EP3428112B1 - Lifting device, in particular a mobile crane or a cable dredger, having a device for monitoring the alignment and depositing process of a boom system and corresponding method - Google Patents

Lifting device, in particular a mobile crane or a cable dredger, having a device for monitoring the alignment and depositing process of a boom system and corresponding method 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
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EP18178564.3A
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German (de)
French (fr)
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EP3428112A1 (en
EP3428112C0 (en
Inventor
Walter Mietschnig
Manfred Schapler
Thomas Klimmer
Mathias Eder
Martin Stenech
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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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)

Description

Die Erfindung betrifft ein Hebezeug, insbesondere einen Mobilkran oder einen Seilbagger, mit einer Vorrichtung zur Überwachung des Aufricht- und Ablegevorganges eines Auslegersystems des Hebezeugs.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.

Aus dem Stand der Technik ist es bekannt, dass Hebezeuge wie Mobilkrane mit einer Tragfähigkeit von mindestens 1000 kg oder einem Kippmoment von mindestens 40.000 Nm gemäß Produktnorm EN 13000 mit einer Überlastsicherung ausgestattet sein müssen, die verhindert, dass das Hebezeug außerhalb der in einer Tragfähigkeitstabelle angegebenen Grenzen für Ausladungen, Stellungen, Lasten und zulässigen Seilkräften betrieben wird.It is known from the prior art that 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.

Üblicherweise basiert die Überlastsicherung auf vorberechneten Traglasttabellen, die im Vorfeld bei der Kranauslegung auf externen Rechnern erstellt und einer Steuerung des Hebezeugs in Tabellenform übertragen werden. Es ist auch bekannt, die Überlastsicherung zur Laufzeit am Gerät , bei welcher die Berechnung direkt in der Steuerung des Hebezeugs erfolgt, auszuführen, wobei in der Steuerung des Hebezeugs hinterlegte Konfigurationsdateien entsprechend verarbeitet bzw. berechnet werden.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.

Bei Montage-/Demontagevorgängen bzw. bei Aufricht- und Ablegevorgängen, bei denen keine von einem Hersteller des Hebezeugs vorgegebene Traglasttabelle vorhanden ist, kann die Überlastsicherung mittels eines Rüsttasters überbrückt werden und ein entsprechender Rüstvorgang ohne Sicherung durchgeführt werden.During assembly/disassembly processes or during erection and setting down processes in which there is no load table specified by the manufacturer of the hoist, the overload protection can be bypassed using a setup button and a corresponding setup process can be carried out without a safety device.

Gemäß der Produktnorm EN 474-12 müssen Seilbagger im Hebezeugeinsatz einen Lastmomentbegrenzer zur Vermeidung von Überlastung des Seilbaggers aufweisen. Eine Begrenzung der Überlast während des Aufricht- oder Ablegevorganges eines Auslegersystems ist dagegen nicht vorgesehen.According to the product standard EN 474-12, duty cycle cranes must have a load moment limiter when used as hoists to prevent the duty cycle crane from being overloaded. However, there is no provision for limiting the overload during the erecting or lowering process of a boom system.

Das Aufrichten und Ablegen erfolgt in der Regel auf Basis von detaillierten Ablaufbeschreibungen in der Betriebsanleitung des entsprechenden Hebezeugs. Aus dem Stand der Technik sind des Weiteren Verfahren zur Überwachung der Kransicherheit während Rüstvorgängen wie beispielsweise bei der Montage oder Demontage oder dem Aufrüsten und Ablegen des Auslegersystems bei Mobilkranen und Seilbaggern bekannt. Auch hier erfolgt die Berechnung der Grenzwerte auf Basis einer einer Berechnung auf einem externen Rechner, die der Steuerung des Hebezeugs in Tabellenform übertragen wird.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. Here too, 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.

Ein Problem besteht hierbei darin, dass bei Erreichen von Grenzwerten eine Abschaltung der Bewegungen des Hebezeugs erfolgt, die nur durch einen Überbrückungsschalter aufgehoben werden kann. Durch Betätigung der Überbrückung ist jegliche Überwachung ausgeschaltet und der Kranfahrer muss selbst entscheiden, welche Bewegung am Kran zu einem sicheren Zustand führen kann.One problem here is that when limit values are reached, the movements of the hoist are switched off, which can only be canceled by a bypass switch. By activating the override, all monitoring is switched off and the crane driver must decide for himself which movement on the crane can lead to a safe condition.

