EP0387399A2 - Method and device for controlling the crane functions of a mobile crane with a telescopic jib - Google Patents

Method and device for controlling the crane functions of a mobile crane with a telescopic jib Download PDF

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Publication number
EP0387399A2
EP0387399A2 EP89118021A EP89118021A EP0387399A2 EP 0387399 A2 EP0387399 A2 EP 0387399A2 EP 89118021 A EP89118021 A EP 89118021A EP 89118021 A EP89118021 A EP 89118021A EP 0387399 A2 EP0387399 A2 EP 0387399A2
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EP
European Patent Office
Prior art keywords
crane
control module
measuring
boom
functions
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.)
Granted
Application number
EP89118021A
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German (de)
French (fr)
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EP0387399B1 (en
EP0387399A3 (en
Inventor
Helmut Dipl.-Ing. Blase
Walter Dipl.-Ing. Kirchner
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.)
PPM SA
Original Assignee
Century Ii Mobilkrane GmbH
PPM SA
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
Priority claimed from DE19893908571 external-priority patent/DE3908571A1/en
Priority claimed from DE19893913516 external-priority patent/DE3913516A1/en
Application filed by Century Ii Mobilkrane GmbH, PPM SA filed Critical Century Ii Mobilkrane GmbH
Priority to AT89118021T priority Critical patent/ATE103881T1/en
Publication of EP0387399A2 publication Critical patent/EP0387399A2/en
Publication of EP0387399A3 publication Critical patent/EP0387399A3/en
Application granted granted Critical
Publication of EP0387399B1 publication Critical patent/EP0387399B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • 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

Definitions

  • the invention relates to a method and a device for controlling the crane functions and load paths of hydraulic crane drives of a mobile telescopic jib crane.
  • Such mobile telescopic jib cranes are increasingly used in ever-expanding areas of application that go beyond the classic areas of application. They are therefore equipped with a wide range of additional equipment, such as concrete buckets, grabs and the like, and are e.g. used in handling and general cargo operations or for pouring concrete foundations.
  • additional equipment such as concrete buckets, grabs and the like
  • the focus is on the need to optimize performance, payloads and lifting heights. In doing so, dead loads are to be reduced to reduce overall weights and axle loads.
  • the object of the invention is to provide a solution with which the normal operation of such cranes is simplified, in particular to relieve the crane driver.
  • this object is achieved according to the invention in that the crane functions and load paths are first manually entered and simultaneously recorded, processed and stored by an electronic control module, and that the crane functions for automatic control of the load paths with manual speed control by the control module can be called up, whereby the load paths can also be changed at any time by renewed manual intervention.
  • the invention particularly provides that the telescopic length and the telescopic speed of each boom section and / or the luffing cylinder and / or the angular positions of the telescopic boom and the luffing jib and / or locking devices of the boom sections each can be individually removed, monitored and controlled accordingly using a separate measuring element.
  • the angular positions of the telescopic arms are usually determined with respect to the horizontal and those of the luffing arms are usually determined with respect to the assigned telescopic arm axis.
  • the individual boom sections are extended or retracted synchronously by the control module.
  • This configuration makes it possible to ensure a particularly good load distribution to the individual boom sections, since the load is distributed approximately uniformly over the boom sections if they are telescoped evenly, which is particularly important if the boom sections are only extended in regions , ie the maximum total length of the boom is not fully used.
  • the invention also provides a device with measuring and control devices for the individual crane functions of the hydraulic crane drive, which is characterized in that the individual measuring and control devices are connected to an electronic control module, the control devices optionally being manual or can be actuated by the control module or mixed.
  • Such a device is suitable for carrying out the method according to the invention, by connecting the individual measuring and control devices with an electronic control module and the central control by the control module, it is possible to automate certain set-up and work processes, so that the crane driver is relieved.
  • a particularly advantageous embodiment of the device according to the invention is that each boom section for individual extension length measurement and speed measurement is equipped with its own measuring element with an associated measuring device, which is connected to the control module for the transmission of measured values.
  • the respective measuring element is designed as a rope or cable with an associated winding roller and the respective measuring device as a rotary encoder assigned to the respective winding roller is.
  • These structural configurations are particularly suitable since such ropes or cables can be easily adapted to different lengths by corresponding winding or unwinding.
  • other measuring elements or devices such as chains, racks or the like can also be provided here.
  • sensors are provided for measuring the angular positions of the telescopic boom and the luffing jib and are connected to the control module for the transmission of measured values. In this way, monitoring and control of these crane functions is also possible accordingly.
  • a rotary encoder for detecting the angular position of the superstructure relative to the undercarriage and the rotational speed is arranged on the slewing gear of the crane superstructure or on the superstructure itself, which is connected to the control module for the transmission of measured values.
  • rotary encoders for measuring the speed and for measuring the cable layers are arranged with pressure rollers with angle sensors which are connected to the control module for the transmission of measured values.
  • a common display device for the separate display of the individual crane functions, which e.g. is arranged in the cab.
  • the crane driver can then record the individual crane functions separately from one another in a particularly simple manner.
  • a mobile telescopic boom crane generally designated 1, has an undercarriage 2 and an uppercarriage 3, the uppercarriage 3 being pivotable relative to the undercarriage 2 about a vertical axis 4.
  • the undercarriage 2 carries the chassis with wheels 5 and a driver's cab 6 as well as other devices which are not important here.
  • the uppercarriage 3 initially has a bogie 7, on which an operating cabin 8 is arranged, from which the crane functions can be operated.
  • a telescopic crane boom 9 is arranged on the bogie 7 so as to be pivotable about a horizontal axis, the pivotability being able to be carried out by means of a luffing cylinder 10.
  • the telescopic crane boom 9 has a basic boom 11 and three mutually guided, individually telescopic telescopic boom sections 12, 13, 14 each with collars 12a, 13a, 14a and an innermost telescopic boom section 15 with a boom tip 15a.
  • a jib 16 is arranged on the jib tip 15a about a horizontal axis and a load hook 17 or the like is guided at the free end thereof.
  • the uppercarriage 3 can thus first be pivoted about the vertical axis 4 relative to the undercarriage 2, while the crane boom 9 can additionally be pivoted about a horizontal axis by means of the luffing cylinder 10 and its total length by corresponding telescoping of the individual boom sections 12, 13, 14 , 15 is variable.
  • the luffing jib 16 can still be pivoted about a horizontal axis relative to the crane jib 9.
  • the jib 16 and the load hook 17 are connected to a winch hoist 18, which is on the bogie 7th arranged cable drums 19. With these winch hoists on the one hand the adjustment of the jib 16 relative to the boom 9 and on the other hand the vertical movement of the load hook 17 can be controlled.
  • each boom section 12, 13, 14, 15 is equipped with a steel cable 12b, 13b, 14b, 15b designed as a length measuring element, one end of which is fixed to the respective collar 12a, 13a, 14a, 15a .
  • the respective other end of the steel cables is in each case rolled up on a take-up roll 12c, 13c, 14c, 15c, these take-up rolls being rotatably arranged on the basic boom 11 of the crane boom 9.
  • Each take-up reel 12c, 13c, 14c, 15c is assigned its own rotary encoder 12d, 13d, 14d, 15d, via which the revolutions of the take-up reels and thus the extension lengths of the steel cables and thus the individual telescopic boom sections can be measured.
  • an angle transmitter 20 is arranged on the jib boom 16 and an angle transmitter 21 is arranged on the base boom 11.
  • Rotary encoders 22 are provided on the cable drums 19 of the load lifting mechanism 18, by means of which the speed of the cable drums can be detected.
  • a measuring sensor 23 is provided as a measuring device for the luffing cylinder 10 and a rotary sensor 24 is provided as a measuring device for pivoting the upper carriage 3 relative to the undercarriage 2.
  • a measuring transducer 25 is additionally arranged on the innermost boom section 15, which is used to determine the position of locking and / or holding bolts, not shown, which enable the penultimate boom section 14 and the innermost boom section 15 to be telescoped together .
  • All measuring devices or measuring elements 12d, 13d, 14d, 15d, 20, 21, 22, 23, 24, 25 are equipped with an electronic control module 26, e.g. a microprocessor, which is preferably arranged in the operating cabin 8 of the crane superstructure 3.
  • This control module 26 is additionally connected to a display and operating device 27, which is also preferably arranged in the operating cabin 8.
  • the operator presets all crane functions, for example angular positioning of the crane superstructure 3 with respect to the undercarriage 2, angular positioning of the crane boom 9 and the jib 16, extension lengths Handing of the individual telescopic boom 12, 13, 14, actuation of the load hoist 22 and the like, entered manually one after the other by means of the device 27 and at the same time recorded, processed and stored by the electronic control module 26.
  • the control module i.e. the crane functions are controlled automatically by the control module, monitoring being carried out by the measuring devices, each of which is separately connected to the control module 26.
  • the display device 27 shows the operator all the crane functions at any time, only the boom length measurement of the individual crane boom sections being shown in FIG. 3 by way of example.

