EP0994065A1 - Procédé et dispositif pour compenser la déformation d'une flèche de grue lors de la reprise et la dépose de charges - Google Patents

Procédé et dispositif pour compenser la déformation d'une flèche de grue lors de la reprise et la dépose de charges Download PDF

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Publication number
EP0994065A1
EP0994065A1 EP99117500A EP99117500A EP0994065A1 EP 0994065 A1 EP0994065 A1 EP 0994065A1 EP 99117500 A EP99117500 A EP 99117500A EP 99117500 A EP99117500 A EP 99117500A EP 0994065 A1 EP0994065 A1 EP 0994065A1
Authority
EP
European Patent Office
Prior art keywords
crane boom
deformation
boom
crane
load
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Withdrawn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
EP99117500A
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German (de)
English (en)
Inventor
Thomas Heidrich
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.)
Grove US LLC
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Grove US LLC
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 Grove US LLC filed Critical Grove US LLC
Publication of EP0994065A1 publication Critical patent/EP0994065A1/fr
Withdrawn legal-status Critical Current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
    • 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
    • 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
    • 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

  • the invention relates to a method and device for compensating for crane boom deformation during load lifting and placing.
  • FIG. 3 depicts a crane boom 1 of a crane in the unloaded condition, a load 2 to be lifted being secured to the crane hook.
  • the lifting force F lift which counteracts the force resulting from the weight of the load, F L , is gradually increased. Only when the force F lift exceeds the force F L is the load lifted from the ground.
  • the lifting force F lift is still somewhat less than the force F L incurred by the weight of the load, considerable forces act on the crane boom 1 even though the load 2 to be lifted is still fully on the ground.
  • the deformation of the crane boom 1 caused by the lifting force results in an increase in the horizontal distance of the boom jib away from the fulcrum point of the upper structure, this distance generally being termed radius or length of jib.
  • Fig. 4b depicts vectorially the forces acting on the load 2 when the boom is deformed in such manner.
  • the force F lift which acts on the load is composed of a vertical component F lift , for overcoming the weight force F L incurred by the load, and a horizontal component F p .
  • the force F P acting in the horizontal direction results in the load swinging upon being lifted. This may result in hazardous situations when e.g. unloading concrete wall elements from a truck since the lifted load has uncontrolled movement and, thus, becomes a hazard to man and equipment in the vicinity.
  • the crane operator To compensate for the deformation of the boom during lifting and placing of a load, the crane operator must change the angle of the boom 1 by actuating the elevating mechanism 3 in order to compensate for the increase or decrease in radius resulting from deformation. Thus, the operator would compensate by elevating the boom during lifting and compensate the reduced deformation of the boom when placing the load by lowering the boom. Since operation of the crane boom must always be as near optimum as possible, and the deformation of the crane boom may be considerable as a result of the high forces involved, proper compensation is important for lifting and placing a load.
  • the crane operator acts as the controller.
  • the flow of information in such a compensating action is illustrated in Fig. 6.
  • the crane operator observes the working area and takes note, e.g. when lifting a load, of the momentary radius of the crane boom in the unloaded condition. This serves as the target value for him for the radius of the boom in the complete elevating procedure.
  • a device for limiting the loading moment shows him the information obtained via sensors as to the actual condition of the boom, it being particularly the information regarding the radius that is of importance to him, this serving as the actual value for his controlling response.
  • other values as regards the actual condition of the crane could also be displayed to be likewise taken into account in compensating the situation.
  • the crane operator needs to always keep an eye on the working area, in addition to noting the displayed actual values, to keep a check on the effect of his actions.
  • An object of the present invention is to provide a method and device for compensating the deformation of a crane boom upon lifting and placing of a load by which safety in crane operation may be enhanced.
  • a controller device which receives data pertaining to the sensed deformation of the crane boom, as well as a target value for the position of the crane boom. From these two input variables, i.e. the target value for the position of the crane boom and the actual value of crane boom deformation as measured or established from measured variables, suitable control signals are established by a controller device which signal or control at least one positioner for the crane boom.
  • the crane boom is, thus, maintained in a suitable position during lifting or placement of a load, substantially in its target position.
  • the position of the crane boom is modified so that the target position of the crane boom, more particularly of the crane boom jib, remains substantially unchanged.
  • the jib of the crane boom is thereby maintained plumb above the load to be lifted without any horizontal displacement, irrespective of the magnitude of the momentary lifting force.
  • the angle of elevation of the crane boom may be adjusted by the boom elevating mechanism so that the crane boom jib remains plumb above the load to be lifted even with increasing curvature of the crane boom.
  • the controlling action may also be achieved by modifying concurrently several manipulated variables such as, e.g., the length of the crane boom and the angle of elevation, as long as it is achieved during lifting or placement of a load that the jib of the boom always remains substantially directly above the load which is standing on the ground despite changes in boom condition resulting from the lifting forces.
  • the measured values of various sensors may be employed.
  • a position transducer arranged at the jib of the crane boom for measuring at the lower end the momentary angle of elevation of the crane boom jib; a position transducer disposed on the crane boom jib and measuring the momentary angle of elevation of the crane boom jib; a linear transducer for measuring the overall length of the crane boom; a pressure transducer on the elevating mechanism, especially on the elevating cylinder; a transducer for measuring the load or change in load of a single section (i.e., a telescoping section of the boom), such as one or more strain gauges or a load sensing roller arranged at the upper end of the crane boom and located on the upper end of the elevating jib for measuring the force acting momentarily on the jib of crane boom. It is possible thereby to make use of the data provided by all of the above sensors in
