EP3428112B1 - Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant - Google Patents

Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant Download PDF

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Publication number
EP3428112B1
EP3428112B1 EP18178564.3A EP18178564A EP3428112B1 EP 3428112 B1 EP3428112 B1 EP 3428112B1 EP 18178564 A EP18178564 A EP 18178564A EP 3428112 B1 EP3428112 B1 EP 3428112B1
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EP
European Patent Office
Prior art keywords
lifting device
holding force
detecting
loads
boom system
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.)
Active
Application number
EP18178564.3A
Other languages
German (de)
English (en)
Other versions
EP3428112A1 (fr
EP3428112C0 (fr
Inventor
Walter Mietschnig
Manfred Schapler
Thomas Klimmer
Mathias Eder
Martin Stenech
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 Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing 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.)
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Publication of EP3428112A1 publication Critical patent/EP3428112A1/fr
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Publication of EP3428112C0 publication Critical patent/EP3428112C0/fr
Publication of EP3428112B1 publication Critical patent/EP3428112B1/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
    • 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
    • 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
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear
    • B66D1/58—Safety gear responsive to excess of load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • 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
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/26—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 specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • B66C23/34—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes

Definitions

  • the invention relates to a hoist, in particular a mobile crane or a cable excavator, with a device for monitoring the erecting and laying down process of a boom system of the hoist.
  • lifting equipment such as mobile cranes with a load capacity of at least 1000 kg or a tipping moment of at least 40,000 Nm must be equipped with an overload protection device in accordance with product standard EN 13000, which prevents the hoist from moving outside the load capacity table Limits for projections, positions, loads and permissible rope forces are operated.
  • the overload protection is usually based on pre-calculated load tables, which are created in advance on external computers when designing the crane and transferred to a hoist control system in table form. It is also known that the overload protection at runtime on the device, in which the calculation directly in the control of the hoist, with configuration files stored in the control of the hoist being processed or calculated accordingly.
  • the overload protection can be bypassed using a setup button and a corresponding setup process can be carried out without a safety device.
  • duty cycle cranes must have a load moment limiter when used as hoists to prevent the duty cycle crane from being overloaded.
  • a load moment limiter when used as hoists to prevent the duty cycle crane from being overloaded.
  • Raising and lowering is usually carried out on the basis of detailed process descriptions in the operating instructions for the relevant hoist.
  • Methods for monitoring crane safety during setup processes such as assembly or disassembly or the upgrading and removal of the boom system in mobile cranes and duty cycle excavators are also known from the prior art.
  • the calculation of the limit values is based on a calculation on an external computer, which is transferred to the hoist control system in table form.
  • DE 10 2011 107754 A1 discloses the preamble of claim 1 and a method for monitoring the erecting and setting down process of a hoist.
  • a hoist in particular a mobile crane or a cable excavator, is provided with a device for monitoring the erecting and laying down process, in particular of a boom system of the hoist.
  • the hoist includes a device for detecting the loads that increase the tilting moment of the hoist, a device for detecting the loads that stabilize or reduce the tilting moment of the hoist, a control unit that is set up to determine a limit holding force for a support strand of the boom system from the detected loads To calculate the hoist, which corresponds to the maximum permissible load on the hook, and a device for detecting the actual holding force of the holding strand of the hoist, the control unit being set up to compare the limit holding force and the actual holding force.
  • the control/regulation is set up to compare the limit holding force (Flimit) and the actual holding force, and to warn and/or stop the raising and lowering process when the actual holding force approaches the limit holding force (Flimit).
  • all loads that increase the tipping moment such as a load on the hook, the dead weight of the boom system and the wind force acting on the boom system and on the load on the hook, can be compared with all loads that stabilize or reduce the tipping moment.
  • corresponding tipping safety calculation specifications of the respective standards or norms such as EN 13000 can be taken into account and a maximum permissible load on the hook can be calculated for the outermost load point in such a way that, based on the given tipping edge, the stabilizing moment is in balance with the tipping moment .
  • the limit holding force can be calculated, which corresponds to the maximum permissible load on the hook.
  • At least one signal can be output depending on the comparison between the limit holding force and the actual holding force.
  • the signal can be a representation of the current utilization in relation to the permissible utilization for the machine operator on the hoist's monitor or a warning and/or a control signal that makes it possible to react in a timely manner if the actual holding force approaching the limit holding force, thereby indicating the risk of the hoist tipping over.
  • the device for detecting the loads increasing the tilting moment detects the dead weight of the boom system of the hoist and the wind force on the boom system of the hoist.
  • the term “boom system” can mean the main boom and possibly other components of the hoist.
  • the devices mentioned for detecting the loads can be sensors and/or input means by means of which the corresponding loads can be detected or entered automatically or manually.
  • the device for detecting the loads stabilizing or reducing the tipping moment detects the dead weight of a carrier device of the hoist.
  • the devices mentioned for detecting the loads can be sensors and/or input means by means of which the corresponding loads can be detected or entered automatically or manually.
  • a sensor system for detecting the current geometry of the hoist.
  • Corresponding angle or inclinometers or other sensors can be designed to detect the angular positions or lengths of components of the hoist, such as in particular the support line and / or the boom system.
  • An additional or alternative manual entry of the corresponding geometry data via an appropriate device is also conceivable.
  • the limit holding force is calculated on an external computer and the limit values are transmitted to the control unit of the hoist.
  • the device for detecting the actual holding force of the holding strand comprises at least one force measuring tab and/or at least one force measuring axis.
  • the signal is a signal for stopping a movement of the hoist. If the control unit of the hoist according to the invention determines that the limit holding force and the actual holding force have an unfavorable relationship to one another, a movement of the hoist can be stopped, in particular automatically.
  • control unit is set up to simultaneously calculate the maximum permissible load on the hook for a range of positions of the boom system in addition to the current position of the boom system. By comparing the results, permissible directions of movement can be defined. A permissible direction of movement is given when the maximum permissible load on the hook increases with this direction of movement.
  • control unit is set up not to stop a movement or direction of movement of the hoist or after a stop due to exceeding the Limit load to selectively release permissible directions of movement of the hoist.
  • the invention is further directed to a method for monitoring the erecting and laying down process of a boom system of a hoist according to one of claims 1 to 7.
  • the method can include further features that correspond to at least one of the device features of claims 1 to 7 and whose repetition is omitted.
  • the individual Figure 1 shows an overview of the forces acting on the hoist 1 using the example of a crawler crane 1 with a main boom 2 and a luffing needle 3.
  • the arrow 31 denotes the dead weight of the luffing needle 3, the arrow 32 the wind force acting on the load L, the arrow 21 the dead weight of the main boom 2, the arrow 22 the wind force acting on the boom system consisting of the main boom 2 and optional luffing boom 3 and the arrow 11 the dead weight of the carrier device or the hoist 1.
  • the unmarked arrows indicate the respective distances of the forces and/or centers of mass of the components based on a tipping edge and/or on the boom articulation point 12. Based on the distances and the forces, the moments related to the boom articulation point 12 can be recorded or calculated.
  • the loads increasing the tipping moment act counterclockwise and the loads stabilizing the tipping moment act clockwise with respect to the boom articulation point 12.
  • the limit holding force FLimit represents the maximum permissible force in the support line that may be achieved during the erecting or laying down process without the hoist tipping over. It corresponds to 100% of the permitted utilization, taking into account the requirements of applicable standards regarding stability.
  • the calculation of the maximum permissible load L on the hook and the limit force FLimit can advantageously be done online directly on the crane's control computer take place.
  • the current geometry of the machine (boom angle, rotation angle) required for a calculation carried out on the control can be permanently recorded on the machine using appropriate sensors (inclination sensors, rotation angle sensors) or entered manually into the control computer.
  • the calculation of the maximum permissible load L on the hook and the limit force FLimit can be done offline using an external computer.
  • the limit force FLimit must be transferred to the control for each boom position.
  • the current geometry of the machine (boom angle, rotation angle) can be permanently measured using appropriate sensors on the machine.
  • the actual current force F in the holding rod is measured by appropriate sensors (force measuring tabs or force measuring axes) on the machine and compared by the control computer on the machine with the calculated current limit holding force FLimit and advantageously displayed to the machine operator on the monitor as the current utilization in relation to the permissible utilization.
  • control unit can stop those movements of the boom system that lead to a further increase in utilization and thus to overload.
  • the direction of movement or movement that should be stopped or released is determined as follows: the control unit calculates the maximum allowable load on the hook simultaneously for a range of positions in addition to the current position of the boom system. By comparing the results, permissible directions of movement will be defined. A permissible direction of movement is given when the maximum permissible load on the hook increases with this direction of movement.
  • permissible directions of movement of the hoist are selectively released again by the control unit.
  • the calculation of the bandwidth in addition to the current position can advantageously be done online on the machine's control computer or alternatively offline on an external computer. In this case, the movement directions to be released must be transferred to the control for each boom position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Claims (8)

