EP0353099A2 - System zur Überwachung der Tragfähigkeit z.B. bei einem Kran - Google Patents

System zur Überwachung der Tragfähigkeit z.B. bei einem Kran Download PDF

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Publication number
EP0353099A2
EP0353099A2 EP89307719A EP89307719A EP0353099A2 EP 0353099 A2 EP0353099 A2 EP 0353099A2 EP 89307719 A EP89307719 A EP 89307719A EP 89307719 A EP89307719 A EP 89307719A EP 0353099 A2 EP0353099 A2 EP 0353099A2
Authority
EP
European Patent Office
Prior art keywords
load
boom
transducers
monitoring system
crane
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.)
Withdrawn
Application number
EP89307719A
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English (en)
French (fr)
Other versions
EP0353099A3 (de
Inventor
Michael Joseph John Gomez
David Rose
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.)
SCIMITAR INSTRUMENTATION Ltd
Original Assignee
SCIMITAR INSTRUMENTATION Ltd
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 SCIMITAR INSTRUMENTATION Ltd filed Critical SCIMITAR INSTRUMENTATION Ltd
Publication of EP0353099A2 publication Critical patent/EP0353099A2/de
Publication of EP0353099A3 publication Critical patent/EP0353099A3/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • This invention relates to a monitoring system for use with load carriers which may be used for preventing and/or giving warning of overload conditions.
  • the invention may also be used as a weighing device.
  • the invention will be particularly described with reference to jib cranes, but is also useful with other load carriers such as tower cranes, container handling equipment, fork lift trucks and front end or bucket loaders.
  • an object of the present invention is to provide an improved monitoring system for load carriers which is capable of working in real time in a manner which permits utilisation of permissible load/configuration combinations.
  • the invention resides in a method of monitoring a load carrier, comprising providing a multi-­dimensional mathematical model of loads and forces within the load carrier, continuously detecting the actual values of variable terms of said model, and performing real-time substitution of said actual values into the model to derive a definition of the status of the system.
  • This formula is made up of components which describe multi-­dimensional surfaces or manifolds with fixed boundary points corresponding to the operational limits of the system.
  • the calibration procedure can consist of a series of steps where the boom is taken through its range of angles and lengths both with no load on the hook and with a range of varying loads on the hook. All necessary data will be logged at each distinct step.
  • the logged data will consist.of actual length, actual radius, actual load on the hook and in the case of a pressure lifted boom pressure measurement from the hydraulic lifting ram(s) which will directly relate to forces on the boom.
  • Computational means can be used to determine the sets of coefficients from the data points using for example a least-­squares fit where a series of calculations is carried out to minimise the sum of the squares of the deviations of the predicted points from the data points.
  • the result of the computation will be a formula for the total force on the ram(s) equating to two multi-dimensional polynomials one of which will directly relate to the boom behaviour with no load on the hook which is referred to as the boom transfer function.
  • the other main component in the formula will be a polynomial directly related to the load on the hook referred to as the load function.
  • FIG. 2 a schematic diagram of the signal paths.
  • the forces applied to the boom structure may be sensed by transducer means by measuring the corresponding top cylinder end and bottom cylinder end ram pressure using two pressure transducers 21, 28. These pressure transducers may be of the semi-conductor strain gauge type. These two pressure signals are passed to the analogue to digital converter unit within the central unit, described in detail hereinbelow and shown in Figure 3 in block diagram form, where the analogue signals are converted to digital binary representations for processing by the central processing unit, a component within the central unit. Hereafter referred to as the CPU.
  • the boom structure is made up of three telescopic sections. At minimum boom length the top two sections lie within the base section as power, the top two sections extend out each by a certain ratiometric amount determined by crane design beyond the base section extending the total length of the boom.
  • This change in length of the boom can be measured using transducer means 23 where the transducer may consist of a mechanical cable drum with an internal spring.
  • the cable is attached to the tip of the boom such that any linear motion of the boom results in a corresponding angular rotation of the drum.
  • the internal spring maintains tension within the cable and ensures the cable is wrapped onto the drum during retraction of the boom.
  • the shaft of the drum is coupled to a rotary potentiometer such that linear motion of the boom is translated into a corresponding proportional signal representative to change of boom length.
  • This boom length signal is passed to the analogue to digital converter unit within the central unit for processing to a digital binary representation thereafter to the CPU for processing to a signal representative of actual boom length L.
  • Another such device 24 may generate signals representative of the conditions of support for example proximity switches may be used to determine whether outriggers are in their extended position or not and would send a corresponding digital signal to the central unit for correct capacity determination. Such a device is able to detect the presence of ferrous material and appropriately positioned would be able to determine whether the outriggers are in an extended position or not.
  • Another such device 25 may be operator controlled such that a coded position switch is chosen to correspond to for example the number of parts of rope that the crane is reeved to or to whether a boom extension is being used, these respective signals are then passed to the central unit to establish the correct capacity for that configuration.
