EP1925586B1 - Mobile crane - Google Patents
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- EP1925586B1 EP1925586B1 EP20070022231 EP07022231A EP1925586B1 EP 1925586 B1 EP1925586 B1 EP 1925586B1 EP 20070022231 EP20070022231 EP 20070022231 EP 07022231 A EP07022231 A EP 07022231A EP 1925586 B1 EP1925586 B1 EP 1925586B1
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- crane
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- mobile crane
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- 238000012544 monitoring process Methods 0.000 claims description 13
- 241000288140 Gruiformes Species 0.000 description 53
- 238000004364 calculation method Methods 0.000 description 6
- 238000005259 measurement Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 241000124872 Grus grus Species 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012552 review Methods 0.000 description 1
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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
- B66C23/905—Devices for indicating or limiting lifting moment electrical
Definitions
- the invention relates to a mobile crane with an overload protection.
- a limit curve is usually stored today for different crane configurations, which is monitored during crane operation for exceeding.
- Relevant parameters for crane safety are, for example, the component strength of boom systems, hoisting ropes, turntables, adjusting cylinders, mechanical connections etc. on the one hand and the stability of the crane on the other hand.
- limit criteria the minimum of which forms the said limit curve, which is stored in a storage unit of the crane and which is monitored for overshoot during crane operation.
- a disadvantage here is that for each conceivable crane configuration, a separate limit curve or payload table must be stored, which is relatively expensive.
- EP 0 364 994 is described a crane control for a slewing crane, in particular a tower crane.
- a single-channel, Programmable logic controller provided in the memory data for movement and / or load limits of a hoist and movement limits of a boom drive are stored.
- the hoist and the boom drive sensors are assigned, which generate the movement or the load-proportional measurement signals.
- the controller controls the hoist and the boom drive depending on the stored limit data and the measuring signal of the encoder.
- a crane according to the preamble of claim 1 is known from DE 199 33917A1 known.
- the object of the present invention is therefore to develop a mobile crane of the type mentioned in such a way that the scope of saving data and that the possibility is opened to ensure a particularly safe crane operation.
- One advantage of the invention is that the amount of data to be stored or the payload table size can be reduced, since all component limit criteria do not always have to change each time a crane configuration is changed.
- the cantilever strength is independent of the ballast configuration, the uppercarriage angle, etc., so that it does not change with such a change in the crane configuration and therefore need not be re-stored.
- both the individual limit curves mentioned or the individual limit values of the various parameters and the minimum of the limit curves or limit values are monitored for excess or approximation. It can thus be monitored as usual, the minimum and in addition a diversified monitoring of individual criteria are made, whereby the safety of the crane operation is increased.
- advantages are thus on the one hand in the reduction of the load capacity table circumference and second, to see in the improvement in crane safety.
- the various parameters are operating parameters such as, for example, the stability of the crane, and / or component-specific parameters, such as the strength of components of the crane.
- At least one parameter is the strength of the undercarriage and / or the upper carriage, and / or the turntable, and / or of cylinders, in particular of the luffing cylinder.
- At least one, preferably several or all of the limit curves represent the permissible load on the projection for the various parameters.
- Such a representation contains individual limit curves for the various parameters, such as cantilever strength, undercarriage strength, superstructure strength, etc., wherein in this embodiment of the invention on the ordinate the permissible load and on the abscissa the projection is plotted.
- Other limit curves are conceivable.
- At least one of the limit curves may represent the dependency of the cantilever strength on the degrees of freedom of the cantilever, in particular on its pivot angle in the teetering plane or its projection or over the boom length or based on this dependence.
- it can thus be provided to store the cantilever strength for different pivoting angles as a function of the boom length or also the cantilever strength for different cantilever lengths as a function of the pivoting angle as limit curves.
- the cantilever strength can be monitored independently of the support situation, the ballast configuration, the superstructure angle of rotation, or independently of these variables, it must only be stored on the crane once per degree of freedom.
- At least one of the limit values or at least one of the limit curves represents the permissible torque on the turntable between the lower and upper carriages or is based on the permissible torque. If the torque on the slewing ring between the crane undercarriage and the revolving platform or superstructure is calculated via the masses of the components that can be revolved with the superstructure, such as revolving platform, boom system, the load at this point can be monitored against a turntable limit curve. Of course, the same sizes can be used to monitor the undercarriage.
- At least one of the limit values is the hoisting rope strength or, for example, the strength of the hook block.
- the permissible load over the radius of this limit or the limit curve is horizontal, since the hoist rope strength and the strength of the hook bottle is independent of the projection.