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

Abstract

With a method and a device for controlling the crane functions and load displacements of hydraulic crane drives of a mobile crane with a telescopic jib, a solution is to be provided with which the normal operation of cranes of this type is simplified, in the course of which the strain on the crane driver in particular is to be relieved. This is achieved in that the crane functions and load displacements are first of all input manually and are simultaneously received, processed and stored by an electronic control module, and that the crane functions can then be fetched by the control module for the automatic control of the load displacements during manual speed control, in the course of which the load displacements can also be varied at any time by renewed manual operation. <IMAGE>

Description

Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Steuerung der Kranfunktionen und Lastwege hydrauli­scher Kranantriebe eines mobilen Teleskopauslegerkrans.The invention relates to a method and a device for controlling the crane functions and load paths of hydraulic crane drives of a mobile telescopic jib crane.

Derartige mobile Teleskopauslegerkrane werden zunehmend in immer weitergehenden Einsatzgebieten benutzt, die über die klassischen Einsatzbereiche hinausgehen. Sie sind deshalb mit vielfältigen Zusatzausrüstungen, wie mit Betonkübeln, Greifern und dgl. ausgerüstet und werden z.B. im Umschlag- und Stückgutbetrieb oder zum Vergießen von Betonfundamen­ten eingesetzt. In ihren eigentlichen Arbeitsbereichen, dem Kranbetrieb und der Montage, steht die Forderung nach Optimierung der Leistungen, Traglasten und Hubhöhen im Vor­dergrund. Dabei sind Eigenlasten zur Verminderung von Ge­samtgewichten und Achslasten zu reduzieren.Such mobile telescopic jib cranes are increasingly used in ever-expanding areas of application that go beyond the classic areas of application. They are therefore equipped with a wide range of additional equipment, such as concrete buckets, grabs and the like, and are e.g. used in handling and general cargo operations or for pouring concrete foundations. In their actual work areas, crane operation and assembly, the focus is on the need to optimize performance, payloads and lifting heights. In doing so, dead loads are to be reduced to reduce overall weights and axle loads.

Diese vielfältigen Forderungen erfordern eine hohe Quali­tät der Kransteuerung, insbesondere, da die Arbeitsge­schwindigkeiten bei bestimmten Betriebsarten entsprechend hoch sind. Außerdem ist eine genaue Positionierung der Aus­leger- und Ausrüstungsteile beim Rüstvorgang erforderlich. Gegenwärtig müssen alle diese Funktionen vom Kranfahrer selbsttätig durchgeführt werden, was aufgrund der Vielzahl der möglichen Funktionen leicht zu Fehlbedienungen führen kann.These diverse requirements require a high quality of the crane control, especially since the working speeds are correspondingly high in certain operating modes. In addition, precise positioning of the boom and equipment parts is required during the setup process. At the moment, all of these functions have to be carried out automatically by the crane driver, due to the large number of the possible functions can easily lead to incorrect operation.