  • the central unit consists of : an analogue section which contains instrumentation amplifiers; d.c. amplifiers; filters; an analogue multiplexer for selection between analogue signals and an analogue to digital converter; a control unit which performs selection of functions such as memory decoding; a read/write memory unit for temporary data storage; a permanent memory for storing the CPU instructions representing the program and constant data; programmable memory which one programmed with for example specific calibration data becomes permanent memory; a CPU or central processing unit which performs manipulations on data representing signals such as logical or arithmetical operations or memory manipulations; input and output ports which perform the function of communicating with the display; the operators calibration interface, the terminal, and signalling means such as the operator selectable switches.
  • the operators display console 27 consists of means of displaying the current operational signal values, system and crane status, this means can consist of a series of numeric displays which may be of the liquid crystal type; a series of annunciators which may be visual of the illuminated graphic symbol type or audible of the piezo-electrical buzzer type.
  • the range of angles, range of lengths and range of loads chosen is dependent on the particular crane but in any case is chosen to be representative of the cranes full operational capability and must include calibration steps at the extreme points of practical operation or capacity.
  • the optimum calibration points may be deduced from analysis of the crane manufacturers capacity chart.
  • the boom angle, the boom length, the load on hook, the actual radius and any other relevant data are recorded, the radius and load on the hook being inputted manually via the portable computer keyboard.
  • the ram areas that the forces act upon and physical dimensions of the crane base structure also are manually entered via the portable computer keyboard to allow calculation of actual force from the top and bottom ram cylinder pressure values and calculation of ram geometry.
  • the portable computer will contain a file of calibration data points, it then reverts back to its full power as a portable computer and executes the curve modelling program the result of which is coefficient parameters specific to that crane.
  • the modelling program tries to establish any linear dependence between initially, actual radius and its dependent variables, load, angle and length, in other words the actual radius or horizontal distance between the cranes rotating axis and the hook is a function of boom length, boom angle and the load on the hook.
  • the number of dimensions this process is carried out for is one plus the number of dependent variables so in the case of radius the modelling is carried out to four dimensions.
  • the process is carried out to provide an equation or polynomial formula which equates actual radius on one side of the equation to a sum of products on the dependent variables each multiplied by scalar quantities or the coefficient parameters the quantities determined by the modelling or calibration process.
  • This process involves using a least squares fit where a series of calculations is carried out to minimise the sum of the square of the deviations of the predicted points from the calibration data points.
  • the third step in the modelling process is the determination of the load function or component of total ram force due to the load on the hook. This is a function of actual load on the hook, boom length and boom angle.
  • the load on hook calibration data points are therefore used to determine this relationship and to therefore produce the appropriate load function coefficients.
  • These coefficient parameters are also programmed into programmable permanent memory of the CPU for later recall by the operational program.
  • the fourth step in the modelling process is to bring together the components contributing to the total ram force and all their dependent variables, in other words to form an equation relating to one side the total ram force to on the other side the component of the total force due to the boom transfer function and the component due to the load on the hook.
  • the force component due to the boom transfer function which is boom angle, boom length based, or more strictly with load on the hook it is "actual radius" based which of course is load dependent and with the second component of total ram force which is the load function component which is of course also load dependent.
  • the final step in the calibration of a system is the duty chart modelling which aims to express for a particular crane, capacity available as a function of boom angle and boom length for a particular configuration. This allows precise interpolation of capacity utilising crane capacity to a maximum.
  • the crane duty chart is entered into the computer as a series of data points the modelling computation produces a set of coefficient parameters for each configuration or page of the crane duty chart. Solution of the resulting polynomial for a particular configuration at a particular boom angle and length is a value representative of the available crane capacity. Again these coefficients are programmed into the programmable permanent memory for later recall by the operational program.
  • the system due to its ability to model the aeolotropy of a system in mathematical form, say by application of N-th order polynomials, when applied to a fork lift truck or a front end or bucket loader will after analysis of taken data be able to repeat accurately the function of the machine in mathematical form. This will allow the user to know accurately, for example what weight is in the bucket or on the forks without the necessity of the machine to stop on level ground and place the forks or the bucket in a predetermined position whilst stationary, as is required with conventional apparatus and systems.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Testing And Monitoring For Control Systems (AREA)
EP19890307719 1988-07-29 1989-07-28 System zur Überwachung der Tragfähigkeit z.B. bei einem Kran Withdrawn EP0353099A3 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB8818074 1988-07-29
GB888818074A GB8818074D0 (en) 1988-07-29 1988-07-29 Monitoring system for load carriers

