DK3257805T3 - Hydraulisk kran - Google Patents

Hydraulisk kran Download PDF

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Publication number
DK3257805T3
DK3257805T3 DK16174121.0T DK16174121T DK3257805T3 DK 3257805 T3 DK3257805 T3 DK 3257805T3 DK 16174121 T DK16174121 T DK 16174121T DK 3257805 T3 DK3257805 T3 DK 3257805T3
Authority
DK
Denmark
Prior art keywords
crane
crane arm
control device
boom
electronic control
Prior art date
Application number
DK16174121.0T
Other languages
English (en)
Inventor
Per Gustafsson
Sten Sirén
Original Assignee
Cargotec Patenter Ab
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.)
Filing date
Publication date
Application filed by Cargotec Patenter Ab filed Critical Cargotec Patenter Ab
Application granted granted Critical
Publication of DK3257805T3 publication Critical patent/DK3257805T3/da

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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
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • 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
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track 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
    • B66C23/06—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 with jibs mounted for jibbing or luffing movements
    • B66C23/08—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 with jibs mounted for jibbing or luffing movements and adapted to move the loads in predetermined paths
    • B66C23/10—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 with jibs mounted for jibbing or luffing movements and adapted to move the loads in predetermined paths the paths being substantially horizontal; Level-luffing jib-cranes
    • B66C23/14—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 with jibs mounted for jibbing or luffing movements and adapted to move the loads in predetermined paths the paths being substantially horizontal; Level-luffing jib-cranes with means, e.g. pantograph arrangements, for varying jib configuration
    • 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
    • B66C23/36—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 mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—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 mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • 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
    • B66C23/36—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 mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/48—Manually-movable jib cranes for use in workshops
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • 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
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes

Landscapes

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

Claims (5)

1. Hydraulisk kran omfattende: - et kranfundament (6); - en søjle (7), som er roterbart monteret til kranfundamentet (6) for at være roterbar i forhold til kranfundamentet om en hovedsageligt vertikal rotationsakse (Al); - en aktuatorenhed (8) til at rotere søjlen (7) i forhold til kranfundamentet (6); - et kranarmsystem (10) omfattende to eller flere løftbare og sænkbare kranarme (11, 13), som er ledforbundet til hinanden, og hydrauliske cylindre (12, 14) til at løfte og sænke kranarmene (11, 13), hvor en første kranarm (11) af kranarmsystemet er ledforbundet til søjlen (7), og en anden kranarm (13) af kranarmsystemet er ledforbundet til den første kranarm (11); - en elektronisk styringsanordning (25) til at styre den nævnte aktuatorenhed (8) og de hydrauliske cylindre (12, 14) af kranarmsystemet (10) for dermed at styre søjlens (7) rotation og kranarmenes (11, 13) positionering; og - en manøvreringsenhed (24) med en eller flere manøvreringsorganer (SI, S2, S3), der er konfigureret til at kunne manøvreres af en kranoperatør for at kunne styre positionen af et lastophængspunkt (P) af kranarmsystemet (10), hvor manøvreringsenheden (24) er konfigureret til at forsyne den elektroniske styringsanordning (25) med styringssignaler relateret til manøvreringen af de nævnte en eller flere manøvreringsorganer (SI, S2, S3), hvor den elektroniske styringsanordning (25) er konfigureret til at styre kranarmbevægelserne på basis af nævnte styringssignaler og en beregningsmodel til kranarmendestyring, kendetegnet ved: - at den elektroniske styringsanordning (25) i en første styringsindstilling er konfigureret til få lastophængspunktet (P) til at flytte sig langs en bane, som er defineret af nævnte styringssignaler, mens den styrer kranarmbevægelserne i overensstemmelse med en almindelig styringsstrategi; og - at den elektroniske styringsanordning (25) er konfigureret til at skifte fra den første styringsindstilling til en anden styringsindstilling, når det er fastslået af den elektroniske styringsanordning (25), at den første kranarm (11) er ved at forstyrre en forudbestemt sikkerhedszone, som er forbundet med en kendt forhindring (18), eller er ved at forstyrre en forhindring, som er detekteret ved hjælp af en eller flere af den hydrauliske krans (1) sensorer (45), hvor den elektroniske styringsanordning (25) i denne anden styringsindstilling er konfigureret til at få lastophængspunktet (P) til at flytte sig langs nævnte bane, mens den styrer kranarmbevægelserne i overensstemmelse med en hjælpestyringsstrategi, hvor den første kranarm (11) er forhindret i at forstyrre sikkerhedszonen eller den detekterede forhindring.
2. Hydraulisk kran ifølge krav 1, kendetegnet ved, at den nævnte sikkerhedszone er bestemt ud fra et sæt af grænseværdier (Vaiimit) for hældningsvinklen (a) af den første kranarm (11), hvor hver grænseværdi (Vaiimit) af sættet af grænseværdier er forbundet med en bestemt drejevinkel (Θ) af søjlen (7) og repræsenterer en grænse for den tilladte hældning af den første kranarm (11) i et vertikalt plan nedad eller opad ved den tilhørende drejevinkel (Θ) af søjlen (7).
3. Hydraulisk kran ifølge krav 1 eller 2, hvor den hydrauliske kran (1) er en lastvognkran, som er monteret på chassiset af en lastvogn (4), kendetegnet ved, at den nævnte sikkerhedszone er forbundet med et førerhus (18) på lastvognen.
4. Hydraulisk kran ifølge ethvert af kravene 1-3, kendetegnet ved, at den anden kranarm (13) er teleskopisk udstrækkelig for at muliggøre en justering af udstrækningslængden (L) deraf.
5. Hydraulisk kran ifølge ethvert af kravene 1-4, kendetegnet ved, at den elektroniske styringsanordning (25) er konfigureret til at stoppe igangværende udførte kranarmbevægelser, når det er fastslået af den elektroniske styringsanordning, at kranarmene (11, 13) af kranarmsystemet (10) ikke kan positioneres til at flytte lastophængspunktet (P) langs den nævnte bane, uden at den første kranarm (11) forstyrrer sikkerhedszonen eller den detekterede forhindring.
DK16174121.0T 2016-06-13 2016-06-13 Hydraulisk kran DK3257805T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16174121.0A EP3257805B1 (en) 2016-06-13 2016-06-13 Hydraulic crane

