EP1925586B1 - Grue mobile - Google Patents

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Publication number
EP1925586B1
EP1925586B1 EP20070022231 EP07022231A EP1925586B1 EP 1925586 B1 EP1925586 B1 EP 1925586B1 EP 20070022231 EP20070022231 EP 20070022231 EP 07022231 A EP07022231 A EP 07022231A EP 1925586 B1 EP1925586 B1 EP 1925586B1
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EP
European Patent Office
Prior art keywords
crane
limit
accordance
mobile crane
strength
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Application number
EP20070022231
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German (de)
English (en)
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EP1925586A1 (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
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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 EP1925586A1 publication Critical patent/EP1925586A1/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 mobile crane with an overload protection.
  • a limit curve is usually stored today for different crane configurations, which is monitored during crane operation for exceeding.
  • Relevant parameters for crane safety are, for example, the component strength of boom systems, hoisting ropes, turntables, adjusting cylinders, mechanical connections etc. on the one hand and the stability of the crane on the other hand.
  • limit criteria the minimum of which forms the said limit curve, which is stored in a storage unit of the crane and which is monitored for overshoot during crane operation.
  • a disadvantage here is that for each conceivable crane configuration, a separate limit curve or payload table must be stored, which is relatively expensive.
  • EP 0 364 994 is described a crane control for a slewing crane, in particular a tower crane.
  • a single-channel, Programmable logic controller provided in the memory data for movement and / or load limits of a hoist and movement limits of a boom drive are stored.
  • the hoist and the boom drive sensors are assigned, which generate the movement or the load-proportional measurement signals.
  • the controller controls the hoist and the boom drive depending on the stored limit data and the measuring signal of the encoder.
  • a crane according to the preamble of claim 1 is known from DE 199 33917A1 known.
  • the object of the present invention is therefore to develop a mobile crane of the type mentioned in such a way that the scope of saving data and that the possibility is opened to ensure a particularly safe crane operation.
  • One advantage of the invention is that the amount of data to be stored or the payload table size can be reduced, since all component limit criteria do not always have to change each time a crane configuration is changed.
  • the cantilever strength is independent of the ballast configuration, the uppercarriage angle, etc., so that it does not change with such a change in the crane configuration and therefore need not be re-stored.
  • both the individual limit curves mentioned or the individual limit values of the various parameters and the minimum of the limit curves or limit values are monitored for excess or approximation. It can thus be monitored as usual, the minimum and in addition a diversified monitoring of individual criteria are made, whereby the safety of the crane operation is increased.
  • advantages are thus on the one hand in the reduction of the load capacity table circumference and second, to see in the improvement in crane safety.
  • the various parameters are operating parameters such as, for example, the stability of the crane, and / or component-specific parameters, such as the strength of components of the crane.
  • At least one parameter is the strength of the undercarriage and / or the upper carriage, and / or the turntable, and / or of cylinders, in particular of the luffing cylinder.
  • At least one, preferably several or all of the limit curves represent the permissible load on the projection for the various parameters.
  • Such a representation contains individual limit curves for the various parameters, such as cantilever strength, undercarriage strength, superstructure strength, etc., wherein in this embodiment of the invention on the ordinate the permissible load and on the abscissa the projection is plotted.
  • Other limit curves are conceivable.
  • At least one of the limit curves may represent the dependency of the cantilever strength on the degrees of freedom of the cantilever, in particular on its pivot angle in the teetering plane or its projection or over the boom length or based on this dependence.
  • it can thus be provided to store the cantilever strength for different pivoting angles as a function of the boom length or also the cantilever strength for different cantilever lengths as a function of the pivoting angle as limit curves.
  • the cantilever strength can be monitored independently of the support situation, the ballast configuration, the superstructure angle of rotation, or independently of these variables, it must only be stored on the crane once per degree of freedom.
  • At least one of the limit values or at least one of the limit curves represents the permissible torque on the turntable between the lower and upper carriages or is based on the permissible torque. If the torque on the slewing ring between the crane undercarriage and the revolving platform or superstructure is calculated via the masses of the components that can be revolved with the superstructure, such as revolving platform, boom system, the load at this point can be monitored against a turntable limit curve. Of course, the same sizes can be used to monitor the undercarriage.
  • At least one of the limit values is the hoisting rope strength or, for example, the strength of the hook block.
  • the permissible load over the radius of this limit or the limit curve is horizontal, since the hoist rope strength and the strength of the hook bottle is independent of the projection.
  • At least one of the limits is the allowable pressure in one of the cylinders. It is also conceivable that at least one of the limit curves represents or is based on the permissible pressure in a cylinder as a function of its extension length. If one stores the limit pressure of a cylinder or a limit pressure curve over the extension length, then each working cylinder at the crane, which is equipped with a pressure transducer, can be monitored for a constant limit pressure and in the presence of an additional length transmitter or by indirect calculation of the extension length of the cylinder on a length-dependent limit become. In this way it can be ensured that during crane operation, the maximum permissible strength or load capacity of cylinders, for example, the rocking cylinder is not exceeded.
  • the means for ensuring the crane safety are formed by different computers or processors, one of which the individual limit curves or the individual limits of the various parameters and the other the minimum of Limit curves or limits monitored for overshoot or approximation.
  • a comparison unit may be provided which compares the result of the monitoring by the first and by the second computer or processor and which emits a signal or prevents the further crane operation, if there is a discrepancy in the results of the review.
  • the means for ensuring crane safety are formed by different computers or processors, which are designed such that they monitor the limit curves or limit values for exceeding or approach in different ways. It is conceivable, for example, that such an overrun or approximation is carried out on the one hand on the basis of a calculation and on the other hand due to a measurement. It is conceivable, for example, that the undercarriage is a load measurement, is checked on the basis of whether the stability of the crane is guaranteed and that in the uppercarriage a calculation is made by means of which should also be checked whether the stability is guaranteed.
  • a comparison unit is provided which compares the result of these monitorings with each other and outputs a signal or inhibits further crane operation if a discrepancy or a discrepancy above a limit results in the results of the monitoring.
  • the stability criteria with knowledge of all priorities and weights of crane components and knowledge of the current position of the moving components via sensors such as angle and length encoders are calculated at any time on the crane and monitored for allowable limit position.
  • the stability is calculated according to common crane regulations.
  • the center of gravity of the crane can be determined within its tilting lines.
  • the approach to a tipping line can be determined by turning the crane superstructure and by lowering the rotational speed to a standstill or by any other measure that affects the load torque in an appropriate manner, exceeding the tipping line and thus tilting of the crane can be prevented. It is conceivable, for example, to provide in the support cylinders of the crane undercarriage thruster, via which the total weight of the crane including load and the distribution can be determined on the individual support points.
  • the single figure shows different individual limit curves for different parameters, where "AF” is the boom strength, "SS” the stability, “KW4.5” the tilt angle, (4.5 °) "UG” the undercarriage load, “DG” the slewing limit load , “HG” represent the hoisting rope limit load and “WZ” represent the limit curve of the luffing cylinder.
  • the said limit curves stored in a memory of the crane relate to the dependence of the load on the discharge and show that the maximum load for a given discharge varies for the different parameters shown.
  • the Load limit with a reach of between 3 and 12 meters is determined by the undercarriage limit strength, while in the case of overhangs over 12 meters, the boom rigidity plays the essential role in terms of load limitation.
  • a plurality of individual limit curves which are shown as examples in the figure, are stored in the memory of the crane, whereby a diverse monitoring of these individual criteria for the purpose of ensuring crane safety is made possible.
  • this diversified monitoring of the individual criteria in addition to the usual monitoring of the minimum, d. H. the limit curve that represents the minimum of various limit criteria for a particular crane configuration.
  • the present invention provides different computers or processors which check the crane safety with different algorithms or calculation methods, independently of each other. If different results are obtained, this can be displayed to the crane driver in a suitable manner or the further crane operation can be prevented.
  • the present invention thus enables redundant monitoring and diversification of the monitoring of individual failure criteria, which is not known from the prior art.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Claims (14)

