EP0779237A2 - Grue mobile avec un appareil de sécurité anti-surcharge - Google Patents

Grue mobile avec un appareil de sécurité anti-surcharge Download PDF

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Publication number
EP0779237A2
EP0779237A2 EP96118130A EP96118130A EP0779237A2 EP 0779237 A2 EP0779237 A2 EP 0779237A2 EP 96118130 A EP96118130 A EP 96118130A EP 96118130 A EP96118130 A EP 96118130A EP 0779237 A2 EP0779237 A2 EP 0779237A2
Authority
EP
European Patent Office
Prior art keywords
boom
rotation
sliding
angle
overload protection
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
EP96118130A
Other languages
German (de)
English (en)
Other versions
EP0779237B1 (fr
EP0779237A3 (fr
Inventor
Peter Abel
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.)
Liebherr Werk Ehingen GmbH
Original Assignee
Liebherr Werk Ehingen GmbH
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 Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of EP0779237A2 publication Critical patent/EP0779237A2/fr
Publication of EP0779237A3 publication Critical patent/EP0779237A3/fr
Application granted granted Critical
Publication of EP0779237B1 publication Critical patent/EP0779237B1/fr
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
    • 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
    • B66C23/88—Safety gear
    • 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
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment

Definitions

  • the invention relates to a crane vehicle with an overload protection device, with a boom articulated on its superstructure, preferably a telescopic boom, which can be rocked by a rocker cylinder articulated on this and the superstructure, with extendable sliding spars arranged on the opposite end regions of the long sides of the undercarriage Ends are provided with extendable support feet, and with a device measuring the angle of rotation of the boom, the signals of which are fed to a processing device of the overload protection device, in which the overload protection device generates a warning signal and / or stops the crane operation when the crane approaches or exceeds its stability-threatening limits .
  • the stability of a crane vehicle with a telescopic boom depends not only on the size of the load hanging on the telescopic boom, but also on the luffing angle, the extension length of the telescopic boom, the deflection of the telescopic boom and in particular also on the angle of rotation of the uppercarriage with the telescopic boom to the undercarriage and the support legs of the sliding beams defined stand square.
  • the safety of the crane is greatest when the boom points in the direction of the most extended sliding beam.
  • Sliding bars with extended support feet ensure greater stability in the longitudinal direction of the undercarriage than in the direction of its transverse axis.
  • the overload safety device must therefore always take into account the extended state of the sliding struts, which is problematic in that the stability changes even with different extending lengths of the individual sliding struts.
  • the object of the invention is therefore to create a crane vehicle of the type specified at the outset, in which the overload protection device reliably takes into account the different extension lengths of the sliding struts.
  • this object is achieved in a crane vehicle of the type specified at the outset in that a monitoring device is provided which detects the extension state or the extension length of the sliding spars, which supplies the signals of the overload protection device corresponding to the respective extension length of the individual sliding spars, and that the processing device of the overload protection device from the Signals of the monitoring device for the extension length of the sliding spars and from the signals of the device measuring the angle of rotation of the boom for each angle of rotation of the boom determine the stability of the standing square resulting from the extended state of the sliding spars.
  • the signals generated by the angle of rotation measuring device and the monitoring device of the sliding spars in accordance with the angle of rotation or the extension lengths of the sliding spars are processed by the processing device, which contains a microcomputer, by comparison with the other values determining the stability, the overload protection device generating a signal stopping the crane operation when the crane approaches or exceeds its stability-threatening limits.
  • the 360 ° rotation angle of the boom is divided into a plurality of rotation angle ranges and that for each of these rotation angle ranges, the booms located in this area result from the extension lengths of the Stability safety values resulting in sliding beams are stored in a table (bit map), from which the processing unit reads the current stability values of the standing square in accordance with the measured extension lengths of the sliding beams.
  • each sliding beam has only three support positions in which it is bolted, namely once a retracted position in which the support foot is located in the area of the longitudinal side of the undercarriage, a middle position and a fully extended position . If only these three support positions are taken into account when calculating the stability for each of the four sliding spars, the safety values for each of the areas can be stored in a clear table.
  • the computing work of the processing device can be reduced even further by dividing the 360 ° angle of rotation of the boom into four quadrants for determining the stability values of the standing rectangle. For each of these four quadrants, the stability values for all possible extension lengths of the sliding beams are stored in such a way that the smallest values valid for them are valid for the entire quadrant.
  • the angular ranges lying in the safety range are determined from the measured values of the angle of rotation of the boom and the extension lengths of the sliding beams which the boom can be rotated at a predetermined load to a predetermined smallest luffing angle of the boom.
  • variable angular ranges are defined in which the boom can be rotated safely with the load attached to it. For each of these angular ranges, the smallest rocking angle that is permissible in this angular range is assumed. This definition of variable angular ranges also simplifies the calculation since the permissible safety values do not have to be taken into account for every angle of the jib.
  • the reduction in the angular ranges has the advantage that the crane operator does not have to fear in larger angular ranges to approach an angular limit at which the overload safety device responds.
  • the choice of larger angular ranges means that the higher loads that are permissible in certain areas, for example by pivoting the boom to smaller luffing angles, cannot be used in these.
  • FIG. 1 schematically shows an undercarriage 1 of a crane vehicle, from which the sliding spars 2 are extended to different extents, which support legs 3 at their ends, which can be extended vertically against the ground by hydraulic cylinders at right angles to the sliding spars. Threaded spindles can also be provided to extend the support feet.
  • the sliding beams 2 are located in the end regions of the two long sides of the undercarriage 1 and can be extended at right angles to its longitudinal center plane.
  • the sliding beams can be extended in three stages, in which they must each be bolted in their guides. These steps correspond to a retracted position in which the support lengths of the sliding spars are smallest, an intermediate position and an extended position in which the support length is greatest.
  • the two sliding beams 2 on the left side are in their middle position, the upper sliding beam on the right side in its most extended position and the sliding beam on the lower right in its retracted position Position.
  • This extension pattern of the sliding spars and the resulting support lengths result in a standing square, which is able to take up different rocking forces over the angle of rotation of the boom.
  • angular ranges have been defined in the standing square, which result from the lines drawn from the axis of rotation 4 of the boom to the ends of the sliding spars 2 or through the support lines of the support feet 3.
  • certain permissible cantilever moments have been defined, the different sizes of which are indicated by the radius of the circular arc spanning the angular ranges.
  • a uniform permissible cantilever torque is defined for each angular range, which corresponds to the largest permissible cantilever torque for this angular range.
  • the different four-angle ranges resulting from the different extension lengths of the sliding beams as well as the largest cantilever moments permitted for each of these angle ranges are stored in a payload table from which these values can be read out for processing in the processing unit with the overload protection device.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP96118130A 1995-12-15 1996-11-12 Grue mobile avec un appareil de sécurité anti-surcharge Expired - Lifetime EP0779237B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE29519928U DE29519928U1 (de) 1995-12-15 1995-12-15 Kranfahrzeug mit einer Überlastsicherungseinrichtung
DE29519928U 1995-12-15

