EP1748021B2 - Procédé de mésure de charge pour grue - Google Patents

Procédé de mésure de charge pour grue Download PDF

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Publication number
EP1748021B2
EP1748021B2 EP06014597.6A EP06014597A EP1748021B2 EP 1748021 B2 EP1748021 B2 EP 1748021B2 EP 06014597 A EP06014597 A EP 06014597A EP 1748021 B2 EP1748021 B2 EP 1748021B2
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EP
European Patent Office
Prior art keywords
parameter
values
payload
parameters
determined
Prior art date
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Application number
EP06014597.6A
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German (de)
English (en)
Other versions
EP1748021A2 (fr
EP1748021B1 (fr
EP1748021A3 (fr
Inventor
Peter Abel
Helmut Späth
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
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Liebherr Werk Ehingen GmbH
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Application filed by Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of EP1748021A2 publication Critical patent/EP1748021A2/fr
Publication of EP1748021A3 publication Critical patent/EP1748021A3/fr
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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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the invention relates to a method for determining the permissible load capacity of a crane.
  • the permissible load capacity of a crane has been determined for certain set-up or condition parameters that have to be specified explicitly.
  • load specifications are known for certain, specified revolving platform ballast levels of e.g. 10 t and 20 t or for certain boom lengths and projections.
  • the permissible values of the payload are often given in the form of payload tables, whereby the values of the payload are usually given in relation to two parameters.
  • a disadvantage of this procedure is that it is not possible to determine the payload for any parameter values that can be freely selected within a parameter range, which results in the disadvantage that the payload determination is relatively imprecise.
  • the DE 199 33 917 describes a method for setting a safety working range and a rated load in accordance with a working condition of the machine. According to this method, from a rated load based on the strength, which is set in consideration of the working radius and the strength of the pivot member and which is constant regardless of the pivot angle of the pivot member, and a rated load on the Based on the stability, which is set in consideration of the stability of the working machine and which changes depending on the swivel angle of the swivel element, the lower value is picked up for each swivel angle and set as a nominal load to be actually used, which is output by a nominal load data output device.
  • the EP 1 153 876 describes a method for overload protection of a mobile crane, in which component-related geometric data are stored in a memory. According to a selected setup state, the geometry data are compiled in a simulation computer to form a physical simulation model. Taking real measurement data into account, the required geometrical data, center of gravity data and forces and, from this, the shutdown values are calculated.
  • the load capacity is determined as a function of the crane's radius and the main boom angle of the crane, and that the method includes a first step in which the load capacities for the crane's radius at different values of the crane's main boom angle are determined by interpolation or extrapolation on the basis of known values of the lifting capacity at certain values of the radius of the crane, and in that the method comprises a second step in which the lifting capacity for the value of the main boom angle of the crane on the basis of the in the first step for different values of the main boom angle of the crane is carried out by interpolation or extrapolation, whereby the specific values of the crane radius, for which the values of the lifting capacity are known, are selected as a function of the values of the main boom angle of the crane.
  • the load capacity is to be determined, for example, as a function of the parameters radius (21.7 m) and main boom angle (83 °).
  • the following procedure can be used:
  • the permissible load capacity is determined, for example, by interpolating the load capacity for a first and second angle (77 °; 87 °) of the main boom using two support points from load capacity values that are known for the different projections are. It is conceivable, for example, to interpolate for a radius of 21.7 m between the support points 20 m and 22 m where the load capacity is known. This interpolation is carried out for a boom angle of 77 ° and for a boom angle of 87 °.
  • the specific values of the outreach of the crane are selected as a function of the values of the main boom angle of the crane.
  • smaller values of the radius are selected as support points than with a smaller main boom angle.
  • the support points with a main boom angle of 77 ° at 20 m and 22 m and with a main boom angle of 87 ° at 14 m and 16 m.
  • the procedure for selecting the specific values of the crane radius, for which the values of the load capacity are known, depending on the values of the main boom angle of the crane is of course not only applicable to the parameters radius and main boom angle, but also for other parameters, in particular applicable to parameters that are dependent on each other.
  • the interpolation or extrapolation can be carried out assuming a linear relationship or also on the basis of any other functions that reflect a dependency of the payload on the respective parameter.
  • the method according to the invention is not restricted to two independent parameters. Rather, any number of parameters that have an influence on the load-bearing capacity can be taken into account. It can thus be provided that the The payload is to be determined as a function of n parameters, where n ⁇ 2 and wherein the method comprises an n-th step in which the payload is determined on the basis of the in the (n-1) -th step for different values of the n- The values of the payload determined by the th parameter are carried out by interpolation or extrapolation. This means that the nth step in determining the load capacity works with support points that were determined in the previous, ie (n-1) th step.