  1. Grue mobile, avec une ou plusieurs unités de mémorisation dans laquelle/lesquelles sont mémorisées, pour différents paramètres de la grue, des courbes limites ou valeurs limites individuelles qui, afin de garantir la sécurité du fonctionnement de la grue, ne sont pas autorisées à être dépassées ou ne le sont qu'avec délivrance d'un signal d'alarme, et avec des moyens pour garantir la sécurité de la grue qui sont réalisés de telle sorte qu'ils surveillent le dépassement des courbes limites ou valeurs limites individuelles des différents paramètres, sachant qu'une des courbes limites représente la relation entre la résistance de la flèche et les degrés de liberté de la flèche, ou se fonde sur cette relation,
    caractérisée en ce qu'au moins un autre paramètre est la résistance du châssis inférieur et/ou du châssis supérieur et/ou de la couronne d'orientation et/ou de vérins, en particulier du vérin de volée.
  2. Grue mobile selon la revendication 1, caractérisée en ce que les moyens pour garantir la sécurité de la grue sont réalisés de telle sorte qu'ils surveillent le dépassement ou l'approche tant des courbes limites individuelles ou des valeurs limites individuelles des différents paramètres que du minimum des courbes limites ou valeurs limites.
  3. Grue mobile selon la revendication 1 ou 2, caractérisée en ce que les différents paramètres sont des paramètres de fonctionnement, comme la stabilité au renversement de la grue, et des paramètres de composants, comme la résistance de composants de la grue.
  4. Grue mobile selon l'une des revendications précédentes, caractérisée en ce qu'au moins un autre paramètre est la résistance du câble de levage et/ou du moufle à crochet.
  5. Grue mobile selon l'une des revendications précédentes, caractérisée en ce qu'au moins une des courbes limites représente la charge admissible en fonction de la portée pour les différents paramètres.
  6. Grue mobile selon l'une des revendications précédentes, caractérisée en ce qu'au moins une des courbes limites représente la relation entre la résistance de la flèche et son angle de pivotement dans le plan de volée ou sa portée ou la longueur de la flèche, ou se fonde sur cette relation.
  7. Grue mobile selon l'une des revendications précédentes, caractérisée en ce qu'au moins une des valeurs limites ou au moins une des courbes limites représente le couple admissible à la couronne d'orientation entre le châssis inférieur et le châssis supérieur, ou se fonde sur le couple admissible.
  8. Grue mobile selon l'une des revendications précédentes, caractérisée en ce qu'au moins une des valeurs limites représente la résistance du câble de levage et/ou la résistance du moufle à crochet, ou se fonde sur cette résistance.
  9. Grue mobile selon l'une des revendications précédentes, caractérisée en ce qu'au moins une des valeurs limites représente la pression admissible dans un vérin, ou se fonde sur cette pression.
  10. Grue mobile selon l'une des revendications précédentes, caractérisée en ce qu'au moins une des courbes limites représente la pression admissible dans un vérin en fonction de sa longueur de déploiement, ou se fonde sur cette relation.
  11. Grue mobile selon l'une des revendications précédentes, caractérisée en ce que les moyens pour garantir la sécurité de la grue sont formés par différents calculateurs ou processeurs, dont l'un surveille le dépassement ou l'approche des courbes limites individuelles ou des valeurs limites individuelles des différents paramètres, et l'autre le dépassement ou l'approche du minimum des courbes limites ou valeurs limites.
  12. Grue mobile selon la revendication 11, caractérisée en ce qu'il est prévu une unité de comparaison qui compare le résultat de la surveillance par le premier et par le deuxième calculateur ou processeur, et en ce qu'un signal est délivré ou la poursuite du fonctionnement de la grue empêchée en cas de disparité dans les résultats de la surveillance.
  13. Grue mobile selon l'une des revendications précédentes, caractérisée en ce que les moyens pour garantir la sécurité de la grue sont formés par différents calculateurs ou processeurs qui sont réalisés de telle sorte qu'ils surveillent de différentes manières le dépassement ou l'approche des courbes limites ou valeurs limites.
  14. Grue mobile selon la revendication 13, caractérisée en ce qu'il est prévu une unité de comparaison qui compare le résultat de la surveillance par les différents calculateurs ou processeurs, et en ce qu'un signal est délivré ou la poursuite du fonctionnement de la grue empêchée en cas de disparité dans les résultats de la surveillance.
EP20070022231 2006-11-21 2007-11-15 Grue mobile Active EP1925586B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200620017730 DE202006017730U1 (de) 2006-11-21 2006-11-21 Mobilkran