Publications (3)

Publication Number Publication Date
EP0779237A2 true EP0779237A2 (fr) 1997-06-18
EP0779237A3 EP0779237A3 (fr) 1997-07-09
EP0779237B1 EP0779237B1 (fr) 2001-10-10

Family

ID=8016782

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96118130A Expired - Lifetime EP0779237B1 (fr) 1995-12-15 1996-11-12 Grue mobile avec un appareil de sécurité anti-surcharge

Country Status (5)

Country Link
US (1) US5887735A (fr)
EP (1) EP0779237B1 (fr)
JP (1) JPH09175785A (fr)
KR (1) KR100427506B1 (fr)
DE (2) DE29519928U1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1925585A1 (fr) * 2006-11-21 2008-05-28 Liebherr-Werk Ehingen GmbH Grue mobile
CN105271025A (zh) * 2014-06-03 2016-01-27 利勃海尔工厂埃英根有限公司 具有支腿和用于加宽支撑基座的加长梁的移动式作业机械
IT201700037143A1 (it) * 2017-04-05 2018-10-05 Jacques Tranchero Gru con sistema antiribaltamento settoriale
CN108892038A (zh) * 2018-06-07 2018-11-27 河南华电工控技术有限公司 一种起重机械远程无线安全监控管理系统
US11142438B2 (en) 2017-08-28 2021-10-12 Manitowoc Crane Companies, Llc Graphical working range diagrams for displaying allowable and projected loads

