EP1746064A2 - Grue, en particulier grue mobile ou à chenilles - Google Patents

Grue, en particulier grue mobile ou à chenilles Download PDF

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Publication number
EP1746064A2
EP1746064A2 EP06014466A EP06014466A EP1746064A2 EP 1746064 A2 EP1746064 A2 EP 1746064A2 EP 06014466 A EP06014466 A EP 06014466A EP 06014466 A EP06014466 A EP 06014466A EP 1746064 A2 EP1746064 A2 EP 1746064A2
Authority
EP
European Patent Office
Prior art keywords
crane
planner
monitoring
program
monitor
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
EP06014466A
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German (de)
English (en)
Other versions
EP1746064B1 (fr
EP1746064A3 (fr
Inventor
Erwin Morath
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
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Filing date
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Publication of EP1746064A2 publication Critical patent/EP1746064A2/fr
Publication of EP1746064A3 publication Critical patent/EP1746064A3/fr
Application granted granted Critical
Publication of EP1746064B1 publication Critical patent/EP1746064B1/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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • 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

Definitions

  • the invention relates to a crane, preferably a caterpillar or vehicle crane according to the preamble of claim 1.
  • a deployment planner is a computer program for planning, simulating and documenting crane operations on a PC. Once an order has been received, it is planned in detail via the dispatch planner. This pre-planned and documented planning is then processed during the mission.
  • a crane monitoring device eg load torque limitation, overload limitation, working area limitation, power limitation
  • a crane monitoring device for monitoring the operating state of the crane.
  • Such a crane monitoring device consists essentially of one or more computing systems and at least one display unit.
  • sensors arranged on the crane sensor signals such as recorded angles, lengths or weights are read.
  • the crane monitoring device determines, based on stored comparison values, whether the crane is overloaded or is used in the permitted working area.
  • the known crane monitoring device is designed only one channel and can fail.
  • Object of the present invention is to improve the safety of crane monitoring and also to increase the ease of use for the crane operator.
  • a crane according to the invention preferably a caterpillar or vehicle crane, initially has a crane monitoring device for monitoring the operating state of the crane, which consists of one or more computer systems and at least one display unit.
  • an operational planner which consists of one or more computer systems and at least one own monitor output.
  • This deployment planner works on the one hand as a device for planning the crane operation and on the other as a redundant crane monitoring unit in addition to the crane monitoring device.
  • the deployment scheduler stationarily used has been included as a component in the crane.
  • the crane driver immediately has the job scheduler available on site, which means that he can plan the appropriate crane application in detail.
  • the deployment planner is not only used here as a device for planning the use of the crane. Rather, it is used as a redundant crane monitoring unit, in that here corresponding sensor values, which were recorded by the sensors arranged distributed in the crane, are fed in. These form input values for data stored in the dispatch planner Calculation programs with the aid of which the current operating data and limit values of the crane are recalculated. As a result, a diverse and thus independent parallel monitoring instrument is created, which means that the crane according to the invention has a multi-channel independent monitoring.
  • both the crane monitoring device and the resource planner each have their own display units. These are then verifiable at the same time without the need to switch screen content for a crane operator.
  • the display unit of the dispatch planner can advantageously be switched at any time between the display of the device for planning the crane operation and the crane monitoring unit, the current crane position is taken .
  • the crane operator is usually operate the display unit in the mode in which he is here before using the crane Check the planning of the crane operation.
  • he can then switch the display unit to the mode of the redundant crane monitoring, so that he can monitor in parallel here the display of the crane monitoring device and the display of the redundant crane monitoring unit.
  • the crane has at least one comparison unit which compares the crane operating values determined independently of one another in the service planner on the one hand and in the crane monitoring device with one another and generates an error message (eg optical and / or acoustic warning signal) when an impermissible deviation occurs and / or thus influences the crane control in that the crane is kept in a safe state or enters a safe state (safety shutdown).
  • an error message eg optical and / or acoustic warning signal
  • the dispatch planner and the crane monitor may mutually exchange data and intermediate results, e.g. for further calculation, display and monitoring.
