EP0409748B1 - Motorisierte Vorrichtung zum Umdrehen von Lasten mit Energie-Selbstversorgung für Kabel-Hebegeräte - Google Patents

Motorisierte Vorrichtung zum Umdrehen von Lasten mit Energie-Selbstversorgung für Kabel-Hebegeräte Download PDF

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Publication number
EP0409748B1
EP0409748B1 EP90420340A EP90420340A EP0409748B1 EP 0409748 B1 EP0409748 B1 EP 0409748B1 EP 90420340 A EP90420340 A EP 90420340A EP 90420340 A EP90420340 A EP 90420340A EP 0409748 B1 EP0409748 B1 EP 0409748B1
Authority
EP
European Patent Office
Prior art keywords
rotation
block body
suspension link
pulley block
pulley
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.)
Expired - Lifetime
Application number
EP90420340A
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English (en)
French (fr)
Other versions
EP0409748A1 (de
Inventor
Claude Dessaux
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
Priority to AT90420340T priority Critical patent/ATE83216T1/de
Publication of EP0409748A1 publication Critical patent/EP0409748A1/de
Application granted granted Critical
Publication of EP0409748B1 publication Critical patent/EP0409748B1/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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • 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
    • B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
    • B66C13/14—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices to load-engaging elements or motors associated therewith
    • 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
    • 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

