EP2636634B1 - Grue et procédé de commande de grue - Google Patents

Grue et procédé de commande de grue Download PDF

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Publication number
EP2636634B1
EP2636634B1 EP12008081.7A EP12008081A EP2636634B1 EP 2636634 B1 EP2636634 B1 EP 2636634B1 EP 12008081 A EP12008081 A EP 12008081A EP 2636634 B1 EP2636634 B1 EP 2636634B1
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EP
European Patent Office
Prior art keywords
crane
load
boom
cable
lifting means
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.)
Active
Application number
EP12008081.7A
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German (de)
English (en)
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EP2636634A1 (fr
Inventor
Johannes Karl Eberharter
Klaus Schneider
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 Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing 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.)
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Publication of EP2636634A1 publication Critical patent/EP2636634A1/fr
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Publication of EP2636634B1 publication Critical patent/EP2636634B1/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
    • 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
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/26—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 specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail

Definitions

  • the invention relates to a method for controlling and / or data acquisition of a crane, wherein at least one measuring device on the crane provides one or more measured values for determining the position of a load receiving means.
  • the subject of the invention is also directed to a corresponding crane and a suitable crane control.
  • the determination of the exact hook position during crane operation is an essential prerequisite for an automated crane control method.
  • the height of the crane hook is calculated as a function of the radius of the crane, usually also referred to as a projection, by geometric relationships of the crane structure. For this calculation, however, a rigid crane body is assumed.
  • a generic method for controlling and / or data acquisition of a crane with the features of the preamble of claim 1 is already known from JP 2008 189401A known.
  • Object of the present invention is to provide a method for determining the current position of a lifting device, which allows a more exact position determination over the known methods.
  • the invention is based on the fact that at least one measuring device on the crane provides one or more measured values for determining the position of at least one load receiving means.
  • load-receiving means is preferably a crane hook, but alternative load-carrying means are conceivable, such as a support frame, a traverse, a gripper, a magnetic receiving means, etc ..
  • a calculation of the exact position of at least one load receiving means on the basis of the one or more measured values takes place at least a measuring device and one or more of the rigidity of the crane characterizing data.
  • values that characterize the rigidity of the crane can be understood as meaning values that correspond to a deviation of the crane geometry describe the normal rigid crane shape during crane operation.
  • Data characterizing the rigidity of the crane in this context include in particular data relating to the bending and / or expansion and / or torsional rigidity of the crane or of certain crane components or a measure of the bending and / or expansion and / or torsion of the crane or certain crane components.
  • the method therefore turns away from the previous assumption of a rigid crane structure and instead takes into account influences on the crane structure, in particular the effects of the attacking forces on the crane geometry or the associated deformation of the geometric crane shape to allow a more precise position determination of the lifting device.
  • the position of the load receiving means is preferably calculated in the radial direction R to the crane and in the vertical direction V relative to the crane or as an absolute value in the vertical direction H.
  • the data characterizing the rigidity of the crane preferably relate to the bending or flexural rigidity of at least one crane component.
  • Possible crane components in this context are the crane tower or individual tower elements as well as the boom system or individual boom elements.
  • the data characterizing the rigidity of the crane may take into account the suspension of one or more crane components.
  • at least one support of the crane should be mentioned.
  • the suspension of at least one Abstützarms and possibly the suspension of the support mechanism, For example, the corresponding support cylinder take into account.
  • the mentioned crane components are subject to deformation, which can be determined depending on the attached load mass and position.
  • the state of at least one hoisting rope can fall.
  • the overall stiffness and in particular the rope sag and / or the rope elongation and / or the expansion stiffness of at least one hoist rope can contribute to an improved representation of the crane system and help to more precisely determine the position of the load handling device used.
  • One or more data characterizing the rigidity of the crane may preferably be detected by one or more suitable measuring devices during crane operation and used to calculate the position of the load handling device.
  • a crane model that takes into account the crane rigidity is generated and taken into account for the calculation of the position of the load-carrying device.
  • the modeling of the crane condition has the advantage that a limited number of sensors is sufficient for the exact determination of the position of the lifting device. By using deformable crane models, a more realistic calculation can be sought.
  • one or more crane components can be represented as elastic elements, preferably beams, for the modeling.
  • the bending of the elements or beams flows through the realistic modeling of the crane system in the calculation of the position of the lifting device.
  • one or more tower elements of the crane are interpreted as beams, the bending of which is simulated in a known manner.
  • the elements of a cantilever system also consider as a single bar whose deflection is determinable.
  • the support system in particular individual support arms or associated support cylinders is modeled as resilient or damping elements.
  • expandable elements can be used for the generation of a crane model, wherein the expandable elements in particular represent the state of at least one hoisting rope.
  • the expandable elements in particular represent the state of at least one hoisting rope.
  • Certain parameters describing the crane condition may be required to determine the position of the lifting device.
  • at least one measuring device arranged on the crane detects the attached load mass.
  • the Auslegeraufrichtwinkel can be detected by measurement, in particular by means of at least one arranged on the crane and provided for measuring device.
  • the Kranne Trent - for example, when mounted on a ship - are recorded to take these into account.
  • the deflection of the boom system and / or the bending of the crane tower and optionally the spring or damping movement of the support device can be calculated, for example, taking into account the load mass and, if appropriate, the boom erection angle. Load mass and / or boom uprising angle are determined in this case appropriate indirectly or directly by measurement.
  • the radial distance R of the load-receiving means to the crane can then be determined on the basis of the measured values and the calculated or modulated bending or spring deflection. or damping movement are determined, in particular by means of transformation derived from the previously determined values.
  • At least one measuring device detects the unwound Hubseilsurprisingly.