Es ist bereits bekannt geworden, rechnergesteuerte Überwa­chungseinrichtungen zur Lastmomentbegrenzung vorzusehen (EP 0 187 772-B1), mit denen es möglich sein soll, eine Si­cherung des Krans sowohl gegen statische Überlasten als auch gegen dynamische Einwirkungen zu gewährleisten, wel­che z.B. durch eine zu hohe Beschleunigung einer Traglast oder eine zu hoch eingeleitete Drehbewegung hervorgerufen werden. Dabei soll es mit den Überwachungseinrichtungen möglich sein, direkt in die Kransteuerung einzugreifen, d.h. eine Ausführung von Kranfunktionen, die die Kransi­cherheit beeinträchtigen könnten, zu unterbinden.It has already become known to provide computer-controlled monitoring devices for load torque limitation (EP 0 187 772-B1), with which it should be possible to ensure that the crane is secured both against static overloads and against dynamic influences, which e.g. caused by a too high acceleration of a payload or a rotational movement initiated too high. The monitoring devices should be able to intervene directly in the crane control, i.e. prevent the execution of crane functions that could impair crane safety.

Demgegenüber besteht die Aufgabe der Erfindung in der Schaffung einer Lösung, mit welcher die normale Bedienung derartiger Krane vereinfacht wird, wobei insbesondere der Kranfahrer entlastet werden soll.In contrast, the object of the invention is to provide a solution with which the normal operation of such cranes is simplified, in particular to relieve the crane driver.

Mit einem Verfahren der eingangs bezeichneten Art wird die­se Aufgabe erfindungsgemäß dadurch gelöst, daß die Kran­funktionen und Lastwege zunächst manuell eingegeben und gleichzeitig von einem elektronischen Steuermodul aufgenom­men, verarbeitet und gespeichert werden, und daß anschlie­ßend die Kranfunktionen zur selbsttätigen Steuerung der Lastwege bei manueller Geschwindigkeitsregelung vom Steuer­ modul abrufbar sind, wobei auch die Lastwege durch erneu­ten manuellen Eingriff jederzeit veränderbar sind.With a method of the type mentioned, this object is achieved according to the invention in that the crane functions and load paths are first manually entered and simultaneously recorded, processed and stored by an electronic control module, and that the crane functions for automatic control of the load paths with manual speed control by the control module can be called up, whereby the load paths can also be changed at any time by renewed manual intervention.

Mit dieser Verfahrensführung wird die Bedienung derartiger Krane wesentlich vereinfacht, wodurch der Kranfahrer ent­lastet wird. Nach einmaliger manueller Eingabe sämtlicher Kranfunktionen und Lastwege für sich wiederholende Rüst- und Arbeitsvorgänge erfolgt selbsttätige Steuerung, wobei lediglich die Geschwindigkeitsregelung aus Sicherheitsgrün­den ausgenommen ist. Diese selbsttätige Steuerung kann je­derzeit durch manuellen Eingriff überlagert und verändert werden, wenn die Rüst- und Arbeitsvorgänge abgeändert wer­den sollen.With this procedure, the operation of such cranes is considerably simplified, which relieves the crane driver. After a single manual entry of all crane functions and load paths for repetitive set-up and work processes, automatic control takes place, whereby only the speed control is excluded for safety reasons. This automatic control can be overlaid and changed at any time by manual intervention if the set-up and work processes are to be changed.

Es ist besonders zweckmäßig, die Kranfunktionen über je­weils getrennte Meßeinrichtungen vom Steuermodul indivi­duell abzunehmen, zu überwachen und entsprechend zu steuern, wobei unter den Kranfunktionen u.a. die Telesko­pierung der Ausleger, die Verstellung des Auslegers, die Lastbetätigung und dgl. verstanden werden.It is particularly expedient to individually remove, monitor and control the crane functions from the control module using separate measuring devices. the telescopic extension of the boom, the adjustment of the boom, the load actuation and the like can be understood.

Um die wesentlichen Kranfunktionen zu erfassen, sieht die Erfindung insbesondere vor, daß die Teleskopierlänge und die Teleskopiergeschwindigkeit jedes Auslegerschusses und/oder des Wippzylinders und/oder die Winkelstellungen des Teleskopauslegers und des Spitzenauslegers und/oder Verriegelungseinrichtungen der Auslegerschüsse jeweils über ein eigenes Meßelement individuell abgenommen, über­wacht und entsprechend gesteuert werden. Dabei werden die Winkelstellungen der Teleskopausleger üblicherweise gegenüber der Horizontalen und die der Spitzenausleger üblicherweise gegenüber der zugeordneten Teleskopauslegerachse bestimmt.In order to capture the essential crane functions, the invention particularly provides that the telescopic length and the telescopic speed of each boom section and / or the luffing cylinder and / or the angular positions of the telescopic boom and the luffing jib and / or locking devices of the boom sections each can be individually removed, monitored and controlled accordingly using a separate measuring element. The angular positions of the telescopic arms are usually determined with respect to the horizontal and those of the luffing arms are usually determined with respect to the assigned telescopic arm axis.

In besonders vorteilhafter Ausgestaltung der Erfindung ist vorgesehen, daß die einzelnen Auslegerschüsse vom Steuer­modul synchron aus- oder eingefahren werden. Durch diese Ausgestaltung ist es möglich, eine besonders gute Lastver­teilung auf die einzelnen Auslegerschüsse zu gewähr­leisten, da die Last etwa gleichmäßig auf die Ausleger­schüsse verteilt wird, wenn sie gleichmäßig teleskopiert werden, was insbesondere dann von Bedeutung ist, wenn nur ein bereichsweises Ausfahren der Auslegerschüsse erfolgt, d.h. die maximale Gesamtlänge des Auslegers nicht voll ge­nutzt wird.In a particularly advantageous embodiment of the invention, it is provided that the individual boom sections are extended or retracted synchronously by the control module. This configuration makes it possible to ensure a particularly good load distribution to the individual boom sections, since the load is distributed approximately uniformly over the boom sections if they are telescoped evenly, which is particularly important if the boom sections are only extended in regions , ie the maximum total length of the boom is not fully used.

