EP2927177A9 - Procédé et dispositif pour commander une grue - Google Patents

Procédé et dispositif pour commander une grue Download PDF

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Publication number
EP2927177A9
EP2927177A9 EP15161902.0A EP15161902A EP2927177A9 EP 2927177 A9 EP2927177 A9 EP 2927177A9 EP 15161902 A EP15161902 A EP 15161902A EP 2927177 A9 EP2927177 A9 EP 2927177A9
Authority
EP
European Patent Office
Prior art keywords
crane
hoist
drive motor
speed
main boom
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
EP15161902.0A
Other languages
German (de)
English (en)
Other versions
EP2927177B1 (fr
EP2927177A1 (fr
Inventor
Steve Ekström
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.)
Patentic Oy AB
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Patentic Oy AB
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Publication date
Application filed by Patentic Oy AB filed Critical Patentic Oy AB
Publication of EP2927177A1 publication Critical patent/EP2927177A1/fr
Publication of EP2927177A9 publication Critical patent/EP2927177A9/fr
Application granted granted Critical
Publication of EP2927177B1 publication Critical patent/EP2927177B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads 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
    • B66C13/18—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
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control

Definitions

  • the present invention relates to a method according to the preamble of claim 1.
  • the aim of the method is to minimize the swinging of a load transported by a crane.
  • the invention also relates to an arrangement according to the preamble of claim 7, with which this minimization of the load's swinging can be achieved.
  • a bridge crane is a type of crane with a load-bearing structure comprising a main boom that preferably rests on fixed parallel support beams, along which the main boom can be moved. These beams are usually positioned at each end of the main boom, but there are bridge cranes with beams positioned on top of each other, in which case the main boom extends between the beams.
  • a crane has a trolley that can be moved along its main boom.
  • An example of such a trolley is a telpher that can be moved on rails or directly on bottom flanges of a bridge crane's main boom.
  • the trolley comprises, among other things, a drive motor to drive it along the main boom, and a power-driven hoist block equipped with ropes, wires or chains.
  • the effectivity of work is determined on how quickly a load can be moved with a crane. Owing to the inertia of the object being moved with the crane, the load will generally swing in a greater or less degree. If the load is not too heavy, the swinging can be reduced by hand, but often it is necessary to manage the movements of the trolley and main boom to maintain a safe and stable transport of the load. This management requires great skill and experience of the crane operator, characteristics that are not always available in a stressful work situation.
  • a solution according to publication US 5 219 420 endeavours to regulate the swinging of the load at any random time instant during the transport of the load.
  • This solution too, describes an arrangement that is based on using several measurements to determine continuously the transport times of the load and its movement in relation to the crane, for instance. Like in the earlier solution, the measurements are difficult to make sufficiently quickly and reliably to be able to regulate the swinging of the load even during short transport intervals.
  • the object of the invention is thus to provide an easy to use method and arrangement for controlling a crane with high reliability.
  • This object is achieved in accordance with the invention by giving the method for controlling a crane according to the invention the characterising features of claim 1, while the arrangement for controlling a crane has the characterising features of claim 7.
  • the subsequent dependent claims present appropriate further developments and variations of the invention which further improve its operation.
  • the invention is based on the idea of being able to provide an as simple solution as possible in construction and use. This solution should be applicable to both new cranes and cranes that have been used for a short or long period of time.
  • a hoist rope is the tool, with which the hoist block of the trolley regulates the altitude of the load. It can be a wire, chain or some other suitable auxiliary device that is usually used for this purpose.
  • the transporting of a load in a crane can be controlled in a simple manner that sufficiently prevents the troublesome or even dangerous swinging of the load.
  • the arrangement can without much difficulty and at a reasonable cost be installed in both new cranes and those already in use.
  • the use of the crane also does not require any new control commands, and the crane can continue to be used in the known manner.
  • a crane 1 is illustrated in the present description and figures as a bridge crane, the structure of which is shown in Figures 1 and 4 , in particular.
  • the solutions described in the following can also be applied to cranes and hoist arrangements of other type, in which it is necessary to limit the swinging that occurs in a load when it is moved by the crane.
  • the crane 1 has a main boom 2 that is preferably arranged to be movable in relation to its environment.
  • the bridge crane according to the attached Figures is thus arranged on support members 3, such as beams, which according to Figure 1 are arranged along parallel walls of an industrial facility, for example.
  • Support members of this type can also be arranged one on top of the other in a manner known per se.
  • the support members can comprise a turnplate to make the main boom of a tower crane turnable in relation to its vertical tower.
  • the support members can further comprise a wheel-mounted portal, for example, that can be driven along horizontal rails or freely along an essentially level base.
  • the crane 1 also has at least one trolley 4 arranged to the main boom 2 to be moved along the main boom with at least one drive motor 5 that preferably comprises an inverter-steered stepless electric motor.
  • This trolley in turn, has a machine-driven hoist block 6 with which the hoist rope 7 and the hoist hook 8 arranged thereto are manoeuvred in a substantially vertical direction. If the main boom is movable in relation to its environment, it also has drive members 9 for moving the main boom along its support member 3.