- At least one of the limits is the allowable pressure in one of the cylinders. It is also conceivable that at least one of the limit curves represents or is based on the permissible pressure in a cylinder as a function of its extension length. If one stores the limit pressure of a cylinder or a limit pressure curve over the extension length, then each working cylinder at the crane, which is equipped with a pressure transducer, can be monitored for a constant limit pressure and in the presence of an additional length transmitter or by indirect calculation of the extension length of the cylinder on a length-dependent limit become. In this way it can be ensured that during crane operation, the maximum permissible strength or load capacity of cylinders, for example, the rocking cylinder is not exceeded.
- the means for ensuring the crane safety are formed by different computers or processors, one of which the individual limit curves or the individual limits of the various parameters and the other the minimum of Limit curves or limits monitored for overshoot or approximation.
- a comparison unit may be provided which compares the result of the monitoring by the first and by the second computer or processor and which emits a signal or prevents the further crane operation, if there is a discrepancy in the results of the review.
- the means for ensuring crane safety are formed by different computers or processors, which are designed such that they monitor the limit curves or limit values for exceeding or approach in different ways. It is conceivable, for example, that such an overrun or approximation is carried out on the one hand on the basis of a calculation and on the other hand due to a measurement. It is conceivable, for example, that the undercarriage is a load measurement, is checked on the basis of whether the stability of the crane is guaranteed and that in the uppercarriage a calculation is made by means of which should also be checked whether the stability is guaranteed.
- a comparison unit is provided which compares the result of these monitorings with each other and outputs a signal or inhibits further crane operation if a discrepancy or a discrepancy above a limit results in the results of the monitoring.
- the stability criteria with knowledge of all priorities and weights of crane components and knowledge of the current position of the moving components via sensors such as angle and length encoders are calculated at any time on the crane and monitored for allowable limit position.
- the stability is calculated according to common crane regulations.
- the center of gravity of the crane can be determined within its tilting lines.
- the approach to a tipping line can be determined by turning the crane superstructure and by lowering the rotational speed to a standstill or by any other measure that affects the load torque in an appropriate manner, exceeding the tipping line and thus tilting of the crane can be prevented. It is conceivable, for example, to provide in the support cylinders of the crane undercarriage thruster, via which the total weight of the crane including load and the distribution can be determined on the individual support points.
- the single figure shows different individual limit curves for different parameters, where "AF” is the boom strength, "SS” the stability, “KW4.5” the tilt angle, (4.5 °) "UG” the undercarriage load, “DG” the slewing limit load , “HG” represent the hoisting rope limit load and “WZ” represent the limit curve of the luffing cylinder.
- the said limit curves stored in a memory of the crane relate to the dependence of the load on the discharge and show that the maximum load for a given discharge varies for the different parameters shown.
- the Load limit with a reach of between 3 and 12 meters is determined by the undercarriage limit strength, while in the case of overhangs over 12 meters, the boom rigidity plays the essential role in terms of load limitation.
- a plurality of individual limit curves which are shown as examples in the figure, are stored in the memory of the crane, whereby a diverse monitoring of these individual criteria for the purpose of ensuring crane safety is made possible.
- this diversified monitoring of the individual criteria in addition to the usual monitoring of the minimum, d. H. the limit curve that represents the minimum of various limit criteria for a particular crane configuration.
- the present invention provides different computers or processors which check the crane safety with different algorithms or calculation methods, independently of each other. If different results are obtained, this can be displayed to the crane driver in a suitable manner or the further crane operation can be prevented.
- the present invention thus enables redundant monitoring and diversification of the monitoring of individual failure criteria, which is not known from the prior art.
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Description
Die Erfindung betrifft einen Mobilkran mit einer Überlastsicherung.The invention relates to a mobile crane with an overload protection.
Bei der Überlastsicherung von Kranen wird heute üblicherweise für unterschiedliche Krankonfigurationen eine Grenzkurve gespeichert, die während des Kranbetriebes auf Überschreiten überwacht wird. Für die Kransicherheit relevante Parameter sind beispielsweise die Bauteilfestigkeit von Auslegersystemen, Hubseilen, Drehkranz, Verstellzylindern, mechanischen Verbindungen etc. einerseits und die Standsicherheit des Krans andererseits. Zu jedem dieser Parameter existieren Grenzkriterien, von denen das Minimum die genannte Grenzkurve bildet, die in einer Speichereinheit des Krans abgelegt ist und die während des Kranbetriebes auf Überschreitung überwacht wird.In the overload protection of cranes, a limit curve is usually stored today for different crane configurations, which is monitored during crane operation for exceeding. Relevant parameters for crane safety are, for example, the component strength of boom systems, hoisting ropes, turntables, adjusting cylinders, mechanical connections etc. on the one hand and the stability of the crane on the other hand. For each of these parameters there are limit criteria, the minimum of which forms the said limit curve, which is stored in a storage unit of the crane and which is monitored for overshoot during crane operation.