  • the method can be implemented with a small number of support points. In principle, it is sufficient if the interpolation or the extrapolation is carried out on the basis of two interpolation points.
  • the parameters are entered by hand.
  • the parameters on the crane can be determined by a sensor.
  • a stepless setting or acquisition of the parameters is preferably possible.
  • the acquisition of a parameter by means of a sensor is particularly useful if the value has a fixed size (e.g. ballast plate identification) or can be rounded to a fixed size (discretization).
  • the acquisition of parameters by means of a sensor comes into consideration, for example, with the parameters revolving platform ballast and / or central ballast.
  • other parameters such as the wind speed, can also be detected by means of a sensor.
  • the parameters that are included in the calculation of the load capacity are preferably set-up or condition parameters of the crane.
  • Parameters in addition to the outreach of the crane or the main boom angle of the crane, which have an influence on the load capacity, can be selected from the following non-exhaustive group: turntable ballast, central ballast (undercarriage additional weight), support geometry, wind speed, longitudinal and lateral inclination of the crane, travel speed (for tables on tires or caterpillars), derrick radius, derrick ballast, angle of rotation of the turntable, longitudinal and transverse angles of the jib guy stand (TA, TY).
  • TA jib guy stand
  • the sensor value can be used to make the load capacity calculation, preferably permanently, when a parameter limit is exceeded for the first time to switch so that a different, possibly a lower parameter value is taken into account for the measured sensor value. In this way it is possible to determine a small and therefore safer payload in operation.
  • the load calculation is carried out for any freely selectable values of a parameter within a parameter range.
  • the value of the parameter can, for example, be typed in using a number keypad on a monitor.
  • the parameter values for a derrick crane with luffing jib without derrick ballast are a main boom angle of 83 ° and an outreach of 21.7 m.
  • the dependence of the permissible load on the outreach for the main boom angles 77 ° and 87 is known °.
  • the load capacity value for the radius of 21.7 m is determined by interpolation between the known support points at 20 m and at 22 m, both at the main boom angle of 77 ° and at the main boom angle of 87 °.
  • the load capacity values obtained for both main boom angles 77 ° and 87 ° are interpolated Load value determined for the main boom angle 83 °. There are thus two interpolations of the payload depending on the radius and one interpolation of the payload depending on the main boom angle.
  • the support points of the overhang are selected differently for the different main boom angles.
  • the parameter values for a derrick crane without luffing jib with derrick ballast are a derrick ballast radius of 14.5 m and an outreach of 21.7 m.
  • the dependence of the permissible load capacity on the outreach for the derrick ballast radii 13 m is known and 15 m.
  • the load capacity value for the radius of 21.7 m is determined by interpolation between the known support points at 20 m and at 22 m, both for the derrick ballast radius of 13 m and for the derrick ballast radius of 15 m
  • the load value for the derrick ballast radius 14.5 m is also determined by interpolation.
  • the method according to the invention is not limited to the determination of the payload as a function of two parameters. There is no limit to the number of parameters.
  • the parameter values for a derrick crane with luffing jib and derrick ballast be a radius of 21.7 m, a derrick ballast radius of 14.5 m and a main boom angle of 83 °.
  • the permissible load capacity depends on the radius for the derrick ballast radii 13 m and 15 m, specifically for the main boom angles of 77 ° and 87 °.
  • the load capacity value for the radius of 21.7 m is determined in a first step by interpolation between the known support points at 20 m and at 22 m both with the derrick ballast radius of 13 m and with the derrick ballast radius 15 m and this separately for both main boom angles.
  • the support points for the projection are selected differently for different main boom angles.
  • four interpolations of the load are carried out in the first step depending on the radius.
  • the values determined for derrick ballast radius values of 13 m and 15 m are interpolated with respect to the value 14.5 m. This interpolation takes place for both main boom angles (77 ° and 87 °).
  • the payload is to be determined as a function of four parameters. These are the parameters outreach (21.7 m), main boom angle (83 °), derrick ballast radius (14.5 m) and derrick ballast (255 t).
  • the load capacities are known depending on the radius for two different derrick ballast radii, namely with the parameter values derrick ballast 200 t and 300 t and with the main boom angles 77 ° and 87 °.
  • the load capacity for the radius of 21.7 m and for derrick ballast radii of 13 m and 15 m is determined between the support points of the 20 m and 22 m radius. This determination is made for the four pairs of values of the derrick ballast and the main boom angle 300t, 77 °; 300 t, 87 °; 200 t, 77 ° and 200t, 87 °. In total there are eight interpolations of the load capacity depending on the radius carried out at two support points each. On the basis of two of the load values determined in this way, four interpolations are carried out for the derrick ballast radius value of 13.7 m.
  • the load values determined for the four aforementioned pairs of values are fed to further interpolation steps, two interpolations being carried out for different main boom angles and the same derrick ballast radii in each case.
  • the result of this interpolation consists of two load values for different derrick ballast values.
  • the last interpolation is carried out with a view to determining the load value for different derrick ballast values at 200 t and 300 t in order to obtain the permissible load value for a derrick ballast of 255 t in this way.
  • the support points for the projection are selected differently depending on the main boom angle.

