EP1798188A9 - Grue hydraulique. - Google Patents

Grue hydraulique. Download PDF

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Publication number
EP1798188A9
EP1798188A9 EP06125428A EP06125428A EP1798188A9 EP 1798188 A9 EP1798188 A9 EP 1798188A9 EP 06125428 A EP06125428 A EP 06125428A EP 06125428 A EP06125428 A EP 06125428A EP 1798188 A9 EP1798188 A9 EP 1798188A9
Authority
EP
European Patent Office
Prior art keywords
cylinder
hydraulic
crane
force
hydraulic cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP06125428A
Other languages
German (de)
English (en)
Other versions
EP1798188A2 (fr
EP1798188B1 (fr
EP1798188A3 (fr
Inventor
Lars Andersson
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.)
Cargotec Patenter AB
Original Assignee
Kone Cargotec Patenter HB
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 Kone Cargotec Patenter HB filed Critical Kone Cargotec Patenter HB
Publication of EP1798188A2 publication Critical patent/EP1798188A2/fr
Publication of EP1798188A9 publication Critical patent/EP1798188A9/fr
Publication of EP1798188A3 publication Critical patent/EP1798188A3/fr
Application granted granted Critical
Publication of EP1798188B1 publication Critical patent/EP1798188B1/fr
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
    • 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
    • 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
    • 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
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/24—Safety devices, e.g. for preventing overload
    • 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, preferably a lorry crane, according to the preamble of claim 1, a method according to the preamble of claim 5 for registration of lifting up or putting down of a load by such a crane, and a method according to the preamble of claim 8 for calculating the fatigue stressing of such a crane.
  • a hydraulic crane is, like all other mechanical constructions, subjected to an accumulated fatigue stressing during use.
  • the fatigue stressing has reached a certain value, large risks of crane breakdowns will ensue, which may result in serious personal injuries and expensive damages to the crane itself or to objects in the vicinity of the crane.
  • it is therefore a great need of calculating the accumulated fatigue stressing of the crane. Based on such a calculated fatigue stressing, it is possible to estimate the condition of the crane and its need of maintenance.
  • a method today used for calculating the accumulated fatigue stressing of hydraulic cranes is based on that the operating time of the crane is registered by means of a time counter. In this connection, the time during which the pump included in the hydraulic system is switched in is normally registered. However, this constitutes a rather bad measure of the accumulated fatigue stressing of the crane, since one and the same crane often is used for many different types of working operations having a very varying intensity.
  • EP 1 150 019 A1 it is known to provide a hydraulic crane with registration means that registers lifting up and putting down of a load by detecting the rate of the pressure changes in the lifting cylinder of the crane, a lifting up or putting down of a load being registered when the rate of a detected pressure change exceeds a predetermined value.
  • One or several sensors send information to the registration means as to the control and/or movements of the crane, and the registration means determines by means of this information whether or not a lowering movement of the crane is taking place.
  • the registration means is adapted not to register a lifting up of load when a rapid pressure change in the cylinder is detected in connection with a determined lowering movement.
  • the registration means is prevented from being “fooled” by the rapid pressure change caused by the induced pressure on the piston side of the cylinder that may 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 number of lifting cycles performed by the crane is established, which constitutes a measure that is well related to the accumulated fatigue stressing of the crane. It has been shown that the number of performed lifting cycles constitutes a considerable better measure on the fatigue stressing of the crane than the time during which the crane has been in operation.
  • Each lifting cycle is namely contributing in increasing the fatigue stressing of the crane and the duration of a lifting cycle may 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, for instance in order to lift and position a transformer and to keep this in place until it has been fixed on the intended place.
  • the number of lifting cycles and thereby the total fatigue stressing of the crane will be considerable higher than in the last mentioned case during one and the same time period.
  • the object of the present invention is to provide an alternative way of registering lifting up and putting down of a load by a hydraulic crane.
  • this object is achieved by means of a hydraulic crane having the features defined in claim 1 and a method having the features defined in claim 5.
  • lifting up or putting down of a load is registered in dependence on the rate of the changes in the cylinder force of the hydraulic cylinder of a crane boom, a lifting up or putting down of a load executed by the crane being registered when the rate of a detected change in the cylinder force exceeds a predetermined value.
  • liftings up and/or puttings down of load executed by the crane can be registered in a very simple manner and with simple and cheap means.
  • a value representing the prevailing cylinder force of the hydraulic cylinder is calculated based on measured hydraulic pressure on the piston side and measured hydraulic pressure on the piston stem side of the hydraulic cylinder, the rate of the changes in the cylinder force of the hydraulic cylinder being established based on the rate of change of this calculated value.
  • the invention also relates to a method for calculating the fatigue stressing of a hydraulic crane according to claim 8.
  • the expression force member is used to designate the hydraulic force members which execute the crane movements ordered by the operator of the crane. Consequently, the expression force member embraces the hydraulic cylinders 8, 9, 10, 14, 17 and 19 mentioned hereinafter.
  • the expression control member refers to the members, for instance operating levers or operating buttons, 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 force member.
  • said valve members consist of so-called directional-control-valve sections.
  • a hydraulic crane 1 attached to a frame 2 is shown in Fig 1, which frame for instance may 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 about 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 to the outer end 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 are moveable in relation to each other by means of a hydraulic grip cylinder 14 for opening and closing the bucket 12.
  • the rotator 11 is rotatable in relation to the extension boom 7 by means of a not shown hydraulic force member.