Vor diesem Hintergrund ist es Aufgabe der Erfindung ein verbessertes Hebezeug bereitzustellen, bei dem insbesondere eine verbesserte und kontinuierliche Überwachung eines Auslegersystems des Hebezeugs bei Aufricht- und Ablegevorgängen ermöglicht ist. DE 10 2011 107754 A1 offenbart den Oberbegriff des Anspruchs 1 sowie ein Verfahren zur Überwachung des Aufricht- und Ablegevorganges eines Hebezeugs.Against this background, it is the object of the invention to provide an improved hoist, in particular with improved and continuous monitoring of a boom system of the hoist during erecting and laying down operations. 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.

Diese Aufgabe wird erfindungsgemäß durch ein Hebezeug mit den Merkmalen des Anspruchs 1 gelöst. Vorteilhafte Ausgestaltungen sind Gegenstand der Unteransprüche.This object is achieved according to the invention by a hoist with the features of claim 1. Advantageous refinements are the subject of the subclaims.

Demnach ist ein Hebezeug, insbesondere ein Mobilkran oder ein Seilbagger vorgesehen, mit einer Vorrichtung zur Überwachung des Aufricht- und Ablegevorganges insbesondere eines Auslegersystems des Hebezeugs.Accordingly, 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.

Das Hebezeug umfasst eine Einrichtung zum Erfassen der das Kippmoment des Hebezeugs erhöhenden Lasten, eine Einrichtung zum Erfassen der das Kippmoment des Hebezeugs stabilisierenden bzw. verringernden Lasten, eine Steuereinheit, die dazu eingerichtet ist, aus den erfassten Lasten eine Grenzhaltekraft für einen Haltestrang des Auslegersystems des Hebezeugs zu errechnen, die der maximal zulässigen Last am Haken entspricht, und eine Einrichtung zum Erfassen der tatsächlichen Haltekraft des Haltestrangs des Hebezeugs, wobei die Steuereinheit dazu eingerichtet ist, die Grenzhaltekraft und die tatsächliche Haltekraft zu vergleichen. Die Steuerung/Regelung ist dazu eingerichtet, die Grenzhaltekraft (FGrenz) und die tatsächliche Haltekraft zu vergleichen, und wenn die tatsächliche Haltekraft sich der Grenzhaltekraft (FGrenz) nähert zu warnen und/oder den Aufricht- und Ablegevorgang zu stoppen.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).

Erfindungsgemäß können demnach alle das Kippmoment erhöhenden Lasten wie beispielsweise eine Last am Haken, das Eigengewicht des Auslegersystems und die auf das Auslegersystem und auf die Last am Haken wirkende Windkraft mit allen Lasten verglichen werden, die das Kippmoment stabilisieren bzw. verringern. Hierzu gehört insbesondere das Eigengewicht eines Trägergeräts des Hebezeugs. Bei dieser Gegenüberstellung können entsprechende Kippsicherheitsberechnungsvorgaben der jeweiligen Standards bzw. Normen wie z.B. EN 13000 berücksichtigt werden und es kann für den äußersten Lastpunkt eine maximal zulässige Last am Haken so errechnet werden, dass bezogen auf die gegebene Kippkante das stabilisierende Moment mit dem Kippmoment in Gleichgewicht steht.According to the invention, 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. This includes in particular the dead weight of a carrier device for the hoist. In this comparison, 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 .

Für den Haltestrang des Auslegersystems, der ein oder mehrerer Halteseile und/oder Haltestangen umfassen kann, kann die Grenzhaltekraft-errechnet werden, die der maximal zulässigen Last am Haken entspricht.For the support line of the boom system, which can include one or more support ropes and/or support rods, the limit holding force can be calculated, which corresponds to the maximum permissible load on the hook.

