EP2548835B2 - Commande de grue et grue - Google Patents

Commande de grue et grue Download PDF

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Publication number
EP2548835B2
EP2548835B2 EP12005293.1A EP12005293A EP2548835B2 EP 2548835 B2 EP2548835 B2 EP 2548835B2 EP 12005293 A EP12005293 A EP 12005293A EP 2548835 B2 EP2548835 B2 EP 2548835B2
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EP
European Patent Office
Prior art keywords
crane
input
crane control
parameters
accordance
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EP12005293.1A
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German (de)
English (en)
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EP2548835B1 (fr
EP2548835A1 (fr
Inventor
Peter Abel
Edwin Cettinich
Ulrich Fuchs
Oliver Ruoss
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Liebherr Werk Ehingen GmbH
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Liebherr Werk Ehingen GmbH
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    • 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
    • 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 crane control with a display and input unit for displaying and inputting the operating mode information of the crane required for load torque limitation and / or crane control, in particular in accordance with its current mechanical structure.
  • the load torque limitation monitors the currently applied load torque during crane work or the set-up process against defined limit values, which are usually stored in corresponding load-bearing tables. Before each use of the crane, the necessary data or operating mode information of the crane must therefore be entered into the crane control in order to be able to provide a suitable load table for the load torque limiter.
  • crane controls which have an input and display unit for inputting the required data.
  • the crane operator first determines a required input parameter and then receives a list with all possible characteristics for the crane from the crane control via the display unit.
  • the list made available must be searched for the desired expression, and after the desired expression has been selected, this is specified by a user confirmation as an input for the parameter to be developed. This process is repeated until all required parameters have been set correctly.
  • Possible parameters are, for example, the telescopic boom length or lattice boom length of a crane as well as information about the crane accessories, the ballast, the crane support or the crane turning range.
  • the number of values for each individual parameter is variable and can, under certain circumstances, have very high values. For example, a suitable selection of characteristics must be provided for every possible crane configuration. In the case of the boom system in particular, there are extensive constellation possibilities, since, for example, differently dimensioned lattice pieces in different lengths can be combined and consequently the number of possible characteristics to be provided for a parameter can rise rapidly.
  • Crane controls of this type require that you click through all of the listed parameters or values until the required value for the value is displayed. However, this procedure is very cumbersome and time-consuming.
  • the crane control triggers the data transfer by pressing the enter key and the associated load capacity table is searched for using the selected parameter combination.
  • the crane control generates an error message and the crane operator is prompted to re-enter all values.
  • the document DE 19538264 A1 discloses an interactive operating console with a display and input unit for displaying a status and inputting at least one input value for preparing and setting up a mobile working device.
  • the object of the present invention is therefore to further develop a crane control in such a way as to circumvent the problems described above.
  • the logic determines already during the input process existing dependencies between two or more input parameters or those that have yet to be input.
  • Dependencies arise, for example, on the basis of the crane equipment status or the specific crane use, since the possible and therefore sensible jib length depends on the type of jib system used.
  • the logic analyzes, for example, the input parameters to be entered or entered to determine whether there is a dependency between at least two input parameters or whether they can be set independently of one another. Furthermore, the logic can preferably be used to evaluate the dependencies found.
  • the logic of the crane control is designed in such a way that, taking into account the determined dependencies, a selection with possible characteristics for an input parameter to be entered can be generated.
  • the user therefore does not have to laboriously work through a list that includes all possible versions of the crane, but rather receives a restricted selection with consistently meaningful versions for the respective input parameter to be defined. This saves the crane operator a considerable amount of time when entering the crane configuration.
  • the logic is implemented in such a way that a selection of input parameters to be assigned can be generated, taking into account the dependencies.
  • the user can be specifically requested to assign values to only the setup-dependent required parameters. For example, depending on one or more immediately preceding entries of characteristics for certain parameters, the user is only shown the parameters that are then absolutely necessary to be entered.