  • the rope elongation and / or the rope sag of at least one hoist rope can be calculated or modeled as a function of the detected value for the unwound hoist rope length and taking into account the determined distance R.
  • the height H of the load-receiving means can then be derived from the calculated values, in particular by calculations.
  • the method according to the invention thus makes it possible to determine the coordinates R and H in a particularly exact manner.
  • the method requires no installation of additional sensors, but the position determination can be carried out by means of the usual sensors.
  • the inventive method is particularly suitable for controlling a crane tandem system. Furthermore, the application of the method according to the invention is particularly useful in the implementation of gripper controls or Hubkraftbegrenzern.
  • the invention further relates to a crane control for a crane for carrying out the method described above.
  • the advantages and details of the method according to the invention therefore obviously apply to the execution of the crane control according to the invention, which is why a renewed description is omitted here.
  • the invention is directed to a crane with such a crane control.
  • the advantages and properties of the method according to the invention accordingly apply analogously to the design of the crane according to the invention.
  • At least one measuring device of the crane has one or more strain gauge elements.
  • the arrangement of individual strain gauges on the crane system allows easy detection of the deformation, in particular bending, of certain crane components.
  • the arrangement on the boom system or on individual elements of the boom system makes sense.
  • the use of one or more strain gauges on the crane tower to detect the bending of the crane tower or individual crane tower elements.
  • At least one measuring device comprises a sensor arranged on the retractable sensor.
  • a sensor allows the measurement of the unwound cable length, which is considered in particular for the calculation of the height H of at least one lifting device, in particular a crane hook.
  • Related measurements may also or alternatively be provided by one or more pulleys.
  • a sensor system on the luffing mechanism in order to measure the condition of the luffing mechanism or the luffing angle of the boom system.
  • an angle encoder which is mounted on the boom system or on the rocker joint and detects the actual Aufrichtwinkel the boom system.
  • Another object of the present invention relates to a tandem crane system consisting of at least two cranes.
  • at least a crane or the entire tandem crane system on at least one crane control according to one of the above-described advantageous embodiments.
  • Two or more cranes are preferably operated by a uniform crane control and thus can be controlled simultaneously by a crane operator.
  • the invention further relates to a data carrier with a stored software for a crane control, which is suitable for carrying out the method according to the invention or an advantageous embodiment of the method according to the invention.
  • the advantages and properties of the claimed data carrier thus correspond to those of the method according to the invention.
  • the method according to the invention will be illustrated on a conventional crane.
  • the crane comprises a vertical crane tower, which is mounted on a rotatable relative to the undercarriage turntable.
  • the undercarriage is designed with a corresponding support device of individual support arms and corresponding support cylinders for operating the support arms.
  • the revolving stage is connected via turntable to the undercarriage.
  • the crane comprises a boom, which is attached by means of a luffing rocking on the crane tower.
  • the hoisting rope runs from the cable winch over several pulleys on the crane tower over the top of the tower to the top of the boom system.
  • a crane hook is struck as a load handling device.
  • the hoisting rope can be subdivided into three individual rope pieces, in particular the rope section along the crane tower, the cable section between the tower and boom tip and the cable section between boom tip and crane hook, the cable pieces are generally designed as a pulley system.
  • the crane also has a crane control, which is at least responsible for the essential control tasks. Part of the control tasks requires the knowledge of the control over the actual position of the load or the lifting device.
  • the controller has a suitable module that determines the current position of the lifting device during crane operation.
  • the height of the crane hook has been determined as a function of the radial distance of the crane hook to the crane, i. the crane overhang, calculated on the basis of the geometric relationships of the crane structure.
  • This has always been based on a rigid crane model that always retains its original geometric design.
  • the crane deformations occurring in reality as a result of the attacking forces, in particular the load mass are insufficiently appreciated or completely neglected. This leads disadvantageously to considerable inaccuracies in determining the position.
  • the method according to the invention which is carried out by the crane control, pursues the approach of enabling a more exact position determination of the crane hook by allowing a more realistic calculation by taking into account one or more data characterizing the deformation of the crane.
  • the crane control system provides for a suitable software module which uses the crane in accordance with the FIG. 1 modeled crane model exemplified.
  • the elasticity of the supporting device 2 consisting of the support arms and support cylinders is modeled via vertically oriented spring damper elements which are intended to simulate a resilient movement along the spring axis.
  • the crane body itself is modeled on several elastic beams, the undercarriage 1 and the turntable 3 mounted thereon as a horizontal bar and the crane tower 4 is modeled from two composite vertical standing beams.
  • the beam 5 modeled as a beam is pivoted on the crane tower 4 and extends starting from the point of articulation with the boom elevation angle 9 with respect to the horizontal from the crane tower 4.
  • the generated crane model takes into account the extensibility of the hoisting rope, in particular a rope slack 6, 7 being assumed on the rope sections along the crane tower and between the tower and jib tip and correspondingly modeled.
  • the jib raising angle 9 is detected by means of a measuring device arranged on the crane, in particular on the luffing mechanism, and communicated to the crane control.
  • the hook mass 10 or load mass are detected via a further measuring device and the corresponding measured values are communicated to the crane control.
  • the hoist winch 11 provides additional information concerning the unwound rope length of the hoist rope.
  • the winch position and / or the position of one or more pulleys is used for the determination of the rope length.
  • the hook height H can then be determined by the additional information of the winch 11 and the modeled rope sag 6, 7.
  • the calculation of the corresponding beam bending of the crane components 1, 3 to 5 modeled as beams is carried out by measuring the load suspended on the hook and the respective position.
  • FIG. 2 shows a calculation flow chart showing a chronological order of the individual process steps.
  • the load mass on the crane hook 10 is determined via a measuring device.
  • the attacking Forces in particular the weight of the load mass, determines the necessary data characterizing the crane rigidity.
  • the data include the deformation or bending of the beams of the crane components 1, 3 to 5 and the spring movement of the supporting device 2.
  • the position of the crane hook 10 in the radial direction R can be determined.
  • a value H for the vertical hook height H can be determined by means of calculation.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (14)