In einer bevorzugten Ausführung der Erfindung ist denkbar, dass in Abhängigkeit von dem Vergleich zwischen der Grenzhaltekraft und der tatsächlichen Haltekraft wenigstens ein Signal ausgebbar ist. Bei dem Signal kann es sich um eine Darstellung der aktuellen Ausnutzung in Bezug auf die zulässige Ausnutzung für den Maschinenführer am Monitor des Hebezeugs oder um ein Warn- und/oder ein Steuersignal handeln, das es ermöglicht, entsprechend rechtzeitig zu reagieren, wenn die tatsächliche Haltekraft sich der Grenzhaltekraft nähert und dadurch die Gefahr des Kippens des Hebezeugs angezeigt wird.In a preferred embodiment of the invention, it is conceivable that 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.

In einer weiteren bevorzugten Ausführung der Erfindung ist denkbar, dass die Einrichtung zum Erfassen der das Kippmoment erhöhenden Lasten das Eigengewicht des Auslegersystems des Hebezeugs und die Windkraft auf das Auslegersystem des Hebezeugs erfasst. Mit dem Begriff des Auslegersystems können der Hauptausleger und ggf. weitere Komponenten des Hebezeugs gemeint sein. Bei den genannten Einrichtungen zur Erfassung der Lasten kann es sich um Sen-soren und/oder um Eingabemittel handeln, mittels der die entsprechenden Lasten automatisch oder manuell erfasst bzw. eingegeben werden können.In a further preferred embodiment of the invention, it is conceivable that 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.

In einer weiteren bevorzugten Ausführung ist denkbar, dass die Einrichtung zum Erfassen der das Kippmoment stabilisierenden bzw. verringernden Lasten das Eigengewicht eines Trägergeräts des Hebezeugs erfasst. Bei den genannten Einrichtungen zur Erfassung der Lasten kann es sich um Sensoren und/oder um Eingabemittel handeln, mittels der die entsprechenden Lasten automatisch oder manuell erfasst bzw. eingegeben werden können.In a further preferred embodiment, it is conceivable that 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.

In einer weiteren bevorzugten Ausführung ist denkbar, dass eine Sensorik zum Erfassen der aktuellen Geometrie des Hebezeugs vorgesehen ist. Hierbei können entsprechende Winkel- oder Neigungsmesser oder sonstige Sensoren dazu ausgebildet sein, die Winkelstellungen oder Längen von Komponenten des Hebezeugs wie insbesondere des Haltestrangs und/oder des Auslegersystems zu erfassen. Denkbar ist auch eine zusätzliche oder alternative manuelle Eingabe der entsprechenden Geometriedaten über eine entsprechende Einrichtung.In a further preferred embodiment, it is conceivable that a sensor system is provided for detecting the current geometry of the hoist. Here you can 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.

In einer weiteren bevorzugten Ausführung ist denkbar, dass die Berechnung der Grenzhaltekraft an einem externen Rechner erfolgt und die Grenzwerte der Steuereinheit des Hebezeugs übertragen werden.In a further preferred embodiment, it is conceivable that the limit holding force is calculated on an external computer and the limit values are transmitted to the control unit of the hoist.

In einer weiteren bevorzugten Ausführung ist denkbar, dass die Einrichtung zum Erfassen der tatsächlichen Haltekraft des Haltestranges wenigstens eine Kraftmesslasche und/oder wenigstens eine Kraftmessachseumfasst.In a further preferred embodiment, it is conceivable that 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.

In einer weiteren bevorzugten Ausführung ist denkbar, dass das Signal ein Signal zum Stoppen einer Bewegung des Hebezeugs ist. Stellt die Steuereinheit des erfindungsgemäßen Hebezeugs fest, dass die Grenzhaltekraft und die tatsächliche Haltekraft in einem ungünstigen Verhältnis zueinander stehen, so kann eine Bewegung des Hebezeugs insbesondere automatisch angehalten werden.In a further preferred embodiment, it is conceivable that 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.

Erfindungsgemäß ist die Steuereinheit dazu eingerichtet, die maximal zulässige Last am Haken gleichzeitig für eine Bandbreite von Stellungen des Ausle-gersystems zusätzlich zur aktuellen Stellung des Auslegersystems zu berechnen. Durch Vergleich der Ergebnisse können zulässige Bewegungsrichtungen definiert werden. Eine zulässige Bewe-gungsrichtung ist dann gegeben, wenn sich die maximal zulässige Last am Haken bei dieser Bewegungsrichtung vergrößert.According to the invention, the 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.