  • the logic is implemented in such a way that, taking into account the determined dependencies, a plausibility check can be carried out between two or more input parameters. Accordingly, the crane logic evaluates the dependency of the crane parameters entered while the crane operator is making entries. Conflicts between two or more input parameters or selected values of the corresponding parameters are recognized instantly and enable an immediate correction to eliminate the conflicts. In contrast to the state of the art, such conflicts do not only appear when the selected combination is finally compared with the stored load capacity tables, but can rather be recognized and rectified immediately. It is therefore not necessary to re-enter all parameters.
  • the result of the plausibility check can be displayed optically on the display and input unit of the crane control. All input parameters or values that were involved in the conflict are marked.
  • the controller can automatically display possible correction proposals.
  • this is divided into an information, navigation and editing area.
  • the information area is available for the display of selected operating characteristics or parameters.
  • the navigation area of the display and input unit the user can easily navigate through the information area or conveniently navigate through the selection lists provided with available values for the individual input parameters. It is conceivable that the navigation area is divided on the one hand into the navigation area for the information area and on the other hand for the navigation area of the editing area.
  • the editing area is preferably used for direct input of an expression of one or more input parameters.
  • the editing area has, for example, a numeric and / or character keyboard.
  • the editing area expediently comprises at least one selection button, via which one or more values can be selected from a displayed list.
  • at least one selection key can be provided which serves to confirm the aforementioned selection and enables the transfer of the value or values to the controller.
  • the input parameters are subordinate to two or more categories. Accordingly, the term category is to be understood as a summary of various parameters into groups that enable the crane configuration to be entered more efficiently.
  • the individual subordinate input parameters can be hierarchically weighted within a category. This means that the selection of a characteristic for an input parameter has to be made according to a predefined sequence. The user can therefore not selectively determine a characteristic for any parameter of a category, but must proceed according to a predefined guideline. This is particularly advantageous if the selection of the available characteristics per input parameter is made taking into account the dependencies on previous input parameters.
  • the crane control preferably has a means which evaluates the combination of one or more input parameters entered.
  • the appropriate load table for the load moment limit of the crane can then be determined on the basis of the evaluation result.
  • the means has access to a data memory of the crane control which contains a number of load capacity tables.
  • the crane operator can preferably enter a code for the direct selection of a load table in order to avoid the manual individual entry of the required input parameters. This is the fastest way to get the entire crane up and running.
  • the code to be entered for the payload table is preferably designed to be speaking and is advantageously composed of several blocks, in particular of three blocks. It is possible that a block stands for the crane type definition. In this case, the first block is automatically pre-assigned by the crane control. Another block stands for the selection of a general operating mode group for the crane. This includes, for example, the jib configuration, but without specifying physical parameters such as length, angle and weight. An additional block, preferably the last block, is not expediently one talking consecutive number.
  • the crane control it is designed in such a way that an independent pre-assignment of one or more input parameters is possible, taking into account the crane configuration automatically recognized by means of a device provided. Accordingly, the crane control automatically recognizes the set-up status or the crane configuration and, as far as possible, carries out an automatic pre-assignment of the individual input parameters for the subsequent determination of the load torque limitation.
  • a device is for example from EP 1 598 303 A2 known, the disclosure of which is fully referred to at this point.
  • the crane configuration is automatically recognized, for example, using a transponder system installed on the crane.
  • the invention also relates to a crane, in particular a mobile or crawler crane, with a crane control according to one of the advantageous embodiments mentioned above.
  • the crane obviously has the same advantages and properties as the crane control according to the invention, which is why a renewed explanation is dispensed with at this point.
  • the term operating mode is understood to mean the basic configuration of the crane, which the crane operator defines before using the crane and which, as a rule, leaves unchanged during the crane operation.
  • the main boom length, derrick boom, mounted luffing jib as accessory boom or the laid derrick ballast, i.e. the ballast available for pulling, may be mentioned.
  • the term parameter describes a single characteristic of the crane in use. These features can be parts of the operating mode or also include features that are variable when using a crane, such as the current telescopic length of a telescopic boom used.
  • a parameter describes the possible properties, i.e. the assumed physical size of a parameter. This includes, for example, the size of the derrick ballast, the size of the central ballast or the support width used.
  • the generic term category is the combination of various parameters in groups, which enables the crane configuration to be entered efficiently.
