EP1150019B1 - Zähler für Hebevorgänge von Kränen - Google Patents

Zähler für Hebevorgänge von Kränen Download PDF

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Publication number
EP1150019B1
EP1150019B1 EP01104876A EP01104876A EP1150019B1 EP 1150019 B1 EP1150019 B1 EP 1150019B1 EP 01104876 A EP01104876 A EP 01104876A EP 01104876 A EP01104876 A EP 01104876A EP 1150019 B1 EP1150019 B1 EP 1150019B1
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EP
European Patent Office
Prior art keywords
crane
lifting
load
hydraulic
pressure
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.)
Expired - Lifetime
Application number
EP01104876A
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English (en)
French (fr)
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EP1150019A1 (de
Inventor
Lars Andersson
Per Gustafsson
Sten Siren
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.)
Hiab AB
Original Assignee
Hiab AB
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Filing date
Publication date
Application filed by Hiab AB filed Critical Hiab AB
Publication of EP1150019A1 publication Critical patent/EP1150019A1/de
Application granted granted Critical
Publication of EP1150019B1 publication Critical patent/EP1150019B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
    • F15B19/005—Fault detection or monitoring

Definitions

  • the present invention relates to a hydraulic crane, according to the preamble of claim 1, preferably a lorry crane, a method, according to claim 7, for calculation of the fatigue stress of such a crane and a method, according to claim 5, for registration of the lifting up and putting down of a load in such a crane.
  • Such a hydraulic crane is known from JP 57 154504.
  • a hydraulic crane is, like all other mechanical constructions, subjected to an accumulating fatigue stress during use.
  • the fatigue stress has reached a certain value large risks of crane breakdowns ensue, which can result in serious personal injuries or expensive damages to the crane itself or objects in the vicinity of the crane.
  • a method today used for calculation of the accumulated fatigue stress of hydraulic cranes is based on that the operating time of the crane is registered by means of a time counter. In this connection it is normally registered the time during which the pump included in the hydraulic system is switched in. However, this constitutes a relatively bad measure of the accumulated fatigue stress of the crane, since one and the same crane often is used for many types of working operations having a very varying intensity.
  • the object of the present invention is to achieve a hydraulic crane in which it is possible to calculate the accumulated fatigue stress of the crane in a simple and efficient manner.
  • the crane comprises means connected to a pressure sensor in the lifting cylinder of the crane, which means is adapted to register the lifting up and the putting down of a load by detecting the velocity of the pressure variations in said cylinder, said registration means being adapted to register a lifting up and a putting down, respectively, of a load when the velocity of a detected pressure variation exceeds a predetermined value.
  • Each lifting cycle is namely contributing in increasing the fatigue stress of the crane and the duration of a lifting cycle can vary from for instance 30 seconds, when the crane is used for excavation with a hydraulic bucket, up to several hours, when the crane is used in assembly work in order to for instance lift and position a transformer and to keep this in place until it has been fixed on the intended place.
  • the total fatigue stress of the crane will be considerably higher than in the last mentioned case during one and the same time period.
  • said registration means is connected to one or several sensors arranged to deliver information to said registration means concerning the control and/or movements of the crane, said registration means being adapted to determine by means of this information whether or not a lowering movement of the crane is taking place.
  • the means is adapted not to register a lifting up of load when a rapid pressure variation in the cylinder is detected in connection with a determined lowering movement. In this way the means is prevented from being “fooled” by the rapid pressure variation caused by the induced pressure on the piston side of the cylinder that can ensue during lowering movements due to the fact that a certain pressure is required on the piston stem side in order to open the load holding valve of the hydraulic system.
  • the invention also relates to a method for registration of the lifting up and putting down of a load in a hydraulic crane according to claim 5 and a method for calculation of the fatigue stress of a hydraulic crane according to claim 7.