Ein Nachteil dabei besteht darin, dass für jede denkbare Kranfiguration eine eigene Grenzkurve bzw. Traglasttabelle gespeichert werden muß, was vergleichsweise aufwendig ist.A disadvantage here is that for each conceivable crane configuration, a separate limit curve or payload table must be stored, which is relatively expensive.
In
Ein Kran gemäß dem Oberbegriff des Anspruchs 1 ist aus der
Die Aufgabe der vorliegenden Erfindung besteht daher darin, einen Mobilkran der eingangs genannten Art dahingehend weiterzubilden, dass sich der Umfang der zu speichernden Daten reduziert und dass die Möglichkeit eröffnet wird, einen besonders sicheren Kranbetrieb zu gewährleisten.The object of the present invention is therefore to develop a mobile crane of the type mentioned in such a way that the scope of saving data and that the possibility is opened to ensure a particularly safe crane operation.
Diese Aufgabe wird durch einen Mobilkran mit den Merkmalen des Anspruchs 1 gelöst.This object is achieved by a mobile crane with the features of claim 1.
Ein Vorteil der Erfindung besteht darin, dass sich die Menge der zu speichernden Daten bzw. der Traglasttabellenumfang reduzieren lässt, da sich nicht stets mit jeder Änderung einer Krankonfiguration alle Bauteilgrenzkriterien ändern müssen. Beispielsweise ist die Auslegerfestigkeit unabhängig von der Ballastkonfiguration, vom Oberwagendrehwinkel etc, so dass sich diese bei einer derartigen Änderung der Krankonfiguration nicht ändert und daher nicht neu abgespeichert werden muß.One advantage of the invention is that the amount of data to be stored or the payload table size can be reduced, since all component limit criteria do not always have to change each time a crane configuration is changed. For example, the cantilever strength is independent of the ballast configuration, the uppercarriage angle, etc., so that it does not change with such a change in the crane configuration and therefore need not be re-stored.
Vorzugsweise ist vorgesehen, dass sowohl die genannten einzelnen Grenzkurven oder die einzelnen Grenzwerte der verschiedenen Parameter als auch das Minimum der Grenzkurven oder Grenzwerte auf Überschreitung oder Annäherung überwacht wird. Es kann somit wie bisher üblich das Minimum überwacht werden und zusätzlich eine diversitäre Überwachung von Einzelkriterien vorgenommen werden, wodurch die Sicherheit des Kranbetriebes erhöht wird. In dieser Ausgestaltung der Erfindung sind Vorteile somit zum einen in der Reduzierung des Traglastabellenumfangs und zum anderen in der Verbesserung in der Kransicherheit zu sehen.It is preferably provided that both the individual limit curves mentioned or the individual limit values of the various parameters and the minimum of the limit curves or limit values are monitored for excess or approximation. It can thus be monitored as usual, the minimum and in addition a diversified monitoring of individual criteria are made, whereby the safety of the crane operation is increased. In this embodiment of the invention, advantages are thus on the one hand in the reduction of the load capacity table circumference and second, to see in the improvement in crane safety.
Denkbar ist beispielsweise, dass es sich bei den verschiedenen Parametern um Betriebsparameter wie beispielsweise die Standsicherheit des Krans, und/oder um bauteilspezifische Parameter, wie die Festigkeit von Bauteilen des Krans handelt.It is conceivable, for example, that the various parameters are operating parameters such as, for example, the stability of the crane, and / or component-specific parameters, such as the strength of components of the crane.
Bei mindestens einem Parameter handelt es sich um die Festigkeit des Unterwagens und/oder des Oberwagens, und/oder des Drehkranzes, und/oder von Zylindern, insbesondere des Wippzylinders.At least one parameter is the strength of the undercarriage and / or the upper carriage, and / or the turntable, and / or of cylinders, in particular of the luffing cylinder.
In einer Ausgestaltung der Erfindung ist vorgesehen, dass wenigstens eine, vorzugsweise mehrere oder alle der Grenzkurven die zulässige Traglast über die Ausladung für die verschiedenen Parameter darstellen. Eine derartige Darstellung enthält einzelne Grenzkurven für die verschiedenen Parameter, wie beispielsweise Auslegerfestigkeit, Unterwagenfestigkeit, Oberwagenfestigkeit etc., wobei in dieser Ausgestaltung der Erfindung auf der Ordinate die zulässige Traglast und auf der Abszisse die Ausladung aufgetragen ist. Auch andere Grenzkurven sind denkbar.In one embodiment of the invention it is provided that at least one, preferably several or all of the limit curves represent the permissible load on the projection for the various parameters. Such a representation contains individual limit curves for the various parameters, such as cantilever strength, undercarriage strength, superstructure strength, etc., wherein in this embodiment of the invention on the ordinate the permissible load and on the abscissa the projection is plotted. Other limit curves are conceivable.
