuator means and transmit information to the electronic control device, thereby allowing the latter to control the correct execution of the calculated adjustment or correction manoeuvre, the vibrations and oscillations produced by the shifts of the segments being unable to alter the results of the readings.
  • the tilt sensor proceeds to carry out a new measurement of the deviation of said third segment of the crane and said information is transmitted again to the electronic control device. If the results indicate the deviation has disappeared or it is smaller than pre-established values, the deviation correction operation is considered complete, but if the results do not satisfy these parameters, the entire operation is iteratively repeated from the start until the results are satisfactory.
  • Fig. 1 shows a side view of the crane, in the extended position and installed on a transport vehicle, such as a lorry, which is shown in cross section.
  • the dotted line depicts the possible angular shift of the second segment relative to the first one by means of the first articulated joint, effected in the plane of said side view containing the first and second segments of the crane;
  • Fig. 2 shows a front view of the crane, in the extended position and installed on a lorry.
  • the dotted line depicts the possible angular shift of the third segment relative to the second one by means of the second articulated joint, effected in the plane of said front view.
  • the circle indicates the area blown up in Fig. 3;
  • Fig. 3 shows one blown up detail of the second articulated joint, from the same standpoint shown in Fig. 2; and Fig. 4 shows a schematic diagram of the sensors, the actuators and their connection with the electronic control device, wherein only the sensors and actuators related to the correction of verticality have been included, the sensors and actuators related to the shifting and actuation of the crane not being shown.
  • FIG. 1 shows a side view of the crane of telescopic segments at an initial position, with its telescopic segments extended and perpendicular to each other.
  • said crane is formed by a first vertical telescopic segment 10 attached, through a rotating base 14, to a moving platform 40; as a non-limiting example, a refuse collection vehicle.
  • a second telescopic segment 20 is transversely attached, by one of its ends, to the distal end of the first segment.
  • a third segment 30, which may optionally also be telescopic, is transversely attached to the distal or terminating end of the second segment 20.
  • the distal end of said third segment 30 is provided with grasping members 31 that allow securing and hooking a load to the end of said crane for its hoisting.
  • the attachment between said first segment 10 and said second segment 20 has a first articulated joint 11 that allows changing the angle between said two segments 10, 20, the axis of said articulated joint being approximately horizontal and perpendicular to the plane formed by the first segment 10 and the second segment 20.
  • a first fluid-dynamic actuating means 12 allows altering and setting a turning angle of the segment 20 around said first articulated joint 11 , causing its rise or descent.
  • the attachment between said second segment 20 and said third segment 30 is provided with a second articulated joint 21 that allows altering and setting the angle between said two segments, said second articulated joint 21 being approximately horizontal and perpendicular to the first articulated joint 11.
  • a second fluid-dynamic actuating means 22 for altering and setting the range of the turning angle around said second articulated joint 12 of the third segment 30.
  • This arrangement lets the crane extend and retract thanks to its telescopic segments, turn thanks to the rotating base 14 and adjust the existent angle between its segments 10, 20 and/or 20, 30 in two vertical planes perpendicular to each other so as to attain the verticality of the third segment 30 through a number of corrections of the crane tilt relative to a couple of vertical planes perpendicular to each other and respectively containing said first and second segments 10, 20 and said third segment 30, even though the moving platform 40 and the first segment 10 attached thereto are not in the vertical position, due to the fact that, for instance, the moving platform 40 is outrigged on sloping terrain.
  • the crane is provided with a tilt sensor 60 located in the third segment 30, such as, for instance, a two-axis sensor 2D that permits measuring the deviation of the longitudinal axis of said third segment 30 relative to two perpendicular vertical planes.
  • the crane is also provided with a first position-detecting means 13 and a second position-detecting means 23 that monitor the position of said first actuating means 12 and second actuating means 22, said position-detecting means possibly being transducers.
  • said method allows analysing the deviation of the third segment 30 relative to the vertical by means of the tilt sensor 60, and transmitting said information to the electronic control device 50.
  • the electronic control device 50 analyses the received information and, if it is determined that the deviation is higher than a deviation pre- established as admissible, the necessary adjustments are computed in the turning angle around the first articulated joint 11 and/or the second articulated joint 21 in order to correct it.
  • the electronic control device 50 activates the first actuating means 12 and/or the second actuating means 22 to execute the calculated correction.
  • the first and second position-detecting means 13 and 23 analyse the position of the first and second actuating means 12 and 22 and report it to the electronic control device 50 to ensure the correct execution of the angular adjustment.
  • the tilt sensor 60 measures again the deviation of the third segment 30 relative to the vertical and sends the data to the electronic control device 50, which determines if it now satisfies the pre-established parameters of maximum deviation. In case it does not satisfy them, it restarts the method iteratively until acceptable results are obtained; in case it satisfies them, it considers the method as finished.
  • articulated joints should allow changing the turn angle around each by up to 10°, but they might have greater or lesser freedom, the essence of the invention not being affected by it.
  • the deviations caused by a larger or smaller tilt of the platform may be corrected for.
  • a turn of the second stage 20 relative to the first one 10 around the articulated joint 11 by +/- 5° would entail counteracting the effects derived from a 9% longitudinal slope of the terrain.
  • a turn of the third stage 30 relative to the second one 20 around the articulated joint 21 by +/- 5° in a plane perpendicular to the one containing said first and second stages 10, 20 would entail being able to counteract a sideways slope of the terrain of up to 9%.