Definitions

  • the present invention relates to a motorized load rotation device, self-supplied with energy, intended for cable lifting devices such as tower cranes, mobile cranes, overhead cranes, gantries, etc., this device ensuring the angular positioning. loads handled by such lifting devices.
  • the rotation of the hook with or without suspended load is carried out manually when approaching the place of gripping or depositing the load.
  • this type of operation always presents a bodily risk to the operator, whether by putting his hands on the moving parts or simply by being nearby of the load handled.
  • the rotation of the hook or more generally of the load gripper is electrically motorized, and is controlled remotely from the driving position located on the lifting device .
  • the electric power supply and remote control cable for the motorization of the revolving hook passes here on a reel, arranged on the load distribution carriage, and it is wound and unwound from the drum of the reel according to the position of the carriage on the boom and the height under the hook.
  • the present invention overcomes these drawbacks by providing a motorized load rotation device for cable hoists, self-supplied with electrical energy so that the electrical energy supplied ensures both the supply of the motorization d drive in rotation of the load and that of the means for receiving the remote control signals, the proposed device having a large autonomy for a relatively limited mass.
  • the device comprises, in a known manner, a muffle body with several strands and with several pulleys over which at least one lifting cable passes forming a hauling, a hanger mounted rotatably about a substantially vertical axis linked to the muffle body and intended to receive a hook or other gripper for a load to be handled, a motorization for the rotary drive of the hanger around the aforementioned axis, a rotary energy generator driven from at least a pulley of the muffle body over which the lifting cable passes, and energy storage means, loaded from the generator and capable of supplying the energy necessary for supplying the motorization of the rotary drive of the hanger, the muffle body further comprising incorporated means for receiving control signals and for controlling the generator and the power supply of the motorization c he device is characterized in that the energy generator for supplying the motorization for driving the line in rotation is an electric current generator whose rotor is mechanically rotated from the pulley or pulleys muffle, in
  • a motorized load rotation device is entirely autonomous and purely electric.
  • the device according to the invention essentially ensures the supply of electrical energy for the power supply of the motorization for rotating the hanger, and therefore for the load, it should be noted that this device also makes it possible to supply auxiliary functions such as automatic gripping of the load, search for center of gravity, etc. by eliminating any electrical supply cable leading to the muffle body.
  • the electric current generator carried by the muffle body, is an alternator with incorporated rectifier bridge and regulator, the rotor of which is driven in rotation from the pulley of the muffle body whose speed is the greatest, this alternator ensuring the charging of at least one accumulator constituting the means for storing electrical energy, while the motorization comprises a direct current electric motor which drives the suspension in rotation by means of a speed reducer, the supply of the electric motor from the accumulator (s) being controlled by an electrical and electronic control assembly incorporated in the muffle body.
  • the rotational drive of the alternator rotor, from the pulley of the muffle body whose speed is the greatest, is ensured by means of a speed multiplier preferably of the planetary type. This gives a minimum rotation, a rotation of the alternator at a high speed, optimal for the generation of electrical energy.
  • the direct current electric motor ensures the rotation of the hanger by means of a gear speed reducer comprising a first stage constituted by a planetary reducer, and a second stage constituted by a reducer with spur gear trains.
  • the device according to the invention is equipped with a relative position sensor, such as an absolute encoder or an incremental encoder, which controls the angular positioning of the rotary hanger relative to the muffle body, and a gyrometer which controls the absolute positioning of the rotating hanger.
  • a relative position sensor constituted by a rotary encoder
  • this encoder can be driven in rotation by a pinion meshing with a toothed crown of the last set of spur gears belonging to the aforementioned reduction gear, this crown being wedged on the hanger rotating.
  • this comprises, according to another characteristic, on the one hand, a cylindrical upper part mounted on a ball bearing inside the muffle body and provided with an orifice provided for the passage of an electrical cable output from a collector, for the supply of stored electrical energy to the electrical functions of the gripper and / or other accessories, and on the other hand, a lower part external to the body of block and serving as support for the gripper.
  • the power supply of any auxiliary functions, from the accumulator (s), is thus easily ensured.
  • the device according to the invention is intended to equip cable lifting devices, such as a tower crane 2 with distribution boom 3.
  • the device 1 is suspended from the boom 3 by means of a lifting cable 4 forming a hauling 5 between the distribution carriage 6 and said device 1.
  • the lifting cable 4 is fixed at a point 7 at the head of arrow 3; at the other end, the cable 4 is wound on the drum of a winch 8 arranged at the foot of the arrow 3.
  • Under the device 1 is suspended a hook or rotating gripper 9 to which the load 10 to be handled is suspended or fixed .
  • the device 1 comprises in a known manner a block block 11 "four strands", with two pulleys 12, 13 arranged symmetrically with respect to a vertical axis 14, a hanger 15 mounted rotatably around of the vertical axis 14 intended to receive the hook or gripper 9 and an electric motorization 16 for the rotary drive of the hanger 15 around the axis 14, as indicated by an arrow F.
  • the muffle body 11 supports the horizontal axes of rotation 17,18 of the pulleys 12,13, which are protected by sheet metal housings 19,20 fixed on the lateral flanges 21,22 of said muffle body 11.
  • the housings 19,20 have at their upper parts openings 23, 24 provided for letting pass respectively the two strands of cable 25, 26 leaving the pulley 12 and the two strands of cable 27, 28 leaving the other pulley 13.
  • the motorization 16 consists of a direct current electric motor with permanent magnets 29 operating for example at a voltage of 24V, of a planetary speed reducer with a single gear train 30 just dimensioned for the torque to be transmitted in order to have the minimum inertia, and a speed reducer with straight drive trains 31 suitable for the rotary drive of the rotary hanger 15.
  • the pulley 13 disposed on the side of the driving strand 28 rotates twice as fast as the pulley 12 disposed on the side of the fixed strand 25.
  • the hub 32 of the pulley 13 is wedged on the shaft d input 33 of a planetary speed multiplier 34 adapted to an alternator with built-in rectifier and regulator bridge 35 which charges one or more electric accumulators 36, housed in the muffle body 11.
  • the device also comprises a radio control transmitter-receiver 37 and an electrical and electronic control unit 38, incorporated into the muffle body 11.
  • a rotating collector 39 allows the passage of electrical energy from the fixed part of the device 1 to the electrical functions of the part driven in rotation 9,10,15, in the case where such functions are provided.
  • a relative position sensor 40 such as an absolute encoder or an incremental encoder, controls the relative angular positioning of the hanger 15 relative to the muffle body 11, and a gyrometer 41 controls the absolute positioning of the rotating hanger 15.
  • the revolving hanger 15 comprises a cylindrical upper part 42 mounted on a ball bearing 43 inside the block block 11 and provided with an orifice 44 for the passage of the electrical output cable from the collector 39 to the electrical functions of the gripper 9 or other specialized accessories, and a lower part 45 external to the muffle body 11 and serving to support the gripper 9.
  • the relative position sensor 40 such as an encoder, is driven in rotation by means of a pinion 46, meshing with a ring gear 47 belonging to the last set of spur gears 31 for driving the hanger 15 in rotation. , the crown 47 being wedged on the upper part 42 of the hanger 15.
  • the pulley 13 whose speed is the greatest drives, via the planetary multiplier 34, the rotor of the alternator 35 which induces in the stator of this alternator a three-phase alternating electric current.
  • the induced current is rectified by means of a diode rectifier bridge 48 and regulated by an incorporated regulator 49 which maintains for example at 24V the voltage of the current ensuring the recharging of the accumulator or accumulators 36.
  • the operation of the alternator 35 makes it possible to maintain the charge of the accumulator or accumulators 36 at a value sufficient to ensure the supply of energy to the on-board functions without recourse to external sources.
  • the accumulator or accumulators 36 ensure, by means of the control assembly 38, the supply of the direct current electric motor with permanent magnets 29 at a voltage of 0 to 24V for the rotation drive of the hanger 15 and the gripper 9 with or without load, and the supply by the collector 39 of the electrical functions of the gripper 9 or other accessories.
  • the control signals are transmitted to the device 1 by wireless link between a fixed transceiver station 50 available to the operator and the on-board transceiver 37.
  • the control signals are processed at 51 as a function of the programmed or manual orders of the operator and of information coming from different sensors such as value of the load C, height H of the load and angular position P of the arrow 3 of the lifting device, etc ... which represent influential parameters for the rotation and the precise angular positioning of the load 10.
  • the transceiver on board 37 also receives the signals from the sensor 40 which gives the position of the rotating hanger 15 relative to the muffle body 11 and the signals from the gyrometer 41 which indicates the position of the rotating hanger 15 relative to the last position recorded at sensor 40.
  • control signals are then amplified inside the electrical and electronic control assembly 38 to supply the motor 29 with an intensity and under a variable voltage as a function respectively of the desired torque and of the rotational speed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Cable Arrangement Between Relatively Moving Parts (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Transmission Devices (AREA)
  • Invalid Beds And Related Equipment (AREA)
  • Manipulator (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (8)