  • the speed of the hoist block can thus comprise only the movement of the trolley along the main boom, the movement of the main boom along the support members or a combination of the movement of the main boom along the support members and the movement of the trolley along the main boom, of which the latter alternative is shown in Figure 1 and illustrated by arrows B-F and L-R in the Figure.
  • the measuring elements are of a generally known type and not part of the present solution, which is why they are not shown in more detail in the Figures.
  • the trolley 6 of the crane 1 also comprises an angle gauge 10 that is arranged to determine the position of the hoist rope 7 in relation its vertical rest position that is shown by vertical line 11, see Figure 4 .
  • the angle gauge preferably measures the angle ⁇ of the hoist rope and vertical line in a more or less continuous process.
  • This measuring data is delivered to a regulating unit 12 that can process the data and determine from it the angular speed ⁇ of the hoist rope in relation to its vertical rest position and the travel direction of the hoist rope.
  • the angle gauge preferably operates in a three-dimensional measuring space, and the angle gauge can also comprise one or more measuring devices to read deviations in different geometrical directions.
  • the regulating unit 12 works together with at least one control unit 13 that is arranged to manoeuvre the drive members 9 or drive motor 5 according to the information it receives from the regulating unit. This way, the same control unit can be arranged to manoeuvre either the drive member or drive motor or both the drive member and drive motor.
  • the regulating unit 12 of the crane 1 with the angle gauge 10 coupled thereto make it possible to minimize in a simple and reliable manner the swinging that most often takes place in a load 14 when it is to be transported in a direction that differs from the vertical.
  • the method that is utilized in this control operates in the following manner. Also see Figure 5 .
  • the angle gauge 10 in the trolley 4 first determines the position of the hoist rope 7 that runs from the trolley and that through the hoist hook 8 arranged thereto can handle loads 14 of different type.
  • the measuring data 18 of the angle gauge concerning the actual position of the hoist rope in relation to its vertical rest position, see vertical line 11, is transmitted to the regulating unit 12 that further determines the angle speed ⁇ of the hoist rope and its travel direction in relation to its vertical rest position.
  • a first control signal 19 is given to at least one control unit 13 that forwards the control signal on to regulate only the movement of the trolley 4 along the main boom 2, the movement of the main boom 2 along the support member 3, or a combination of the movement of the main boom along the support member and that of the trolley along the main boom.
  • the control signal results in a substantially stepless acceleration cycle in the drive members or drive motor, when the hoist block reaches a speed that corresponds to half of the maximum speed, which is illustrated by phase I in Figure 2 .
  • control unit 13 manoeuvres either the drive members 9 or drive motor 5, or both of them.
  • the type of manoeuvring of a hoist block 6 described above thus takes place when a load 14 is stationary when movement is about to begin. Often the load already swings when the transport command 15 reaches the regulating unit 12. Alternatively, the load may be stationary but moved in a way that the hoist rope 7 is at an angle in relation to its vertical position. So as to prevent problems that may arise in such situations, the manoeuvring method may be modified to some extent. This modification can be seen in Figure 6 and works in the following way.
  • the angle gauge 10 When a crane user 16 gives the transport command 15, the angle gauge 10 first determines the position of the hoist rope 7 in relation to the vertical line 11. If the hoist rope already is at an angle ⁇ to its vertical position, the control unit 13 is allowed to transmit the first transport control signal to the drive members 9 or drive motor 5 only after the load 14 (hoist rope) has a travel direction that substantially coincides with a travel direction given in the transport command.
  • this first control signal results in a substantially stepless acceleration cycle that controls the movement of the trolley 4 along the main boom 2, the movement of the main boom along the support members 3, or a combination of the movement of main boom along the support members and the movement of the trolley along the main boom, when the hoist block 6 reaches a speed that corresponds to half the maximum speed (phase I).
  • the regulating unit 12 continues to observe the travel direction and angle position of the hoist rope for the purpose of measuring the time T required for the load, after the first control signal has been transmitted, to adopt a travel direction that is opposite to the travel direction given in the transport command 15.
  • the regulating unit 12 When the hoist block 6 reaches half the maximum speed, measuring values are again registered for the travel direction ⁇ and angle position ⁇ of the hoist rope 7.
  • the regulating unit 12 now commands that acceleration be stopped and achieved speed be maintained (phase II). After this, a continuous observation of the travel direction and angle position of the hoist rope continues in such a manner that when the hoist rope adopts an opposite travel direction in relation to the travel direction at the time the transport command 15 was given, the regulating unit waits for a position of the hoist rope that corresponds to the angle at the time when half the maximum speed was reached minus the time (T) multiplied by the angular speed of the hoist rope.
  • a second control signal can now be transmitted to the drive members 9 or drive motor 5, which results in a second substantially stepless acceleration cycle to a speed that corresponds to the maximum speed of the hoist block 6 (phase III).
  • the regulating unit again gives the command to stop acceleration and maintain the reached speed until a new transport command is received (phase IV).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
EP15161902.0A 2014-04-02 2015-03-31 Procédé et dispositif pour commander une grue Active EP2927177B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI20145320A FI125656B (sv) 2014-04-02 2014-04-02 Förfarande för att styra en lyftkran

