EP1151958B1 - Hydraulischer Kran - Google Patents

Hydraulischer Kran Download PDF

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Publication number
EP1151958B1
EP1151958B1 EP01104873A EP01104873A EP1151958B1 EP 1151958 B1 EP1151958 B1 EP 1151958B1 EP 01104873 A EP01104873 A EP 01104873A EP 01104873 A EP01104873 A EP 01104873A EP 1151958 B1 EP1151958 B1 EP 1151958B1
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EP
European Patent Office
Prior art keywords
crane
lifting force
maximum allowed
processing unit
lifting
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EP01104873A
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English (en)
French (fr)
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EP1151958A2 (de
EP1151958A3 (de
Inventor
Lars Andersson
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Cargotec Patenter AB
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Hiab AB
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Publication of EP1151958A3 publication Critical patent/EP1151958A3/de
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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

Definitions

  • the present invention relates to a hydraulic crane according to the preamble of claim 1, preferably a lorry crane, and a method for regulation of the maximum allowed lifting force of such a crane according to the preamble of claim 9, as known for example from WO 93/19000 .
  • Hydraulic lorry cranes are used for many different types of working operations, such as:
  • a hook In the lifting of load between a lorry platform and the ground, i.e. working operations of type A as above, it is for instance used a hook together with lifting strings or some simple type of mechanical lifting tool, such as a pallet fork.
  • a rotator In this type of working operation, a rotator can further be arranged between the crane boom and the hook.
  • the stress on the crane can here normally be characterized as low to moderate.
  • a so-called jib is used to make possible a longer reach and a more exact position adjustment of the load.
  • the crane will generally be subjected to higher stresses due to the long range and the load swingings which are increasing with the range.
  • the lifting frequency can be high, which also results in high stresses on the crane.
  • a hook and lifting strings are normally used. It also occurs that a winch is used in combination with hook and lifting strings, particularly if the load is to be lowered down into a narrow hole or the similar. This type of working operation normally implies a low stress on the crane, since the crane is standing still and holds a static load during the major part of the work.
  • Lorry cranes normally have one and the same lifting capacity for all the types of working operations, and must therefor be fatigue dimensioned for the hardest type of working. This implies that smaller and middle- sized cranes (3-20 ton meters) normally are dimensioned for working comprising working operations of type D and E, whereas larger cranes (>20 ton meters) normally are dimensioned for jib working, i.e. working comprising working operations of type B.
  • the dimensioning for the hardest type of working will of course result in a non-optimal use of the material during all types of lighter working, since the crane during performance of working operations implying lighter working will be unnecessary expensive and heavy in relation to the lifting capacity required for these working operations.
  • one and the same crane often is used for several different types of working operations, in the extreme case one and the same crane can be used for all the above mentioned types of working operations.
  • a crane which is normally used for excavation can for instance lift plates at a roadwork by demounting the bucket and instead mounting a hook directly under the rotator. This exchange of implements takes a few minutes. The crane is then suddenly used for performing working operations of type A instead of D, which implies a considerably lighter working. It is also common for lager cranes that the jib (working operations of type B) is demounted, which takes about half an hour, and the crane is used in lighter hook working (working operations of type A).
  • the different types of working operations cause different damaging stress per lifting cycle on the welded steel structure of the crane.
  • the damaging stress per lifting cycle only depends on the difference between the highest and the lowest load during the respective lifting cycle, the so called range of stress. This implies for instance that an excavation cycle (working operation of type D), where the crane presses the bucket down into the ground with a force of 2 kN and thereafter lifts up the bucket build with load with a force of 10 kN, causes the same fatigue damage to the crane as a lifting cycle where a load is lifted in a hook (working operation of type A) with a force of 12 kN.
  • Another system which has been used for reducing the lifting force during tool working is based on the introduction of a cut-off valve.
  • This system is designed in such a way that the operation of the tool, for instance the bucket, is prevented when the cut-off valve is closed and the allowed and possible lifting force is then simultaneously given an increased value. In this state it is consequently not possible to perform for instance excavations. If the valve is opened, which is carried out manually, the lifting force is reduced in that a pressure-limiting valve with a lower adjusted maximum pressure is connected for the lifting cylinder at the same time as tool working is allowed. In this second state it is consequently possible to perform excavations, but the allowed lifting force is lower than in the first state.
  • a disadvantage with this system is that the activation of the cut-off valve takes place manually, which implies that it is easy to put the system out of operation. It is for instance possible to fill the bucket with the cut-off valve open and thereafter close the valve manually and lift with the higher capacity. Furthermore, the system is relatively expensive and complicated with several valves and additional wire layings, which also occupy place on the limited surface available on a crane base.