Landscapes

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

Claims (8)

  1. Procédé de détermination de la charge admissible d'une grue, dans lequel la charge doit être déterminée en fonction de n paramètres, où n ≥ 2, et où les paramètres comprennent au moins un premier et un deuxième paramètre, le procédé comprenant
    une première étape lors de laquelle les charges pour la valeur du premier paramètre, pour des valeurs différentes du deuxième paramètre, sont déterminées par l'interpolation ou l'extrapolation sur la base de valeurs connues de la charge, pour des valeurs déterminées du premier paramètre,
    une deuxième étape, lors de laquelle la charge pour la valeur du deuxième paramètre, sur la base des valeurs de la charge déterminées lors de la première étape pour des valeurs différentes du deuxième paramètre, est exécutée par calcul ou par interpolation ou extrapolation,
    caractérisé en ce que
    les valeurs déterminées du premier paramètre, auxquelles les valeurs de la charge sont connues, sont sélectionnées en fonction des valeurs du deuxième paramètre, de sorte que les valeurs déterminées du premier paramètre sont différents pour les différents valeurs du deuxième paramètre, et
    le premier paramètre est une projecture de la grue et le deuxième paramètre est l'angle de la projecture de la grue, et
    en cas d'un plus grand angle de bras principale, c.-à.-d. en cas d'un bras principale incliné plus raide, des valeurs plus faibles de la projecture sont sélectionnés qu'en cas d'une angle de bras principale plus faible.
  2. Procédé selon la revendication 2, caractérisé en ce que le procédé comprend une nième étape lors de laquelle la charge pour le nième paramètre est exécutée sur la base des valeurs de la charge déterminée lors de la (n-1)ième étape pour des valeurs différentes du nième paramètre, par interpolation ou extrapolation.
  3. Procédé selon l'une des revendications 1 et 2, caractérisé en ce que l'interpolation respectivement l'extrapolation est exécutée sur la base de deux emplacements de support.
  4. Procédé selon l'une des revendications précédentes, caractérisé en ce que les paramètres sont entrés à la main ou sont détectés au moyen d'un capteur et peuvent ensuite servir de base pour la détermination de la charge.
  5. Procédé selon la revendication 4, caractérisé en ce que la détection de valeurs de paramètres est exécutée par un capteur pour des paramètres qui ont une valeur définie ou peuvent être arrondis à une valeur définie.
  6. Procédé selon la revendication 4 ou 5, caractérisé en ce que les valeurs des paramètres ballast de plate-forme tournante et/ou ballast central sont détectés par un capteur.
  7. Procédé selon l'une des revendications précédentes, caractérisé en ce que dans le cas des paramètres, il s'agit de paramètres d'armement et/ou d'état d'une grue.
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que lors du dépassement d'une limite de paramètre, à la place de la valeur du paramètre mesuré par un capteur, une autre valeur de paramètre est utilisée à laquelle une charge plus basse est obtenue.
EP06014597.6A 2005-07-28 2006-07-13 Procédé de mésure de charge pour grue Active EP1748021B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005035460A DE102005035460A1 (de) 2005-07-28 2005-07-28 Verfahren zur Traglastermittlung bei Kranen

