EP1490288B1 - Laststeuersystem, vorzugsweise für auslegerkräne - Google Patents

Laststeuersystem, vorzugsweise für auslegerkräne Download PDF

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Publication number
EP1490288B1
EP1490288B1 EP02806649.6A EP02806649A EP1490288B1 EP 1490288 B1 EP1490288 B1 EP 1490288B1 EP 02806649 A EP02806649 A EP 02806649A EP 1490288 B1 EP1490288 B1 EP 1490288B1
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EP
European Patent Office
Prior art keywords
crane
control system
load
load control
information centre
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Expired - Lifetime
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EP02806649.6A
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English (en)
French (fr)
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EP1490288A1 (de
Inventor
Per Holm Hansen
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Hojbjerg Maskinfabrik AS
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Hojbjerg Maskinfabrik AS
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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 concerns a load control system with a readout for hydraulic truck cranes of the kind placed on a lorry or a trailer, and comprising a column rotating about a base, and a boom arrangement connected to the top of the column, predomintantly used for loading and unloading of the vehicle loading platform, and a valve block connected to electric switches that control supply of oil under pressure to the hydraulic cylinders of the crane, and where the load control system is connected to a relevant signal transducer for registering the instantaneous values of hydraulic system pressure, which in the control system are transformed to a load, and where the load control system in case of loading the crane beyond its nominal load generates limitations in the functions of the crane.
  • Such a load control system is known from WO 97/29038 , where the load control system comprises a control unit permanently mounted on the crane itself, typically in the area where manual control of the crane functions is taking place, at the front of which a line broken by light emitting diodes is marked, which displays the actual load of the crane in 5% increments, from 80% to 100% load.
  • the said units also comprise an acoustic signal emitter which in case of loading the crane immediately below and beyond its nominal value activates a sound signal so that the operator of the crane is informed that he is about to load the crane to a level that is not permissible relative to the nominal load capacity of the crane.
  • the load on the crane is registered by a signal transducer on the main cylinder of the crane which is registering the current pressure in the main cylinder which is transformed into an actual load situation for the crane in the calculation unit of the load control system, and in case that the actual load situation exceeds the permissible value for the crane, the load control system activates a so-called dump valve that renders impossible any further operations of the crane, however in a manner permitting load reducing operations with the crane only.
  • the described load control system only opens the possibility of following the current load of the crane as a whole in the upper range around the nominal load capacity of the crane by providing signals in the form of switching the previously mentioned light emitting diodes on and off.
  • the load control system furthermore relies on previously occurring actions, even though there is incorporated a certain pedagogic regarding load capacity of the crane in the nature of the load control system, particularly its maximum nominal load capacity.
  • US 5,730,305 describes a very complex mobile crane safety apparatus, but it is virtually silent on the actual operation of the crane, except that a "freeze" mode is introduced in cases of overload or instability, and the offending situation is shown on a display. It is an installation that is entirely unsuitable for use on a truck crane mounted on a goods transport vehicle.
  • US 6,170,681 again describes mobile crane safety apparatus with displays of safe operating areas based on the storage of 3-dimensional data relating to the crane.
  • the technical field is again mobile cranes.
  • US 4,212,006 describes measuring of the tension in the lifting wire of a mobile crane and uses this information (via a mechanical analogue computer with a 3-dimensional cam memory) to display safe areas.
  • a load control system of the kind indicated in the introduction which is characterised in that the load control system is connected to the electric switches of the valve block and is arranged with a calculation unit in such a manner that functions/operations of the crane called by the operator are checked in the control unit in relation to the nominal load capacity of the crane, before they are initiated/realised by regulating valve settings in the valve block through activation of the electric switches, and that a display, which is accessible for the operator in an information centre communicating with the control system, shows analogous values between 0 and 100% and/or real values in measurement units, each analogous value being an accurate expression of the current load as measured on relevant components on the crane.