  • the deployment planner can advantageously as a device for planning the crane use a load capacity program for calculating the load, a configuration selection program for selecting crane configurations (such as boom length, ballast, support base, rotation range, ballast radius, additional equipment), a ballast determination program to determine the depending on the crane type depending to be used minimum and maximum derrick ballast, a planning program for simulating the planned crane operation (ie changing operating parameters such as angle of boom and accessories, boom length, ballast, Berrickballast, Derrickballastradius), a Stützkraftbeticiansprogramm to determine the forces occurring at the supports, a track crushing program to determine the Contain the caterpillars occurring soil pressures and anti-collision device for collision avoidance of several working in combination cranes.
  • a load capacity program for calculating the load
  • configuration selection program for selecting crane configurations (such as boom length, ballast, support base, rotation range, ballast radius, additional equipment)
  • ballast determination program to determine the depending on the crane type depending to be used minimum and maximum derrick ballast
  • the dispatch planner may execute the essential programs described above as a redundant crane monitoring unit based on data stored in its memory for the current crane setting values set and the current crane sensor values recorded by various sensors.
  • the load can also be displayed as a function of the radius.
  • the radius and the respective derrick ballast radius or also the load capacity and the respective derrick ballast radius can be displayed.
  • the single figure shows schematically the interconnection of the mission planner on the one hand and the crane monitoring device on the other.
  • a crane for example a crawler crane or a vehicle crane, has a crane monitoring device 10 which, on the one hand, consists of a computer unit 12 and a monitor 14.
  • sensor signals S such as angle, length, weights, etc., which are recorded by sensors 16 on the crane, read.
  • the permissible working range and load limit values of the crane are monitored on the basis of values stored in the memory, such as crane-specific load tables as a function of set-up condition and shearing.
  • a deployment planner 18 is provided, which also has its own monitor 20 and a Calculator 21 has two functions.
  • the first function is indicated by the reference numeral 22 and relates to the function known per se as a dispatch planner.
  • scheduler functions which could already be calculated centrally by a scheduler on a PC.
  • the operation is done for example via a mouse 26 or a keyboard (eg touch screen) of the monitor 20 (not shown here).
  • This function is completely independent of the second function, namely the redundant crane monitoring 24.
  • sensor values S are read into the computer unit 21 by the sensors 16 arranged on the crane.
  • setting values E are given from the crane monitoring device 10 to the redundant crane monitor 24, these setting values, for example the operating mode, the shearing or other set values of the crane, relating to.
  • This is data that the crane operator has set on the crane monitor or that are supplied via sensors (eg: ballast equipment, support base, boom configuration).
  • sensors eg: ballast equipment, support base, boom configuration.
  • additional data and intermediate results can be exchanged between the scheduler and crane monitoring.
  • the current setting values and the current crane sensor values are evaluated and the current operating parameters and monitoring limits are calculated in parallel and independently of the crane monitoring device with the aid of load values and geometry files stored in the deployment scheduler 18.
  • the calculation results obtained independently of the task planner 18 on the one hand and the crane monitoring device 10 on the other hand are compared at least in one computer and if the deviation of the respective results is impermissible, an error signal is output which is displayed directly in the computer Crane control can be further processed eg prevention of dangerous movements and additionally triggering an alarm.
  • all the usual graphical representations of the dispatch planner on the PC can be displayed on the monitor 20 of the dispatch planner 18, wherein the data and graphic images can be displayed for the respective current crane state, since all current sensor values and other data are provided to the dispatch planner 18 become.
  • the graphics of the dispatcher monitor 20 move according to the current crane position.
  • graphic images can be displayed in different views.
  • the crawler pressing can also be represented dynamically here, while in the case of a crane with supports, the respectively occurring supporting forces can be displayed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP06014466A 2005-07-22 2006-07-12 Grue, en particulier grue mobile ou à chenilles Active EP1746064B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102005034333 2005-07-22
DE102005036058 2005-08-01
DE102005059768A DE102005059768A1 (de) 2005-07-22 2005-12-14 Kran, vorzugsweise Raupen- oder Fahrzeugkran