Publications (2)

Publication Number Publication Date
EP0353099A2 true EP0353099A2 (de) 1990-01-31
EP0353099A3 EP0353099A3 (de) 1991-04-17

Family

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Family Applications (1)

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EP19890307719 Withdrawn EP0353099A3 (de) 1988-07-29 1989-07-28 System zur Überwachung der Tragfähigkeit z.B. bei einem Kran

Country Status (3)

Country Link
EP (1) EP0353099A3 (de)
AU (1) AU3909889A (de)
GB (1) GB8818074D0 (de)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0470289A1 (de) * 1990-08-10 1992-02-12 ABUS Kransysteme GmbH & Co. KG. Vorrichtung zur Durchführung von Wartungs- und Montagearbeiten an einer Krananlage
EP0535339A1 (de) * 1991-10-02 1993-04-07 Jlg Industries, Inc. Lastmomentanzeigevorrichtung
EP1151958A2 (de) * 2000-04-28 2001-11-07 Hiab AB Hydraulischer Kran
WO2003064311A1 (en) * 2001-11-28 2003-08-07 Højbjerg Maskinfabrik A/S Load control system, preferably for boom cranes
EP1477452A1 (de) * 2003-05-12 2004-11-17 FASSI GRU IDRAULICHE S.p.A. Verfahren und Vorrichtung zum Ermitteln der Lasts eines Kranauslegers
WO2008143584A1 (en) * 2007-05-23 2008-11-27 Cargotec Patenter Ab Hydraulic crane and a method for regulating the maximum allowed working pressure in such a crane
EP2145852A1 (de) * 2008-07-16 2010-01-20 Manitowoc Crane Companies, Inc. Ladeüberwachungs- und -steuersystem mit selektiver Auslegerblockierung
ITBO20090588A1 (it) * 2009-09-16 2011-03-17 A M A S P A Macchina operatrice
CN104495658A (zh) * 2014-12-31 2015-04-08 中联重科股份有限公司 起重机的力矩限制器的调试方法、装置及系统
WO2018068071A1 (de) * 2016-10-14 2018-04-19 Palfinger Europe Gmbh Verfahren zur bestimmung einer last, steuerung für hydraulische hebevorrichtung zur ausführung eines solchen verfahrens
CN110422779A (zh) * 2019-08-29 2019-11-08 山西五建集团有限公司 一种塔式起重机械安全监控及报警系统
US11142442B2 (en) 2017-02-10 2021-10-12 Arrow Acquisition, Llc System and method for dynamically controlling the stability of an industrial vehicle
EP3313771B1 (de) 2015-06-24 2021-12-08 Palfinger AG Kransteuerung