  1. Engin de levage (1), en particulier grue mobile ou pelle à câbles, doté d'un dispositif de surveillance du processus de dressage et d'abaissement notamment d'un système de flèche de l'engin de levage (1), comprenant un appareillage de détection des charges augmentant le couple de renversement de l'engin de levage (1), un appareillage de détection des charges stabilisant ou réduisant le couple de renversement de l'engin de levage (1), une unité de commande qui est configurée pour calculer, à partir des charges détectées, une force limite de retenue (FGrenz) pour un brin de retenue du système de flèche de l'engin de levage (1) et un appareillage de détection de la force de retenue réelle du brin de retenue, la commande/régulation étant configurée pour comparer la force limite de retenue (FGrenz) et la force de retenue réelle et pour, quand la force de retenue réelle s'approche de la force limite de retenue (FGrenz), avertir et/ou arrêter le processus de dressage et d'abaissement, caractérisé en ce que l'unité de commande est configurée pour calculer les charges augmentant le couple de renversement en même temps pour une gamme de positions du système de flèche en plus de la position actuelle du système de flèche et l'unité de commande étant configurée pour ne pas arrêter un mouvement ou une direction de mouvement de l'engin de levage (1) tant que la force limite de retenue FGrenz n'est pas dépassée et pour, après un arrêt causé par le dépassement de la charge limite, le/la libérer à nouveau de manière sélective quand la charge maximale admissible au niveau du crochet augmente pour cette direction de mouvement.
  2. Engin de levage (1) selon la revendication 1, dans lequel au moins un signal peut être émis en fonction de la comparaison entre la force limite de retenue (FGrenz) et la force de retenue réelle.
  3. Engin de levage (1) selon la revendication 1 ou 2, caractérisé en ce que l'appareillage de détection des charges augmentant le couple de renversement détecte le poids propre du système de flèche et la force du vent exercée sur un système de flèche de l'engin de levage (1).
  4. Engin de levage (1) selon l'une des revendications précédentes, caractérisé en ce que l'appareillage de détection des charges stabilisant ou réduisant le couple de renversement détecte le poids propre d'un engin porteur de l'engin de levage.
  5. Engin de levage (1) selon l'une des revendications précédentes, caractérisé en ce qu'un système de capteurs destiné à détecter la géométrie actuelle de l'engin de levage (1) est prévu et en ce que l'unité de commande est un calculateur de commande de l'engin de levage (1) ou un calculateur externe.
  6. Engin de levage (1) selon l'une des revendications précédentes, caractérisé en ce que l'appareillage de détection de la force de retenue réelle du brin de retenue comprend au moins une barre de mesure de force et/ou au moins un axe de mesure de force.
  7. Engin de levage (1) au moins selon la revendication 2, caractérisé en ce que le signal est une représentation de l'utilisation actuelle par rapport à l'utilisation admissible pour le conducteur de la machine sur l'écran de l'engin de levage et/ou un signal pour arrêter un mouvement de l'engin de levage (1).
  8. Procédé de surveillance du processus de dressage et d'abaissement d'un engin de levage (1) selon l'une des revendications 1 à 7, comprenant les étapes consistant à :
    détecter les charges augmentant le couple de renversement de l'engin de levage (1),
    détecter les charges stabilisant ou réduisant le couple de renversement de l'engin de levage (1),
    calculer une force limite de retenue (FGrenz) pour un brin de retenue de la flèche principale (2) de l'engin de levage (1) à partir des charges détectées et au moyen d'une unité de commande commande/régulation,
    détecter la force de retenue réelle du brin de retenue,
    comparer la force limite de retenue (FGrenz) et la force de retenue réelle au moyen de l'unité de commande commande/régulation.
EP18178564.3A 2017-06-19 2018-06-19 Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant Active EP3428112B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017113386.0A DE102017113386A1 (de) 2017-06-19 2017-06-19 Hebezeug, insbesondere ein Mobilkran oder ein Seilbagger, mit einer Vorrichtung zur Überwachung des Aufricht- und Ablegevorganges eines Auslegersystems und entsprechendes Verfahren