  1. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung für Seilhebezeuge, bestehend aus einem Flaschenzuggestell (11) mit mehreren Seilsträngen (25, 26, 27, 28) und mit mehreren Seilrollen (12, 13), über die mindestens ein Hubseil (4), welches einen Flaschenzug (5) bildet, läuft, einer drehbar um eine senkrechte mit dem Flaschenzuggestell (11) verbundene Achse (14) angeordneten Aufhängung (15), die zur Aufnahme eines Lasthakens oder eines anderen Greifmittels zur Handhabung einer Last (10) vorgesehen ist, einem Antrieb (16), um die Aufhängung (15) um die vorhererwähnte Achse (14) in Drehung zu versetzen, einem rotatorischen Energieerzeuger (35), der von wenigstens einer Seilrolle (13) des Flaschenzuggestells (11), über die das Hubseil läuft, angetrieben wird und Energiespeichermitteln (36), die durch den Energieerzeuger (35) geladen werden und dazu vorgesehen sind, die Energie zu liefern, die zur Speisung des Antriebes (16), der die Aufhängung (15) in Drehung versetzt, notwendig ist, wobei das Flaschenzuggestell (11) zusätzlich eingebaute Mittel (37, 38) für den Empfang von Steuersignalen und zur Steuerung des Energieerzeugers (35) und der Speisung des Antriebes trägt, dadurch gekenneichnet, daß der Energieerzeuger für die Speisung des Antriebes (16), der die Aufhängung (15) in Drehung versetzt, ein Stromgenerator (35) ist, dessen Rotor mechanisch ausgehend von einer oder mehreren Seilrollen (13) des Flaschenzuggestells (11) in Drehbewegung gebracht wird, daß die Energiespeichermittel Mittel zur Speicherung von elektrischer Energie (36) sind, daß der Antrieb zur Drehbewegung der Aufhängung ein elektrischer Antrieb (16) ist und daß die gleichen zur Speicherung von elektrischer Energie vorgesehenen Mittel (36) auch die Speisung der Mittel zum Empfang von Steuersignalen und für die Steuerung des Stromgenerators (35) und der Speisung des elektrischen Antriebes (16) sicherstellen.
  2. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung nach Anspruch 1, dadurch gekennzeichnet, daß der vom Flaschenzuggestell (11) getragene Stromgenerator ein Wechselstromgenerator (35) mit Gleichrichterbrücke (48) und eingebautem Regler (49) ist, dessen Rotor von der Seilrolle (13) des Flaschenzuggestells (11) mit der größten Geschwindigkeit in Rotation versetzt wird, wobei der Wechselstromgenerator (35) die Ladung wenigstens eines, die Mittel zur Speicherung von elektrischer Energie bildenden Akkumulators (36) sicherstellt.
  3. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung nach Anspruch 2, dadurch gekennzeichnet, daß der Antrieb (16) einen Gleichstromelektromotor (29) beinhaltet, der den Drehantrieb der Aufhängung (15) unter Zwischenschaltung eines Untersetzungsgetriebes (30, 31) sicherstellt, wobei die Speisung des Elektromotors (29) durch einen oder mehrere Akkumulatoren (36), die von einem in das Flaschenzuggestell (11) eingebauten elektrischen und elektronisch gesteuerten Gerät geregelt werden.
  4. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung nach Anspruch 2 oder 3, dadurch gekennzeichnet, daß die Drehbewegung des Wechselstromgenerators (35), die durch die Seilrolle (13) des Flaschenzuggestells (11) mit der größten Geschwindigkeit erfolgt, unter Zwischenschaltung eines Übersetzungsgetriebes (34), vorzugsweise eines Planetengetriebes, sichergestellt ist.
  5. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung nach Anspruch 3, dadurch gekennzeichnet, daß der Gleichstromelektromotor (29) die Drehbewegung der Aufhängung (15) unter Zwischenschaltung eines Zahnraduntersetzungsgetriebes sicherstellt, welches eine erste Stufe, bestehend aus einem Planetenuntersetzungsgetriebe (30) und eine zweite, bestehend aus einem geradverzahnten Stirnradgetriebe (31) beinhaltet.
  6. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung nach Anspruch 1 - 5, dadurch gekennzeichnet, daß sie mit einem Relativpositionsaufnehmer (40), sei es ein Absolut- oder Incrementalcodierer, der die Winkelstellung der drehenden Aufhängung (15), bezogen auf das Flaschenzuggestell kontrolliert und einem Gyrometer (41), das die Absolutposition der drehenden Aufhängung kontrolliert, ausgestattet ist.
  7. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung nach Anspruch 5 und 6, dadurch gekennzeichnet, daß der Relativpositionsaufnehmer, bestehend aus einem Rotationscodierer (40), von einem Ritzel in Drehbewegung versetzt wird, das mit einem Zahnrad(47) des hinteren geradverzahnten Stirnradgetriebes in Eingriff steht, welches Teil des Untersetzungsgetriebes für den Drehantrieb der Aufhängung (15) ist, wobei das Zahnrad (47) auf der drehenden Aufhängung (15) festgeklemmt ist.
  8. Motorisierte eigenenergiegespeiste Lastendrehvorrichtung nach einem oder mehreren der Ansprüche 1 - 7, dadurch gekennzeichnet, daß die drehende Aufhängung (15) einerseits ein zylindrisches Oberteil (42), welches auf ein Axialkugellager (43) im Inneren des Flaschenzuggestells (11) montiert ist und mit einer Öffnung (44) versehen ist, die für die Durchführung eines elektrischen Kabels vom Ausgang eines drehenden Kollektors (39) zur Mitnahme gespeicherter elektrischer Energie für die elektrischen Funktionen des Greifmittels (9) und/oder anderer Zubehörteile vorgesehen ist, und andererseits ein unteres, außen am Flaschenzuggestell (11) angeordnetes Teil, das der Aufhängung des Greifmittels (9) dient, beinhaltet.
EP90420340A 1989-07-18 1990-07-16 Motorisierte Vorrichtung zum Umdrehen von Lasten mit Energie-Selbstversorgung für Kabel-Hebegeräte Expired - Lifetime EP0409748B1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT90420340T ATE83216T1 (de) 1989-07-18 1990-07-16 Motorisierte vorrichtung zum umdrehen von lasten mit energie-selbstversorgung fuer kabelhebeger|te.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8910376A FR2649966B1 (fr) 1989-07-18 1989-07-18 Dispositif motorise de rotation de charge, auto-alimente en energie, pour appareils de levage a cable
FR8910376 1989-07-18