Publications (4)

Publication Number Publication Date
EP1748021A2 EP1748021A2 (fr) 2007-01-31
EP1748021A3 EP1748021A3 (fr) 2008-01-09
EP1748021B1 EP1748021B1 (fr) 2012-01-11
EP1748021B2 true EP1748021B2 (fr) 2021-06-02

Family

ID=37401146

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06014597.6A Active EP1748021B2 (fr) 2005-07-28 2006-07-13 Procédé de mésure de charge pour grue

Country Status (4)

Country Link
US (2) US9126812B2 (fr)
EP (1) EP1748021B2 (fr)
JP (1) JP5512912B2 (fr)
DE (1) DE102005035460A1 (fr)

Families Citing this family (13)

* 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
DE202010014309U1 (de) * 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
DE102011107754B4 (de) * 2011-06-10 2021-07-22 Liebherr-Werk Ehingen Gmbh Winkelbezogenes Verfahren zur Überwachung der Kransicherheit während des Rüstvorgangs, sowie Kran und Kransteuerung
RU2012140237A (ru) * 2011-09-23 2014-03-27 МАНИТОВОК КРЕЙН КАМПЕНИЗ, ЭлЭлСи Система и способы контроля выносных опор
AU2013267148B9 (en) * 2012-06-01 2017-04-06 Seatrax, Inc. System and method to determine relative velocity of crane and target load
DE102012011871B4 (de) 2012-06-13 2020-09-03 Liebherr-Werk Ehingen Gmbh Verfahren zur Überwachung der Kransicherheit sowie Kran
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
CN107848774B (zh) 2015-06-24 2022-03-25 帕尔菲格股份有限公司 起重机控制装置和相应的起重机
DE102015112194B4 (de) 2015-07-27 2019-01-03 Manitowoc Crane Group France Sas Verfahren zur Planung oder Überwachung der Bewegung eines Kranes sowie Kran
DE102016104358B4 (de) 2016-03-10 2019-11-07 Manitowoc Crane Group France Sas Verfahren zum Ermitteln der Tragfähigkeit eines Krans sowie Kran
FR3125031B1 (fr) * 2021-07-08 2023-11-03 Manitowoc Crane Group France Procédé d’adaptation d’une courbe de charge d’une grue en fonction de sa configuration
US12384663B2 (en) * 2022-08-02 2025-08-12 University Of Florida Research Foundation, Incorporated Haptic feedback system for anti-sway control of a payload

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DE2635974A1 (de) † 1976-08-10 1978-02-23 Precilec Sa Vorrichtung zur kontrolle der last einer hebeeinrichtung
DE2910057A1 (de) † 1979-03-14 1980-09-25 Pietzsch Ludwig Lastmomentbegrenzer fuer einen kran

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DE102005035460A1 (de) 2005-07-28 2007-02-01 Liebherr-Werk Ehingen Gmbh Verfahren zur Traglastermittlung bei Kranen

Patent Citations (2)

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Publication number Priority date Publication date Assignee Title
DE2635974A1 (de) † 1976-08-10 1978-02-23 Precilec Sa Vorrichtung zur kontrolle der last einer hebeeinrichtung
DE2910057A1 (de) † 1979-03-14 1980-09-25 Pietzsch Ludwig Lastmomentbegrenzer fuer einen kran

Also Published As

Publication number Publication date
US9126812B2 (en) 2015-09-08
US20070027613A1 (en) 2007-02-01
US9957141B2 (en) 2018-05-01
US20100250153A1 (en) 2010-09-30
EP1748021A2 (fr) 2007-01-31
EP1748021B1 (fr) 2012-01-11
JP5512912B2 (ja) 2014-06-04
JP2007031155A (ja) 2007-02-08
DE102005035460A1 (de) 2007-02-01
EP1748021A3 (fr) 2008-01-09

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