Publications (3)

Publication Number Publication Date
EP1746064A2 true EP1746064A2 (fr) 2007-01-24
EP1746064A3 EP1746064A3 (fr) 2008-08-27
EP1746064B1 EP1746064B1 (fr) 2009-11-18

Family

ID=37208374

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06014466A Active EP1746064B1 (fr) 2005-07-22 2006-07-12 Grue, en particulier grue mobile ou à chenilles

Country Status (4)

Country Link
US (1) US8505754B2 (fr)
EP (1) EP1746064B1 (fr)
JP (1) JP5464782B2 (fr)
DE (2) DE102005059768A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2113481A1 (fr) * 2008-04-30 2009-11-04 Liebherr-Werk Ehingen GmbH Grue mobile avec système de supervision
EP2301884A1 (fr) * 2009-09-28 2011-03-30 Haulotte Group Nacelle élévatrice et méthode de commande d'une telle nacelle
CN102452618A (zh) * 2010-10-14 2012-05-16 利勃海尔爱茵根有限公司 起重机,尤其是履带式起重机或移动式起重机
CN103787200A (zh) * 2013-12-10 2014-05-14 中联重科股份有限公司 履带起重机及其行走姿态控制方法和控制系统
CN105347195A (zh) * 2015-10-31 2016-02-24 长治清华机械厂 带智能控制的全力矩限制器
CN105523481A (zh) * 2016-01-11 2016-04-27 辽宁国远电子有限公司 一种内置式起重机安全监控系统
CN107628539A (zh) * 2017-11-11 2018-01-26 福建省特种设备检验研究院 基于案例推理的流动式起重机故障诊断系统
DE102021114393A1 (de) 2021-06-02 2022-12-08 Pfeifer Holding Gmbh & Co. Kg Traverse aus einer Mehrzahl von ausschließlich lösbar miteinander gekoppelten Bauelementen, Set mit einer Traverse und Verfahren zum Zusammensetzen einer Traverse

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005035460A1 (de) * 2005-07-28 2007-02-01 Liebherr-Werk Ehingen Gmbh Verfahren zur Traglastermittlung bei Kranen
DE102007014114B4 (de) 2007-03-23 2025-02-06 Liebherr-Werk Ehingen Gmbh Fahrzeugkran
US20100245129A1 (en) * 2009-03-31 2010-09-30 Caterpillar Inc. System and method for identifying machines
DE102009060321A1 (de) 2009-12-23 2011-06-30 Liebherr-Werk Ehingen GmbH, 89584 Steuersystem für Baumaschinen und Verfahren zum Betrieb des Steuersystems
DE202010014309U1 (de) 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
CN102267662A (zh) * 2011-05-23 2011-12-07 上海三一科技有限公司 起重机的三维力矩限制器和包括该力矩限制器的起重机
RU2012140237A (ru) * 2011-09-23 2014-03-27 МАНИТОВОК КРЕЙН КАМПЕНИЗ, ЭлЭлСи Система и способы контроля выносных опор
CN102398868B (zh) * 2011-11-21 2013-08-21 江麓机电科技有限公司 塔机智能监控系统
DE102012011726C5 (de) * 2012-06-13 2024-06-13 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans mit Überwachungseinheit sowie Kran
EP2674384B1 (fr) * 2012-06-13 2021-01-27 Liebherr-Werk Ehingen GmbH Procédé de surveillance de la sécurité d'une grue et grue
JP6284302B2 (ja) * 2013-04-02 2018-02-28 株式会社タダノ ブームの伸縮パターン選択装置
WO2014168540A1 (fr) * 2013-04-09 2014-10-16 Indexator Group Ab Système pour commander un raccord rapide agencé sur un bras d'outil
CN103407897A (zh) * 2013-08-05 2013-11-27 河南工业大学 起重机两线制限位器
CN104891338B (zh) * 2015-04-30 2017-01-04 共享装备有限公司 铸造用熔炼自动加料系统及方法
US9818287B1 (en) * 2016-11-09 2017-11-14 Altec Industries, Inc. Load-indicative alarm
CN113697679B (zh) * 2021-07-26 2022-07-22 中联重科股份有限公司 故障双层冗余监测方法、预警方法及系统
CN113548588A (zh) * 2021-08-09 2021-10-26 浙江三一装备有限公司 一种倾翻风险预测方法、装置及系统