Wenigstens eine der Grenzkurven kann die Abhängigkeit der Auslegerfestigkeit über die Freiheitsgrade des Auslegers, insbesondere über dessen Schwenkwinkel in der Wippebene bzw. seine Ausladung oder über die Auslegerlänge darstellen oder auf dieser Abhängigkeit basieren. In diesem Fall kann somit vorgesehen sein, die Auslegerfestigkeit für verschiedene Schwenkwinkel in Abhängigkeit von der Auslegerlänge oder auch die Auslegerfestigkeit für verschiedene Auslegerlängen in Abhängigkeit vom Schwenkwinkel als Grenzkurven abzuspeichern.At least one of the limit curves may represent the dependency of the cantilever strength on the degrees of freedom of the cantilever, in particular on its pivot angle in the teetering plane or its projection or over the boom length or based on this dependence. In this case, it can thus be provided to store the cantilever strength for different pivoting angles as a function of the boom length or also the cantilever strength for different cantilever lengths as a function of the pivoting angle as limit curves.
Da die Auslegerfestigkeit unabhängig von der Abstützsituation, der Ballastkonfiguration, dem Oberwagendrehwinkel ist, bzw. unabhängig von diesen Größen überwacht werden kann, ist sie nur einmal pro Freiheitsgrad auf dem Kran zu speichern.Since the cantilever strength can be monitored independently of the support situation, the ballast configuration, the superstructure angle of rotation, or independently of these variables, it must only be stored on the crane once per degree of freedom.
In weiterer Ausgestaltung der Erfindung ist vorgesehen, dass wenigstens einer der Grenzwerte oder wenigstens eine der Grenzkurven das zulässige Moment am Drehkranz zwischen Unter- und Oberwagen darstellt oder auf dem zulässigen Moment basiert. Wird über die Massen der mit dem Oberwagen drehbaren Bauteile, wie Drehbühne, Auslegersystem, Ballast das Moment am Drehkranz zwischen Kranunterwagen und Drehbühne bzw. Oberwagen berechnet, so kann die Belastung an dieser Stelle gegen eine Drehkranzgrenzkurve überwacht werden. Selbstverständlich können die gleichen Größen zur Überwachung der Unterwagengrenze herangezogen werden.In a further embodiment of the invention, it is provided that at least one of the limit values or at least one of the limit curves represents the permissible torque on the turntable between the lower and upper carriages or is based on the permissible torque. If the torque on the slewing ring between the crane undercarriage and the revolving platform or superstructure is calculated via the masses of the components that can be revolved with the superstructure, such as revolving platform, boom system, the load at this point can be monitored against a turntable limit curve. Of course, the same sizes can be used to monitor the undercarriage.
In weiterer Ausgestaltung der Erfindung ist wenigstens einer der Grenzwerte die Hubseilfestigkeit oder beispielsweise die Festigkeit der Hakenflasche. In einer Darstellung der zulässigen Traglast über die Ausladung verläuft dieser Grenzwert bzw. die Grenzkurve horizontal, da die Hubseilfestigkeit bzw. die Festigkeit der Hakenflasche von der Ausladung unabhängig ist.In a further embodiment of the invention, at least one of the limit values is the hoisting rope strength or, for example, the strength of the hook block. In a representation of the permissible load over the radius of this limit or the limit curve is horizontal, since the hoist rope strength and the strength of the hook bottle is independent of the projection.
In weiterer Ausgestaltung der Erfindung ist wenigstens einer der Grenzwerte der zulässigen Druck in einem der Zylinder. Ebenfalls ist denkbar, dass wenigstens eine der Grenzkurven den zulässigen Druck in einem Zylinder in Abhängigkeit von dessen Ausfahrlänge darstellt oder darauf basiert. Speichert man den Grenzdruck eines Zylinders oder eine Grenzdruckkurve über die Ausfahrlänge, so kann jeder Arbeitszylinder am Kran, der mit einem Druckgeber ausgestattet ist, auf einen konstanten Grenzdruck und bei Vorhandensein eines zusätzlichen Längengebers oder durch mittelbare Berechnung der Ausfahrlänge des Zylinders auf eine längenabhängige Grenze überwacht werden. Auf diese Weise kann sichergestellt werden, dass während des Kranbetriebs die maximal zulässige Festigkeit bzw. Belastbarkeit von Zylindern, beispielsweise vom Wippzylinder nicht überschritten wird.In a further embodiment of the invention, at least one of the limits is the allowable pressure in one of the cylinders. It is also conceivable that at least one of the limit curves represents or is based on the permissible pressure in a cylinder as a function of its extension length. If one stores the limit pressure of a cylinder or a limit pressure curve over the extension length, then each working cylinder at the crane, which is equipped with a pressure transducer, can be monitored for a constant limit pressure and in the presence of an additional length transmitter or by indirect calculation of the extension length of the cylinder on a length-dependent limit become. In this way it can be ensured that during crane operation, the maximum permissible strength or load capacity of cylinders, for example, the rocking cylinder is not exceeded.