  • the deformation of the crane boom may be detected e.g. by making use only of the data of a position transducer on the underside or in the lower region of the boom, a position transducer on the upper side or in the upper region of the crane boom and a linear transducer which senses the overall length of the crane boom.
  • the data of other sensors for the controlling action from which the actual deformation of the crane boom may be detected. This may also be done e.g. by means of the data of a pressure transducer on the elevating cylinder or a linear transducer for detecting the length of the crane boom as a whole.
  • the deformation of the crane boom may be detected by the actual value of the radius of the crane boom being sensed by one or more suitable sensors. It is also possible as described above, to detect the magnitude of the momentary deformation or radius of the crane boom from individual or several measured variables of the crane, such as the actual boom length or actual boom elevation, in conjunction with the momentary lifting force. In general, each and every individual measured variable or combination of measured values may be used to determine the deformation of the crane boom from which it may be detected how the deformation or radius of the crane boom has changed. This then provides a measure of the horizontal spacing between the standing load and boom jib.
  • the controller device may also be furnished advantageously with even further values, such as the desired rate and direction of movement of the hoisting or lifting mechanism.
  • This manipulated variable may be entered by the crane operator via a control lever. From the desired rate of the hoisting mechanism the controller is able to detect the deformation time profile that the crane boom will probably have and, thus, suitably control the positioner of the crane boom to maintain the latter in its target position.
  • the target value for the position of the crane boom it is preferred to use the radius of the boom immediately prior to placement of a load or immediately prior to lifting a load, the crane boom jib in each case being located plumb above the load without any lateral displacement.
  • the controlling action is in accordance with this target value, the conditions of the crane boom in lifting or placing a load as shown in Figs. 4 and 5 may be avoided. It is also possible, however, to take the position of the crane boom on activation of the controller device as the target value. It would then be the task of the crane operator to make sure that the controller device is activated at a suitable moment in time, i.e. when the boom jib is precisely above the load.
  • the signals output by the controller device are preferably those with which the positioner of the crane boom, such as the elevating mechanism of the crane may be controlled, so that the rate of change in the angle of elevation of the crane boom, and also the direction of the change in the angle of elevation, may be controlled via the rate and direction of movement of the elevating mechanism.
  • the horizontal departure of the crane boom jib from the target position, the position plumb above the load may be controlled. For example, in the operating condition as shown in Fig.
  • the elevating mechanism can be controlled so that the angle of elevation of the crane boom is increased, thereby returning the jib of the crane boom to a position which is plumb above the load to be lifted.
  • control the hoisting mechanism as the crane boom positioner i.e. by controlling the hoisting mechanism so that the rate and/or direction of movement of the hoisting mechanism is controlled.
  • the controlling action may be done, for example, in conjunction with the control of the elevating mechanism, as described above, so that the complete lifting or placement action of a load is controlled so that no jerking movements or undesirable side swinging movements of the load occur.
  • controller device needs only to receive suitable input variables from which the deformation or actual departure of the crane boom from a target condition may be sensed in order to determine therefrom suitable control signals which are then output to bring the crane boom, more particularly the crane boom jib, to the desired position.
  • a plurality of input variables are applied to the controller device, such as the actual value of the angle of the boom, the actual value of the length of the boom, the measured lifting force and the like, and furthermore, a plurality of output variables need to be output from the controller device, such as the direction and rate of movement of the hoisting mechanism and the direction and rate of change of the actual position of the elevating mechanism, it is of advantage to use a fuzzy controller.
  • This kind of control may be appreciated as a kind of fuzzy expert system, the control response of which may be defined in a quasi-natural language on the basis of linguistic expressions, one exemplary definition of the controlling action being e.g.:
  • the preceding logical statement relates to a situation wherein a large control deviation, such as a long radius, occurs, and the crane operator further dictates that lifting is to be achieved at a relatively high rate.
  • the fuzzy controller device would output control signals which prompt a fast change in the radius to the target position, such as a fast increase in the angle of elevation of the crane boom relative to the horizontal, and at the same time the hoisting mechanism is controlled so that the rate at which the load is to be lifted is made to be relatively slow, i.e. slower than defined by the crane operator.
  • a fuzzy control action is composed of a plurality of such linguistic conditions for describing the various possible control actions.
  • control actions comprise the control algorithm.
  • recourse may be made to the experience of the crane operator who, as already mentioned, needs to implement boom elevating and lowering actions manually in the usual manner.
  • An apparatus in accordance with the invention for compensating for the deformation of a crane boom in lifting or placing a load comprises a positioner for positioning the crane boom so that it may be maintained substantially in a target position, i.e., so that the crane boom jib exhibits substantially no horizontal displacement from a target position. Further, a measuring device, or a combination of several measuring devices, is provided in a controller device for detecting the deformation of the crane boom for defining a target value for the crane boom position. The positioner for the crane boom is coupled to the controller device so that the target position of the crane boom may be set by the controller device from the defined target and actual values.
  • the device for measuring or detecting the deformation of the crane boom is a sensor, or a combination of several sensors, capable of measuring or detecting the radius and/or curvature of the crane boom, as indicated above.