  • the object of the present invention is to provide a hydraulic crane in which it is possible to regulate the value of the highest allowed lifting force in an effective and appropriate manner.
  • the crane comprises an arrangement for regulating the maximum allowed lifting force of the crane, which arrangement comprises means for the continuos registration of which crane functions that are being controlled via the control system of the crane, and a processing unit adapted to identify, based on these registrations, the performed working operation as being of a certain type among a number of predetermined types of working operations, the processing unit further being adapted to determine a, for the time being, maximum allowed lifting force of the crane independence on the identified type of working operation.
  • the control system comprises valve members for controlling the hydraulic flow to the different crane functions, the control system further comprising a number of control devices for regulating the valve members, and the means for registration of which crane functions that are being controlled via the control system being adapted to continuously detect which valve members that are being regulated via the control devices. In this way it will be possible to obtain, in a simple manner, the registration of which crane functions that are being controlled via the control system.
  • the arrangement also comprises a means which registers when the crane lifts up and puts down, respectively, a load, and/or means for registration of the time elapsed since the last registered control of a certain crane function, the arrangement being adapted to use also these registrations in the determination of the, for the time being, maximum allowed lifting force of the crane.
  • the invention also relates to a method for regulating the maximum allowed lifting force of a hydraulic crane according to claim 9.
  • 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 displaceable 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, i.e. working operations of type D as above.
  • the rotator 11 and the bucket 12 can be removed and replaced by a lifting hook. It is also possible to keep the rotator 11 and replace the bucket 12 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.
  • 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 crane function is illustrated.
  • fig 3 For the sake of clarity, only the directional-control-valve section 23 for the lifting cylinder 8 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 the 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. By means of these sensors 32 the processing unit 33 can obtain information that a certain valve slide member is influenced and thereby that a certain function is controlled. In case the valve slide members are regulated via a remote control unit 25, the processing unit 33 can instead be adapted to obtain information about which crane functions that are being controlled by reading the control signals transmitted from the control unit 25.
  • the crane further comprises load sensing means in the form of pressure sensors 34 adapted to measure the hydraulic pressure in the respective operating means.
  • the pressure sensors 34 are, just as the sensors 32 in the valve sections 23, connected to the processing unit 33.
  • the crane 1 further comprises a so called lifting counter 36 adapted to detect when the crane lifts up and puts down, respectively, a load.
  • the lifting counter 36 detects 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.
  • These pressure variations are much more rapid than the pressure variations caused by the normal natural oscillations which at all times are present in the steel structure of the crane, and hereby the lifting counter 36 can separate "liftings up” and "oscillations".
  • a lifting up and a putting down, respectively, of a load is consequently registered when the velocity of the pressure variation in the lifting cylinder 8 exceeds a certain predetermined value.
  • 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 lifting counter 36 is connected to the processing unit 33, to which it transmits information concerning registered liftings up and puttings down of a load.
  • the crane 1 also comprises means 37 for registration of the time elapsed from the last registered control of a certain crane function, i.e. the time elapsed since the last operation of a certain operating device.
  • the time registration means 37 is connected to the processing unit 33 and transmits information to the processing unit concerning said time.
  • FIG 4 schematically shows an example of a conventionally designed operating unit 25 with six operating levers S1-S6 for controlling six different crane functions.
  • a lorry crane which is not provided with any winch normally has such an operating unit provided with six operating levers.
  • the operating unit normally is provided with seven or nine operating levers.
  • this embodiment example relates to a lorry crane without winch.
  • Lever S1 i.e. the right lever in the figure, controls the rotation of the column 4.
  • the lever S2 controls the lifting function, i.e. the hydraulic flow to the lifting cylinder 8.
  • the lever S3 controls the tilting function, i.e. the hydraulic flow to the outer boom cylinder 9.
  • the lever S4 controls extension and retraction, i.e. the hydraulic flow to the extension boom cylinder 10.
  • the levers S5 and S6 control different crane functions depending on how the crane is equipped. When a rotator 11 is attached to the extension boom 7, the lever S5 controls the rotation of the rotator 11, i.e. the hydraulic flow to the operating means of the rotator.
  • the lever S5 is adapted to control the tilting of the jib boom 16, i.e. the hydraulic flow to the jib boom cylinder 17.
  • the lever S6 controls the grab function of the bucket/grab tool, i.e. the hydraulic flow to the grab cylinder 17.
  • the lever S6 controls the extension function of the jib, i.e. the hydraulic flow to the extension boom cylinder 18 of the jib.
  • the levers S5 and S6 are adapted to control different crane functions depending on how the crane is equipped.
  • the arrangement for regulating the maximum allowed lifting force has to comprise means for detecting which type of crane element that for the time being is mounted to the extension boom 7.
  • Such a means is included in an overload protection device developed by HIAB AB and present on the market.