  • ABS The general operating mode group, abbreviated to "ABG” in the following part of the description, denotes essential components of the overall crane, such as the jib configuration, for example consisting of the main boom, fly jib or derrick boom with derrick ballast.
  • the "ABG” also includes further information about the characteristics of the components.
  • the derrick boom can carry a suspended ballast or alternatively be connected to a ballast wagon.
  • AGB occurs without specifying assumed physical quantities such as length, angle or weight.
  • the set-up process is understood to mean making the crane operational, for example from the transport state.
  • Various inputs are required for this, i.e. Operating mode information to be supplied to the crane control.
  • the crane control consists of at least one part responsible for executing crane movements and a load torque limiter that monitors the currently applied load torque against defined limit values.
  • a data memory is provided which is either connected to the control or integrated into it, and which holds the necessary load tables for the load torque limitation.
  • Each load capacity table is valid for the respective configuration of the crane and contains the limit values mentioned above.
  • the currently available crane configuration such as ABG, operating mode, parameters and characteristics, is required.
  • the separation of the screen of the display unit 10 into different areas is essential for the novel input function of the crane control according to the invention.
  • the display unit 10 is divided into the information area 20, the navigation area 30 and the editing area 40, the navigation area 30 being further refined into the navigation area for the information area 20 and the editing area 40.
  • the individual input parameters are subordinate to meaningful categories.
  • the individual categories are shown separately in the information area 20.
  • the category “norm” 21 is shown in the information area 20 of the display unit 10. This is used as a basis by the statics for calculating a certain load table set and is usually country-dependent.
  • the representation in the Figure 1 shows the entry for the regulation basis in the EU, according to which the permissible load is calculated.
  • the “Code” category 22 is shown as a further category and is described in more detail in one of the following paragraphs of the description.
  • the crane operator can switch between the individual categories 21 to 26 and change the individual characteristics of the subordinate parameters or features. If the selection option is greater than an editable display field allows, the editing area 40 can display a list 41 of possible versions and the desired version can be selected and accepted with the aid of the navigation area 30 in the editing area 40.
  • the deployment and / or armament-related dependencies between two or more input parameters are defined by different systems depending on the type of category selected.
  • category operating mode 23 there are hierarchical dependencies between the input parameters, whereas the input system for the categories armor supplements 24, environment and mechanical influences 25 and lifting 26 provides for quantitative dependencies between the possible input parameters.
  • FIG 1 shows the display unit 10 with the selected category "operating mode” 23.
  • the category “operating mode” 23 consists of the feature to be selected "general operating mode group (ABG)" 50, which is representative of the present boom types, and the associated parameters 51, 52, 53 , 54, which, for example, take on characteristics for the physical quantities of the selected boom system.
  • ABS general operating mode group
  • bracket types determined by this are automatically displayed as parameters 51, 52, 53, 54 to be defined in order to assign individual physical values to them to be able to.
  • the input takes place due to the hierarchical dependencies between the input parameters 51, 52, 53, 54 in a specific order, for example from left to right.
  • the luffing jib is to be defined by selecting the parameter 53 responsible for the luffing jib.
  • the two-part editing window is then opened in the editing field 40.
  • a sub-parameter 42 can be selected, if available, which here describes the luffing tip type 42a or the luffing tip length 42b.
  • Various physical variables are possible for the selected sub-parameter 42, which are displayed in the lower part of the two-part editing window 40 as possible characteristics 41. However, only selection options that can be combined with the characteristics that have already been selected for the other parameters 42, 51, 52, 54 are displayed.
  • the values 68m, 74m, 90m, 96m, 102m, 108m and 114m are possible for the sub-parameter luffing tip length 42b of the parameter luffing tip 53. If the sub-parameter luffing tip type 42a were marked in the upper window area, then the values W1, W2 or W3, for example, would be displayed in the lower window.
  • the selection of the characteristics for the rocker tip parameter 53 can determine the scope of the possible characteristics that are offered for selection with regard to the parameter 54.
  • the logic of the crane control acts taking into account the quantitative dependencies between the individual input parameters.
  • the selection procedure is regulated without a specific order for selecting the parameters. Every parameter can be entered at any time, whereby all imaginable values of the parameter are always offered. If other parameters have already been selected and assigned corresponding characteristics, the characteristics that match or are valid for the selection made are highlighted in color. It is essential that the parameter just entered into the control system always becomes the master. After each entry for the value of a parameter, all other parameters are recalculated with regard to their evaluation "suitable” or "not suitable”.