  • Sensors may be provided which measure, e.g., the boom length, the angle of elevation of the boom, or the actual lifting force acting on the crane boom. It is not necessary, of course, as already mentioned above, that all of the aforementioned sensors are used. It is possible that only one or more sensors are used in combination for measuring or detecting the deformation of the crane boom.
  • the elevating mechanism of the crane is used as the positioner for controlling the position of the crane boom and maintaining the boom at a target position.
  • the rate and/or direction of the change in the angle of elevation of the crane boom may be adjusted in order to maintain the target position.
  • the hoisting mechanism of the crane for the controlling action.
  • the elevating mechanism and hoisting mechanism in combination for suitably maintaining the target position of the crane boom, such as by adapting the lifting force produced by the hoisting mechanism in lifting a load to the momentary position of the elevating mechanism so that no excessive or jerking deformation of the crane boom may occur.
  • Fig. 1 there is illustrated an embodiment of a control loop in accordance with the invention whereby the crane operator is able to switch the controller in and out of circuit and to define merely manipulated variables or target variables for the direction and/or rate of movement of the hoisting mechanism for the controller.
  • the crane operator is thus able, e.g., via a single control lever for the hoisting mechanism, to affect lifting and placing of a load with the controller device controlling the boom so that the crane boom jib is always maintained above the load (at the target position) and no horizontal shifting of the jib occurs which, as described above, may result in hazardous swinging when lifting a load.
  • the controller 10 as shown in Fig. 1 receives input of data representing actual values of variables as measured by sensors 12 which define the actual condition of the boom.
  • Useful data may be provided by sensors which measure the curvature or radius of the boom; the angle of elevation of the boom, more particularly the angle of elevation at the upper and lower ends of the boom, respectively; the boom length; the forces acting on the boom; or the pressure existing at the elevating cylinder.
  • the actual value of the angle of elevation of the boom and the actual value of the length of the boom are particularly useful values.
  • boom monitor 14 which may also handle additional functions, such as load moment limiting (LML). Boom monitor 14 then applies the values as measured by the sensors and, where necessary, further processed, to the controller 10. At this stage certain features may already be extracted from the measured values, for example, in making use of characteristics or suitable computations.
  • LML load moment limiting
  • the boom monitor 14 may further record the actual values of the boom characteristics measured by the sensors upon activation of the controlling action, such as the sensed radius, as the target values to which the subsequent controlling action is to respond. It is likewise possible, as evident from Fig. 1, to record the target value in a separate memory MEM 16. In this arrangement the target value may be recorded, e.g., upon activating the controller. It is also possible, however, to store the target value automatically upon sensing the load or upon lifting the load. This may be done, e.g., as soon as a freely selectable tensile force (e.g. 50 KG) is exceeded. It is the difference between this stored target value and the measured actual value of the radius - the error - that is applied to the controller.
  • a freely selectable tensile force e.g. 50 KG
  • Input from the operator is provided manually by levers and switches or the like, identified collectively at 18 in Figure 1. Signals for operator input of movement direction, rate of movement, etc., and activation or de-activation of the controller may be thus input. From the input variables the controller detects, by means of the fuzzy control algorithm specified by linguistic expressions, the output variables for controlling the hoisting mechanism and/or the elevating mechanism and/or the telescoping mechanism. Signals controlling the direction and/or rate of change are output, as shown at 10a and 10b to the hoisting mechanism, and/or at 10c and 10d to the elevating mechanism. Such control may also be applied by the controller to a telescoping mechanism (not shown).
  • the hoisting mechanism influences the deformation of the boom via the lifting force applied to the lifting cable supported by the boom.
  • the elevating mechanism sets or adjusts the angle of elevation of the boom. In this arrangement the length of the boom or the angle of elevation must always be adjusted or controlled so that the momentary deformation of the crane boom resulting from the changing load is compensated in each case so that the jib of the crane boom has substantially no horizontal departure from its target position.
  • Fig. 2 there is illustrated a flow diagram of the information in an operation for compensating for boom deformation in accordance with the invention.
  • the working area is firstly observed by the crane operator.
  • the crane operator sees that, e.g., a load is to be lifted, he activates the controlling action and defines a manipulated value for the hoisting mechanism via a control lever.
  • the controlling action receives as additional input data representing the actual values detected by the sensors for the deformation of the boom, which are transferred from the boom monitor by, for example, a CAN bus, to the controlling action.
  • control signals for the movement of the winch of the hoisting mechanism and/or for the elevating mechanism are output, both of which influence the position and shape of the boom. Accordingly, the crane operator simply defines a manipulated value, e.g., rate of lift for desired lifting of a load.
  • the controlling action controlling the crane boom such as the elevating mechanism and hoisting mechanism, take into account the defined manipulated value so that substantially no variation of the radius of the crane boom occurs.
  • the boom monitor which may also serve to define or limit the loading moment, as described above, indicates the measured actual value of the crane boom to the crane operator.
  • the controlling action in accordance with the invention relieves the crane operator from some of the monitoring tasks typically required of him hitherto in lifting and placing a load so that he is now able to more fully concentrate on the working area.
EP99117500A 1998-09-16 1999-09-13 Procédé et dispositif pour compenser la déformation d'une flèche de grue lors de la reprise et la dépose de charges Withdrawn EP0994065A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE1998142436 DE19842436A1 (de) 1998-09-16 1998-09-16 Verfahren und Vorrichtung zur Kompensation der Verformung eines Kranauslegers bei dem Aufnehmen und Absetzen von Lasten
DE19842436 1998-09-16