Landscapes

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

Abstract

La présente invention concerne une grue pourvue de segments télescopiques montés sur une plate-forme mobile (40). Celle-ci comporte trois segments (10, 20 et 30) et deux raccords articulés, un premier (11) entre les segments 10 et 20, et un second (21) entre les segments 20 et 30, lesdits raccords articulés (11, 21) étant perpendiculaires l'un par rapport à l'autre et permettant de corriger la verticalité de l'extrémité distale de ladite grue, pourvus d'un capteur d'inclinaison (60) au cas où la plate-forme mobile (40) ne soit pas parfaitement horizontale. Le procédé de commande de la grue comprend une mesure des déviations du segment 30 par rapport à la verticale et la mise en œuvre de corrections de sorte à rétablir automatiquement la verticalité de ladite extrémité de grue, en amenant les segments 20 et/ou 30 à tourner autour de leurs raccords articulés respectifs (11 et 21).
PCT/IB2014/000953 2013-07-03 2014-06-04 Grue avec segments télescopiques et procédé de commande correspondant Ceased WO2015001401A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201480038175.XA CN105358469B (zh) 2013-07-03 2014-06-04 一种带有伸缩节的起重机及其控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EPEP13380028.4 2013-07-03
EP13380028.4A EP2821360B1 (fr) 2013-07-03 2013-07-03 Grue à segments télescopiques et son procédé de commande

Publications (1)

Publication Number Publication Date
WO2015001401A1 true WO2015001401A1 (fr) 2015-01-08

Family

ID=49083625

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2014/000953 Ceased WO2015001401A1 (fr) 2013-07-03 2014-06-04 Grue avec segments télescopiques et procédé de commande correspondant

Country Status (5)

Country Link
EP (1) EP2821360B1 (fr)
CN (1) CN105358469B (fr)
ES (1) ES2568617T3 (fr)
PL (1) PL2821360T3 (fr)
WO (1) WO2015001401A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015150956A1 (fr) * 2014-04-04 2015-10-08 Villiger Public-Systems Gmbh Dispositif de levage sur un camion
WO2018013213A1 (fr) * 2016-05-13 2018-01-18 The Trustees Of Columbia University In The City Of New York Composés pour faire diminuer c-myc dans les cancers surexprimant c-myc
CN113213321A (zh) * 2021-06-10 2021-08-06 沈阳飞研航空设备有限公司 地面组弹车

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3037938B1 (fr) * 2015-06-26 2019-06-28 Centre Metal Dispositif manipulateur comprenant un dispositif de reglage d'horizontalite
CN107941191B (zh) * 2017-11-13 2019-10-15 长沙海川自动化设备有限公司 塔机及其垂直度在线监测方法、装置和存储介质
CN108756781B (zh) * 2018-05-23 2023-07-04 江苏徐工工程机械研究院有限公司 一种车载钻机起重臂控制装置
JP7159081B2 (ja) * 2019-02-27 2022-10-24 日立Ｇｅニュークリア・エナジー株式会社 燃料取替機
CN110576109A (zh) * 2019-08-05 2019-12-17 姜仕存 一种智能控制的模具用电动搬运车装置
ES1255310Y (es) * 2020-07-24 2021-01-19 Hernandez Yoel Orlando Izquierdo Dispositivo para control de verticalidad
EP4417543A1 (fr) 2023-02-20 2024-08-21 Federico Pinzauti Équipement pliable arrière de cabine pour soulever et manipuler des conteneurs de collecte de déchets