  • the operator is supplied with visual information on a running basis regarding the current load situation of the crane and other important information regarding the operation of the crane. This means that the operator may follow the current load on the crane simultaneously with maneuvering the burden handled by the crane and thus avoid load exceeding operations that will entail limitation and stop situations. Like the driver in a car e.g.
  • the crane operator may continuously observe various important information on the information centre display about the operation of the crane, including whether the current load of the crane is approaching the maximum nominally permissible load of the crane, the exceeding of which results in inexpedient stop and limitation situations.
  • the system thus provides hitherto unknown possibilities for safeguarding the crane operator and others involved in the work against the occurrence of the said inexpedient stop and limitation situations as a consequence of not having the possibility of knowledge about the current load of the crane, and furthermore for giving the crane operator a possibility for manoeuvring the crane to its absolute maximum.
  • a preventive load control has been achieved, consisting in that intended operations of the crane are evaluated by the load control system before these are initiated, and that the crane operator is advised in advance before a load exceeding operation of the crane that may entail a stop situation, so that the operator can choose an alternative operation of the crane that does not result in a stop situation.
  • the operator may furthermore, via visual as well as acoustic information in the information centre, avoid unintended stops as the values of the relevant operation parameters are indicated in the information centre.
  • the information is preferably indicated in %, alternatively as analogous proportional magnitudes.
  • the load control system may be disposed such that the display can be set to show all relevant data concerning the crane (parameters of operation, use and safety), which are registered by the control system.
  • the operator may continuously be informed of the actual load on the various parts of the crane. That may be magnitudes of the load on the main cylinder of the crane, the cylinders on the other parts of the crane, e.g. a fly jib, and possibly in special cases where the crane is provided with a winch, the load thereon compared to its nominal load.
  • the information centre containing the display may furthermore comprise a remote control unit with a control panel including control keys for operating the functions of the crane, the remote control unit communicating with the crane via a transmitter-receiver unit (electronics box) on the crane, a load control system and electric modules connected thereto connected to the valve block for controlling/regulating its valves and thereby the functions of the crane as indicated in claim 3.
  • a remote control unit with a control panel including control keys for operating the functions of the crane, the remote control unit communicating with the crane via a transmitter-receiver unit (electronics box) on the crane, a load control system and electric modules connected thereto connected to the valve block for controlling/regulating its valves and thereby the functions of the crane as indicated in claim 3.
  • the operators of the crane may arbitrarily choose their positions relative to the crane and its load, so that it in practice they may be very close to the location where the load is to be set down/picked up by the crane, which will give a possibility for a more precise placement of the load handled by the crane, all the while the operator may continually follow the current load on the different parts of the crane via the load control system.
  • the information centre may include an acoustic signal emitter as indicated in claim 4.
  • the information centre according to the invention is adapted to show different parameters in the form of display images with icons and corresponding values and units in the form of analogous values, or relative values between 0 and 100% on its display, the values each being a precise indication of the actual load or other important parameters measured on relevant components of the crane, and switching between the display of respective display images by actuating a switch on the control panel of the remote control unit.
  • the respective display images will comprise few and simple information elements/icons, but it is preferred that on each display image there may be shown at least two different parameters concerning the crane.
  • the load control system With the intention of quickly giving the operator relevant information before exceeding the nominal load, the load control system will be adapted so that any kind of alarm arising during operation of the crane, will cause an automatic switch to displaying the image relevant for the alarm concerned on the display of the information centre.
  • Signals between load control system and information centre and the remote control unit may be transmitted wirelessly or via cable as signals which via a receiver in the information centre informs about its icons/values and units on the display of the information centre.
  • the crane operator may freely position himself optimally with regard to a clear view in connection with the operation of the crane, while simultaneously he may continuously supervise operational and load data from the load control system of the crane.