Publications (1)

Publication Number Publication Date
DK3257805T3 true DK3257805T3 (da) 2019-04-01

Family

ID=56119406

Family Applications (1)

Application Number Title Priority Date Filing Date
DK16174121.0T DK3257805T3 (da) 2016-06-13 2016-06-13 Hydraulisk kran

Country Status (6)

Country Link
US (1) US10836613B2 (da)
EP (1) EP3257805B1 (da)
CN (1) CN109641730B (da)
CA (1) CA3023522A1 (da)
DK (1) DK3257805T3 (da)
WO (1) WO2017215876A1 (da)

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EP3257805B1 (en) * 2016-06-13 2018-12-26 Cargotec Patenter AB Hydraulic crane
JP7151532B2 (ja) * 2019-02-14 2022-10-12 株式会社タダノ クレーンおよびクレーンの経路生成システム
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CN114687562B (zh) * 2020-12-31 2023-11-17 三一汽车制造有限公司 作业机械的控制方法、装置和作业机械
EP4086215B1 (en) 2021-05-04 2023-11-15 Hiab AB An energy efficient crane, and a method of the crane
EP4086216B1 (en) * 2021-05-04 2023-11-29 Hiab AB An energy efficient crane, and a method of the crane
SE545967C2 (sv) * 2021-11-09 2024-03-26 Komatsu Forest Ab Förfarande och system för att styra en parallellkran på en arbetsmaskin
AT17996U1 (de) * 2022-05-13 2023-10-15 Palfinger Ag Verfahren zum Bewegen einer Hebevorrichtung

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Also Published As

Publication number Publication date
US20190308851A1 (en) 2019-10-10
US10836613B2 (en) 2020-11-17
EP3257805B1 (en) 2018-12-26
CN109641730A (zh) 2019-04-16
EP3257805A1 (en) 2017-12-20
WO2017215876A1 (en) 2017-12-21
CA3023522A1 (en) 2017-12-21
CN109641730B (zh) 2020-02-21

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