Zur Lösung der eingangs gestellten Aufgabe sieht die Erfin­dung auch eine Vorrichtung mit Meß- und Steuereinrichtun­gen für die einzelnen Kranfunktionen des hydraulischen Kranantriebs vor, die sich dadurch auszeichnet, daß die einzelnen Meß- und Steuereinrichtungen mit einem elektroni­schen Steuermodul verbunden sind, wobei die Steuereinrich­tungen wahlweise manuell oder durch das Steuermodul oder gemischt betätigbar sind.To achieve the object set forth in the invention, the invention also provides a device with measuring and control devices for the individual crane functions of the hydraulic crane drive, which is characterized in that the individual measuring and control devices are connected to an electronic control module, the control devices optionally being manual or can be actuated by the control module or mixed.

Eine solche Vorrichtung ist zur Durchführung des erfin­dungsgemäßen Verfahrens geeignet, durch die Verbindung der einzelnen Meß- und Steuereinrichtungen mit einem elektro­nischen Steuermodul und die zentrale Steuerung durch den Steuermodul ist es möglich, bestimmte Rüst- und Arbeits­gänge zu automatisieren, so daß der Kranfahrer entlastet wird.Such a device is suitable for carrying out the method according to the invention, by connecting the individual measuring and control devices with an electronic control module and the central control by the control module, it is possible to automate certain set-up and work processes, so that the crane driver is relieved.

Eine besonders vorteilhafte Ausgestaltung der erfindungsge­mäßen Vorrichtung besteht darin, daß jeder Auslegerschuß zur individuellen Ausfahrlängenmessung und Geschwindig­keitsmessung mit einem eigenen Meßelement mit zugeordneter Meßeinrichtung ausgerüstet ist, welche jeweils zur Meßwert­übertragung mit dem Steuermodul verbunden ist. Mit dieser Ausbildung ist auf einfache Weise eine individuelle Überwa­chung und Kontrolle der einzelnen Teleskopauslegerschüsse möglich. Die Ausfahrlängen der einzelnen Teleskopausleger werden getrennt überwacht und kontrolliert und dem Kranfah­rer entsprechend angezeigt, so daß dieser sofort in den Te­leskopiervorgang manuell eingreifen kann, wenn Abweichun­gen von den geforderten Auslegerlängen auftreten sollten.A particularly advantageous embodiment of the device according to the invention is that each boom section for individual extension length measurement and speed measurement is equipped with its own measuring element with an associated measuring device, which is connected to the control module for the transmission of measured values. With this training, individual monitoring and control of the individual telescopic boom sections is possible in a simple manner. The extension lengths of the individual telescopic booms are monitored and checked separately and displayed to the crane driver accordingly, so that the crane operator can intervene manually in the telescopic operation if deviations from the required boom lengths occur.

Konstruktiv besonders günstig ist es dabei, wenn das jewei­lige Meßelement als Seil oder Kabel mit zugeordneter Auf­wickelrolle und die jeweilige Meßeinrichtung als der jewei­ligen Aufwickelrolle zugeordneter Drehgeber ausgebildet ist. Diese konstruktiven Ausgestaltungen sind besonders ge­eignet, da derartige Seile oder Kabel sehr leicht an unter­schiedliche Längen durch entsprechendes Auf- oder Ab­wickeln anpaßbar sind. Selbstverständlich können hier aber auch andere Meßelemente bzw. -einrichtungen, wie Ketten, Zahnstangen oder dgl., vorgesehen sein.It is structurally particularly favorable if the respective measuring element is designed as a rope or cable with an associated winding roller and the respective measuring device as a rotary encoder assigned to the respective winding roller is. These structural configurations are particularly suitable since such ropes or cables can be easily adapted to different lengths by corresponding winding or unwinding. Of course, other measuring elements or devices such as chains, racks or the like can also be provided here.

Ferner ist nach der Erfindung auch vorgesehen, daß Meßauf­nehmer zur Messung der Winkelstellungen des Teleskopausle­gers und der Spitzenausleger vorgesehen und zur Meßwert­übertragung mit dem Steuermodul verbunden sind. Auf diese Weise ist dann entsprechend auch eine Überwachung und Steuerung dieser Kranfunktionen möglich.Furthermore, according to the invention it is also provided that sensors are provided for measuring the angular positions of the telescopic boom and the luffing jib and are connected to the control module for the transmission of measured values. In this way, monitoring and control of these crane functions is also possible accordingly.

Zusätzlich kann auch vorgesehen sein, daß am Schwenkgetrie­be des Kranoberwagens oder am Oberwagen selbst ein Drehge­ber zur Erfassung der Winkelstellung des Oberwagens gegen­über dem Unterwagen sowie der Drehgeschwindigkeit angeord­net ist, welcher zur Meßwertübertragung mit dem Steuermo­dul verbunden ist.In addition, it can also be provided that a rotary encoder for detecting the angular position of the superstructure relative to the undercarriage and the rotational speed is arranged on the slewing gear of the crane superstructure or on the superstructure itself, which is connected to the control module for the transmission of measured values.

Bei Verwendung einer Vorrichtung mit mit Seiltrommeln ver­sehenen Lasthubwerken ist vorteilhaft vorgesehen, daß an den Seiltrommeln zur Messung der Drehzahl Drehgeber und zur Messung der Seillagen Andrückrollen mit Winkelgebern angeordnet sind, die zur Meßwertübertragung mit dem Steuer­modul verbunden ist.When using a device with load hoists provided with cable drums, it is advantageously provided that rotary encoders for measuring the speed and for measuring the cable layers are arranged with pressure rollers with angle sensors which are connected to the control module for the transmission of measured values.