Publications (1)

Publication Number Publication Date
EP0994065A1 true EP0994065A1 (fr) 2000-04-19

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EP99117500A Withdrawn EP0994065A1 (fr) 1998-09-16 1999-09-13 Procédé et dispositif pour compenser la déformation d'une flèche de grue lors de la reprise et la dépose de charges

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EP (1) EP0994065A1 (fr)
JP (1) JP2000191277A (fr)
CA (1) CA2282004A1 (fr)
DE (1) DE19842436A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2145852A1 (fr) * 2008-07-16 2010-01-20 Manitowoc Crane Companies, Inc. Surveillance de charge et système de contrôle avec verrouillage sélectif d'impact
EP2202194A1 (fr) * 2008-12-29 2010-06-30 Bronto Skylift OY AB Procédé de mesure du recourbement de poutre de treuil, treuil et système de mesure
US10100974B2 (en) 2013-09-26 2018-10-16 Siemens Aktiengesellschaft Stand with device for distortion compensation
US10683194B2 (en) 2016-09-15 2020-06-16 Liebherr-Werk Ehingen Gmbh Apparatus for stabilizing a crane
CN113479775A (zh) * 2021-06-28 2021-10-08 杭州鸿泉物联网技术股份有限公司 吊车吊载识别方法和识别系统

