EP2113481A1 - Grue mobile avec système de supervision - Google Patents

Grue mobile avec système de supervision Download PDF

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Publication number
EP2113481A1
EP2113481A1 EP09005547A EP09005547A EP2113481A1 EP 2113481 A1 EP2113481 A1 EP 2113481A1 EP 09005547 A EP09005547 A EP 09005547A EP 09005547 A EP09005547 A EP 09005547A EP 2113481 A1 EP2113481 A1 EP 2113481A1
Authority
EP
European Patent Office
Prior art keywords
crane
mobile crane
limit
mobile
parameters
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.)
Ceased
Application number
EP09005547A
Other languages
German (de)
English (en)
Inventor
Erwin Morath
Peter Abel
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.)
Liebherr Werk Ehingen GmbH
Original Assignee
Liebherr Werk Ehingen GmbH
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 Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of EP2113481A1 publication Critical patent/EP2113481A1/fr
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • 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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated

Definitions

  • the invention relates to a mobile crane with an overload protection according to the preamble of claim 1.
  • 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 during crane operation for overshoot.
  • a disadvantage of such overload protection is that for every conceivable crane configuration and each support position including the extendable and retractable supports own limit curve or payload table must be stored, which is relatively expensive.
  • the mobile crane comprises detecting means for detecting the supporting forces in the support cylinders and a control device which communicates with the detection means and which is designed such that they the extension and / or retraction of the support cylinder in dependence on the means of Detecting means detected support forces or parameters controls.
  • a mobile crane can already determine the length of the boom, the radius, the angle of the boom and other operating parameters depending on the weight attached, here the different strength values according to the load table and also the stability for a particular state of the support be taken into account.
  • the supports of the support of the mobile crane can not be moved into the defined target positions. For this example, insufficient space in the construction of the mobile crane are responsible.
  • the object of the invention is to develop a generic mobile crane such that an overload protection is provided, which takes into account any Abst Reifengeometrien the mobile crane.
  • the mobile crane has at least one storage unit in which limit curves or limit values are stored for various crane parameters, which may not be exceeded or only given an alarm signal to ensure safety of crane operation. Furthermore, means are provided for ensuring crane safety, which are designed such that they monitor the individual limit values of the various parameters for overshoot. Finally, there are means of monitoring the current position of the extendable and retractable supports used to support the mobile crane. According to the invention, means are provided which determine the tilting edge of the mobile crane as limit value depending on the achieved actual position of the supports and that means are further provided which determine depending on the individual parameters of the mobile crane and the load recorded, whether the operating condition of the mobile crane is within the limits ,
  • the means for determining the operating state can take into account the crane parameters stored in the memory.
  • means are provided which monitor the load limit of the extended supports.
  • means are additionally provided which calculate the load limit of the supports as a function of their extended state and at least part of the other parameters of the mobile crane.
  • a calculation module is provided, via which the actual value of the stability of the mobile crane can be calculated, and a comparison module, with which the currently calculated stability value is comparable to the stored limit values. If the comparison of the actual value of the stability with the stored limit values shows that the actual value is approaching the limit value, the operation of the mobile crane can be intervened.
  • the degrees of freedom advantageously relate to telescoping the boom, extending ballast and all operational movements such as turning the superstructure, rocking the boom and derrick boom, moving the auxiliary tip or changing the spread angle of the Y-guy.
  • the method can run fully automatically, with two independent control circuits are provided to ensure on the one hand the redundancy of the control and on the other to check the functioning of the entire system by the two independently provided control circuits to check the functioning of the other control loop.
  • the values stored in the form of load tables in the memory can be broken down into individual criteria, so that they can be arbitrarily superimposed during the calculation.
  • storage space can be saved because, according to the previously known method, load tables generally had to be stored separately taking into account the different crane parameters for different extension lengths of the sliding beams of the supports.
  • the figure shows a mobile crane 10 with four supports 20, which have vertically in its end and vertically extendable outriggers 30, with the aid of the mobile crane 10 can be supported.
  • the reference numeral 40 denotes the slewing ring of the mobile crane.
  • the supports 20 as well as the support cylinders 30 on the supports 20 are each hydraulically on and extendable.
  • overload protection systems only considered symmetrical support geometries. This is due to the fact that stored in the respective memory of the control of the mobile crane 10 load tables for discrete symmetrical Ausstitzzunot were stored, for example, for half the extract of the supports 20 and for the full excerpt of the supports 20th
  • tilting edges 50 of the mobile crane 10 result by connecting the support points, which are defined by the support cylinders 30 at the end of the supports 20.
  • the tilting edges 50 are determined as a limit value.
  • a current center of gravity S of the overall system in the vicinity of the corresponding limit value that is, the tilting edge 50 comes.
  • each actually resulting tilting edges 50 can be displayed on the driver's display in the cab, so that the crane operator himself is displayed on the basis of a two-dimensional or three-dimensional image, each resulting center of gravity.
  • the center of gravity is continually tracked in accordance with the actual conditions, so that the crane driver can estimate in a simple manner whether he approaches the limit specified by the tilting edge 50. As far as coming from the current operating condition resulting center of gravity of the tilting edge too close, must be intervened in the system.
  • This intervention may be, for example, that the movement is braked against the limits, with a safety margin in all degrees of freedom, for example when Auseleskopieren the boom during extension of the ballast or the operational movements, such as turning the boom, rockers of the jib or the jib, lifting the hoist, the rotational movement, etc. is maintained.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP09005547A 2008-04-30 2009-04-20 Grue mobile avec système de supervision Ceased EP2113481A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008021627A DE102008021627A1 (de) 2008-04-30 2008-04-30 Mobilkran und Verfahren zum Betreiben eines Mobilkranes