Es ist besonders zweckmäßig, wenn eine gemeinsame Anzeige­einrichtung zur getrennten Anzeige der einzelnen Kranfunk­tionen vorgesehen ist, die z.B. im Führerhaus angeordnet ist. Der Kranfahrer kann dann auf besonders einfache Weise die einzelnen Kranfunktionen getrennt voneinander einzeln erfassen.It is particularly expedient if a common display device is provided for the separate display of the individual crane functions, which e.g. is arranged in the cab. The crane driver can then record the individual crane functions separately from one another in a particularly simple manner.

Die Erfindung ist nachstehend anhand der Zeichnung bei­spielweise näher erläutert. Diese zeigt in:

  • Fig. 1 eine schematische Seitenansicht eines mobilen Teleskopauslegerkrans,
  • Fig. 2 eine vereinfachte Seitenansicht eines Kranaus­legers und
  • Fig. 3 eine Anzeige- und Bedienungseinrichtung für die Kranfunktionen.
The invention is explained in more detail below using the drawing, for example. This shows in:
  • 1 is a schematic side view of a mobile telescopic boom crane,
  • Fig. 2 is a simplified side view of a crane boom and
  • Fig. 3 is a display and control device for the crane functions.

Ein allgemein mit 1 bezeichneter mobiler Teleskopausleger­kran weist einen Unterwagen 2 und einen Oberwagen 3 auf, wobei der Oberwagen 3 um eine vertikale Achse 4 gegenüber dem Unterwagen 2 verschwenkbar ist. Der Unterwagen 2 trägt das Fahrgestell mit Rädern 5 und ein Fahrerhaus 6 sowie weitere Einrichtungen, auf die es hier nicht näher an­kommt.A mobile telescopic boom crane, generally designated 1, has an undercarriage 2 and an uppercarriage 3, the uppercarriage 3 being pivotable relative to the undercarriage 2 about a vertical axis 4. The undercarriage 2 carries the chassis with wheels 5 and a driver's cab 6 as well as other devices which are not important here.

Der Oberwagen 3 weist zunächst ein Drehgestell 7 auf, an dem eine Bedienungskabine 8 angeordnet ist, von welcher aus die Kranfunktionen betätigbar sind. Um eine horizonta­le Achse schwenkbar ist am Drehgestell 7 ein Teleskopkran­ausleger 9 angeordnet, wobei die Verschwenkbarkeit mittels eines Wippzylinders 10 durchführbar ist.The uppercarriage 3 initially has a bogie 7, on which an operating cabin 8 is arranged, from which the crane functions can be operated. A telescopic crane boom 9 is arranged on the bogie 7 so as to be pivotable about a horizontal axis, the pivotability being able to be carried out by means of a luffing cylinder 10.

Der Teleskopkranausleger 9 weist einen Grundausleger 11 sowie drei ineinander geführte, einzeln teleskopierbare Te­leskopauslegerschüsse 12, 13, 14 jeweils mit Kragen 12a, 13a, 14a und einen innersten Teleskopauslegerschuß 15 mit einer Auslegerspitze 15a auf. Um eine horizontale Achse verschwenkbar ist an der Auslegerspitze 15a ein Spitzenaus­leger 16 angeordnet, an dessen freiem Ende ein Lasthaken 17 oder dgl. geführt ist. Wie erkennbar, kann somit zu­nächst der Oberwagen 3 gegenüber dem Unterwagen 2 um die vertikale Achse 4 verschwenkt werden, während der Kranaus­leger 9 zusätzlich mittels des Wippzylinders 10 um eine ho­rizontale Achse verschwenkbar ist und dessen Gesamtlänge durch entsprechende Teleskopierung der einzelnen Ausleger­schüsse 12, 13, 14, 15 variabel ist. Zusätzlich ist der Spitzenausleger 16 noch gegenüber dem Kranausleger 9 um eine horizontale Achse verschwenkbar.The telescopic crane boom 9 has a basic boom 11 and three mutually guided, individually telescopic telescopic boom sections 12, 13, 14 each with collars 12a, 13a, 14a and an innermost telescopic boom section 15 with a boom tip 15a. A jib 16 is arranged on the jib tip 15a about a horizontal axis and a load hook 17 or the like is guided at the free end thereof. As can be seen, the uppercarriage 3 can thus first be pivoted about the vertical axis 4 relative to the undercarriage 2, while the crane boom 9 can additionally be pivoted about a horizontal axis by means of the luffing cylinder 10 and its total length by corresponding telescoping of the individual boom sections 12, 13, 14 , 15 is variable. In addition, the luffing jib 16 can still be pivoted about a horizontal axis relative to the crane jib 9.

Der Spitzenausleger 16 bzw. der Lasthaken 17 sind mit ei­nem Windenhubwerk 18 verbunden, welches am Drehgestell 7 angeordnete Seiltrommeln 19 aufweist. Mit diesen Windenhub­werken ist einerseits die Verstellung des Spitzenauslegers 16 gegenüber dem Ausleger 9 und andererseits die vertikale Bewegung des Lasthakens 17 steuerbar.The jib 16 and the load hook 17 are connected to a winch hoist 18, which is on the bogie 7th arranged cable drums 19. With these winch hoists on the one hand the adjustment of the jib 16 relative to the boom 9 and on the other hand the vertical movement of the load hook 17 can be controlled.