  • This overload protection device comprises means for detecting whether or not the sensors (pressure sensor and inclinometer) of the jib are connected.
  • the overload protection device When the overload protection device identifies that these sensors are connected, the operation of any of the levers S5 and S6 is interpreted as a control of a jib function (tilting and extension, respectively) and the overload protection device applies the logic relating to working operations including use of a jib. If the jib is temporarily demounted, for instance when the crane is to be used with hydraulic tools instead of a jib, a specially constructed plug has to be placed in the electric line to the jib.
  • the overload protection device When the overload protection device identifies that this plug has been put in place, the operation of any of the levers S5 and S6 is interpreted as a control of rotator and hydraulic tool, respectively, and the overload protection device applies the logic relating to the working operation including use of a hydraulic tool when the lever S6 is operated.
  • the processing unit 33 is adapted to set the maximum allowed lifting force to a value corresponding to the lower value applying to tool working, i.e. for working operations of the type defined as type D and E above.
  • the processing unit 33 gets information that any of the levers S5 and S6 has been operated at the same time as the processing unit 33 has information that a jib 15 is mounted to the extension boom 7, the processing unit 33 is adapted to set the maximum allowed lifting force to a value corresponding to the value applying to jib working, i.e. for working operations of the type defined as type B above. This value of the maximum allowed lifting force is maintained all until the processing unit 33 from the lifting counter 36 obtains information that the crane performs a new lifting up.
  • the processing unit 33 If the processing unit 33, after a new lifting up has been established, again gets information that any of the levers S5 and S6 has been operated at the same time as the processing unit 33 has information that a jib 15 is still mounted to the extension boom 7, the processing unit 33 is adapted to maintain the previously set value of the maximum allowed lifting force that corresponds to the value applying to working operations of type B, whereupon the described evaluation cycle is run through again.
  • the processing unit 33 gets information that the lever S6 has been operated at the same time as the processing unit 33 does not have information that a jib is mounted to the extension boom 7, the processing unit 33 is adapted to set the maximum allowed lifting force to a value corresponding to the value applying to tool working. If the lever S6 is not again operated within 60 seconds, the processing unit 33 sets the maximum allowed lifting force to a value corresponding to the higher value applying to hook working, i.e. for working operations of the type defined as type A above.
  • the time limit 60 seconds has been chosen bearing in mind that tool working, for instance excavation, is an intense working with working cycles of circa 30 seconds, whereby the processing unit 33 with a time limit of 60 seconds does not run the risk, during the performance of a working cycle including tool working, of erroneously changing the value of the maximum allowed lifting force from the lower value applying to tool working to the higher value applying to hook working.
  • the operator For the operator to be able to "fool" the system during the performance of a working cycle including tool working, the operator has to wait until a time corresponding to two working cycles has elapsed since the last operation of the grab tool.
  • the processing unit 33 obtains information about the time elapsed since the last operation of the lever S6 from the time registration means 37.
  • the processing unit 33 When the processing unit 33 has no information that lever S5 and S6 have been manoeuvred within 60 seconds from the starting up of the system, the processing unit 33 sets the maximum allowed lifting force to a value corresponding to the higher value applying to hook working. The same applies if lever S5 and S6 have not been operated after the lifting counter 36 has registered that the crane has performed a new lifting up after a previous registered jib working and, as mentioned above, if the lever S6 is not again operated within 60 seconds after a previous registered tool working.
  • the above mentioned values of the maximum allowed lifting force each corresponds to a combination of highest allowed pressure values in the different operating means.
  • These pressure values are stored in a memory 35 included in the processing unit 33.
  • This memory 35 is with advantage a read-write memory so that the stored values easily can be changed if so desired.
  • the processing unit 33 continuously reads the output signals from the pressure sensors 34 and compares the output signal from the respective pressure sensor with the determined value of the maximum allowed pressure in the operating means associated with the pressure sensor 34. If the pressure detected by any of the pressure sensors 34 exceeds the determined maximum allowed pressure in the associated operating means, the processing unit 33 delivers a signal to the dump valve 27 which dumps the flow directly to the reservoir 21, which results in that the hydraulic system runs out of pressure and the load is hold by means of the load holding valve 31. In this situation the system is adapted only to allow moment reducing crane movements.
  • the values of the highest allowed pressure in the different operating means for the different types of working operations are determined for the respective crane type by means of stress calculations related to static strength as well as fatigue strength.
  • the crane can always be used optimally in respect of the strength of the steel structure of the crane and the presently performed type of working operation.
  • the method can be realised by means of minor restructurings of equipment already today included in overload protection devices in certain hydraulic cranes, and can consequently be realised in a simple manner and at a comparatively low cost.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Valve Device For Special Equipments (AREA)