Publications (1)

Publication Number Publication Date
EP2113481A1 true EP2113481A1 (fr) 2009-11-04

Family

ID=40874950

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09005547A Ceased EP2113481A1 (fr) 2008-04-30 2009-04-20 Grue mobile avec système de supervision

Country Status (4)

Country Link
US (1) US8160786B2 (fr)
EP (1) EP2113481A1 (fr)
JP (1) JP2009269759A (fr)
DE (1) DE102008021627A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014071429A1 (fr) * 2012-11-12 2014-05-15 Palfinger Ag Procédé de signalisation d'un danger de basculement d'une grue
EP4299858A1 (fr) * 2022-06-30 2024-01-03 Liebherr-Mischtechnik GmbH Procédé de surveillance de la stabilité d'une machine de travail

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202010001192U1 (de) 2010-01-20 2011-06-01 Liebherr-Werk Ehingen GmbH, 89584 Raupenfahrzeug und Raupenkran
EP3255239A1 (fr) * 2010-04-16 2017-12-13 BAUER Maschinen GmbH Engin doté d'une unité de calcul pour déterminer une zone de réglage
DE102011107754B4 (de) 2011-06-10 2021-07-22 Liebherr-Werk Ehingen Gmbh Winkelbezogenes Verfahren zur Überwachung der Kransicherheit während des Rüstvorgangs, sowie Kran und Kransteuerung
US10162797B1 (en) * 2012-04-13 2018-12-25 Design Data Corporation System for determining structural member liftability
DE102012011726C5 (de) 2012-06-13 2024-06-13 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans mit Überwachungseinheit sowie Kran
EP2674384B1 (fr) 2012-06-13 2021-01-27 Liebherr-Werk Ehingen GmbH Procédé de surveillance de la sécurité d'une grue et grue
DE102013000463A1 (de) 2013-01-03 2014-07-03 Terex Cranes Germany Gmbh Mobiles Arbeitsgerät, insbesondere Mobilkran
DE102016104358B4 (de) * 2016-03-10 2019-11-07 Manitowoc Crane Group France Sas Verfahren zum Ermitteln der Tragfähigkeit eines Krans sowie Kran
DE102017001128B4 (de) 2017-02-07 2024-01-18 Liebherr-Werk Ehingen Gmbh Abstützung für einen Kran
DE102018105907A1 (de) 2018-03-14 2019-09-19 Terex Deutschland GmbH Verfahren zur Ermittlung des Gewichts einer von einer Lademaschine aufgenommenen Last und Lademaschine hierfür
DE102018129352A1 (de) 2018-11-21 2020-05-28 Liebherr-Werk Biberach Gmbh Kran sowie Verfahren zum Überwachen des Betriebs eines solchen Krans
JP2022059745A (ja) * 2020-10-02 2022-04-14 株式会社アイチコーポレーション 高所作業車の作動制御装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0614845A2 (fr) * 1988-12-27 1994-09-14 Kato Works Co., Ltd. Dispositif de sécurité pour grue
EP1746064A2 (fr) * 2005-07-22 2007-01-24 Liebherr-Werk Ehingen GmbH Grue, en particulier grue mobile ou à chenilles
DE102005035729A1 (de) 2005-07-29 2007-02-01 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans
DE102006017730A1 (de) 2006-04-15 2007-10-25 Daimlerchrysler Ag Motorhaubenscharnier
DE202006017724U1 (de) * 2006-11-21 2008-04-03 Liebherr-Werk Ehingen Gmbh Mobilkran
DE102007055535A1 (de) 2006-11-21 2008-05-29 Liebherr-Werk Ehingen Gmbh Mobilkran

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10110176A1 (de) 2001-03-02 2002-09-05 Putzmeister Ag Mobiles Arbeitsgerät mit Standsicherheitsüberwachung

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0614845A2 (fr) * 1988-12-27 1994-09-14 Kato Works Co., Ltd. Dispositif de sécurité pour grue
EP1746064A2 (fr) * 2005-07-22 2007-01-24 Liebherr-Werk Ehingen GmbH Grue, en particulier grue mobile ou à chenilles
DE102005035729A1 (de) 2005-07-29 2007-02-01 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans
DE102006017730A1 (de) 2006-04-15 2007-10-25 Daimlerchrysler Ag Motorhaubenscharnier
DE202006017724U1 (de) * 2006-11-21 2008-04-03 Liebherr-Werk Ehingen Gmbh Mobilkran
DE102007055535A1 (de) 2006-11-21 2008-05-29 Liebherr-Werk Ehingen Gmbh Mobilkran

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014071429A1 (fr) * 2012-11-12 2014-05-15 Palfinger Ag Procédé de signalisation d'un danger de basculement d'une grue
EP4299858A1 (fr) * 2022-06-30 2024-01-03 Liebherr-Mischtechnik GmbH Procédé de surveillance de la stabilité d'une machine de travail

Also Published As

Publication number Publication date
DE102008021627A1 (de) 2009-11-12
US20090276126A1 (en) 2009-11-05
JP2009269759A (ja) 2009-11-19
US8160786B2 (en) 2012-04-17

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