Wie am besten aus Fig. 2 hervorgeht, ist jeder Ausleger­schuß 12, 13, 14, 15 mit einem als Längenmeßelement ausge­bildeten Stahlseil 12b, 13b, 14b, 15b ausgerüstet, dessen eines Ende jeweils am betreffenden Kragen 12a, 13a, 14a, 15a festgelegt ist. Das jeweils andere Ende der Stahlseile ist jeweils auf eine Aufwickelrolle 12c, 13c, 14c, 15c ab­rollbar aufgewickelt, wobei diese Aufwickelrollen drehbar am Grundausleger 11 des Kranauslegers 9 angeordnet sind.As best shown in FIG. 2, each boom section 12, 13, 14, 15 is equipped with a steel cable 12b, 13b, 14b, 15b designed as a length measuring element, one end of which is fixed to the respective collar 12a, 13a, 14a, 15a . The respective other end of the steel cables is in each case rolled up on a take-up roll 12c, 13c, 14c, 15c, these take-up rolls being rotatably arranged on the basic boom 11 of the crane boom 9.

Jeder Aufwickelrolle 12c, 13c, 14c, 15c ist ein eigener Drehgeber 12d, 13d, 14d, 15d zugeordnet, über den jeweils die Umdrehungen der Aufwickelrollen und somit die Ausfahr­längen der Stahlseile und damit der einzelnen Teleskopaus­legerschüsse meßbar sind.Each take-up reel 12c, 13c, 14c, 15c is assigned its own rotary encoder 12d, 13d, 14d, 15d, via which the revolutions of the take-up reels and thus the extension lengths of the steel cables and thus the individual telescopic boom sections can be measured.

Zur Bestimmung der Verschwenkpositionen der Ausleger ist am Spitzenausleger 16 ein Winkelgeber 20 und am Grundaus­leger 11 ein Winkelgeber 21 angeordnet. An den Seiltrom­meln 19 des Lasthubwerks 18 sind Drehgeber 22 vorgesehen, mittels welcher die Drehzahl der Seiltrommeln erfaßbar ist.To determine the pivoting positions of the booms, an angle transmitter 20 is arranged on the jib boom 16 and an angle transmitter 21 is arranged on the base boom 11. Rotary encoders 22 are provided on the cable drums 19 of the load lifting mechanism 18, by means of which the speed of the cable drums can be detected.

Als Meßeinrichtung für den Wippzylinder 10 ist ein Meßge­ber 23 und als Meßeinrichtung für die Verschwenkung des Oberwagens 3 gegenüber dem Unterwagen 2 ist ein Drehgeber 24 vorgesehen. Bei dem in Fig. 1 dargestellten Ausführungs­beispiel ist zusätzlich auch noch ein Meßgeber 25 am inner­sten Auslegerschuß 15 angeordnet, der zur Positionsbestim­mung von nicht näher dargestellten Verriegelungs- und/oder Haltebolzen dient, welche eine gemeinsame Teleskopierung des vorletzten Auslegerschusses 14 und des innersten Ausle­gerschusses 15 ermöglichen.A measuring sensor 23 is provided as a measuring device for the luffing cylinder 10 and a rotary sensor 24 is provided as a measuring device for pivoting the upper carriage 3 relative to the undercarriage 2. In the exemplary embodiment shown in FIG. 1, a measuring transducer 25 is additionally arranged on the innermost boom section 15, which is used to determine the position of locking and / or holding bolts, not shown, which enable the penultimate boom section 14 and the innermost boom section 15 to be telescoped together .

Sämtliche Meßeinrichtungen bzw. Meßelemente 12d, 13d, 14d, 15d, 20, 21, 22, 23, 24, 25 sind mit einem elektronischen Steuermodul 26, z.B. einem Mikroprozessor, verbunden, wel­cher vorzugsweise in der Bedienungkabine 8 des Kranober­wagens 3 angeordnet ist. Dieser Steuermodul 26 ist zusätz­lich mit einer Anzeige- und Bedienungseinrichtung 27 ver­bunden, die ebenfalls vorzugsweise in der Bedienungskabine 8 angeordnet ist.All measuring devices or measuring elements 12d, 13d, 14d, 15d, 20, 21, 22, 23, 24, 25 are equipped with an electronic control module 26, e.g. a microprocessor, which is preferably arranged in the operating cabin 8 of the crane superstructure 3. This control module 26 is additionally connected to a display and operating device 27, which is also preferably arranged in the operating cabin 8.

Die Wirkungsweise des erfindungsgemäßen Verfahrens ist die folgende:The method of operation of the method according to the invention is as follows:

Zunächst werden von der Bedienungsperson sämtliche Kran­funktionen, z.B. Winkelpositionierung des Kranoberwagens 3 gegenüber dem Unterwagen 2, Winkelpositionierung des Kran­auslegers 9 und des Spitzenauslegers 16, Ausfahrlängenvor­ gabe der einzelnen Teleskopausleger 12, 13, 14, Betätigung des Lasthubwerks 22 und dgl., nacheinander manuell mittels der Einrichtung 27 eingegeben und gleichzeitig vom elektro­nischen Steuermodul 26 aufgenommen, verarbeitet und gespei­chert. Sobald sämtliche, sich wiederholende Funktionen ein­mal manuell eingegeben sind, sind sie entsprechend selbst­tätig vom Steuermodul abrufbar, d.h. vom Steuermodul ge­steuert werden die Kranfunktionen dann selbsttätig durch­geführt, wobei jeweils eine Überwachung durch die Meßein­richtungen erfolgt, die jeweils getrennt mit dem Steuermo­dul 26 verbunden sind. Gleichzeitig werden von der Anzeige­einrichtung 27 der Bedienungsperson jederzeit sämtliche Kranfunktionen angezeigt, wobei in Fig. 3 beispielhaft nur die Auslegerlängenmessung der einzelnen Kranauslegerschüs­se dargestellt ist.First of all, the operator presets all crane functions, for example angular positioning of the crane superstructure 3 with respect to the undercarriage 2, angular positioning of the crane boom 9 and the jib 16, extension lengths Handing of the individual telescopic boom 12, 13, 14, actuation of the load hoist 22 and the like, entered manually one after the other by means of the device 27 and at the same time recorded, processed and stored by the electronic control module 26. As soon as all the repetitive functions have been entered manually, they can be called up automatically by the control module, i.e. the crane functions are controlled automatically by the control module, monitoring being carried out by the measuring devices, each of which is separately connected to the control module 26. At the same time, the display device 27 shows the operator all the crane functions at any time, only the boom length measurement of the individual crane boom sections being shown in FIG. 3 by way of example.