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6269635B1 (en) 1999-01-20 2001-08-07 Manitowoc Crane Group, Inc. Control and hydraulic system for a liftcrane
JP3683571B2 (ja) * 2003-04-10 2005-08-17 古河機械金属株式会社 クレーンの転倒防止装置
DE202005013310U1 (de) * 2005-08-23 2007-01-04 Liebherr-Hydraulikbagger Gmbh Überlastwarneinrichtung für Bagger
WO2007033273A2 (fr) * 2005-09-13 2007-03-22 Romer Incorporated Véhicule muni d’un dispositif d’articulation
DE102006031257A1 (de) * 2006-07-06 2008-01-10 Putzmeister Ag Autobetonpumpe mit Knickmast
DE102008055625A1 (de) * 2008-11-03 2010-05-06 Putzmeister Concrete Pumps Gmbh Fahrbare Arbeitsmaschine mit Stützauslegern
CN101746675B (zh) * 2009-12-31 2012-05-02 三一汽车制造有限公司 起重机超起装置及其控制系统和控制方法
DE102010056584B4 (de) 2010-12-30 2018-03-29 Asm Automation Sensorik Messtechnik Gmbh Mobile Arbeitsmaschine
AT511234B1 (de) * 2011-04-08 2013-05-15 Palfinger Ag Standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans
DE102011119654B4 (de) * 2011-11-29 2015-11-12 Liebherr-Werk Ehingen Gmbh Mobile Arbeitsmaschine, insbesondere Fahrzeugkran
DE102012011871B4 (de) * 2012-06-13 2020-09-03 Liebherr-Werk Ehingen Gmbh Verfahren zur Überwachung der Kransicherheit sowie Kran
AT13517U1 (de) * 2012-10-19 2014-02-15 Palfinger Ag Sicherheitseinrichtung für einen Kran
CN103043581B (zh) * 2012-12-21 2016-04-06 三一重工股份有限公司 一种转台限位装置、方法及工程机械
DE102013201860A1 (de) * 2013-02-05 2014-08-07 Terex Cranes Germany Gmbh Verfahren zur Beeinflussung einer auf einen Seiltrieb wirkenden Seilwindenkraft und Vorrichtung zur Durchführung eines derartigen Verfahrens
FR3002799B1 (fr) * 2013-03-01 2015-07-31 Haulotte Group Cellule de mesure d'effort pour nacelle elevatrice et nacelle elevatrice comprenant une telle cellule
CN109592567A (zh) * 2018-12-10 2019-04-09 中联重科股份有限公司 用于工程机械的控制系统、方法及工程机械

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DE2230840C2 (de) * 1972-06-23 1982-05-06 Carl Metz Gmbh, 7500 Karlsruhe Trägerfahrzeug mit einem hinsichtlich seiner Länge und seiner Stellung im Raum veränderbaren Tragbalken
FR2501390A1 (fr) * 1981-03-05 1982-09-10 Camiva Dispositif de commande a microprocesseur pour echelle orientable deployable ou bras elevateur analogue
DE3420596C2 (de) * 1984-06-01 1986-10-02 Dr.-Ing. Ludwig Pietzsch Gmbh & Co, 7505 Ettlingen Überwachungs- und Steuersystem für Auslegerkrane
DE3605462A1 (de) * 1986-02-24 1987-08-27 Mo N Proizv Ob Str Dorozh Mash Verfahren zur sicherung eines gefahrlosen betriebes von selbstfahrenden auslegerkranen und system zur durchfuehrung desselben
US4833615A (en) * 1986-10-15 1989-05-23 A.G.A. Credit System for the protection of an aerial device having a pivotable boom
JPH085623B2 (ja) * 1989-09-27 1996-01-24 株式会社神戸製鋼所 クレーンの安全装置
JP2564060B2 (ja) * 1991-10-24 1996-12-18 株式会社神戸製鋼所 建設機械の安全装置

Non-Patent Citations (1)

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Title
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1925585A1 (fr) * 2006-11-21 2008-05-28 Liebherr-Werk Ehingen GmbH Grue mobile
CN105271025A (zh) * 2014-06-03 2016-01-27 利勃海尔工厂埃英根有限公司 具有支腿和用于加宽支撑基座的加长梁的移动式作业机械
IT201700037143A1 (it) * 2017-04-05 2018-10-05 Jacques Tranchero Gru con sistema antiribaltamento settoriale
WO2018185632A1 (fr) * 2017-04-05 2018-10-11 Jacques Tranchero Grue à système de commande anti-basculement
US11623848B2 (en) 2017-04-05 2023-04-11 Jacques Tranchero Crane with anti-tipping control system
US11142438B2 (en) 2017-08-28 2021-10-12 Manitowoc Crane Companies, Llc Graphical working range diagrams for displaying allowable and projected loads
CN108892038A (zh) * 2018-06-07 2018-11-27 河南华电工控技术有限公司 一种起重机械远程无线安全监控管理系统

Also Published As

Publication number Publication date
JPH09175785A (ja) 1997-07-08
EP0779237B1 (fr) 2001-10-10
DE29519928U1 (de) 1996-04-04
DE59607876D1 (de) 2001-11-15
KR970042227A (ko) 1997-07-24
US5887735A (en) 1999-03-30
KR100427506B1 (ko) 2004-07-14
EP0779237A3 (fr) 1997-07-09

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