  • the information centre according to the invention there may thus be achieved optimal conditions for the crane operator and the possibility of optimal utilisation of its capacity concurrently with the safety conditions being optimal as regards visual control of the handling of the load handled by the crane and with regard to monitoring the load on the crane and other operational parameters for it.
  • the information centre and the remote control unit are supplied with energy from a battery in the information centre, the status of said battery being continuously monitored and registered, respectively, in the information centre, and a signal concerning battery status being transmitted wirelessly or via cable to the load control system that is adapted so that the remote control unit is rendered inoperative in ease of a too low energy level in the battery, and in order that an alarm for this event is shown on the display and transmitted from the load control system to the information centre before the remote control unit is rendered inoperative.
  • warning panels for truck cranes are known, where the panel includes an image of the crane concerned in the form of a diagram, including its hydraulic cylinders, where light emitting diodes on the marking illustrating the hydraulic cylinders are inserted in a row and are lit successively, where these indicate different levels of load of the crane parts, but stepwise, like in the load control system of the type described in the introduction.
  • a warning panel is known from EP A1 146006 .
  • the warning panel disclosed in the said EP patent publication does not provide the same precise indication regarding the precise current load of the crane, just as the said system does not include a calculation unit performing a test of the operations of the crane intended before these are initiated.
  • weighing cells are, however, relatively costly, and furthermore such weighing cells also need to be serviced.
  • the load control system may be adapted so that it incorporates a special weight determining function for a body suspended from the crane hook after placing the boom system of the crane in one or more reference positions from which the calculation unit of the load control system calculates the weight of the body from relevant signal transducers in the hydraulic system and transmits the signal wirelessly or via cable to the information centre, where the calculated weight of the body together with a relevant icon for weight determination are displayed.
  • the load control system may therefore be adapted so that the said reference positions for placing the boom system of the crane in connection with weight determination of the load suspended in the crane hook and are pre-programmed in the load control system and may be called by means of a key arranged therefor on the information centre.
  • the operator may intervene at any time against dangerous situations in connection with automatic operations to be performed by the crane after a reference position for weight determination has been called from the remote control unit, so that the operator at any time has the opportunity of intercepting possibly dangerous situations in connection with crane operations and to counteract unintended stop situations for operations of the crane.
  • Fig. 1 is shown in schematic form a truck crane 4 on a lorry 6, where the truck crane includes a base 8 with a rotatable column 10 standing up therefrom and a boom system 12 which is suspended at the top 14 of the column.
  • the truck crane 4 furthermore includes a valve block 16 comprising electric switches 18 communicating with valves 19 that in turn communicate with the hydraulic cylinders 20 of the crane via pipes 21.
  • the load control system 2 is, as seen in Fig. 1 , connected to a pressure transducer 22 via a cable connection 23, and furthermore the load control system 2 is connected to an electronics box 25 which in the shown embodiment, cf. also Fig. 2 , has a wireless connection to an information centre 24. Furthermore, in the information centre 24 a remote control unit 28 is incorporated for controlling the functions of the crane that in the embodiment shown communicates with the electric switches 18 in the valve block 16 via the wireless connection and the electronics box 25.
  • the remote control unit 28 incorporated in the information centre 24 includes a control panel 29 with control keys 30, and the information centre also comprises an acoustic signal emitter 34 and a display 27 as well as a switch 38 for changing between different displays in the form of images 36 on the information centre 24.
  • the load control system 2 is adapted so that at any time during the operation of the crane it will decide whether operations with the crane are feasible, and will trip stop situations in case that the load on the crane is reaching its nominal load capacity. This means that all called operations of the crane are monitored, irrespective whether these are effected from the remote control unit 28 by activating the control keys 30 or are effected by manual activation of the valve 44 of the valve block.
  • the control unit 2 is thus performing two tasks, of which the first is monitoring the current load on the relevant functions of the crane by receiving data from pressure transducers 22 that are disposed at relevant points on the crane 4.