  1. Procédé de commande et/ou de saisie de données d'une grue (1, 2, 3, 4), dans lequel au moins un moyen de mesure sur la grue fournit une ou plusieurs valeurs de mesure pour définir la position d'au moins un moyen de prise de charge, en particulier d'un crochet de grue (10), un calcul de la position du moyen de prise de charge étant effectué à la base de l'une ou de plusieurs valeurs de mesure d'au moins un moyen de mesure et d'une ou de plusieurs données caractérisant la rigidité de la grue,
    caractérisé en ce qu'un modèle de grue prenant en considération la rigidité de la grue est créé et pris en considération pour le calcul de la position du moyen de prise de charge.
  2. Procédé selon la revendication 1, caractérisé en ce qu'une ou plusieurs données caractérisant la rigidité de la grue (1, 2, 3, 4) comprennent la flexion d'au moins un élément de tour (4) respectivement d'un élément de flèche (5), et/ou l'affaissement du câble (6, 7) et/ou l'extension du câble d'au moins un câble de levage et/ou la suspension d'au moins un système d'appui (2), en particulier d'au moins un bras d'appui et/ou d'au moins un cylindre d'appui.
  3. Procédé selon une des revendications précédentes, caractérisé en ce qu'une ou plusieurs données caractérisant la rigidité de la grue (1, 2, 3, 4) sont mesurées et/ou calculées.
  4. Procédé selon la revendication 1, caractérisé en ce qu'un ou plusieurs composants de grue sont modulés dans le modèle de grue par un ou plusieurs éléments élastiques, de préférence des poutres, et/ou un ou plusieurs éléments de ressort respectivement d'amortissement et/ou un ou plusieurs éléments extensibles.
  5. Procédé selon une des revendications précédentes, caractérisé en ce qu'au moins un moyen de mesure saisit la masse de charge (10) et/ou un angle d'élévation de flèche (9) et/ou la longueur du câble de levage déroulé et/ou l'angle du câble.
  6. Procédé selon la revendication 5, caractérisé en ce que la distance radiale R du moyen de prise de charge (10) par rapport à la grue (1, 2, 3, 4) est déterminé au moyen de la masse de la charge mesurée et/ou de l'angle d'élévation de flèche mesuré (9) en lien avec la flexion du système de flèche (5) calculé à partir de ceux-ci et/ou de la flexion du tour de grue (4) et/ou du mouvement de ressort du système d'appui.
  7. Procédé selon une des revendications précédentes, caractérisé en ce que la hauteur H du moyen de prise de charge (10) est déterminée en fonction de la distance radiale R du moyen de prise de charge par rapport à la grue (1, 2, 3, 4) et/ou de l'extension du câble et/ou de l'affaissement du câble (6, 7) et/ou de la longueur du câble de levage déroulé et/ou de la charge.
  8. Procédé selon une des revendications précédentes, caractérisé en ce que le procédé est adapté pour commander la commande de plusieurs grues, en particulier un système de grues en tandem.
  9. Commande de grue pour une grue (1, 2, 3, 4) destinée à mettre en oeuvre le procédé selon une des revendications précédentes.
  10. Grue (1, 2, 3, 4) comprenant une commande de grue selon la revendication 9.
  11. Grue (1, 2, 3, 4) selon la revendication 10, caractérisée en ce qu'au moins un moyen de mesure de la grue comprend un ou plusieurs éléments DMS, au moins un élément DMS étant disposé de préférence sur le système de flèche (5) et/ou sur la tour de grue (4).
  12. Grue selon une des revendications 10 ou 11, caractérisée en ce qu'au moins un moyen de mesure comprend un ensemble de capteurs sur l'organe d'escamotage pour mesurer la longueur du câble déroulé et/ou au moins un ensemble de capteurs sur l'organe de bascule pour mesurer l'angle d'élévation (9).
  13. Système à grue multiple composé d'au moins deux grues avec au moins une commande de grue selon la revendication 9.
  14. Logiciel enregistré sur un support de données pour une commande de grue destinée à mettre en oeuvre le procédé selon une des revendications 1 à 8.
EP12008081.7A 2012-03-08 2012-12-03 Grue et procédé de commande de grue Active EP2636634B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012004739A DE102012004739A1 (de) 2012-03-08 2012-03-08 Kran und Verfahren zur Kransteuerung

