EP2135834A1 - Grue, notamment grue mobile ou chenillée - Google Patents

Grue, notamment grue mobile ou chenillée Download PDF

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Publication number
EP2135834A1
EP2135834A1 EP09004392A EP09004392A EP2135834A1 EP 2135834 A1 EP2135834 A1 EP 2135834A1 EP 09004392 A EP09004392 A EP 09004392A EP 09004392 A EP09004392 A EP 09004392A EP 2135834 A1 EP2135834 A1 EP 2135834A1
Authority
EP
European Patent Office
Prior art keywords
crane
receivers
crane according
receiver
boom
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
EP09004392A
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German (de)
English (en)
Other versions
EP2135834B1 (fr
Inventor
Erwin Morath
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
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Filing date
Publication date
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Publication of EP2135834A1 publication Critical patent/EP2135834A1/fr
Application granted granted Critical
Publication of EP2135834B1 publication Critical patent/EP2135834B1/fr
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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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the invention relates to a crane, preferably a mobile or crawler crane, with a series of mobile crane components, such as a main boom, guy blocks, a hook block and other moving elements.
  • Mobile crane components may be, for example, the following elements: the main boom, the luffing jib, the derrick boom, the jib and guying rods, the derrick ballast and the hook hook on which the load is received.
  • the determination of the position of the movable components is primarily used to determine the unloading of the load. Load unloading is a significant amount of overload protection.
  • the respective positions of the moving components are calculated from existing geometric data, such as the component length, and from geometry values obtained via sensors.
  • the ejection state of the telescopic shots of the main boom and the rocking angle of the main boom can serve.
  • the outreach can be calculated from this.
  • the respective data are passed on from the existing sensors to a crane control and processed there. For example, this calculates the load that can be picked up at a given radius.
  • the aforementioned methods all have in common that they use the existing geometric data of the components as a basis for calculating the position.
  • the existing geometry data of the components deviate from the theoretical geometry data. These are - especially for large cranes - not just negligible inaccuracies that are not to be considered.
  • the components are subject to severe and insufficiently detectable deformations in crane operation, which can lead to sometimes considerable deviations of the ideal geometry data. These deformations thus justify the uncertainties of the measurement and calculation results.
  • the FIG. 2 represents with the dashed lines how the various components can be deformed in reality.
  • the object of the present invention is now to provide a crane that allows the exact position determination of the various components or elements of the crane in operation, the real deformations of the components are fully taken into account.
  • a crane is provided with a boom with a control and with means for determining the position of the different crane components, in which these means for determining the position consist of receivers of a satellite-based system for global positioning. Each of these receivers receives its exact position via the satellite-supported system, which can be passed on to the crane control and used there for exact position determination.
  • the control of the end positions of the mobile crane component can be specified exactly.
  • the receivers of the satellite-based system for worldwide position determination are receivers for the GPS system which is used worldwide. These GPS receivers can be used to precisely determine the position of the respective mobile crane components.
  • a controller can calculate distances from the respective signals of the GPS receiver. If absolute and unaltered signals are supplied, they can be processed directly by the controller.
  • a reference receiver is arranged on the crane, to which the values of the remaining receivers can be related.