  • 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 may possible be retained, in which case the bucket 12 is 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 may further comprise an extension boom 18 which can be operated by means of a hydraulic extension boom cylinder 19.
  • One and the same crane may consequently be used for a large number of different working operations, the intensity (lifting frequency) of which varies considerably.
  • liftable and lowerable crane boom refers to a crane boom which by means of a hydraulic cylinder can be turned in a vertical plane in order to perform liftings and lowerings of a load carried by the crane.
  • the inner boom 5, the outer boom 6 and the jib boom 16 constitute such liftable and lowerable crane booms.
  • the expression "hydraulic cylinder for lifting and lowering the crane boom” refers to the hydraulic cylinder which is assigned to the liftable and lowerable crane boom and which executes turning thereof in a vertical plane.
  • the lifting cylinder 8, the outer boom cylinder 9 and the jib boom cylinder 17 constitute such hydraulic cylinders.
  • the crane 1 may also be provided with a hydraulically operable winch, which may be used in combination with a lifting hook either with or without a jib 15.
  • the crane 1 may also be provided with outer 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 force members 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 directional-control-valve section 23.
  • the position of the slide members in the directional-control-valve sections 23 is controlled either via a number of control members, for instance in the form of operating 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 member S1-S6 for each slide member.
  • the 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 magnitude and the direction of the flow of hydraulic fluid to a specific force member and thereby controls a specific crane function.
  • 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, which pumps excessive hydraulic fluid back to the reservoir 21, and an electrically controlled dump valve 27, which can be made to return the entire hydraulic flow from the pump 20 directly back to the reservoir 21.
  • the directional-control-valve block 22 is of load-sensing and pressure-compensating type, which implies that the magnitude of the hydraulic flow supplied to a force member always is proportional to the position of the slide member in the corresponding directional-control-valve section 23, i.e. proportional to the position of the operating lever 24.
  • the directional-control-valve section 23 comprises a pressure limiter 28, a pressure compensator 29 and a directional-control-valve 30.
  • Directional-control-valve blocks and directional-control-valve sections of this type are well-known and are available on the market. However, also other types of valve devices than the one here described may be used.
  • a load holding valve 31 is arranged between the respective force member 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 when the dump valve 27 is made to return the entire hydraulic flow from the pump 22 directly back to the reservoir 21.
  • the crane 1 further comprises registration means 35, which is adapted to register when the crane lifts up or puts down a load.
  • the registration means 35 registers this by detecting the rate of the changes in the cylinder force F c of a hydraulic cylinder which is connected to a liftable and lowerable crane boom for lifting and lowering thereof.
  • the registration means 35 is adapted to base the registrations of lifting up or putting down of load in dependence on the rate of the changes in the cylinder force F c of the crane's lifting cylinder 8.
  • the registration means 35 is adapted to register that the crane executes a lifting up or putting down of a load when the rate of a detected change in the cylinder force F c exceeds a predetermined value.
  • the cylinder force F c of the hydraulic cylinder 8 in question can be established by measuring the force on the piston stem 8c or cylinder 8d of the hydraulic cylinder by means of suitable measuring means, such as for instance strain gauges.
  • the crane 1 comprises a first measuring means 34a in the form of a pressure sensor for measuring the hydraulic pressure p 1 on the piston side of the hydraulic cylinder 8 and a second measuring means 34b in the form of a pressure sensor for measuring the hydraulic pressure p 2 on the piston stem side of the hydraulic cylinder 8.
  • the registration means 35 is adapted to receive, from these measuring means 34a, 34b, measuring values related to said hydraulic pressures p 1 , p 2 .
  • the registration means 35 is adapted to calculate a value representing the prevailing cylinder force F c of the hydraulic cylinder 8 based on the measuring values from the measuring means 34a, 34b as to the measured hydraulic pressure p 1 on the piston side and the measured hydraulic pressure p 2 on the piston stem side of the hydraulic cylinder 8.
  • the registration means 35 is further adapted to establish the rate of the changes in the cylinder force F c of the hydraulic cylinder 8 based on the rate of change of this calculated value.
  • the registration means 35 is suitable constituted by or included in an electronic processing unit 33 comprising a processor, for instance in the form of a microprocessor.
  • the crane 1 further comprises calculation means 36 for calculating the accumulated fatigue stressing of the crane, this calculation means 36 being adapted to calculate this fatigue stressing based on the number of liftings up and/or puttings down of load registered by the registration means 35.
  • the calculation means 36 is consequently adapted to receive information from the registration means 35 as to registered liftings up and/or puttings down of load.
  • the calculated fatigue stressing is presented to the operator of the crane and/or maintenance personell by means of suitable display means. It is also possible to let a signal or an alarm be emitted when the accumulated fatigue stressing has obtained a certain predetermined value.
  • Said calculation means 36 is with advantage integrated in one and the same unit 33 as the above-mentioned registration means 35, as illustrated in Fig 3.
  • the calculation means 36 and the registration means 35 could however be arranged in separate and mutually communicating units.
  • the information from a registration means 35 of the type here described may also be used for other functions of a crane than for calculation of accumulated fatigue stressing.
  • the information may for instance be utilized in a system for regulating the maximum allowed lifting force of a hydraulic crane, such as a system of the type more closely described in EP 1 151 958 A2 or EP 1 607 365 A1 .
EP06125428A 2005-12-14 2006-12-05 Grue hydraulique et méthode d'enregistrement. Active EP1798188B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0502744A SE530761C2 (sv) 2005-12-14 2005-12-14 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