Claims (15)

  1. Hydraulischer Kran, der Folgendes umfasst: ein Steuerungssystem zum Steuern verschiedener Kranpunktionen zum Ausführen verschiedener Arten von Arbeitsoperationen, und eine Anordnung zum Regeln der maximal zulässigen Hebekraft des Krans (1), dadurch gekennzeichnet, dass die Anordnung Folgendes umfasst: Mittel (32, 33) zum kontinuierlichen Registrieren der über das Steuerungssystem gesteuerten Kranfunktionen, und eine verarbeitungseinheit (33), die dafür geeignet ist, auf der Grundlage dieser Registrierungen die ausgeführte Arbeitsoperation als von einer bestimmten Art unter einer Anzahl vorgegebener Arten von Arbeitsoperationen zu erkennen, wobei die Verarbeitungseinheit (33) des Weiteren dafür geeignet ist, eine, für den jeweiligen Augenblick, maximal zulässige Hebekraft des Krans (1) in Abhängigkeit von der erkannten Arbeitsoperationsart zu bestimmen.
  2. Kran nach Anspruch 1, dadurch gekennzeichnet, dass die Verarbeitungseinheit (33) einen Speicher (35) umfasst, in dem Werte, welche die maximal zulässige Hebekraft des Krans (33) darstellen, für verschiedene Arten von Arbeitsoperationen gespeichert sind, wobei die verarbeitungseinheit (33) dafür geeignet ist, die maximal zulässige Hebekraft für den Kran zu bestimmen, indem sie unter den gespeicherten Werten die Werte auswählt, die für eine Arbeitsoperationsart gelten, die der erkannten Arbeitsoperationsart entspricht.
  3. Kran nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Steuerungssystem Ventilelemente (23) zum Steuern des Hydraulikflusses zu den verschiedenen Kranfunktionen umfasst, wobei das Steuerungssystem des Weiteren eine Anzahl von Bedienelementen (24; S1-S6) zum Regulieren der Ventilelemente (23) umfasst, und dass die Mittel (32, 33) zum Registrieren der über das Steuerungssystem gesteuerten Kranfunktion dafür geeignet sind, kontinuierlich zu detektieren, welche Ventilelemente (23) über die Bedienelemente (24; S1-S6) betätigt werden.
  4. Kran nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass der Kran (1) Lastdetektionselemente (34) umfasst, die dafür geeignet sind, die durch den Kran (1) ausgeübte Hebekraft zu detektieren, wobei die Verarbeitungseinheit (33) dafür geeignet ist, die durch die Lastdetektionselemente (34) detektierte Hebekraft mit der ermittelte maximal zulässigen Hebekraft zu vergleichen, und dass ein Entlastungsventil (27) dafür geeignet ist, lasterhöhende Kranbewegungen zu verhindern, wenn die detektierte Hebekraft die maximal zulässige Hebekraft übersteigt.
  5. Kran nach Anspruch 4, dadurch gekennzeichnet, dass die Lastdetektionselemente (34) aus Drucksensoren bestehen, die dafür geeignet sind, den Druck in den hydraulischen Betätigungsmitteln (8, 9, 10, 14, 17, 19), welche die verschiedenen Kranfunktionen ausführen, zu messen.
  6. Kran nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Anordnung des Weiteren ein Mittel (36) umfasst, das registriert, wenn der Kran (1) eine Last anhebt bzw. absetzt, wobei die Verarbeitungseinheit (33) dafür geeignet ist, diese Registrierungen außerdem zum Bestimmen der, für den jeweiligen Augenblick, maximal zulässigen Hebekraft des Krans (1) zu verwenden.
  7. Kran nach Anspruch 6, dadurch gekennzeichnet, dass das Mittel (36) zum Registrieren eines Anhebens bzw. Absetzens einer Last dafür geeignet ist, ein Anheben bzw. Absetzen durch Detektieren der Geschwindigkeit der Druckveränderungen in dem Hubzylinder (8) des Krans zu registrieren, wobei ein Anheben bzw. Absetzen registriert wird, wenn die Geschwindigkeit der Druckveränderung einen vorgegebenen Wert überschreitet.
  8. Kran nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Anordnung des Weiteren Mittel (37) zum Registrieren der Zeit umfasst, die seit der letzten registrierten Steuerung einer bestimmten Kranfunktion verstrichen ist, wobei die Verarbeitungseinheit (33) dafür geeignet ist, diese Registrierungen außerdem zum Bestimmen der, für den jeweiligen Augenblick, maximal zulässigen Hebekraft des Krans (1) zu verwenden.