Sollen einzelne Kranfunktionen verändert werden, so ist es möglich, diese durch erneuten manuellen Eingriff zu verän­dern, d.h. die automatische Steuerung durch den Steuermo­dul kann durch manuellen Eingriff überlagert werden. Aus Sicherheitsgründen ist dabei vorgesehen, daß grundsätzlich die Geschwindigkeitsregelung manuell erfolgt und nur die Lastwege selbsttätig durch den Steuermodul bewirkt werden. Grundsätzlich könnte allerdings auch die Geschwindigkeits­regelung durch den Steuermodul erfolgen.If individual crane functions are to be changed, it is possible to change them again by manual intervention, ie the automatic control by the control module can be overlaid by manual intervention. For safety reasons, it is provided that in principle the speed control is carried out manually and only the load paths are effected automatically by the control module. In principle, however, the speed control could also be carried out by the control module.

Natürlich ist die Erfindung nicht auf die in der Zeichnung dargestellten Ausführungsbeispiele beschränkt. Weitere Aus­gestaltungen der Erfindung sind möglich, ohne den Grundge­danken zu verlassen.Of course, the invention is not limited to the exemplary embodiments shown in the drawing. Further refinements of the invention are possible without leaving the basic idea.

Claims (11)

1. Verfahren zur Steuerung der Kranfunktionen und Lastwege hydraulischer Kranantriebe eines mobilen Teleskopausleger­krans,
dadurch gekennzeichnet,
daß die Kranfunktionen und Lastwege zunächst manuell einge­geben und gleichzeitig von einem elektronischen Steuermo­dul aufgenommen, verarbeitet und gespeichert werden, und daß anschließend die Kranfunktionen zur selbsttätigen Steuerung der Lastwege bei manueller Geschwindigkeitsrege­lung vom Steuermodul abrufbar sind, wobei auch die Lastwe­ge durch erneuten manuellen Eingriff jederzeit veränderbar sind.1. Procedure for controlling the crane functions and load paths of hydraulic crane drives of a mobile telescopic jib crane,
characterized,
that the crane functions and load paths are initially entered manually and simultaneously recorded, processed and saved by an electronic control module, and that the crane functions for automatic control of the load paths with manual speed control can then be called up by the control module, whereby the load paths can also be changed at any time by renewed manual intervention . 2. Verfahren nach Anspruch 1,
dadurch gekennzeichnet,
daß die Kranfunktionen über jeweils getrennte Meßeinrich­tungen vom Steuermodul individuell abgenommen, überwacht und entsprechend gesteuert werden.2. The method according to claim 1,
characterized,
that the crane functions are individually accepted, monitored and controlled accordingly by the control module via separate measuring devices. 3. Verfahren nach Anspruch 1 oder 2,
dadurch gekennzeichnet,
daß die Teleskopierlänge und die Teleskopiergeschwindigkeit jedes Auslegerschusses und/oder des Wippzylinders und/oder die Winkelstellungen des Teles­ kopauslegers und des Spitzenauslegers und/oder Verriege­lungseinrichtungen der Auslegerschüsse jeweils über ein ei­genes Meßelement individuell abgenommen, überwacht und ent­sprechend gesteuert werden.3. The method according to claim 1 or 2,
characterized,
that the telescopic length and the telescopic speed of each boom section and / or the luffing cylinder and / or the angular positions of the teles head boom and the top boom and / or locking devices of the boom sections are individually removed, monitored and controlled accordingly via a separate measuring element. 4. Verfahren nach Anspruch 1 oder einem der folgenden,
dadurch gekennzeichnet,
daß die einzelnen Auslegerschüsse vom Steuermodul synchron aus- oder eingefahren werden.4. The method according to claim 1 or one of the following,
characterized,
that the individual boom sections are extended or retracted synchronously by the control module. 5. Vorrichtung zur Durchführung des Verfahrens nach Anspruch 1 oder einem der folgenden mit Meß- und Steuereinrichtun­gen für die einzelnen Kranfunktionen des hydraulischen Kranantriebs,
dadurch gekennzeichnet,
daß die einzelnen Meß- und Steuereinrichtungen mit einem elektronischen Steuermodul (26) verbunden sind, wobei die Steuereinrichtungen wahlweise manuell oder durch das Steuermodul oder gemischt betätigbar sind.5. Device for performing the method according to claim 1 or one of the following with measuring and control devices for the individual crane functions of the hydraulic crane drive,
characterized,
that the individual measuring and control devices are connected to an electronic control module (26), the control devices being operable either manually or by the control module or mixed. 6. Vorrichtung nach Anspruch 5,
dadurch gekennzeichnet,
daß jeder Auslegerschuß (12,13,14,15) zur individuellen Ausfahrlängenmessung und Geschwindigkeitsmessung mit einem eigenen Meßelement (12b,13b,14b,15b) mit zugeordneter Meß­einrichtung (12d,13d,14d,15d) ausgerüstet ist, welche je­weils zur Meßwertübertragung mit dem Steuermodul (26) ver­ bunden ist.6. The device according to claim 5,
characterized,
that each boom section (12, 13, 14, 15) for individual extension length measurement and speed measurement is equipped with its own measuring element (12b, 13b, 14b, 15b) with an associated measuring device (12d, 13d, 14d, 15d), each of which is used to transmit measured values the control module (26) ver is bound. 7. Vorrichtung nach Anspruch 6,
dadurch gekennzeichnet,
daß das jeweilige Meßelement (12b,13b,14b,15b) als Seil oder Kabel mit zugeordneter Aufwickelrolle (12c,13c,14c, 15c) und die jeweilige Meßeinrichtung (12d,13d,14d,15d) als der jeweiligen Aufwickelrolle zugeordneter Drehgeber ausgebildet ist.7. The device according to claim 6,
characterized,
that the respective measuring element (12b, 13b, 14b, 15b) is designed as a rope or cable with an associated winding roller (12c, 13c, 14c, 15c) and the respective measuring device (12d, 13d, 14d, 15d) as a rotary encoder assigned to the respective winding roller . 8. Vorrichtung nach Anspruch 5 oder einem folgenden,
dadurch gekennzeichnet,
daß Meßaufnehmer (20,21) zur Messung der Winkelstellungen des Teleskopauslegers und der Spitzenausleger vorgesehen und zur Meßwertübertragung mit dem Steuermodul (26) verbun­den sind.8. The device according to claim 5 or a following,
characterized,
that measuring sensors (20, 21) are provided for measuring the angular positions of the telescopic boom and the luffing jib and are connected to the control module (26) for the transmission of measured values. 9. Vorrichtung nach Anspruch 5 oder einem der folgenden,
dadurch gekennzeichnet,
daß am Schwenkgetriebe des Kranoberwagens (3) oder am Ober­wagen (3) selbst ein Drehgeber (24) zur Erfassung der Win­kelstellung des Oberwagens (3) gegenüber dem Unterwagen (2) sowie der Drehgeschwindigkeit angeordnet ist, welcher zur Meßwertübertragung mit dem Steuermodul (26) verbunden ist.9. The device according to claim 5 or one of the following,
characterized,
that a rotary encoder (24) for detecting the angular position of the superstructure (3) relative to the undercarriage (2) and the rotational speed is arranged on the slewing gear of the crane superstructure (3) or on the superstructure (3) itself, which is used to transmit measured values with the control module (26) connected is. 10. Vorrichtung nach Anspruch 5 oder einem der folgenden mit mit Seiltrommeln (19) versehenen Lasthubwerken (18),
dadurch gekennzeichnet,
daß an den Seiltrommeln (19) zur Messung der Drehzahl Dreh­geber (22) und zur Messung der Seillagen Andrückrollen mit Winkelgebern angeordnet sind, die zur Meßwertübertragung mit dem Steuermodul (26) verbunden sind.10. The device according to claim 5 or one of the following with cable drums (19) provided lifting mechanisms (18),
characterized,
that on the cable drums (19) for measuring the speed, rotary encoders (22) and for measuring the rope layers, pressure rollers with angular encoders are arranged, which are connected to the control module (26) for the transmission of measured values. 11. Vorrichtung nach Anspruch 5 oder einem der folgenden,
dadurch gekennzeichnet,
daß eine gemeinsame Anzeigeeinrichtung (27) zur getrennten Anzeige der einzelnen Kranfunktionen vorgesehen ist.11. The device according to claim 5 or one of the following,
characterized,
that a common display device (27) is provided for the separate display of the individual crane functions.
EP89118021A 1989-03-16 1989-09-29 Method and device for controlling the crane functions of a mobile crane with a telescopic jib Expired - Lifetime EP0387399B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT89118021T ATE103881T1 (en) 1989-03-16 1989-09-29 METHOD AND DEVICE FOR CONTROLLING THE CRANE FUNCTIONS OF A MOBILE TELESCOPIC JIB CRANE.