  • inaccuracies and distortions that actually occur can be compensated for by reference to the reference receiver. If all GPS receivers now supply their data to the controller, the difference in position between the reference receiver and the respective receivers on the moving components or elements can be used to determine the position inaccuracies actually applied be filtered out again. This means that even changing inaccuracies can be filtered out because the reception time of each receiver is known exactly.
  • the reference receiver is located near the axis of rotation of the crane, preferably near the axis of rotation of the mobile crane's uppercarriage.
  • the values originating from the receivers can be transmitted wirelessly to the controller. But it is also possible to connect all receivers via cable, in particular a bus system.
  • the data transmitted via the receiver can also be used to determine the working area via the controller.
  • the work area is here the freedom of movement in relation to the working area of other cranes or, for example, the inclusion of fixed interfering edges, for example of neighboring houses.
  • the workspace is composed of the "envelope" of each of the receiver-provided locations and resulting links. Thus, turning and rocking movements are always detected and collisions are avoided.
  • the working space of the crane is provided and monitored over the known widths of the components with appropriate safety impacts.
  • the controller can respond appropriately. This can be a warning or an intervention in the speed of movement of the component in question to the standstill of the entire crane range. Power lines, other cranes, houses, trees or areas that may not be used for any other reason can be referred to as interference edges.
  • the presented here system for determining the position of the components can be used in addition to a known in the crane control crane monitoring system conventional type to create a diverse monitoring system.
  • the exact position could be determined here by the satellite-based system for determining the position of the globe worldwide.
  • the superstructure 10 of a mobile crane not shown here is shown schematically.
  • the superstructure 10 is rotatable about a rotation axis 12 in a known manner.
  • a main boom 14 At the superstructure is a main boom 14 and at this a luffing jib 16 hinged.
  • two guy blocks 18A and 18B are provided.
  • the mobile crane shown here also has a derrick boom 20 and a derrick ballast 22. On the boom hangs a load 24. Further details of the structure of the mobile crane are known in the art, so that can be dispensed with a further detailing of the structure at this point.
  • the respective position of the mobile crane components or elements 14, 16, 18A, 18B and 22 can now be determined by corresponding receivers of a satellite-based system for global position determination 26.
  • receivers are the currently marketed system so-called GPS receiver.
  • the GPS receivers 26 provide the spatial position (X, Y, Z position) of any mobile crane component.
  • the GPS receiver 26 are each arranged at the distal end of the respective components.
  • a reference GPS receiver 28 is mounted in the vicinity of the axis of rotation 12 of the superstructure 10. So here is always a difference calculation between the reference GPS receiver 28 and the individual GPS receivers 26 at the end of each movable components are carried out for position determination. Also suddenly applied position inaccuracies can be averaged out again. Also, a position determination of the load 24 is possible via a specially attached to the load GPS receiver 30.
  • FIG. 1 A denotes the projection of the load 24, which can be determined very accurately due to the GPS receiver.
  • FIG. 2 is in turn the schematic representation of the mobile crane superstructure 10 accordingly FIG. 1 played.
  • FIG. 2 is in turn the schematic representation of the mobile crane superstructure 10 accordingly FIG. 1 played.
  • dashed lines possible deformations of the moving parts under load.
  • prior art inclinometers have been arranged at various locations on the main boom 14, as indicated by reference numeral 32 in FIG FIG. 2 is clarified.
  • FIG. 3 the displacement of the spatial position at the end of the jib 16 by the inclusion of the load 24.
  • This composite displacement now no longer needs to be calculated, but can be detected directly by the GPS receiver.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP09004392.8A 2008-06-18 2009-03-26 Grue, notamment grue mobile ou chenillée Active EP2135834B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200820008174 DE202008008174U1 (de) 2008-06-18 2008-06-18 Kran, vorzugsweise Mobil- oder Raupenkran