  9. Verfahren zum Regeln der maximal zulässigen Hebekraft eines hydraulischen Krans (1), der Folgendes umfasst: ein Steuerungssystem zum Steuern verschiedener Kranfunktionen zum Ausführen verschiedener Arten von Arbeitsoperationen, und eine Anordnung zum Regeln der maximal zulässigen Hebekraft des Krans, dadurch gekennzeichnet, dass das Registrieren der über das Steuerungssystem gesteuerten Kranfunktionen kontinuierlich erfolgt, und dass eine Verarbeitungseinheit (33) auf der Grundlage dieser Registrierungen die ausgeführte Arbeitsoperation als von einer bestimmten Art unter einer Anzahl vorgegebener Arten von Arbeitsoperationen erkennt, wobei die Verarbeitungseinheit (33) des Weiteren eine, für den jeweiligen Augenblick, maximal zulässige Hebekraft des Krans (1) in Abhängigkeit von der erkannten Arbeitsoperationsart bestimmt.
  10. Verfahren nach Anspruch 9, dadurch gekennzeichnet, dass die Verarbeitungseinheit (33) einen Speicher (35) umfasst, in dem Werte, welche die maximal zulässige Hebekraft des Krans darstellen, für verschiedene Arten von Arbeitsoperationen gespeichert sind, wobei die Verarbeitungseinheit (33) die maximal zulässige Hebekraft für den Kran (1) bestimmt, indem sie unter den gespeicherten Werten die Werte auswählt, die für eine Arbeitsoperationsart gelten, die der erkannten Arbeitsoperationsart entspricht.
  11. Verfahren nach einem der Ansprüche 9-10, dadurch gekennzeichnet, dass der Hydraulikfluss zu den verschiedenen Kranfunktionen über Ventilelemente (23) gesteuert wird, wobei die Ventilelemente (23) mittels einer Anzahl von in dem Steuerungssystem enthaltenen Bedienelementen (24; S1-S6) reguliert werden, und dass kontinuierlich registriert wird, welche Ventilelemente (23) über die Bedienelemente (24; S1-S6) betätigt werden.
  12. Verfahren nach einem der Ansprüche 9-11, dadurch gekennzeichnet, dass die durch den Kran (1) ausgeübte Hebekraft mittels Lastdetektionselementen (34) detektiert wird, wobei die durch die Lastdetektionselemente (34) detektierte Hebekraft mit der durch die Verarbeitungseinheit (33) ermittelte maximal zulässigen Hebekraft verglichen wird, und dass ein Entlastungsventil (27) lasterhöhende Kranbewegungen verhindert, wenn die detektierte Hebekraft die maximal zulässige Hebekraft übersteigt.
  13. Verfahren nach einem der Ansprüche 9-12, dadurch gekennzeichnet, dass ein in der Anordnung enthaltenes Mittel (36) registriert, wenn der Kran (1) eine Last anhebt bzw. absetzt, wobei die Verarbeitungseinheit (33) diese Registrierungen außerdem zum Bestimmen der, für den jeweiligen Augenblick, maximal zulässigen Hebekraft des Krans verwendet.
  14. Verfahren nach Anspruch 13, dadurch gekennzeichnet, dass das Mittel (36) zum Registrieren eines Anhebens bzw. Absetzens einer Last dieses Anheben bzw. Absetzen durch Detektieren der Geschwindigkeit der Druckveränderungen in dem Hubzylinder (8) des Krans registriert, wobei ein Anheben bzw. Absetzen registriert wird, wenn die Geschwindigkeit der Druckveränderung einen vorgegebenen Wert überschreitet.
  15. Verfahren nach einem der Ansprüche 9-14, dadurch gekennzeichnet, dass die Zeit, die seit der letzten Steuerung einer bestimmten Kranfunktion verstrichen ist, registriert wird, wobei die Verarbeitungseinheit (33) diese Registrierungen außerdem zum Bestimmen der, für den jeweiligen Augenblick, maximal zulässigen Hebekraft des Krans verwendet.
EP01104873A 2000-04-28 2001-02-28 Hydraulischer Kran Expired - Lifetime EP1151958B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE0001609 2000-04-28
SE0001609A SE520536C2 (sv) 2000-04-28 2000-04-28 Hydraulisk kran samt förfarande för reglering av den maximalt tillåtna lyftkraften hos en hydraulisk kran