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE19893908571 DE3908571A1 (en) 1989-03-16 1989-03-16 Device for at least occasionally coupling the last two telescopic jib sections, guided one inside the other, of a crane jib
DE3908571 1989-03-16
DE3913516 1989-04-25
DE19893913516 DE3913516A1 (en) 1989-04-25 1989-04-25 Arrangement for controlling a telescopic jib crane

Publications (3)

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EP0387399A2 true EP0387399A2 (en) 1990-09-19
EP0387399A3 EP0387399A3 (en) 1991-03-13
EP0387399B1 EP0387399B1 (en) 1994-04-06

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FR2697007A1 (en) * 1992-10-20 1994-04-22 Euro Montage Lateral movement sensing appts. for mobile cranes - uses cable, fixed to track at one end, wound on rotating drum with suitable rotation sensors
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ES2127679A1 (en) * 1996-04-18 1999-04-16 Ramis Rubio Antonio Coupling, securing, opening and closing system for containers of solid waste
EP1227055A2 (en) * 2001-01-29 2002-07-31 F.lli Locatelli S.p.A. Mobile crane
US7063306B2 (en) 2003-10-01 2006-06-20 Paccar Inc Electronic winch monitoring system

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FR2697007A1 (en) * 1992-10-20 1994-04-22 Euro Montage Lateral movement sensing appts. for mobile cranes - uses cable, fixed to track at one end, wound on rotating drum with suitable rotation sensors
EP0728696A1 (en) * 1993-11-08 1996-08-28 Komatsu Ltd. Lifting load and tipping moment detecting device for a mobile crane
EP0728696A4 (en) * 1993-11-08 1997-05-28 Komatsu Mfg Co Ltd Lifting load and tipping moment detecting device for a mobile crane
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WO1996022936A1 (en) * 1995-01-26 1996-08-01 Siemens Aktiengesellschaft Process and device for transporting a load
ES2127679A1 (en) * 1996-04-18 1999-04-16 Ramis Rubio Antonio Coupling, securing, opening and closing system for containers of solid waste
EP1227055A2 (en) * 2001-01-29 2002-07-31 F.lli Locatelli S.p.A. Mobile crane
EP1227055A3 (en) * 2001-01-29 2003-03-05 F.lli Locatelli S.p.A. Mobile crane
US7063306B2 (en) 2003-10-01 2006-06-20 Paccar Inc Electronic winch monitoring system
US7201366B2 (en) 2003-10-01 2007-04-10 Paccar Inc. Electronic winch monitoring system

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Publication number Publication date
ES2050748T3 (en) 1994-06-01
DE58907414D1 (en) 1994-05-11
EP0387399B1 (en) 1994-04-06
EP0387399A3 (en) 1991-03-13

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