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3019385A1 (de) * 1979-05-18 1980-11-27 Coles Cranes Ltd Kran mit datenverarbeitungsanlage
DE3341287A1 (de) * 1982-12-02 1984-06-07 Krüger GmbH & Co KG, 4300 Essen Lastueberwachungseinrichtung fuer einen auslegerkran
US4456093A (en) * 1981-06-16 1984-06-26 Interstate Electronics Corp. Control system for aerial work platform machine and method of controlling an aerial work platform machine
WO1985005614A1 (en) * 1984-06-01 1985-12-19 Dr.-Ing. Ludwig Pietzsch Gmbh & Co Monitoring and control system for jib-cranes
EP0285710A1 (de) * 1987-03-06 1988-10-12 3B6 sistemi elettro-idraulici s.n.c. Vorrichtung zur Begrenzung der Reichweite des Armes und/oder des Moments für Hebebühnen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3019385A1 (de) * 1979-05-18 1980-11-27 Coles Cranes Ltd Kran mit datenverarbeitungsanlage
US4456093A (en) * 1981-06-16 1984-06-26 Interstate Electronics Corp. Control system for aerial work platform machine and method of controlling an aerial work platform machine
DE3341287A1 (de) * 1982-12-02 1984-06-07 Krüger GmbH & Co KG, 4300 Essen Lastueberwachungseinrichtung fuer einen auslegerkran
WO1985005614A1 (en) * 1984-06-01 1985-12-19 Dr.-Ing. Ludwig Pietzsch Gmbh & Co Monitoring and control system for jib-cranes
EP0285710A1 (de) * 1987-03-06 1988-10-12 3B6 sistemi elettro-idraulici s.n.c. Vorrichtung zur Begrenzung der Reichweite des Armes und/oder des Moments für Hebebühnen

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0470289A1 (de) * 1990-08-10 1992-02-12 ABUS Kransysteme GmbH & Co. KG. Vorrichtung zur Durchführung von Wartungs- und Montagearbeiten an einer Krananlage
EP0535339A1 (de) * 1991-10-02 1993-04-07 Jlg Industries, Inc. Lastmomentanzeigevorrichtung
EP1151958A2 (de) * 2000-04-28 2001-11-07 Hiab AB Hydraulischer Kran
EP1151958A3 (de) * 2000-04-28 2004-12-22 Hiab AB Hydraulischer Kran
WO2003064311A1 (en) * 2001-11-28 2003-08-07 Højbjerg Maskinfabrik A/S Load control system, preferably for boom cranes
EP1477452A1 (de) * 2003-05-12 2004-11-17 FASSI GRU IDRAULICHE S.p.A. Verfahren und Vorrichtung zum Ermitteln der Lasts eines Kranauslegers
WO2008143584A1 (en) * 2007-05-23 2008-11-27 Cargotec Patenter Ab Hydraulic crane and a method for regulating the maximum allowed working pressure in such a crane
US7677401B2 (en) 2008-07-16 2010-03-16 Manitowoc Crane Companies, Inc. Load monitoring and control system with selective boom-up lockout
EP2145852A1 (de) * 2008-07-16 2010-01-20 Manitowoc Crane Companies, Inc. Ladeüberwachungs- und -steuersystem mit selektiver Auslegerblockierung
ITBO20090588A1 (it) * 2009-09-16 2011-03-17 A M A S P A Macchina operatrice
CN104495658A (zh) * 2014-12-31 2015-04-08 中联重科股份有限公司 起重机的力矩限制器的调试方法、装置及系统
EP3313771B1 (de) 2015-06-24 2021-12-08 Palfinger AG Kransteuerung
WO2018068071A1 (de) * 2016-10-14 2018-04-19 Palfinger Europe Gmbh Verfahren zur bestimmung einer last, steuerung für hydraulische hebevorrichtung zur ausführung eines solchen verfahrens
JP2019530627A (ja) * 2016-10-14 2019-10-24 パルフィンガー アクチエンゲゼルシャフトＰａｌｆｉｎｇｅｒ Ａｇ 荷重を決定する方法と、このような方法を実施するための液圧式の吊上げ装置用の制御装置
RU2714833C1 (ru) * 2016-10-14 2020-02-19 Палфингер Аг Способ определения нагрузки, блок управления для гидравлического подъемного устройства для осуществления такого способа
AU2017342185B2 (en) * 2016-10-14 2020-03-12 Palfinger Ag Method for determining a load, controller for a hydraulic lifting device for carrying out a method of this type
US11142442B2 (en) 2017-02-10 2021-10-12 Arrow Acquisition, Llc System and method for dynamically controlling the stability of an industrial vehicle
CN110422779A (zh) * 2019-08-29 2019-11-08 山西五建集团有限公司 一种塔式起重机械安全监控及报警系统

Also Published As

Publication number Publication date
GB8818074D0 (en) 1988-09-01
EP0353099A3 (de) 1991-04-17
AU3909889A (en) 1990-02-01

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