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
• • 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 method for load moment limitation of a work vehicle with a boom, in particular a mobile crane with a multi-part hydraulically movable boom, according to the features of the preamble of claim 1.
• FIGS. 3 to 5 A first method is shown in FIGS. 3 to 5. From operating parameters of the work vehicle such as pressure (eg in the working cylinders for raising and lowering a boom), angle (of the boom), length (in particular of the boom) and further configuration of the work vehicle (such as number of telescopic elements a telekopbaren cantilever) are detected and fed on the one hand a multi-dimensional map and on the other hand, a load table with load limits. From the acquired operating parameters, on the one hand, a current load value is determined, which should correspond to the actual trailer load (in reality, however, as a rule, this does not actually correspond). On the other hand, a load limit is determined from the load table. The load value taken from the map is compared with the load limit value (possibly taking into account a
• FIG. 3 shows a schematic device for carrying out the procedure described above, wherein FIG. 4 shows a three-dimensional load characteristic field, wherein more than one such load characteristic field may also be present. Since the meshes of this characteristic map are created by measurement before commissioning of the work vehicle by way of example, an exact load value can not always be taken from that in FIG. 4 as a function of the acquired operating parameters (such as angle, pressure and the like).
• a value for a potential total energy of the work vehicle is calculated in dependence on the detected operating parameters, taking into account the configuration of the work vehicle, and from this the unknown load value is determined.
• the stored load characteristic field can be adjusted taking into account the operating parameters, so that a significantly more accurate load value can be determined and compared with the load limit value from the load capacity table as a function of the detected operating parameters and, above all, also depending on the specific configuration of the work vehicle. This makes it possible to significantly reduce the load reserve and bring the working point of the work vehicle much closer to the load limit.
• the potential total energy of the work vehicle in particular a mobile crane, and in particular its mathematical derivation according to the degrees of freedom of movement (boom angle) is thus determined in a computing unit.
• the determined energy advantageously includes the dead weights of the components of the work vehicle, the elastic energy by deformation of these components and the lifted load. This is of particular advantage because tolerances and changes to these components are automatically included in the calculation of the potential total energy and the derived load.
• the reaction forces or moments can be measured by pressure measurement in the associated hydraulic cylinders, generally by measuring the operating parameters of an actuator that affects a component of the work vehicle. From the resulting equation, the arithmetic unit determines the unknown lifted load.
• Another advantage is the fact that in addition to the determination of the load, the calculation also provides the current horizontal load position, taking into account the deformation of the boom.
• parameters of the working vehicle or parameters of its components are taken into account in the calculation of the total energy.
• the calculation of the total potential energy of the work vehicle requires the knowledge of a number of characteristics of that work vehicle. These are, for example, masses and centers of gravity of components of the work vehicle, such. B. the geometric dimensions, weights and properties of components of a crane. Due to manufacturing tolerances, conversions or other variations (such as material properties) in the components used, these parameters are not known in advance with sufficient accuracy.
• the sensor used to detect the operating parameters such as pressures, lengths and angles and the like has measurement uncertainties. All mentioned deviations are typical or even copy-dependent.
• the parameters are determined experimentally.
• the parameters are corrected by means of predefinable quantities or factors. For this purpose, a series of measurements with known loads in typical conditions of the work vehicle is performed. The parameters are determined in the sense of a statistical estimation method in such a way or predefined nominal values are corrected in such a way that the best possible agreement with the measurements is achieved.
• the method can thus be used for fine tuning both with little previous knowledge (eg retrofitting an existing work vehicle, so-called retrofit) and with relatively precise knowledge of the nominal values (eg in new work vehicles).
• the required measuring effort is inversely related to the quantity and quality of the previous knowledge.
• Figures 1 and 2 show, as far as shown in detail, a device for carrying out the method according to the invention for the load torque limitation of a work vehicle.
• operating parameters such as pressure, angle, length, configuration and the like are fed to both a load map and a load table in the load map in which one or more multidimensional maps are again stored, If the load characteristics shown in FIG. 2 are or are being adapted, taking into account the calculated total potential energy of the work vehicle and the unknown load determined therefrom, then a substantially more accurate value is actually obtained on the load values determined using the methods known from the prior art Work vehicle attached load is available.
• This much more accurate load value can consequently be compared with the load limit, so that it is either possible to minimize an existing load reserve significantly or under certain circumstances even provide no load reserve.
• the comparison between the actually determined load value and the also determined load limit then leads again to a warning or to a shutdown of the work vehicle when the actual load value exceeds the allowable load limit depending on the detected operating parameters.

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

Applications Claiming Priority (2)

Publications (1)

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• 2010
  • 2010-06-24 DE DE102010025022A patent/DE102010025022A1/de active Pending
• 2011
  • 2011-06-20 EP EP11730564.9A patent/EP2585399A1/de not_active Withdrawn
  • 2011-06-20 CN CN201180018343.5A patent/CN102834343B/zh active Active
  • 2011-06-20 BR BR112012032993A patent/BR112012032993A2/pt not_active Application Discontinuation
  • 2011-06-20 US US13/579,788 patent/US20130087522A1/en not_active Abandoned
  • 2011-06-20 WO PCT/EP2011/003040 patent/WO2011160803A1/de active Application Filing
  • 2011-06-20 RU RU2013102583/11A patent/RU2013102583A/ru not_active Application Discontinuation
  • 2011-06-20 RU RU2018105136A patent/RU2762456C2/ru active
  • 2011-06-20 JP JP2013515758A patent/JP2013529583A/ja active Pending
• 2013
  • 2013-07-18 HK HK13107149.0A patent/HK1181027A1/zh not_active IP Right Cessation
• 2016
  • 2016-08-04 JP JP2016153852A patent/JP2016199404A/ja active Pending

Non-Patent Citations (1)

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