  • selected characteristics that are assessed as meaningful by the crane control are marked in color, in particular green, whereas characteristics that are assigned a possible conflict situation by the crane control are displayed in a different color.
  • This functionality is particularly advantageous when several parameters with only a few characteristics are grouped together. This can be useful, for example, with the "Armor supplements" 24 category. For example, in the selection of the characteristic for a parameter, a characteristic that cannot be selected - in combination with the characteristics already selected - can be shown in red. If this is selected, the crane control will use all characteristics of previously assigned parameters in the same category, which do not match the newly selected version and signal a possible conflict, marked in blue. The crane operator can quickly and reliably identify and correct possible areas of conflict or input errors. There is also the option of color-coding those features that are the only valid combination and therefore do not have to be selected. For example, a single expression that is valid for any parameter is marked in gray.
  • a particular advantage is that the already selected sub-parameters or physical variables / characteristics are retained if changes or corrections to one or more variables / characteristics are required. If the crane operator detects an error after entering all of the operating mode information, he can easily correct an individual parameter in a targeted manner.
  • the Figures 2a to 2d should clarify the individual steps of such a correction procedure.
  • the individual blocks identify the selectable characteristics for the individual parameters 50, 51, 52, 53.
  • the continuous line 60 symbolizes the input made by the crane operator.
  • the value "SDB" was selected for the parameter AGB 50
  • the first sub-parameter of the parameter 51 defining the main boom was determined with the value "S” and the length of the boom was defined as "60" in the second sub-parameter.
  • the remaining parameters / sub-parameters 52, 53 were assigned values "D", "54", "W1".
  • the dashed line 70 identifies all possible meaningful combinations of the individual selected characteristics for the individual parameters / sub-parameters 50, 51, 52, 53.
  • the selection made, line 60 represents a possible combination of the set of meaningful combinations, line 70 ,.
  • the selection made is consequently considered to be sensible by the crane control.
  • the crane operator detects an incorrect entry, individual parameters / sub-parameters can be selected and changed in a targeted manner without losing the other entries.
  • the sub-parameter 51a for the main boom is to be converted from the value “S” to the value “SL”.
  • Figure 2b shows the changes made, whereby the other selected values remain unchanged. Due to the change in parameter 51, the selection made, line 60, does not represent a valid combination in the sense of line 70. Due to the hierarchical weighting of the individual parameters, the crane control identifies the first incorrectly assigned parameter in order to request the crane operator to correct the error. Depending on the values selected above, only the value "133" can be selected for sub-parameter 51 b.
  • the individual parameters can be pre-assigned largely independently by the crane control by using a device installed on the crane for automatic recognition of the crane configuration.
  • the transponder system required to recognize the crane configuration is, for example, from the EP 1 598 303 A2 known to which reference is made at this point.
  • the crane operator has the option of directly selecting a specific entry from the stored load table by entering a code in the "Code" 22 category.
  • the required code of the load capacity table is designed in a meaningful way and consists of a total of three blocks 61, 62, 63.
  • the first block 61 defines the type of crane used and is always pre-assigned by the crane control itself.
  • the four-digit block is divided into three numbers, which identify the respective crane type, and the character T to indicate that the data record in question is a load capacity table.
  • the second block 62 is called the “high part” and defines the general operating mode group.
  • the third block is called the low part, defines the load table and corresponds to a non-speaking sequential number. All three blocks together form the name of the payload table. The parts can be edited separately from each other in order to reduce the amount of input required.
  • FIG Figure 3 A complete illustration of the display and input unit 100 is shown in FIG Figure 3 refer to.
  • the navigation area 30 extends on the one hand over the partial area of the display unit 10 as well as over the user keys of the input unit 101. Certain setting values of the crane configuration can be edited, whereby an accelerated input is guaranteed. These input fields or parameters allow a direct numerical input via the keyboard 101 after the selection of a field via the keys of the editing area 30.
  • the control selects the appropriate load capacity table based on the data entered from the memory and makes this available to the load torque limiter, which thus receives the appropriate limit values for monitoring.
  • the crane control also knows the crane geometry and can calculate moments from sensor values (lengths, angles, weights).
  • the control knows the data of the existing boom system with regard to masses and position of the centers of gravity. These "empty torques" are included in the load torque limitation.
  • the present invention enables the crane to be set up particularly quickly even with any number of adjustment options.
  • the crane control according to the invention allows a result-oriented setting of the individual crane parameters with a continuous plausibility check.