  • the expression operating means is used to designate the hydraulic force members which execute the crane movements ordered by the operator of the crane.
  • the expression operating means consequently embraces the hydraulic cylinders 8, 9, 10, 14, 17 and 19 mentioned hereinbelow.
  • the expression control device refers to the devices, for instance operating levers, by means of which the operator regulates the valve members included in the control system which control the flow of hydraulic fluid to the respective operating means.
  • said valve members consist of so-called directional-control-valve sections.
  • a hydraulic crane 1 attached to a frame 2 is shown, which frame for instance can be connected to a lorry chassis.
  • the frame is provided with adjustable support legs 3 for supporting the crane 1.
  • the crane comprises a column 4, which is rotatable in relation to the frame 2 around an essentially vertical axis.
  • the crane further comprises an inner boom 5 articulately fastened to the column 4, an outer boom 6 articulately fastened to the inner boom 5 and an extension boom 7 displaceably fastened to the outer boom 6.
  • the inner boom 5 is operated by means of a hydraulic lifting cylinder 8, the outer boom 6 by means of a hydraulic outer boom cylinder 9 and the extension boom 7 by means of a hydraulic extension boom cylinder 10.
  • a rotator 11 is articulately fastened at the outer and of the extension boom, which rotator in its turn carries a hydraulic grab tool in the form of a bucket 12.
  • Two bucket parts 13 included in the bucket 12 can be operated in relation to each other by means of a hydraulic grab cylinder 14 for opening and closing of the bucket 12.
  • the rotator 11 is rotatable in relation to the extension boom 7 by means of not shown hydraulic operating means.
  • the crane 1 is equipped for performing excavations.
  • the rotator 11 and the bucket 12 can be removed and replaced by a lifting hook.
  • the rotator 11 and the bucket 12 are replaced by a jib 15, see fig 2.
  • the jib 15 comprises a jib boom 16, which is articulately fastened in relation to the extension boom 7 and operated by means of a hydraulic jib boom cylinder 17.
  • the jib can further comprise an extension boom 18 which can be operated by means of a hydraulic extension boom cylinder 19.
  • One and the same crane can consequently be used for a large number of different working operations, the intensity (lifting frequency) of which varies considerably.
  • the crane 1 can also be provided with a hydraulically controllable winch, which can be used in combination with a lifting hook either with or without jib 15.
  • the crane 1 can also be provided with other types of hydraulic grab tools than a bucket, for instance grab tools for handling scrap or pallets with building material such as stone or building plates.
  • the control system for controlling the different crane functions i.e. lifting/lowering by means of the lifting cylinder 8, tilting by means of the outer boom cylinder 9, extension/retraction by means of the extension boom cylinder 10 etc, comprises a pump 20 which pumps hydraulic fluid from a reservoir 21 to a directional-control-valve block 22.
  • the directional-control-valve block 22 comprises a directional-control-valve section 23 for each of the hydraulic operating means 8, 9, 10, 14, 17, 19, to which hydraulic fluid is supplied in a conventional manner depending on the position of the slide member in the respective valve section 23.
  • the position of the slide members in the directional-control-valve sections 23 is controlled either via a number of control devices in the form of control levers 24, each of which being connected to its own slide member, or by remote control via a control unit 25, see fig 4, comprising a control lever for the respective slide member.
  • control signals are transmitted via cable or a wireless connection from the control unit 25 to a microprocessor, which in its turn controls the position of the slide members in the valve sections 23 of the directional-control-valve block 22 depending on the magnitude of the respective control signal from the control unit 25.
  • Each separate directional-control-valve section 23 consequently controls the size and the direction of the flow of hydraulic fluid to a specific operating means and thereby controls a specific crane function.
  • a specific operating means for which a specific operating means is illustrated in fig 3.
  • the directional-control-valve block 22 further comprises a shunt valve 26 pumping excessive hydraulic fluid back to the reservoir 21, and an electrically controlled dump valve 27 which can be caused to return the entire hydraulic flow from the pump directly to the reservoir 21.