Publications (2)

Publication Number Publication Date
EP0409748A1 EP0409748A1 (de) 1991-01-23
EP0409748B1 true EP0409748B1 (de) 1992-12-09

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ID=9384369

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Application Number Title Priority Date Filing Date
EP90420340A Expired - Lifetime EP0409748B1 (de) 1989-07-18 1990-07-16 Motorisierte Vorrichtung zum Umdrehen von Lasten mit Energie-Selbstversorgung für Kabel-Hebegeräte

Country Status (11)

Country Link
US (1) US5071184A (de)
EP (1) EP0409748B1 (de)
JP (1) JPH0351295A (de)
CN (1) CN1027533C (de)
AT (1) ATE83216T1 (de)
CS (1) CS354690A2 (de)
DD (1) DD298898A5 (de)
DE (1) DE69000566T2 (de)
ES (1) ES2036900T3 (de)
FR (1) FR2649966B1 (de)
RU (1) RU2034771C1 (de)

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CN109733997B (zh) * 2018-12-20 2020-04-28 沈阳建筑大学 塔式起重机旋摆变幅小车自供电***及其控制方法
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DE69000566D1 (de) 1993-01-21
DD298898A5 (de) 1992-03-19
CN1027533C (zh) 1995-02-01
EP0409748A1 (de) 1991-01-23
FR2649966B1 (fr) 1991-09-27
JPH0351295A (ja) 1991-03-05
ATE83216T1 (de) 1992-12-15
CN1049319A (zh) 1991-02-20
RU2034771C1 (ru) 1995-05-10
DE69000566T2 (de) 1993-06-03
FR2649966A1 (fr) 1991-01-25
ES2036900T3 (es) 1993-06-01
CS354690A2 (en) 1991-12-17
US5071184A (en) 1991-12-10

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