  • the other task performed by the load control system 2 is that it further performs an advance calculation of the load consequences of operations called for regarding the crane. These advance calculations are activated in the control system 2 by activating the control keys 30 on the remote control unit 28 incorporated in the information centre 24.
  • the load control system 2 is thus transmitting signals back to the information centre 24 via the electronics box 25. These signals are transformed and shown on the information centre 24 of the remote control unit, where the operator may choose between different display images 36 concerning the current operational data from the crane. Typically, the data preferred will mostly be current load data regarding the load on the different parts of the crane as outlined in Fig. 2 .
  • a signal is transmitted to the information centre 24 and is shown on its display 27 as a warning, typically combined with an automatic switch to an image of this, showing the parameters for the relevant overload situation, and activation of a warning lamp, and/or by activation of the acoustic signal emitter 34 on the information centre 24.
  • the load control system will furthermore transmit a signal to the information centre 24 of the remote control unit via the electronics box 25 so that the intended load exceeding action is shown as a warning alarm 10 and with an indication that the alarm is of a preventive character.
  • the load control system 2 furthermore has the property that it can perform determination of the weight of a burden 42 which is suspended in the crane hook under the condition that the boom system 12 of the crane has assumed a reference position from which the calculation unit (not shown) of the load control system will transform signals from the pressure transducer 22 on the hydraulic cylinder of the crane into a weight which is read out on the display 27 on the information centre 24 when this display is chosen in the information centre, cf. Fig. 3A .
  • Figs. 3A and 3B Examples of some of the other possibilities for showing current analogous data concerning the crane operation on the information centre display 27 are shown in Figs. 3A and 3B , respectively indicating actual load on the crane and the current pressure in the hydraulic system (typically measured in the main cylinder of the crane).
  • the information centre 24 furthermore includes light emitting diodes 44, 46, 48 which are activated during different operational situations of the truck crane, e.g. the diode 44 may have a green colour indicating that the crane may be operated, the diode 46 may have a yellow light in case of reduced oil flow or support legs operations, and the diode 48 may have a blue light for signalling an impending safety interference from the load control system.
  • the diode 44 may have a green colour indicating that the crane may be operated
  • the diode 46 may have a yellow light in case of reduced oil flow or support legs operations
  • the diode 48 may have a blue light for signalling an impending safety interference from the load control system.
  • the load control system 2 By means of the load control system 2 according to the invention there is thus indicated a preventive system which warns the operators of the crane truck 4 in advance of performing load exceeding actions that may entail stop situations. Furthermore integration of the remote control unit 28 in the information centre 24 implies that the operator can follow the actual value of the load on the individual parts of the truck crane while the operator may also be able to physically dispose himself in relation to the burden 42 handled by the crane (cf. Fig. 2 ), that the handling may be continually visually supervised so that dangerous operations of the crane/load may be avoided.