Publications (3)

Publication Number Publication Date
EP3428112A1 EP3428112A1 (fr) 2019-01-16
EP3428112C0 EP3428112C0 (fr) 2024-01-24
EP3428112B1 true EP3428112B1 (fr) 2024-01-24

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EP18178564.3A Active EP3428112B1 (fr) 2017-06-19 2018-06-19 Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant

Country Status (3)

Country Link
US (1) US10850953B2 (fr)
EP (1) EP3428112B1 (fr)
DE (1) DE102017113386A1 (fr)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019108689A1 (de) 2019-04-03 2020-10-08 Liebherr-Werk Biberach Gmbh Verfahren und Vorrichtung zum Steuern einer Materialumschlags- und/oder Baumaschine
CN112390178B (zh) 2020-11-09 2025-03-14 浙江三一装备有限公司 起重机及其控制方法
DE102021102699A1 (de) * 2021-02-05 2022-08-11 Liebherr-Werk Biberach Gmbh Kran
DE102021106745A1 (de) * 2021-03-19 2022-09-22 Liebherr-Werk Nenzing Gmbh Hebezeug mit einer Vorrichtung zum Unterstützen oder vollautomatischen Durchführen eines Aufricht- und/oder Ablegevorgangs eines Auslegersystems sowie entsprechendes Verfahren
CN116242517B (zh) * 2023-02-21 2026-03-10 徐州徐工挖掘机械有限公司 挖掘机回转摩擦阻力矩、回转力矩测试装置及测试方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
DE102014012422B4 (de) * 2014-08-20 2023-02-09 Liebherr-Werk Ehingen Gmbh Automatisches Aufrichten eines Krans
DE202015001023U1 (de) * 2015-02-09 2016-05-10 Liebherr-Components Biberach Gmbh Kran
DE202015001024U1 (de) * 2015-02-09 2016-05-10 Liebherr-Werk Biberach Gmbh Kran mit Überwachungsvorrichtung zum Überwachen der Überlastsicherung

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Publication number Publication date
DE102017113386A1 (de) 2018-12-20
US10850953B2 (en) 2020-12-01
EP3428112A1 (fr) 2019-01-16
EP3428112C0 (fr) 2024-01-24
US20190185298A1 (en) 2019-06-20

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