Publications (3)

Publication Number Publication Date
EP2927177A1 EP2927177A1 (fr) 2015-10-07
EP2927177A9 true EP2927177A9 (fr) 2015-12-30
EP2927177B1 EP2927177B1 (fr) 2017-11-15

Family

ID=53016455

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15161902.0A Active EP2927177B1 (fr) 2014-04-02 2015-03-31 Procédé et dispositif pour commander une grue

Country Status (2)

Country Link
EP (1) EP2927177B1 (fr)
FI (1) FI125656B (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107381350B (zh) * 2017-07-05 2019-04-16 苏州汇川技术有限公司 一种基于变频器的起重机防摇摆控制方法以及变频器
CN107857196B (zh) * 2017-11-13 2019-03-01 浙江大学 一种桥式集装箱起重机摆动最优控制***
CN108657956A (zh) * 2018-03-29 2018-10-16 马鞍山钢铁股份有限公司 H型钢修磨专用双吊钩行车的同步控制方法
CN110467109B (zh) * 2019-07-29 2020-08-25 武汉理工大学 一种起重机时间最优防摇控制方法及***

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1172413B (de) * 1959-10-03 1964-06-18 Demag Ag Einrichtung an Hebezeugen fuer die selbsttaetige elektrische Steuerung der Bewegung des Lasttraegers zur Beruhigung der an ihm haengenden Last
FI44036B (fr) 1966-08-25 1971-04-30 Kone Oy
US4997095A (en) * 1989-04-20 1991-03-05 The United States Of America As Represented By The United States Department Of Energy Methods of and system for swing damping movement of suspended objects
FI91058C (fi) 1991-03-18 1996-01-10 Kci Kone Cranes Int Oy Nosturin ohjausmenetelmä
FI20115922A0 (fi) 2011-09-20 2011-09-20 Konecranes Oyj Nosturin ohjaus

Also Published As

Publication number Publication date
FI125656B (sv) 2015-12-31
EP2927177B1 (fr) 2017-11-15
EP2927177A1 (fr) 2015-10-07
FI20145320A (fi) 2015-10-03

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