Erfindungsgemäß ist die Steuereinheit dazu eingerichtet, eine Bewegung bzw. Bewegungsrichtung des Hebezeugs nicht zu stoppen bzw. nach einem Stopp aufgrund Überschreitung der Grenzlast selektiv zulässige Bewegungsrichtungen des Hebezeugs wieder freizugeben.According to the invention, the 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.

Die Erfindung ist ferner auf ein Verfahren zur Überwachung des Aufricht- und Ablegevorganges eines Auslegersystems eines Hebezeugs nach einem der Ansprüche 1 bis 7 gerichtet.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.

Das erfindungsgemäße Verfahren umfasst die Schritte:

  • Erfassen der das Kippmoment des Hebezeugs erhöhenden Lasten,
  • Erfassen der das Kippmoment des Hebezeugs stabilisierenden bzw. verringernden Lasten,
  • Errechnen einer Grenzhaltekraft für einen Haltestrang des Auslegersystems des Hebezeugs aus den erfassten Lasten mittels einer Steuereinheit oder eines externen Rechners,
  • Erfassen der tatsächlichen Haltekraft des Haltestrangs,
  • Vergleichen der Grenzhaltekraft und der tatsächliche Haltekraft mittels der Steuereinheit.
The method according to the invention comprises the steps:
  • Detecting the loads that increase the tilting moment of the hoist,
  • Detecting the loads that stabilize or reduce the tilting moment of the hoist,
  • Calculating a limit holding force for a holding strand of the boom system of the hoist from the recorded loads using a control unit or an external computer,
  • Detecting the actual holding force of the holding cord,
  • Compare the limit holding force and the actual holding force using the control unit.

Das Verfahren kann weitere Merkmale umfassen, die wenigstens einem der Vorrichtungsmerkmale der Ansprüche 1 bis 7 entsprechen und auf deren Wiederholung verzichtet wird.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.

Weitere Einzelheiten und Vorteile der Erfindung sind anhand der in der Figur beispielhaft gezeigten Ausführung erläutert.Further details and advantages of the invention are explained using the embodiment shown as an example in the figure.

Die einzelne Figur 1 zeigt einen Überblick über die auf das Hebezeug 1 wirkenden Kräfte am Beispiel eines Raupenkrans 1 mit einem Hauptausleger 2 und einer Wippnadel 3.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.

Der Pfeil 31 bezeichnet das Eigengewicht der Wippnadel 3, der Pfeil 32 die auf die Last L wirkende Windkraft, der Pfeil 21 das Eigengewicht des Hauptauslegers 2, der Pfeil 22 die auf das Auslegersystem bestehend aus Hauptausleger 2 und optionalem Nadelausleger 3 wirkende Windkraft und der Pfeil 11 das Eigengewicht des Trägergeräts bzw. des Hebezeugs 1. Die nicht bezeichneten Pfeile geben die jeweiligen Entfernungen der Kräfte und/oder Masseschwerpunkte der Komponenten bezogen auf eine Kippkante und/oder auf den Auslegeranlenkpunkt 12 an. Anhand der Entfernungen und der Kräfte können die Momente bezogen auf den Auslegeranlenkpunkt 12 erfasst bzw. berechnet werden.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.

Im Ausführungsbeispiel der Figur wirken die das Kippmoment erhöhenden Lasten gegen den Uhrzeigersinn und die das Kippmoment stabilisierenden Lasten im Uhrzeigersinn bezogen auf den Auslegeranlenkpunkt 12.In the exemplary embodiment of the figure, 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.

Die Grenzhaltekraft FGrenz stellt die maximal zulässige Kraft im Haltestrang dar, die während des Aufricht- oder Ablegevorganges erreicht werden darf, ohne dass es zu einem Umkippen des Hebezeugs kommt. Sie entspricht 100% der zulässigen Ausnutzung unter Berücksichtigung der Vorgaben durch zutreffende Normen bezüglich Standsicherheit.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.