  • the directional-control-valve block.22 is of load-sensing and pressure-compensating type, which implies that the hydraulic flow supplied to an operating means is at all times proportional to the position of the slide member in the corresponding directional-control-valve section 23, i.e. proportional to the position of the lever 24.
  • the directional-control-valve section 23 comprises a pressure-limiting device 28, a pressure-compensating device 29 and the directional-control-valve 30 proper.
  • Directional-control-valve blocks and directional-control-valve sections of this type are well-known and available on market. However, also other types of directional-control-valves than the one described here can be used.
  • a load holding valve 31 is arranged between the respective operating means and the associated directional-control-valve section 23, which load holding valve makes sure that the load will remain hanging when the hydraulic system runs out of pressure owing to the dump valve 27 being caused to return the entire hydraulic flow from the pump 20 directly to the reservoir 21.
  • a sensor 32 is arranged on each of the directional-control-valve sections 23 in order to detect the movements of the valve slide member in the respective directional-control-valve section 23.
  • These sensors 32 are connected to a processing unit 33 suitably constituted by a microprocessor.
  • the processing unit 33 can obtain information that a certain valve slide member is influenced and thereby how the crane is controlled.
  • the processing unit 33 can instead be adapted to obtain information about how the crane is controlled by reading the control signals transmitted from the control unit 25.
  • the crane further comprises a load sensing means in the form of a pressure sensor 34 adapted to measure the hydraulic pressure in the lifting cylinder 8.
  • the pressure sensor 34 is, just as the sensors 32 in the valve sections 23, connected to the processing unit 33.
  • the crane 1 further comprises a means 36 adapted to register when the crane lifts up and puts down, respectively, a load.
  • the means 36 which henceforth is denominated "lifting counter", registers this by detecting the velocity of the pressure variations in the lifting cylinder 8 of the crane, which pressure variations are measured by the pressure sensor 34 associated with the lifting cylinder 8.
  • the pressure in the lifting cylinder 8 very rapidly increases just at the moment when the load is lifted up from the underlay and becomes free hanging. The same rapid pressure variation occurs when the load is put down and no more is carried by the crane.
  • the lifting counter-36 via the sensors which register the movements of the slide members in the directional-control-valve sections 23, obtains information whether or not a lowering movement of the crane is taking place or not.
  • the lifting counter 36 is adapted not to register a lifting up of a load when a rapid pressure variation in the lifting cylinder 8 takes place in connection with a simultaneous registration of a lowering movement.
  • the crane can also be provided with other types of sensors than the ones here described in order to give the lifting counter 36 information whether or not the crane performs a lowering movement by detection of the control and/or the movements of the crane.
  • the lifting counter 36 is suitably constituted by a microprocessor and is preferably connected to the processing unit 33, to which it transmits information concerning registered liftings up and puttings down of a load.
  • the lifting counter 36 is shown as a unit separated from the processing unit 33, but it can with advantage be integrated with this.
  • the crane 1 further comprises means 35, preferably integrated with the processing unit 33, for calculation of the accumulated fatigue stress of the crane, this means 35 being adapted to calculate said fatigue stress based on the number of registered liftings up and puttings down of a load by the lifting counter 36. It is here realised that a lifting up and a subsequent putting down of a load correspond to one performed lifting cycle.
  • the calculated fatigue stress is presented to the operator and/or maintenance personal of the crane by means of suitable display means. It is also possible to let the processing unit 33 emit a signal or an alarm when the accumulated fatigue stress has attained a certain predetermined value.
  • the information from a lifting counter 36 of the type here described can also be used for other functions in a crane than for calculation of accumulated fatigue stress.
  • the information can for- instance be used in a system for controlling the maximum allowed lifting force of a hydraulic crane, as more closely described in a patent application filed simultaneously with the present patent application.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Claims (8)