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19931301B4 (de) * 1999-07-07 2005-08-18 Liebherr-Werk Ehingen Gmbh Verfahren und Vorrichtung zum Führen eines Kranlasthakens
DE102007039408A1 (de) * 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Kransteuerung, Kran und Verfahren
DE102009032270A1 (de) * 2009-07-08 2011-01-13 Liebherr-Werk Nenzing Gmbh Verfahren zur Ansteuerung eines Antriebs eines Kranes
DE102012004739A1 (de) 2012-03-08 2013-09-12 Liebherr-Werk Nenzing Gmbh Kran und Verfahren zur Kransteuerung
JP2014031223A (ja) * 2012-08-01 2014-02-20 Tadano Ltd 作業範囲図および作業範囲図表示装置
CN105905807A (zh) * 2016-06-27 2016-08-31 哈尔滨理工大学 一种基于模糊的桥式起重机的定位和防摆控制方法
DE102017125715A1 (de) 2016-11-09 2018-05-09 Liebherr-Werk Biberach Gmbh Vorrichtung zur Kompensation von Schrägzug bei Kranen

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FR2401407A1 (fr) * 1977-06-16 1979-03-23 Preux Roger Procede et systeme de calcul de la charge d'un engin de levage ramenee au crochet d'une grue
GB2050294A (en) * 1979-05-18 1981-01-07 Coles Cranes Ltd Safe load indicator
EP0219062A2 (fr) * 1985-10-15 1987-04-22 Mecanum Ab Méthode pour garantir la position correcte de livraison de charge indépendamment de la déflection du mât de chariots élévateurs
EP0449329A2 (fr) * 1990-03-30 1991-10-02 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Dispositif de commande de relâchement vertical d'une charge de grue pendante
EP0672889A2 (fr) * 1994-03-17 1995-09-20 FAUN GmbH Procédé pour déterminer de changement du rayon de la volée d'une grue
US5711440A (en) * 1993-11-08 1998-01-27 Komatsu Ltd. Suspension load and tipping moment detecting apparatus for a mobile crane
US5732835A (en) * 1993-12-28 1998-03-31 Komatsu Ltd. Crane control device

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JPH03284599A (ja) * 1990-03-30 1991-12-16 Kobe Steel Ltd クレーンにおける吊荷の鉛直地切り制御装置
JP2744110B2 (ja) * 1990-03-30 1998-04-28 株式会社神戸製鋼所 クレーンにおける吊荷の鉛直地切り制御装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2401407A1 (fr) * 1977-06-16 1979-03-23 Preux Roger Procede et systeme de calcul de la charge d'un engin de levage ramenee au crochet d'une grue
GB2050294A (en) * 1979-05-18 1981-01-07 Coles Cranes Ltd Safe load indicator
EP0219062A2 (fr) * 1985-10-15 1987-04-22 Mecanum Ab Méthode pour garantir la position correcte de livraison de charge indépendamment de la déflection du mât de chariots élévateurs
EP0449329A2 (fr) * 1990-03-30 1991-10-02 KABUSHIKI KAISHA KOBE SEIKO SHO also known as Kobe Steel Ltd. Dispositif de commande de relâchement vertical d'une charge de grue pendante
US5711440A (en) * 1993-11-08 1998-01-27 Komatsu Ltd. Suspension load and tipping moment detecting apparatus for a mobile crane
US5732835A (en) * 1993-12-28 1998-03-31 Komatsu Ltd. Crane control device
EP0672889A2 (fr) * 1994-03-17 1995-09-20 FAUN GmbH Procédé pour déterminer de changement du rayon de la volée d'une grue

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2145852A1 (fr) * 2008-07-16 2010-01-20 Manitowoc Crane Companies, Inc. Surveillance de charge et système de contrôle avec verrouillage sélectif d'impact
US7677401B2 (en) 2008-07-16 2010-03-16 Manitowoc Crane Companies, Inc. Load monitoring and control system with selective boom-up lockout
EP2202194A1 (fr) * 2008-12-29 2010-06-30 Bronto Skylift OY AB Procédé de mesure du recourbement de poutre de treuil, treuil et système de mesure
US10100974B2 (en) 2013-09-26 2018-10-16 Siemens Aktiengesellschaft Stand with device for distortion compensation
US10683194B2 (en) 2016-09-15 2020-06-16 Liebherr-Werk Ehingen Gmbh Apparatus for stabilizing a crane
CN113479775A (zh) * 2021-06-28 2021-10-08 杭州鸿泉物联网技术股份有限公司 吊车吊载识别方法和识别系统

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DE19842436A1 (de) 2000-03-30
JP2000191277A (ja) 2000-07-11
CA2282004A1 (fr) 2000-03-16

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