Sind die einzelnen Schwerpunkte und Windflächen, insbesondere des Nadelauslegers 3, des Hauptauslegers 2 sowie die entsprechenden Lastangriffspunkte für die gegebene Krankonfiguration der Steuerung bekannt, so kann die Berechnung der maximal zulässigen Last L am Haken sowie der Grenzkraft FGrenz vorteilhaft direkt auf dem Steuerrechner des Krans online erfolgen.If the individual centers of gravity and wind surfaces, in particular of the luffing jib 3, of the main boom 2, as well as the corresponding load application points for the given crane configuration are known to the control, 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.

Die für eine auf der Steuerung durchgeführten Berechnung erforderliche aktuelle Geometrie der Maschine (Auslegerwinkel, Drehwinkel) kann permanent durch entsprechende Sensorik (Neigungsgeber, Drehwinkelgeber) auf der Maschine erfasst werden oder manuell in den Steuerrechner eingegeben werden.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.

Alternativ kann die Berechnung der maximal zulässigen Last L am Haken sowie der Grenzkraft FGrenz offline über einen externen Rechner erfolgen. Die Grenzkraft FGrenz muss in diesem Fall der Steuerung für jede Auslegerstellung übergeben werden. Auch in diesem Fall kann die aktuelle Geometrie der Maschine (Auslegerwinkel, Drehwinkel) permanent durch entsprechende Sensorik auf der Maschine gemessen werden.Alternatively, the calculation of the maximum permissible load L on the hook and the limit force FLimit can be done offline using an external computer. In this case, the limit force FLimit must be transferred to the control for each boom position. In this case, too, the current geometry of the machine (boom angle, rotation angle) can be permanently measured using appropriate sensors on the machine.

Die tatsächliche aktuelle Kraft F im Haltestrang wird durch entsprechende Sensorik (Kraftmesslaschen oder Kraftmessachsen) auf der Maschine gemessen und vom Steuerrechner auf der Maschine mit der errechneten aktuellen Grenzhaltekraft FGrenz verglichen und vorteilhaft als aktuelle Ausnutzung in Bezug auf die zulässige Ausnutzung dem Maschinenführer am Monitor dargestellt.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.

Wenn festgestellt wird, dass die aktuelle Kraft F > FGrenz wird oder werden könnte, d.h. die Ausnutzung >100% wird, können durch die Steuereinheit jene Bewegungen des Auslegersystems, die zu einer weiteren Steigerung der Ausnützung und somit zur Überlastung führen, gestoppt werden.If it is determined that the current force F > Flimit becomes or could become, i.e. the utilization becomes >100%, the control unit can stop those movements of the boom system that lead to a further increase in utilization and thus to overload.

Die Bewegungsrichtung bzw. Bewegung, die gestoppt oder freigegeben werden soll, wird wie folgt ermittelt:
die Steuereinheit berechnet die maximal zulässige Last am Haken gleichzeitig für eine Bandbreite von Stellungen zusätzlich zur aktuellen Stellung des Auslegersystems. Durch Vergleich der Er-gebnisse werden zulässige Bewegungsrichtungen definiert werden. Eine zulässige Bewegungs-richtung ist dann gegeben, wenn sich die maximal zulässige Last am Haken bei dieser Bewe-gungsrichtung vergrößert.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.

Nach einem Stopp aufgrund Überschreitung der Grenzlast werden zulässige Bewegungsrichtungen des Hebezeugs selektiv durch die Steuereinheit wieder freigegeben.After a stop due to the limit load being exceeded, permissible directions of movement of the hoist are selectively released again by the control unit.

Die Berechnung der Bandbreite zusätzlich zur aktuellen Stellung kann vorteilhaft online auf dem Steuerrechner der Maschine oder alternativ offline auf einem externen Rechner erfolgen. Die freizugebenen Bewegungsrichtungen müssen in diesem Fall der Steuerung für jede Auslegerstellung übergeben werden.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.