  1. Hydraulischer Kran (1)
    mit einem inneren Ausleger (5), einem hydraulischen Zylinder (8) für den Betrieb des inneren Auslegers (5) und einem Drucksensor (34) zum Messen des Drucks in dem hydraulischen Zylinder (8),
    dadurch gekennzeichnet, daß der Kran (1) weiterhin mit dem Drucksensor (34) verbundene Mittel (36) aufweist, wobei die Mittel ein Hochheben und Absetzen einer Last durch Ermitteln der Geschwindigkeit von Druckveränderungen in dem Zylinder (8) registrieren und die Registrierungsmittel (36) das Hochheben und Absetzen der Last registrieren, wenn die Geschwindigkeit der ermittelten Druckveränderung einen vorbestimmten Wert überschreitet.
  2. Kran nach Anspruch 1,
    dadurch gekennzeichnet, daß die Mittel (36) aus einem Mikroprozessor bestehen.
  3. Kran nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, daß das Registrierungsmittel (36) mit einem oder mehreren Sensoren (32) verbunden ist, welche Informationen betreffend die Steuerung und/oder die Bewegung des Kranes zu dem Registrierungsmittel (36) liefern, wobei die Registrierungsmittel (36) mittels dieser Information bestimmen, ob oder ob nicht eine Senkbewegung des Krans (1) stattfindet und daß die Registrierungsmittel (36) das Hochheben einer Last nicht registrieren, wenn eine schnelle Druckveränderung in dem Zylinder (8) in Verbindung mit einer bestimmten Senkbewegung nachgewiesen wird.
  4. Kran nach einem der vorhergehenden Ansprüche,
    dadurch gekennzeichnet, daß der Kran (1) weiterhin Mittel (35) zum Berechnen der Ermüdungserscheinung des Krans (1) aufweist, wobei diese Rechnungsmittel (35) die Ermüdungserscheinung basierend auf der Anzahl von Hochheben und Absetzen von Last, welche durch die Registrierungsmittel (36) registriert wurde, errechnen.
  5. Verfahren zur Registrierung von Hochheben und Absetzen einer Last bei einem hydraulischen Kran (1)
    mit einem inneren Ausleger (5), einem hydraulischen Zylinder (8) zum Betrieb des inneren Auslegers (5) und einem Drucksensor (34) zum Messen des Drucks in dem hydraulischen Zylinder (8),
    dadurch gekennzeichnet, daß das Hochheben und Absetzen einer Last durch Ermitteln der Geschwindigkeit der Druckveränderungen in dem Zylinder (8) registriert wird, wobei das Hochheben und Absetzen einer Last registriert wird, wenn die Geschwindigkeit einer ermittelten Druckveränderung einen vorbestimmten Wert überschreitet.
  6. Verfahren nach Anspruch 5,
    dadurch gekennzeichnet, daß durch Information von einem Sensor (32) betreffend die Steuerung und/oder die Bewegungen des Krans ermittelt wird, ob oder ob nicht eine Senkbewegung des Krans (1) stattfindet, und daß ein Hochheben einer Last nicht registriert wird, wenn eine schnelle Druckveränderungen in dem Zylinder (8) in Verbindung mit einer bestimmten Senkbewegung ermittelt wird.
  7. Verfahren zur Berechnung der Ermüdungserscheinung eines hydraulischen Krans (1) mit einem inneren Ausleger (5), einem hydraulischen Zylinder (8) für den Betrieb des inneren Auslegers (5) und einem Drucksensor (34) zum Messen des Drucks in dem hydraulischen Zylinder (8),
    dadurch gekennzeichnet, daß ein Hochheben und Absetzen einer Last durch Ermitteln der Geschwindigkeit der Druckveränderungen in dem Zylinder (8) registriert wird, wobei das Hochheben und das Absetzen der Last registriert wird, wenn die Geschwindigkeit einer bestimmten Druckveränderung einen vorbestimmten Wert überschreitet, und daß die Ermüdungserscheinung basierend auf der Anzahl der registrierten Hochheben und Absetzen der Last berechnet wird.
  8. Verfahren nach Anspruch 7,
    dadurch gekennzeichnet, daß durch Information von den Sensoren (32) betreffend die Steuerung und/oder die Bewegungen des Krans (1) bestimmt wird, ob oder ob nicht eine Senkbewegung des Krans (1) stattfindet, und daß ein Hochheben einer Last nicht registriert wird, wenn eine schnelle Druckveränderung in dem Zylinder (8) in Verbindung mit einer bestimmten Senkbewegung ermittelt wird.
EP01104876A 2000-04-28 2001-02-28 Zähler für Hebevorgänge von Kränen Expired - Lifetime EP1150019B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0001608A SE0001608L (sv) 2000-04-28 2000-04-28 Hydraulisk kran med organ för registrering av lyftning och nedsättning av last, förfarande för sådan registrering samt förfarande för beräkning av utmattningsbelastningen hos sådan kran
SE0001608 2000-04-28