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

Claims (10)

  1. Commande de grue comprenant une unité d'affichage et de saisie (100) destinée à la représentation et à la saisie des informations de modes de fonctionnement de la grue nécessaires pour la limitation du couple de charge et la commande de grue, en particulier correspondant à sa construction mécanique actuelle,
    caractérisée en ce que
    une logique est prévue dans la commande de grue, qui détermine des dépendances inhérentes à l'utilisation et/ou à la préparation entre deux ou plusieurs paramètres de saisie (51, 52, 53, 54) et en ce que la commande de grue se compose au moins d'une partie assurant l'exécution de mouvements de grue et d'une limitation du couple de charge et la logique étant conçue de telle manière qu'un contrôle de vraisemblance entre deux ou plusieurs paramètres de saisie (51, 52, 53, 54) saisis peut être exécuté en tenant compte des dépendances déterminées et le résultat du contrôle de vraisemblance peut être représenté visuellement sur l'unité d'affichage et de saisie (100), et, en cas de conflit, tous les paramètres de saisie saisis ou attributs participant au conflit étant marqués.
  2. Commande de grue selon la revendication 1, caractérisée en ce que la logique est conçue de telle manière qu'une sélection, en particulier une liste de sélection, avec des attributs possibles pour un paramètre de saisie (51, 52, 53, 54) à saisir peut être générée en tenant compte des dépendances déterminées.
  3. Commande de grue selon l'une des revendications précédentes, caractérisée en ce que la logique est conçue de telle manière qu'une sélection de paramètres de saisie (51, 52, 53, 54) à définir peut être générée en tenant compte des dépendances déterminées.
  4. Commande de grue selon l'une des revendications précédentes, caractérisée en ce que l'unité d'affichage et de saisie (100) est divisée en une zone d'information, une zone de navigation et une zone d'édition (20 ; 30 ; 40).
  5. Commande de grue selon la revendication 4, caractérisée en ce que la zone d'édition (40) est conçue de telle manière qu'une saisie directe d'un attribut d'au moins un paramètre de saisie (51, 52, 53, 54) est possible.
  6. Commande de grue selon l'une des revendications précédentes, caractérisée en ce que plusieurs paramètres de saisie (51, 52, 53, 54) sont subordonnés à deux ou plusieurs catégories.
  7. Commande de grue selon la revendication 6, caractérisée en ce que les paramètres de saisie (51, 52, 53, 54) sont pondérés de manière hiérarchique au sein d'une catégorie.
  8. Commande de grue selon l'une des revendications précédentes, caractérisée en ce qu'un moyen, qui évalue la combinaison d'un ou de plusieurs paramètres de saisie (51, 52, 53, 54) saisis et détermine le tableau de charges pour la limitation du couple de charge, est prévu.
  9. Commande de grue selon l'une des revendications précédentes, caractérisée en ce que la commande de grue est conçue de telle manière qu'une prédéfinition automatique d'un ou de plusieurs paramètres de saisie (51, 52, 53, 54) est possible en tenant compte de la configuration de grue automatiquement reconnue au moyen d'un dispositif prévu.
  10. Grue, en particulier grue mobile ou grue sur chenilles, comprenant une commande de grue selon l'une des revendications précédentes.
EP12005293.1A 2011-07-21 2012-07-19 Commande de grue et grue Active EP2548835B2 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011108284A DE102011108284A1 (de) 2011-07-21 2011-07-21 Kransteuerung und Kran

Publications (3)

Publication Number Publication Date
EP2548835A1 EP2548835A1 (fr) 2013-01-23
EP2548835B1 EP2548835B1 (fr) 2013-10-16
EP2548835B2 true EP2548835B2 (fr) 2020-12-09

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US (1) US8825313B2 (fr)
EP (1) EP2548835B2 (fr)
CN (1) CN102887433B (fr)
DE (1) DE102011108284A1 (fr)

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RU2012140237A (ru) * 2011-09-23 2014-03-27 МАНИТОВОК КРЕЙН КАМПЕНИЗ, ЭлЭлСи Система и способы контроля выносных опор
DE102015006992B4 (de) * 2014-06-10 2021-04-15 Liebherr-Werk Ehingen Gmbh Verfahren und System zur Berechnung von Daten für den Betrieb eines Krans
CN104192712B (zh) * 2014-08-15 2016-08-24 徐州重型机械有限公司 用于产生工程机械控制信号的方法、手持终端和系统
DE102016104358B4 (de) * 2016-03-10 2019-11-07 Manitowoc Crane Group France Sas Verfahren zum Ermitteln der Tragfähigkeit eines Krans sowie Kran
DE102016011354A1 (de) * 2016-09-20 2018-03-22 Liebherr-Werk Biberach Gmbh Steuerstand für einen Kran, Bagger und dergleichen
FR3113899A1 (fr) * 2020-09-08 2022-03-11 Ascorel Système anticollision destiné à une grue
CN114399198A (zh) * 2022-01-14 2022-04-26 上海市特种设备监督检验技术研究院 一种大型起重机械安全分级分类评价系统

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CN102887433A (zh) 2013-01-23
US20130024077A1 (en) 2013-01-24
CN102887433B (zh) 2017-08-25
DE102011108284A1 (de) 2013-01-24
US8825313B2 (en) 2014-09-02
EP2548835A1 (fr) 2013-01-23

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