Publications (2)

Publication Number Publication Date
EP1925586A1 EP1925586A1 (fr) 2008-05-28
EP1925586B1 true EP1925586B1 (fr) 2013-01-16

Family

ID=39091793

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20070022231 Active EP1925586B1 (fr) 2006-11-21 2007-11-15 Grue mobile

Country Status (2)

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EP (1) EP1925586B1 (fr)
DE (1) DE202006017730U1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014105618A1 (de) 2014-04-22 2015-10-22 Terex Cranes Germany Gmbh Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE102012011871B4 (de) 2012-06-13 2020-09-03 Liebherr-Werk Ehingen Gmbh Verfahren zur Überwachung der Kransicherheit sowie Kran
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
CN113620191B (zh) * 2020-05-09 2024-08-16 徐州重型机械有限公司 起重机作业保护方法、装置、系统和起重机

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DE2400310C3 (de) * 1974-01-04 1981-02-26 Erhard 5509 Kell Kirsten Kippmomentsicherung für einen Teleskop-Auslegerkran
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
DE3835522A1 (de) 1988-10-19 1990-05-03 Man Ghh Krantechnik Kransteuerung
JP2000034093A (ja) * 1998-07-21 2000-02-02 Kobe Steel Ltd 旋回式作業機械とその安全作業領域及び定格荷重の設定方法
DE29906524U1 (de) * 1999-04-13 1999-09-02 Klaas Theodor Gmbh & Co Dachdeckerkran mit einem Kranausleger
DE10023418A1 (de) * 2000-05-12 2001-11-15 Liebherr Werk Nenzing Verfahren zur Überlastsicherung eines mobilen Kranes
DE10110176A1 (de) * 2001-03-02 2002-09-05 Putzmeister Ag Mobiles Arbeitsgerät mit Standsicherheitsüberwachung
DE10147777B4 (de) * 2001-09-27 2005-06-23 Rheinmetall Landsysteme Gmbh Vorrichtung zur Erhöhung der Standsicherheit bei mobilen Krananlagen
US7014054B2 (en) * 2002-07-01 2006-03-21 Jlg Industries, Inc. Overturning moment measurement system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014105618A1 (de) 2014-04-22 2015-10-22 Terex Cranes Germany Gmbh Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran
US10144621B2 (en) 2014-04-22 2018-12-04 Terex Global Gmbh Method and device for operating a mobile crane and mobile crane

Also Published As

Publication number Publication date
DE202006017730U1 (de) 2008-04-03
EP1925586A1 (fr) 2008-05-28

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