In weiterer Ausgestaltung der Erfindung ist vorgesehen, dass die Mittel zur Gewährleistung der Kransicherheit durch unterschiedliche Rechner oder Prozessoren gebildet werden, von denen einer die einzelnen Grenzkurven oder die einzelnen Grenzwerte der verschiedenen Parameter und der andere das Minimum der Grenzkurven oder Grenzwerte auf Überschreitung oder Annäherung überwacht. Dabei kann eine Vergleichseinheit vorgesehen sein, die das Ergebnis der Überwachung durch den ersten und durch den zweiten Rechner oder Prozessor vergleicht und die ein Signal abgibt oder den weiteren Kranbetrieb unterbindet, wenn sich eine Diskrepanz in den Ergebnissen der Überprüfung ergibt.In a further embodiment of the invention it is provided that the means for ensuring the crane safety are formed by different computers or processors, one of which the individual limit curves or the individual limits of the various parameters and the other the minimum of Limit curves or limits monitored for overshoot or approximation. In this case, a comparison unit may be provided which compares the result of the monitoring by the first and by the second computer or processor and which emits a signal or prevents the further crane operation, if there is a discrepancy in the results of the review.
In einer weiteren Ausgestaltung der Erfindung ist vorgesehen, dass die Mittel zur Gewährleistung der Kransicherheit durch unterschiedliche Rechner oder Prozessoren gebildet werden, die derart ausgeführt sind, dass sie auf unterschiedlichen Wegen die Grenzkurven oder Grenzwerte auf Überschreitung oder Annäherung überwachen. Denkbar ist beispielsweise, dass eine solche Überschreitung oder Annäherung einerseits aufgrund einer Berechnung und andererseits aufgrund einer Messung durchgeführt wird. Denkbar ist beispielsweise, dass am Unterwagen eine Lastmessung erfolgt, auf deren Grundlage überprüft wird, ob die Standsicherheit des Krans gewährleistet ist und dass im Oberwagen eine Berechnung vorgenommen wird, mittels derer ebenfalls überprüft werden soll, ob die Standsicherheit gewährleistet ist. Vorzugsweise ist eine Vergleichseinheit vorgesehen, die das Ergebnis dieser Überwachungen miteinander vergleicht und ein Signal abgibt oder den weiteren Kranbetrieb unterbindet, wenn sich eine Diskrepanz bzw. eine über einem Grenzwert liegende Diskrepanz in den Ergebnissen der Überwachung ergibt.In a further embodiment of the invention, it is provided that the means for ensuring crane safety are formed by different computers or processors, which are designed such that they monitor the limit curves or limit values for exceeding or approach in different ways. It is conceivable, for example, that such an overrun or approximation is carried out on the one hand on the basis of a calculation and on the other hand due to a measurement. It is conceivable, for example, that the undercarriage is a load measurement, is checked on the basis of whether the stability of the crane is guaranteed and that in the uppercarriage a calculation is made by means of which should also be checked whether the stability is guaranteed. Preferably, a comparison unit is provided which compares the result of these monitorings with each other and outputs a signal or inhibits further crane operation if a discrepancy or a discrepancy above a limit results in the results of the monitoring.
Denkbar ist beispielsweise, dass die Standsicherheitskriterien bei Kenntnis aller Schwerpunkte und Gewichte der Kranbauteile und bei Kenntnis der aktuellen Stellung der beweglichen Bauteile über Sensoren wie Winkel - und Längengeber zu jedem Zeitpunkt auf dem Kran gerechnet und auf zulässige Grenzstellung überwacht werden. Somit erfolgt eine Berechnung der Standsicherheit entsprechend gängiger Kranvorschriften. Durch einen Eingriff in das Drehwerk bzw. in eine das Lastmoment beeinflussende Bewegung bzw. Absenken der Drehgeschwindigkeit des Kranoberwagens kann ein Kippen des Krans verhindert werden. Hierzu ist die Speicherung aller relevanter Bauteildaten auf dem Kran notwendig.It is conceivable, for example, that the stability criteria with knowledge of all priorities and weights of crane components and knowledge of the current position of the moving components via sensors such as angle and length encoders are calculated at any time on the crane and monitored for allowable limit position. Thus, the stability is calculated according to common crane regulations. By engaging in the slewing gear or in a load moment influencing the movement or lowering the rotational speed of the crane superstructure tilting of the crane can be prevented. This requires the storage of all relevant component data on the crane.