Claims (8)

  1. A lifting device (1), in particular a mobile crane or a cable-operated excavator, having an apparatus for monitoring the raising and lowering procedures, in particular of a boom system of the lifting device (1) , comprising a device for detecting the loads increasing the overturning moment of the lifting device (1); a device for detecting the loads stabilizing or reducing the overturning moment of the lifting device (1); a control unit that is configured to calculate a limit holding force (FGrenz) for a holding line of the boom system of the lifting device (1) from the detected loads; and a device for detecting the actual holding force of the holding line, wherein the control/regulation is configured to compare the limit holding force (FGrenz) and the actual holding force and, if the actual holding force approaches the limit holding force (FGrenz), to give a warning or to stop the raising and lowering procedures,
    characterized in that
    the control unit is configured to calculate the loads increasing the overturning moment simultaneously for a wide range of positions of the boom system in addition to the current position of the boom system; and wherein the control unit is configured not to stop a movement or a direction of movement of the lifting device (1) as long as the limit holding force (FGrenz) is not exceeded or to selectively release it again after a stop due to an exceeding of the limit load when the maximum permitted load at the hook increases with this the direction of movement.
  2. A lifting device (1) in accordance with claim 1, wherein at least one signal can be output in dependence on the comparison between the limit holding force (FGrenz) and the actual holding force.
  3. A lifting device (1) in accordance with claim 1 or claim 2, characterized in that the device for detecting the loads increasing the overturning moment detects the weight of the boom system and the wind force on a boom system of the lifting device (1).
  4. A lifting device (1) in accordance with one of the preceding claims, characterized in that the device for detecting the loads stabilizing or reducing the overturning moment detects the weight of a carrier unit of the lifting device.
  5. A lifting device (1) in accordance with one of the preceding claims, characterized in that a sensor system for detecting the current geometry of the lifting device (1) is provided; and in that the control unit is a control computer of the lifting device (1) or an external computer.
  6. A lifting device (1) in accordance with one of the preceding claims, characterized in that the device for detecting the actual holding force of the holding line comprises at least one force measurement tab and/or at least one force measurement axis.
  7. A lifting device (1) at least in accordance with claim 2, characterized in that the signal is a representation of the current utilization with respect to the permitted utilization for the machine operator on the monitor of the lifting device and/or a signal for stopping a movement of the lifting device (1).
  8. A method of monitoring the raising and lowering procedures of a lifting device (1) in accordance with one of the claims 1 to 7, comprising the steps:
    detecting the loads increasing the overturning moment of the lifting device (1);
    detecting the loads stabilizing or reducing the overturning moment of the lifting device (1);
    calculating a limit holding force (FGrenz) for a holding line of the main boom (2) of the lifting device (1) from the detected loads and by means of a control unit control/regulation;
    detecting the actual holding force of the holding line; and
    comparing the limit holding force (FGrenz) and the actual holding force by means of the control unit control/regulation.
EP18178564.3A 2017-06-19 2018-06-19 Lifting device, in particular a mobile crane or a cable dredger, having a device for monitoring the alignment and depositing process of a boom system and corresponding method Active EP3428112B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017113386.0A DE102017113386A1 (en) 2017-06-19 2017-06-19 Lifting equipment, in particular a mobile crane or a crawler crane, with a device for monitoring the erection and depositing process of a boom system and corresponding method

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EP3428112A1 EP3428112A1 (en) 2019-01-16
EP3428112C0 EP3428112C0 (en) 2024-01-24
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DE102019108689A1 (en) 2019-04-03 2020-10-08 Liebherr-Werk Biberach Gmbh Method and device for controlling a material handling and / or construction machine
DE102021102699A1 (en) * 2021-02-05 2022-08-11 Liebherr-Werk Biberach Gmbh crane
DE102021106745A1 (en) * 2021-03-19 2022-09-22 Liebherr-Werk Nenzing Gmbh Lifting gear with a device for supporting or fully automatically carrying out an erecting and/or laying down process of a boom system and a corresponding method

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DE102011107754B4 (en) * 2011-06-10 2021-07-22 Liebherr-Werk Ehingen Gmbh Angle-related procedure for monitoring crane safety during the set-up process, as well as crane and crane control
DE102014012422B4 (en) * 2014-08-20 2023-02-09 Liebherr-Werk Ehingen Gmbh Automatic erection of a crane
DE202015001023U1 (en) * 2015-02-09 2016-05-10 Liebherr-Components Biberach Gmbh crane
DE202015001024U1 (en) * 2015-02-09 2016-05-10 Liebherr-Werk Biberach Gmbh Crane with monitoring device for monitoring the overload protection

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DE102017113386A1 (en) 2018-12-20
EP3428112A1 (en) 2019-01-16
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US10850953B2 (en) 2020-12-01

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