  • the crane operator provided with a load control system according to the present invention, will thus eventually achieve much routine in operating the crane in order to utilise its load capacity to the utmost without activating the stop function of the load control system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (11)

  1. Laststeuerungssystem (2) für hydraulische Fahrzeugkräne (4) in der Art, wie man sie auf LKWs (6) oder Anhängern sieht, umfassend eine Säule (8), die sich um eine Basis (10) dreht, und eine Auslegereinrichtung (12), die mit dem oberen Ende der Säule (14) verbunden ist, und einen Ventilblock (16), der mit elektrischen Schaltern (18) verbunden ist, die die Druckölversorgung der Hydraulikzylinder (20) des Krans steuern, und wo das Laststeuerungssystem (2) an mindestens einen relevanten Signalgeber (22) angeschlossen ist, um den Augenblickdruckwert im Hydrauliksystem aufzuzeichnen, der im Steuersystem (2) in eine Last umgewandelt wird, und wo das Laststeuerungssystem (2) im Fall der Belastung des Krans (4) über seine Nennladefähigkeit hinaus Funktionsbeschränkungen des Krans in Form einer Unterbrechungs- oder Penalty-Zeitspanne generiert, während der das System jeglichen weiteren Betrieb des Krans (4) durch die Aktivierung eines Entleerventils (17) im Hydrauliksystem des Krans verhindert, dadurch gekennzeichnet, dass das Laststeuerungssystem (2) an elektrische Schalter (18) des Ventilblocks angeschlossen ist und mit einer Berechnungseinheit so angeordnet ist, dass die Funktionen, die vom Bediener des Krans (4) aufgerufen werden, in der Steuereinheit in Zusammenhang mit der Nennladefähigkeit des Krans vor der Ausführung durch Regulierung der Ventileinstellungen im Ventilblock (16) durch die Aktivierung der elektrischen Schalter (18) geprüft werden, und dass ein Display (27), das für den Bediener in einem Informationszentrum (24), das mit dem Steuerungssystem (2) kommuniziert, zugänglich ist, analoge Werte zwischen 0 und 100 % oder echte Werte in Maßeinheiten anzeigt, wobei jeder Wert der genaue Ausdruck der aktuellen Last ist, so wie an den entsprechenden Komponenten des Krans gemessen wurde.
  2. Laststeuerungssystem nach Anspruch 1, dadurch gekennzeichnet, dass das Informationszentrum (24) während des Betriebs des Krans (4) für die Anzeige aller relevanten Betriebs-, Nutzungs- und Sicherheitsparameter, die den Kran (4) betreffen, eingestellt werden kann, die von dem Laststeuerungssystem (2) auf seinem Display (27) aufgezeichnet und berechnet werden können.
  3. Laststeuerungssystem (2) nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das Informationszentrum (24) für die Anzeige der vom Steuerungssystem gemessenen analogen Werte auf dem Display (27) ferner eine Fernbedienungseinheit (28) mit einem Bedienfeld (29) mit Steuertasten (30) für die Betätigung der Kranfunktionen umfasst.
  4. Laststeuerungssystem (2) nach einem der Ansprüche 1-3, dadurch gekennzeichnet, dass die Fernsteuereinheit (28) einen akustischen Signalgeber (34) umfasst, der durch das Laststeuerungssystem (2) des Krans gesteuert wird, wobei der akustische Signalgeber (34) aktiviert wird, wenn eine Überlastsituation bevorsteht oder eingetreten ist.
  5. Laststeuerungssystem (2) nach einem der Ansprüche 1-4, dadurch gekennzeichnet, dass die Informationszentrale (24) zur Darstellung verschiedener Parameter in Form von Anzeigen (36) mit damit verbundenen Symbolen und Werten und von Einheiten in Form von analogen Werten oder relativen Werten zwischen 0 und 100 % auf seinem Display (27) ausgelegt ist, wobei diese Werte die aktuelle Last oder andere wichtige Parameter präzise ausdrücken, die an relevanten Komponenten des Krans (4) gemessen werden, und wobei die jeweiligen Display-Bilder durch Betätigung eines Schalters (38) auf dem Bedienfeld (29) der Fernbedienungseinheit umgeschaltet werden.
  6. Laststeuerungssystem (2) nach einem der Ansprüche 1-5, dadurch gekennzeichnet, dass auf jedem Display-Bild (36) der Wert von mindestens zwei verschiedenen Parametern angezeigt werden kann, die den Kran (4) betreffen.
  7. Laststeuerungssystem (2) nach einem der Ansprüche 1-6, dadurch gekennzeichnet, dass es so angepasst ist, dass jeder Alarm, der während des Betriebs des Krans (4) auftritt, die Umschaltung zum Display-Bild (36) verursacht, das für den Alarm zuständig ist, der auf dem Display (27) des Informationszentrums (24) angezeigt wird.