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EP1151958A2 EP1151958A2 (de) 2001-11-07
EP1151958A3 EP1151958A3 (de) 2004-12-22
EP1151958B1 true EP1151958B1 (de) 2009-06-03

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EP01104873A Expired - Lifetime EP1151958B1 (de) 2000-04-28 2001-02-28 Hydraulischer Kran

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EP (1) EP1151958B1 (de)
AT (1) ATE432909T1 (de)
DE (1) DE60138851D1 (de)
SE (1) SE520536C2 (de)

Cited By (1)

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Publication number Priority date Publication date Assignee Title
RU2683918C1 (ru) * 2017-03-23 2019-04-02 Эпзилон Кран Гмбх. Кран

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2288235T3 (es) 2004-06-18 2008-01-01 Hiab Ab Grua hidraulica.
ATE367357T1 (de) * 2005-01-13 2007-08-15 Kone Cargotec Patenter Hb Vorrichtung zur fernsteuerung eines kranes
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

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Publication number Priority date Publication date Assignee Title
DE1266941C2 (de) * 1964-06-20 1975-10-09 Demag Baumaschinen GmbH, 4000 Düsseldorf Lastmomentbegrenzer
GB1523967A (en) * 1976-05-14 1978-09-06 Pye Electronic Prod Ltd Load indicating arrangement
US4222491A (en) * 1978-08-02 1980-09-16 Eaton Corporation Crane operating aid and sensor arrangement therefor
GB8818074D0 (en) * 1988-07-29 1988-09-01 Markload Systems Ltd Monitoring system for load carriers
SE469425B (sv) * 1992-03-23 1993-07-05 Hiab Ab Hydraulisk kran med oekad maximal lyftkraft i hoeglaegesomraadet och saett att aastadkomma detta
JPH07144884A (ja) * 1993-11-26 1995-06-06 Komatsu Mec Corp 移動式リーチタワークレーン
DE29924989U1 (de) * 1999-07-07 2007-10-31 Liebherr-Werk Ehingen Gmbh Kontinuierlich verstellbarer Kran

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2683918C1 (ru) * 2017-03-23 2019-04-02 Эпзилон Кран Гмбх. Кран

Also Published As

Publication number Publication date
EP1151958A2 (de) 2001-11-07
SE0001609L (sv) 2001-10-29
ATE432909T1 (de) 2009-06-15
EP1151958A3 (de) 2004-12-22
DE60138851D1 (de) 2009-07-16
SE520536C2 (sv) 2003-07-22
SE0001609D0 (sv) 2000-04-28

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