Parallel dazu kann durch eine geeignete Sensorik im unteren Bereich des Kranunterwagens in verschiedenen Positionen, die mathematisch voneinander unabhängig sind, der Schwerpunkt des Krans inklusive der Last am Haken innerhalb seiner Kipplinien festgestellt werden. Dabei kann die Annäherung an eine Kipplinie durch Drehen des Kranoberwagens ermittelt werden und durch Absenken der Drehgeschwindigkeit bis zum Stillstand oder durch eine andere Maßnahme, die in geeigneter Weise das Lastmoment beeinflußt, ein Überschreiten der Kipplinie und damit ein Kippen des Krans verhindert werden. Denkbar ist beispielsweise, in den Abstützzylindern des Kranunterwagens Druckgeber vorzusehen, über die das Gesamtgewicht des Krans inklusive Last und die Verteilung auf die einzelnen Stützstellen ermittelt werden kann.In parallel, by means of suitable sensors in the lower area of the crane undercarriage in various positions which are mathematically independent of one another, the center of gravity of the crane, including the load on the hook, can be determined within its tilting lines. In this case, the approach to a tipping line can be determined by turning the crane superstructure and by lowering the rotational speed to a standstill or by any other measure that affects the load torque in an appropriate manner, exceeding the tipping line and thus tilting of the crane can be prevented. It is conceivable, for example, to provide in the support cylinders of the crane undercarriage thruster, via which the total weight of the crane including load and the distribution can be determined on the individual support points.
Somit ist es denkbar, im Kranoberwagen eine Berechnung des Lastmoments und im Kranunterwagen eine Messung der Lastverhältnisse vorzunehmen und basierend auf diesen beiden Messungen zu prüfen, ob die Standsicherheit gewährleistet ist. Erfindungsgemäß kann somit eine Redundanz sowie eine Diversifikation erhalten werden, wobei die genannten unterschiedlichen Rechner vorzugsweise nach unterschiedlichen Algorithmen bzw. Rechenmethoden arbeiten. Es ergibt sich somit eine Mehrkanaligkeit bzw. Zweikanaligkeit, durch die die Kransicherheit entsprechend verbessert werden kann.Thus, it is conceivable to carry out a calculation of the load torque in the crane superstructure and to measure the load conditions in the crane undercarriage and to check, based on these two measurements, whether the stability is ensured. According to the invention, a redundancy and a diversification can thus be obtained, wherein the said different computers preferably work according to different algorithms or calculation methods. This results in a multi-channel or dual-channel, by which the crane safety can be improved accordingly.
Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels erläutert.Further details and advantages of the invention will be explained with reference to an embodiment shown in the drawing.
Die einzige Figur zeigt unterschiedliche Einzel-Grenzkurven für unterschiedliche Parameter, wobei "AF" die Auslegerfestigkeit, "SS" die Standsicherheit, "KW4.5" den Kippwinkel, (4,5°) "UG" die Unterwagengrenzbelastung, "DG" die Drehkranzgrenzbelastung, "HG" die Hubseilgrenzbelastung und "WZ" die Grenzkurve des Wippzylinders darstellen. Die genannten in einem Speicher des Krans abgelegten Grenzkurven betreffen die Abhängigkeit der Traglast von der Ausladung und zeigen, dass die maximale Traglast bei vorgegebener Ausladung für die unterschiedlichen dargestellten Parameter variiert. In dem hier dargestellten Beispiel wird die Traglastgrenze bei einer Ausladung zwischen 3 und 12 Metern durch die Unterwagengrenzfestigkeit bestimmt, während bei Ausladungen über 12 Metern die Auslegerfestigkeit hinsichtlich der Traglastbeschränkung die wesentliche Rolle spielt.The single figure shows different individual limit curves for different parameters, where "AF" is the boom strength, "SS" the stability, "KW4.5" the tilt angle, (4.5 °) "UG" the undercarriage load, "DG" the slewing limit load , "HG" represent the hoisting rope limit load and "WZ" represent the limit curve of the luffing cylinder. The said limit curves stored in a memory of the crane relate to the dependence of the load on the discharge and show that the maximum load for a given discharge varies for the different parameters shown. In the example shown here is the Load limit with a reach of between 3 and 12 meters is determined by the undercarriage limit strength, while in the case of overhangs over 12 meters, the boom rigidity plays the essential role in terms of load limitation.