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2933210A (en) 1958-12-04 1960-04-19 Harland R Dye Container handling and dumping apparatus
JPH0398993A (ja) 1989-09-13 1991-04-24 Motoda Electron Co Ltd 貨物トラック用荷役装置の姿勢調整機構
DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
EP1084069A1 (fr) 1998-04-22 2001-03-21 Nord Engineering di Armando Lodovico & C.S.N.C. Systeme et/ou dispositif de manutention de poubelles
DE20306900U1 (de) * 2003-04-11 2003-07-24 Georg Entsorgungssysteme GmbH, 57638 Neitersen Fahrzeug zum Sammeln und Transportieren von Abfällen mit seitlich angeordneter Ladearmanordnung
KR100987531B1 (ko) * 2010-04-29 2010-10-13 주식회사 동해기계항공 고소작업차의 버켓 회전 제어장치 및 버켓 장치
WO2012032438A1 (fr) 2010-09-07 2012-03-15 Villiger Public-Systems Gmbh Dispositif de levage sur un camion
WO2012091227A1 (fr) * 2010-12-27 2012-07-05 G.I.D. Co., Ltd. Plateforme autonome pouvant être combinée à une flèche
KR101182717B1 (ko) * 2012-03-06 2012-09-13 주식회사 동해기계항공 버켓의 기울기 자동조절기능을 갖는 고소작업 차량과, 이 차량에서의 버켓 자동 격납방법
FR2973360A1 (fr) 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010089919A (ja) * 2008-01-09 2010-04-22 Kobelco Cranes Co Ltd 伸縮ブーム
CN102120548B (zh) * 2011-04-01 2015-06-17 山西东华机械有限公司 液压伸缩吊臂
CN102225732B (zh) * 2011-06-13 2012-12-19 徐州昊意工程机械科技有限公司 多功能抢险救援消防起重机

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2933210A (en) 1958-12-04 1960-04-19 Harland R Dye Container handling and dumping apparatus
JPH0398993A (ja) 1989-09-13 1991-04-24 Motoda Electron Co Ltd 貨物トラック用荷役装置の姿勢調整機構
DE4404797A1 (de) * 1994-02-09 1995-08-10 Horst Dipl Ing Prischmann Verfahren zur Steuerung von Hubgeräten
EP1084069A1 (fr) 1998-04-22 2001-03-21 Nord Engineering di Armando Lodovico & C.S.N.C. Systeme et/ou dispositif de manutention de poubelles
DE20306900U1 (de) * 2003-04-11 2003-07-24 Georg Entsorgungssysteme GmbH, 57638 Neitersen Fahrzeug zum Sammeln und Transportieren von Abfällen mit seitlich angeordneter Ladearmanordnung
KR100987531B1 (ko) * 2010-04-29 2010-10-13 주식회사 동해기계항공 고소작업차의 버켓 회전 제어장치 및 버켓 장치
WO2012032438A1 (fr) 2010-09-07 2012-03-15 Villiger Public-Systems Gmbh Dispositif de levage sur un camion
WO2012091227A1 (fr) * 2010-12-27 2012-07-05 G.I.D. Co., Ltd. Plateforme autonome pouvant être combinée à une flèche
FR2973360A1 (fr) 2011-04-04 2012-10-05 Mobilev Grue pour la pose d'une vitre
KR101182717B1 (ko) * 2012-03-06 2012-09-13 주식회사 동해기계항공 버켓의 기울기 자동조절기능을 갖는 고소작업 차량과, 이 차량에서의 버켓 자동 격납방법

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015150956A1 (fr) * 2014-04-04 2015-10-08 Villiger Public-Systems Gmbh Dispositif de levage sur un camion
US10723550B2 (en) 2014-04-04 2020-07-28 Villiger Public Systems Gmbh Lifting device on a lorry
WO2018013213A1 (fr) * 2016-05-13 2018-01-18 The Trustees Of Columbia University In The City Of New York Composés pour faire diminuer c-myc dans les cancers surexprimant c-myc
CN113213321A (zh) * 2021-06-10 2021-08-06 沈阳飞研航空设备有限公司 地面组弹车

Also Published As

Publication number Publication date
EP2821360A1 (fr) 2015-01-07
EP2821360B1 (fr) 2016-01-20
CN105358469B (zh) 2017-07-18
ES2568617T3 (es) 2016-05-03
PL2821360T3 (pl) 2016-08-31
CN105358469A (zh) 2016-02-24

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