  8. Laststeuerungssystem (2) nach einem der Ansprüche 3-7, dadurch gekennzeichnet, dass Signale zwischen dem Laststeuerungssystem (2), dem Informationszentrum (24) und der Fernbedienungseinheit (28) drahtlos oder per Kabel als Signale übertragen werden, die von einem Empfänger im Informationszentrum (24) in Symbole, Werte und Einheiten auf dem Display (27) des Informationszentrums (24) umgewandelt werden.
  9. Laststeuerungssystem (2) nach einem der Ansprüche 3-8, dadurch gekennzeichnet, dass das Informationszentrum (24) und die Fernsteuereinheit (28) durch eine Batterie im Informationszentrum (24) mit Energie versorgt werden, wobei der Zustand der besagten Batterie im Informationszentrum (24) ständig überwacht und aufgezeichnet wird und ein Signal, das den Batteriestatus betrifft, drahtlos oder per Kabel an das Laststeuerungssystem (2) übertragen wird, das so angepasst ist, dass die Fernbedienungseinheit (28) im Fall eines zu niedrigen Energiepegels der Batterie außer Betrieb gesetzt wird und dass ein Alarm für diesen Vorfall auf dem Display (27) angezeigt und vom Laststeuerungssystem (2) an das Informationszentrum (24) übertragen wird, bevor die Fernbedienungseinheit (28) außer Betrieb gesetzt wird.
  10. Laststeuerungssystem (2) nach einem der Ansprüche 1-9, dadurch gekennzeichnet, dass es eine spezielle Gewichtsbestimmungsfunktion für einen Körper (42) umfasst, der an einem Kranhaken (40) aufgehängt wird, nachdem das Auslegersystem (12) des Krans in eine oder mehrere Bezugspositionen gestellt wurde, aus denen die Recheneinheit des Laststeuerungssystems das Gewicht des Körpers aus relevanten Signalgebern (22) im Hydrauliksystem ermittelt und das Signal drahtlos oder per Kabel an das Informationszentrum (24) überträgt, wo das berechnete Gewicht des Körpers (42) zusammen mit einem entsprechenden Symbol zur Gewichtsbestimmung auf der Anzeige (27) zu lesen ist.
  11. Laststeuerungssystem (2) nach einem der Ansprüche 1-10, dadurch gekennzeichnet, dass das Informationszentrum (24) außerdem eine Reihe von Leuchtdioden (44, 46, 48) umfasst, die vom Laststeuerungssystem (2) in verschiedenen Lastsituationen/-vorgängen des LKW-Krans (4) aktiviert werden.
EP02806649.6A 2001-11-28 2002-11-28 Laststeuersystem, vorzugsweise für auslegerkräne Expired - Lifetime EP1490288B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DK200101767 2001-11-28
DKPA200101767 2001-11-28
PCT/DK2002/000801 WO2003064311A1 (en) 2001-11-28 2002-11-28 Load control system, preferably for boom cranes

Publications (2)

Publication Number Publication Date
EP1490288A1 EP1490288A1 (de) 2004-12-29
EP1490288B1 true EP1490288B1 (de) 2015-02-25

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DK (1) DK1490288T3 (de)
ES (1) ES2536454T3 (de)
WO (1) WO2003064311A1 (de)

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EP3362399B1 (de) 2015-10-16 2019-08-21 Palfinger AG Anordnung aus einer steuerung und einem mobilen steuerungsmodul

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EP3362399B1 (de) 2015-10-16 2019-08-21 Palfinger AG Anordnung aus einer steuerung und einem mobilen steuerungsmodul
EP3362399B2 (de) † 2015-10-16 2024-02-14 Palfinger AG Anordnung aus einer steuerung und einem mobilen steuerungsmodul

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ES2536454T3 (es) 2015-05-25
DK1490288T3 (en) 2015-05-11
WO2003064311A1 (en) 2003-08-07
EP1490288A1 (de) 2004-12-29

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