Erfindungsgemäß ist vorgesehen, dass in dem Speicher des Krans eine Vielzahl einzelner Grenzkurven, die in der Figur exemplarisch dargestellt sind, abgespeichert sind, wodurch eine diversitäre Überwachung dieser Einzelkriterien zum Zwekke der Gewährleistung der Kransicherheit ermöglicht wird. Vorzugsweise ist vorgesehen, dass diese diversitäre Überwachung der Einzelkriterien zusätzlich zu der bisher üblichen Überwachung des Minimums, d. h. der Grenzkurve erfolgt, die das Minimum aus verschiedenen Grenzkriterien für eine bestimmte Krankonfiguration darstellt.According to the invention, a plurality of individual limit curves, which are shown as examples in the figure, are stored in the memory of the crane, whereby a diverse monitoring of these individual criteria for the purpose of ensuring crane safety is made possible. Preferably, it is provided that this diversified monitoring of the individual criteria in addition to the usual monitoring of the minimum, d. H. the limit curve that represents the minimum of various limit criteria for a particular crane configuration.
Die vorliegende Erfindung sieht in einer bevorzugten Ausgestaltung unterschiedliche Rechner bzw. Prozessoren vor, die mit unterschiedlichen Algorithmen bzw. Rechenmethoden die Kransicherheit überprüfen, und zwar unabhängig voneinander. Werden unterschiedliche Ergebnisse erhalten, kann dies dem Kranfahrer in geeigneter Weise angezeigt werden bzw. kann der weitere Kranbetrieb unterbunden werden. Durch die vorliegende Erfindung wird somit eine redundante Überwachung und eine Diversifikation der Überwachung von Einzelversagenskriterien ermöglicht, die aus dem Stand der Technik nicht bekannt ist.In a preferred embodiment, the present invention provides different computers or processors which check the crane safety with different algorithms or calculation methods, independently of each other. If different results are obtained, this can be displayed to the crane driver in a suitable manner or the further crane operation can be prevented. The present invention thus enables redundant monitoring and diversification of the monitoring of individual failure criteria, which is not known from the prior art.
Claims (14)
- A mobile crane having one or more memory units in which individual limit curves or limit values for various parameters of the crane are stored which may not be exceeded or which may only be exceeded while outputting an alarm signal to ensure the security of the crane operation as well as having means for ensuring the crane security which are designed such that they monitor the individual limit curves or limit values of the various parameters for their exceeding, wherein one of the limit curves represents the dependence of the boom strength over the degrees of freedom of the boom or is based on this dependence,
characterised in that
at least one further parameter is the strength of the undercarriage and/or of the superstructure and/or of the rotating assembly and/or of cylinders, in particular of the luffing cylinder. - A mobile crane in accordance with claim 1, characterised in that the means for ensuring the crane security are designed such that both the individual limit curves or the individual limit values of the various parameters and the minimum of the limit curves or limit values are monitored for their exceeding or approaching.
- A mobile crane in accordance with claim 1 or claim 2, characterised in that the various parameters are operating parameters such as the stability of the crane and component parameters such as the strength of components of the crane.
- A mobile crane in accordance with one of the preceding claims, characterised in that the at least one further parameter is the strength of the hoist rope and/or of the hook block.
- A mobile crane in accordance with one of the preceding claims, characterised in that at least one of the limit curves represents the permitted payload over the radius for the various parameters.
- A mobile crane in accordance with one of the preceding claims, characterised in that at least one of the limit curves represents the dependence of the boom strength over on its pivot angle in the luffing plane or over its radius or over the boom length or is based on this dependence.
- A mobile crane in accordance with one of the preceding claims, characterised in that at least one of the limit values or at least one of the limit curves represents the permitted torque at the rotating assembly between the undercarriage and the superstructure or is based on the permitted torque.
- A mobile crane in accordance with one of the preceding claims, characterised in that at least one of the limit values represents the hoist rope strength and/or the strength of the hook block or is based thereon.
- A mobile crane in accordance with one of the preceding claims, characterised in that at least one of the limit values represents the permitted pressure in a cylinder or is based thereon.
- A mobile crane in accordance with one of the preceding claims, characterised in that at least one of the limit curves represents the permitted pressure in a cylinder in dependence on its extension length or is based thereon.
- A mobile crane in accordance with one of the preceding claims, characterised in that the means for ensuring the crane security are formed by different computers or processors of which one monitors the individual limit curves or the individual limit values of the various parameters and the other monitors the minimum of the limit curves or limit values for their exceeding or approaching.