Publications (2)

Publication Number Publication Date
EP1150019A1 EP1150019A1 (de) 2001-10-31
EP1150019B1 true EP1150019B1 (de) 2003-08-13

Family

ID=20279513

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01104876A Expired - Lifetime EP1150019B1 (de) 2000-04-28 2001-02-28 Zähler für Hebevorgänge von Kränen

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EP (1) EP1150019B1 (de)
AT (1) ATE247235T1 (de)
DE (1) DE60100577T2 (de)
ES (1) ES2204771T3 (de)
SE (1) SE0001608L (de)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMI20020891A1 (it) * 2002-04-24 2003-10-24 Cifa Spa Sistema per il controllo e la sorveglianza del funzionamento di macchinari semoventi a braccio articolato quali pompe per calcestruzzo e met
DE20208992U1 (de) 2002-06-10 2003-10-23 Hawe Hydraulik Gmbh & Co Kg Elektrohydraulische Spannvorrichtung
SE530761C2 (sv) 2005-12-14 2008-09-09 Cargotec Patenter Ab Hydraulisk kran med registrering av lyftning och/eller nedsättning av last, förfarande för sådan registrering samt förfarande för beräkning av utmattningsbelastningen hos en hydraulisk kran
DE102009041661A1 (de) * 2009-09-16 2011-03-24 Liebherr-Werk Nenzing Gmbh, Nenzing System zur automatischen Erfassung von Lastzyklen einer Maschine zum Umschlagen von Lasten
CN101746675B (zh) * 2009-12-31 2012-05-02 三一汽车制造有限公司 起重机超起装置及其控制系统和控制方法
ES2731799T3 (es) * 2014-08-06 2019-11-19 Padoan S R L Aparato y método para el control de sistemas hidráulicos
CA2971748C (en) * 2014-12-24 2022-08-30 Cqms Pty Ltd A system and method of estimating fatigue in a lifting member
DE102018105907A1 (de) * 2018-03-14 2019-09-19 Terex Deutschland GmbH Verfahren zur Ermittlung des Gewichts einer von einer Lademaschine aufgenommenen Last und Lademaschine hierfür
CN109058232A (zh) * 2018-10-09 2018-12-21 南京奥特自动化有限公司 一种液压顶升测压装置
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

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS57154504A (en) * 1981-03-18 1982-09-24 Komatsu Ltd Load detector for unilateral-rod cylinder
DE29503416U1 (de) * 1995-03-02 1995-07-20 Höhn, Carsten, Dipl.-Ing, 28832 Achim Gerät zur Ermittlung der dynamischen Beanspruchung an Bauteilen, Anlagen und Maschinen
DE19514050C2 (de) * 1995-04-13 1999-06-02 Bruger & Fischer Krananlagen U Verfahren und Vorrichtung zum Erfassen von Belastungen von Hub- und Zugeinrichtungen

Also Published As

Publication number Publication date
DE60100577T2 (de) 2004-06-24
DE60100577D1 (de) 2003-09-18
SE515089C2 (sv) 2001-06-11
SE0001608D0 (sv) 2000-04-28
SE0001608L (sv) 2001-06-11
ATE247235T1 (de) 2003-08-15
ES2204771T3 (es) 2004-05-01
EP1150019A1 (de) 2001-10-31

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