Publications (2)

Publication Number Publication Date
EP2135834A1 true EP2135834A1 (fr) 2009-12-23
EP2135834B1 EP2135834B1 (fr) 2015-07-29

Family

ID=40974603

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09004392.8A Active EP2135834B1 (fr) 2008-06-18 2009-03-26 Grue, notamment grue mobile ou chenillée

Country Status (2)

Country Link
EP (1) EP2135834B1 (fr)
DE (1) DE202008008174U1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104058343A (zh) * 2014-06-10 2014-09-24 山东瑞鲁机电设备有限公司 一种塔机安全监控系统及监控方法
US9238570B2 (en) 2011-07-05 2016-01-19 Trimble Navigation Limited Crane maneuvering assistance
US20190039863A1 (en) * 2017-08-07 2019-02-07 Liebherr-Werk Ehingen Gmbh Crawler crane
CN113247775A (zh) * 2021-05-28 2021-08-13 徐州重型机械有限公司 起重机和起重机的控制方法
CN113896105A (zh) * 2021-05-27 2022-01-07 徐州重型机械有限公司 一种起重机状态监控系统
CN113896105B (en) * 2021-05-27 2024-10-15 徐州重型机械有限公司 Crane state monitoring system

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202009014066U1 (de) * 2009-10-16 2011-03-03 Liebherr-Werk Ehingen Gmbh Hubendschalter und Hebevorrichtung
DE202011001850U1 (de) 2011-01-24 2012-04-30 Liebherr-Werk Ehingen Gmbh Kran
DE102011050857B4 (de) * 2011-06-06 2024-06-20 Hoppe Bordmesstechnik Gmbh Verfahren zum Ausgleichen eines Lastmoments
DE102012004739A1 (de) * 2012-03-08 2013-09-12 Liebherr-Werk Nenzing Gmbh Kran und Verfahren zur Kransteuerung
CN105836627B (zh) * 2016-04-20 2018-02-06 中船第九设计研究院工程有限公司 一种基于三维坐标定位的门座起重机位姿确定方法
DE202019102393U1 (de) * 2019-03-08 2020-06-09 Liebherr-Werk Biberach Gmbh Kran sowie Vorrichtung zu dessen Steuerung
DE102020214291B3 (de) 2020-11-13 2022-03-17 Tadano Faun Gmbh Kran, insbesondere Mobilkran

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0921093B1 (fr) 1997-12-05 2004-10-06 Grove U.S. LLC Système de mesure de l'angle de relevage
JP2005029338A (ja) * 2003-07-11 2005-02-03 Ohbayashi Corp 建設機械の動作監視システム及び方法
JP2006219246A (ja) * 2005-02-09 2006-08-24 Tadano Ltd 移動式クレーンのフック位置検出装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08133678A (ja) * 1994-11-07 1996-05-28 Shimizu Corp クレーンの作業領域外飛出し警報方法およびその警報システム
DE19631623C2 (de) * 1996-08-05 1999-01-14 Siemens Ag Vorrichtung zur Bestimmung der Position einer Lastaufnahme bei Hebezeugen
US20050242052A1 (en) * 2004-04-30 2005-11-03 O'connor Michael L Method and apparatus for gantry crane sway determination and positioning
JP2007084336A (ja) * 2005-08-26 2007-04-05 Topcon Corp クレーン接近警報システム
DE102006001279A1 (de) * 2006-01-10 2007-07-12 Moba-Mobile Automation Ag Kran oder kranähnliche Fördereinrichtung mit einem Positionsmesssystem
DE102006025002A1 (de) * 2006-05-30 2007-12-06 Pat Gmbh Mobile oder stationäre Arbeitsvorrichtung mit teleskopierbaren Auslegerelementen, deren Position zueinander mittels RFID-Technik erfasst wird

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0921093B1 (fr) 1997-12-05 2004-10-06 Grove U.S. LLC Système de mesure de l'angle de relevage
JP2005029338A (ja) * 2003-07-11 2005-02-03 Ohbayashi Corp 建設機械の動作監視システム及び方法
JP2006219246A (ja) * 2005-02-09 2006-08-24 Tadano Ltd 移動式クレーンのフック位置検出装置

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9238570B2 (en) 2011-07-05 2016-01-19 Trimble Navigation Limited Crane maneuvering assistance
US9944499B2 (en) 2011-07-05 2018-04-17 Trimble Inc. Crane maneuvering assistance
CN104058343A (zh) * 2014-06-10 2014-09-24 山东瑞鲁机电设备有限公司 一种塔机安全监控系统及监控方法
CN104058343B (zh) * 2014-06-10 2016-05-11 山东瑞鲁机电设备有限公司 一种塔机安全监控系统及监控方法
US20190039863A1 (en) * 2017-08-07 2019-02-07 Liebherr-Werk Ehingen Gmbh Crawler crane
US10934138B2 (en) * 2017-08-07 2021-03-02 Liebherr-Werk Ehingen Gmbh Crawler crane
DE102018118703B4 (de) 2017-08-07 2022-08-11 Liebherr-Werk Ehingen Gmbh Raupenkran
CN113896105A (zh) * 2021-05-27 2022-01-07 徐州重型机械有限公司 一种起重机状态监控系统
CN113896105B (en) * 2021-05-27 2024-10-15 徐州重型机械有限公司 Crane state monitoring system
CN113247775A (zh) * 2021-05-28 2021-08-13 徐州重型机械有限公司 起重机和起重机的控制方法

Also Published As

Publication number Publication date
DE202008008174U1 (de) 2009-11-05
EP2135834B1 (fr) 2015-07-29

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