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US20050098520A1 (en) 2001-11-06 2005-05-12 Ralf Frankenberger Mobile crane having a superlift device

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EP0768588A2 (fr) 1995-10-13 1997-04-16 Pietzsch Automatisierungstechnik Gmbh Console de commande et méthode de préparation et d'ajustement d'un engin mobile de travail
US20050098520A1 (en) 2001-11-06 2005-05-12 Ralf Frankenberger Mobile crane having a superlift device

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8160786B2 (en) 2008-04-30 2012-04-17 Liebherr-Werk Ehingen Gmbh Mobile crane and method for operating a mobile crane
EP2113481A1 (fr) * 2008-04-30 2009-11-04 Liebherr-Werk Ehingen GmbH Grue mobile avec système de supervision
US9079756B2 (en) 2009-09-28 2015-07-14 Haulotte Group Elevating platform and a method of controlling such a platform
FR2950618A1 (fr) * 2009-09-28 2011-04-01 Haulotte Group Nacelle elevatrice et methode de commande d'une telle nacelle
EP2301884A1 (fr) * 2009-09-28 2011-03-30 Haulotte Group Nacelle élévatrice et méthode de commande d'une telle nacelle
CN102452618A (zh) * 2010-10-14 2012-05-16 利勃海尔爱茵根有限公司 起重机,尤其是履带式起重机或移动式起重机
CN102452618B (zh) * 2010-10-14 2016-08-31 利勃海尔爱茵根有限公司 起重机和用于起重机的监控和模拟装置
CN103787200A (zh) * 2013-12-10 2014-05-14 中联重科股份有限公司 履带起重机及其行走姿态控制方法和控制系统
CN103787200B (zh) * 2013-12-10 2015-09-02 中联重科股份有限公司 履带起重机及其行走姿态控制方法和控制系统
CN105347195A (zh) * 2015-10-31 2016-02-24 长治清华机械厂 带智能控制的全力矩限制器
CN105347195B (zh) * 2015-10-31 2018-02-23 长治清华机械厂 带智能控制的全力矩限制器
CN105523481A (zh) * 2016-01-11 2016-04-27 辽宁国远电子有限公司 一种内置式起重机安全监控系统
CN107628539A (zh) * 2017-11-11 2018-01-26 福建省特种设备检验研究院 基于案例推理的流动式起重机故障诊断系统
CN107628539B (zh) * 2017-11-11 2019-02-19 福建省特种设备检验研究院 基于案例推理的流动式起重机故障诊断系统
DE102021114393A1 (de) 2021-06-02 2022-12-08 Pfeifer Holding Gmbh & Co. Kg Traverse aus einer Mehrzahl von ausschließlich lösbar miteinander gekoppelten Bauelementen, Set mit einer Traverse und Verfahren zum Zusammensetzen einer Traverse

Also Published As

Publication number Publication date
US20070034587A1 (en) 2007-02-15
US8505754B2 (en) 2013-08-13
DE502006005380D1 (de) 2009-12-31
DE102005059768A1 (de) 2007-01-25
EP1746064B1 (fr) 2009-11-18
EP1746064A3 (fr) 2008-08-27
JP2007031150A (ja) 2007-02-08
JP5464782B2 (ja) 2014-04-09

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