- A mobile crane in accordance with claim 11, characterised in that a comparator is provided which compares the result of the monitoring by the first and by the second computers or processors; and in that a signal is output or the further crane operation is stopped when a discrepancy in the results of the monitoring results.
- A mobile crane in accordance with one of the preceding claims, characterised in that the means for ensuring the crane security are formed by different computers or processors which are designed such that they monitor the limit curves or limit values for their exceeding or approaching in a different manner.
- A mobile crane in accordance with claim 13, characterised in that a comparator is provided which compares the result of the monitoring by the different computers or processors; and in that a signal is output or the further crane operation is stopped when a discrepancy in the results of the monitoring results.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE200620017730 DE202006017730U1 (en) | 2006-11-21 | 2006-11-21 | mobile crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP1925586A1 EP1925586A1 (en) | 2008-05-28 |
| EP1925586B1 true EP1925586B1 (en) | 2013-01-16 |
Family
ID=39091793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP20070022231 Active EP1925586B1 (en) | 2006-11-21 | 2007-11-15 | Mobile crane |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP1925586B1 (en) |
| DE (1) | DE202006017730U1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014105618A1 (en) | 2014-04-22 | 2015-10-22 | Terex Cranes Germany Gmbh | Method and device for operating a mobile crane and mobile crane |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102012011726C5 (en) | 2012-06-13 | 2024-06-13 | Liebherr-Werk Ehingen Gmbh | Method for operating a crane with monitoring unit and crane |
| US9446935B2 (en) | 2012-06-13 | 2016-09-20 | Liebherr-Werk Ehingen Gmbh | Method for monitoring crane safety and crane |
| DE102012011871B4 (en) | 2012-06-13 | 2020-09-03 | Liebherr-Werk Ehingen Gmbh | Procedure for monitoring crane safety and crane |
| DE102015112194B4 (en) | 2015-07-27 | 2019-01-03 | Manitowoc Crane Group France Sas | Method for planning or monitoring the movement of a crane and crane |
| DE102016104358B4 (en) * | 2016-03-10 | 2019-11-07 | Manitowoc Crane Group France Sas | Method for determining the carrying capacity of a crane and crane |
| CN113620191A (en) * | 2020-05-09 | 2021-11-09 | 徐州重型机械有限公司 | Crane operation protection method, device and system and crane |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2400310C3 (en) * | 1974-01-04 | 1981-02-26 | Erhard 5509 Kell Kirsten | Tilting moment protection for a telescopic jib crane |
| DE3605462A1 (en) * | 1986-02-24 | 1987-08-27 | Mo N Proizv Ob Str Dorozh Mash | METHOD FOR SECURING SAFE OPERATION OF SELF-DRIVING Jib Cranes, AND SYSTEM FOR CARRYING OUT THE SAME |
| DE3835522A1 (en) | 1988-10-19 | 1990-05-03 | Man Ghh Krantechnik | CRANE CONTROL |
| JP2000034093A (en) * | 1998-07-21 | 2000-02-02 | Kobe Steel Ltd | Slewing type working machinery and its safety working area and setting method of rated load |
| DE29906524U1 (en) * | 1999-04-13 | 1999-09-02 | Klaas Theodor Gmbh & Co | Roofing crane with a crane boom |
| DE10023418A1 (en) * | 2000-05-12 | 2001-11-15 | Liebherr Werk Nenzing | Procedure for overload protection of a mobile crane |
| DE10110176A1 (en) * | 2001-03-02 | 2002-09-05 | Putzmeister Ag | Mobile work-tool, especially concrete pumping vehicle has force sensors in each support foot monitored by an evaluating electronics |
| DE10147777B4 (en) * | 2001-09-27 | 2005-06-23 | Rheinmetall Landsysteme Gmbh | Device for increasing the stability of mobile crane systems |
| US7014054B2 (en) * | 2002-07-01 | 2006-03-21 | Jlg Industries, Inc. | Overturning moment measurement system |
-
2006
- 2006-11-21 DE DE200620017730 patent/DE202006017730U1/en not_active Expired - Lifetime
-
2007
- 2007-11-15 EP EP20070022231 patent/EP1925586B1/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014105618A1 (en) | 2014-04-22 | 2015-10-22 | Terex Cranes Germany Gmbh | Method and device for operating a mobile crane and mobile crane |
| US10144621B2 (en) | 2014-04-22 | 2018-12-04 | Terex Global Gmbh | Method and device for operating a mobile crane and mobile crane |
Also Published As
| Publication number | Publication date |
|---|---|
| DE202006017730U1 (en) | 2008-04-03 |
| EP1925586A1 (en) | 2008-05-28 |
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