Publications (2)

Publication Number Publication Date
EP2636634A1 EP2636634A1 (fr) 2013-09-11
EP2636634B1 true EP2636634B1 (fr) 2015-07-15

Family

ID=47290564

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12008081.7A Active EP2636634B1 (fr) 2012-03-08 2012-12-03 Grue et procédé de commande de grue

Country Status (5)

Country Link
US (1) US10138094B2 (fr)
EP (1) EP2636634B1 (fr)
CN (1) CN103303802B (fr)
DE (1) DE102012004739A1 (fr)
ES (1) ES2544445T3 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022236346A1 (fr) 2021-05-14 2022-11-17 Palfinger Ag Procédé de commande en boucle ouverte et/ou en boucle fermée d'un engin de levage monté sur un véhicule

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DE102015202734A1 (de) 2015-02-16 2016-08-18 Terex Cranes Germany Gmbh Kran und Verfahren zum Beeinflussen einer Verformung eines Auslegersystems eines derartigen Krans
EP3408211B1 (fr) 2016-04-08 2022-06-08 Liebherr-Components Biberach GmbH Grue
DE102016004350A1 (de) * 2016-04-11 2017-10-12 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans
DE102016004266A1 (de) * 2016-04-08 2017-10-12 Liebherr-Werk Biberach Gmbh Baumaschine, insbesondere Kran, und Verfahren zu deren Steuerung
US11319193B2 (en) * 2017-07-28 2022-05-03 Brandt Industries Canada Ltd. Monitoring system and method
CN108328476B (zh) * 2018-04-08 2023-12-12 苏州库力铁重工有限公司 用于起重机的检修装置
JP7084347B2 (ja) * 2019-03-29 2022-06-14 グローブライド株式会社 ウインチ制御システム
US11447373B2 (en) 2019-09-27 2022-09-20 Caterpillar Inc. Lift capacity system for lifting machines
CN111761574B (zh) * 2020-05-28 2022-08-02 中联重科股份有限公司 判断臂架可进行的操作的安全性的方法和装置及工程机械
AU2022258326A1 (en) 2021-04-12 2023-11-23 Structural Services, Inc. Systems and methods for assisting a crane operator
CN113340257B (zh) * 2021-08-09 2021-12-14 三一汽车起重机械有限公司 一种起重机的旁弯检测方法、装置、起重机及电子设备

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022236346A1 (fr) 2021-05-14 2022-11-17 Palfinger Ag Procédé de commande en boucle ouverte et/ou en boucle fermée d'un engin de levage monté sur un véhicule

Also Published As

Publication number Publication date
DE102012004739A1 (de) 2013-09-12
US20130233820A1 (en) 2013-09-12
ES2544445T3 (es) 2015-08-31
CN103303802B (zh) 2016-10-05
EP2636634A1 (fr) 2013-09-11
US10138094B2 (en) 2018-11-27
CN103303802A (zh) 2013-09-18

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