Publications (4)

Publication Number Publication Date
EP1798188A2 EP1798188A2 (fr) 2007-06-20
EP1798188A9 true EP1798188A9 (fr) 2007-10-03
EP1798188A3 EP1798188A3 (fr) 2009-02-25
EP1798188B1 EP1798188B1 (fr) 2010-09-01

Family

ID=37685203

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06125428A Active EP1798188B1 (fr) 2005-12-14 2006-12-05 Grue hydraulique et méthode d'enregistrement.

Country Status (4)

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EP (1) EP1798188B1 (fr)
AT (1) ATE479624T1 (fr)
DE (1) DE602006016540D1 (fr)
SE (1) SE530761C2 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103939134B (zh) * 2014-04-17 2016-04-13 中国矿业大学 一种钢丝绳提升矿车取料机
CN107208403B (zh) * 2014-12-24 2020-12-29 昆士兰中部矿业供应有限公司 估计提升构件中的疲劳的系统和方法

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2443419A1 (fr) * 1978-12-04 1980-07-04 Ferodo Sa Dispositif dynamometrique pour engin a fleche, en particulier pour controle de basculement de celui-ci
SE9200878L (sv) * 1992-03-23 1993-07-05 Hiab Ab Hydraulisk kran med oekad maximal lyftkraft i hoeglaegesomraadet och saett att aastadkomma detta
JPH07187568A (ja) 1993-12-28 1995-07-25 Komatsu Ltd クレーンの制御装置
JPH0881977A (ja) * 1994-09-12 1996-03-26 Shin Caterpillar Mitsubishi Ltd 油圧ショベル
JPH11230821A (ja) * 1998-02-17 1999-08-27 Shin Caterpillar Mitsubishi Ltd ショベルクレーンの吊荷重検出装置
SE515089C2 (sv) 2000-04-28 2001-06-11 Hiab Ab 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
SE520536C2 (sv) 2000-04-28 2003-07-22 Hiab Ab Hydraulisk kran samt förfarande för reglering av den maximalt tillåtna lyftkraften hos en hydraulisk kran
ES2288235T3 (es) 2004-06-18 2008-01-01 Hiab Ab Grua hidraulica.

Also Published As

Publication number Publication date
EP1798188A2 (fr) 2007-06-20
SE0502744L (sv) 2007-06-15
DE602006016540D1 (de) 2010-10-14
EP1798188B1 (fr) 2010-09-01
SE530761C2 (sv) 2008-09-09
ATE479624T1 (de) 2010-09-15
EP1798188A3 (fr) 2009-02-25

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