EP3310702B1 - Procédé de définition d'une courbe de charges optimisée pour grue, procédé et dispositif de contrôle pour contrôler la charge suspendue à une grue à partir de la courbe de charges optimisée - Google Patents

Procédé de définition d'une courbe de charges optimisée pour grue, procédé et dispositif de contrôle pour contrôler la charge suspendue à une grue à partir de la courbe de charges optimisée Download PDF

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Publication number
EP3310702B1
EP3310702B1 EP16739226.5A EP16739226A EP3310702B1 EP 3310702 B1 EP3310702 B1 EP 3310702B1 EP 16739226 A EP16739226 A EP 16739226A EP 3310702 B1 EP3310702 B1 EP 3310702B1
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EP
European Patent Office
Prior art keywords
load
stresses
reach
crane
lifting member
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
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EP16739226.5A
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German (de)
English (en)
French (fr)
Other versions
EP3310702A1 (fr
Inventor
Christophe Barbet
Adrien GOURRU
Fabrice Thomas
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.)
Manitowoc Crane Group France SAS
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Manitowoc Crane Group France SAS
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Publication of EP3310702A1 publication Critical patent/EP3310702A1/fr
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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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • 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 present invention relates to a defining method for defining a load curve for a crane.
  • the present invention relates to a method and a control device for controlling the load suspended on a crane.
  • the present invention applies to the field of boom cranes.
  • the present invention can be applied to several types of cranes, for example to distribution boom cranes, luffing jib cranes and self-erecting cranes, these cranes having or without shrouds.
  • the document EP 1 775 252 A1 describes a definition process for defining a load curve for a crane.
  • the present invention is intended in particular to solve, in whole or in part, the problems mentioned above.
  • such a definition method makes it possible to define an optimized load curve in each selected range, that is to say a point-to-point optimized load curve.
  • a definition method makes it possible to use the boom to the maximum of its capacities whatever the range at which the load is raised.
  • this definition method makes it possible to use the arrow with a load inducing a predetermined maximum stress on at least one element of the structure. In other words, at least one element of the structure is used to the maximum of its capacity.
  • Such a definition method makes it possible to define an optimized load curve for an existing crane.
  • Such a definition method also makes it possible to dimension an arrow during the design of the arrow, that is to say to select the dimensions of several elements of the structure of the arrow before making this arrow.
  • the definition process is then part of a sizing process.
  • stress means a mechanical stress, that is to say a force exerted on a surface.
  • computed stress designates the constraint calculated for a theoretical load considered suspended from the lifting member (simulation).
  • a constraint may be calculated in accordance with a standard and / or directive that applies in the territory in which the crane is to operate. For example, Machine Directive CE-89/392, Standard FEM.1.001 and Standard EN14439 apply in Europe.
  • the predetermined maximum stresses may be imposed by a standard and / or an applicable directive.
  • a standard or directive imposes permissible stresses that must not be exceeded, by applying, where appropriate, a factor of safety to the elastic limit of the material in question.
  • the predetermined maximum stresses can be set by the crane designer or the crane user more strictly than the applicable standard or guideline.
  • the predetermined maximum stresses can be calculated so as not to exceed maximum forces in static stress and / or not to exceed the amplitudes of maximum forces necessary for the fatigue analyzes.
  • a definition step consists in defining a load curve indicating the theoretical loads found as a function of the selected ranges.
  • the simulation step implements a computer-assisted design software to design the boom.
  • the load curve may include the mass of the carriage, the mass of the hook, the mass of the muffle, the mass of the cable and the mass of the actuator configured to drive the cable and / or the carriage.
  • the load curve directly indicates the payload that the boom can lift.
  • the structure comprises a lattice, the elements comprising bars arranged to form the lattice.
  • the structure may comprise a box, said elements comprising plates arranged to form the box.
  • Each plate forms a structural element, that is to say an element of the structure.
  • the box may be formed of several sections assembled together so as to compose the arrow.
  • a part of the elements is selected. In other words, one selects several elements but not all the elements of the structure. Then, perform the analysis steps on the elements to be tested that have been selected. Thus, such a selection step limits the number of calculations to be made during the analysis steps. For example, 80% or 90% of the bars forming the lattice of an arrow can be selected.
  • the staves are selected in a regular distribution along the arrow.
  • the spans are spaced two by two by an interval of between 0.5% and 10%, preferably between 1% and 2%, of the length of the arrow.
  • the staves can be selected in an irregular distribution along the arrow.
  • the interval between two small litters may be relatively large, while for a set of large litters, the interval between two large litters may be relatively small.
  • the number of analysis steps necessary to define a load curve is reduced.
  • the definition method further comprises an interpolation step, in which the theoretical charges found for the different ranges are interpolated so as to define the charge curve.
  • an interpolation step makes it possible to limit the number of calculations necessary to define a charge curve.
  • calculated stresses are calculated for a biasing mode selected from the group consisting of traction, shear, compression, buckling, torsion and bending.
  • the predetermined maximum stresses may arise from different modes of loading, for example a traction mode, a shear mode, a compression mode including a buckling mode, a bending mode, a torsion mode, or a combined mode of at least two of these different modes of stress.
  • calculated stresses can be calculated for all these modes of stress: tensile, shear, compression, buckling torsion and / or flexion.
  • several predetermined maximum constraints corresponding to the selected modes of loading are selected.
  • each predetermined maximum stress is selected to be between 90% and 100% of a respective allowable stress.
  • each predetermined maximum stress is selected so as to achieve, for each element, a utilization rate of between 90% and 100%.
  • utilization rate designates the ratio between a stress applied to an element and the admissible stress for this element, which is for example imposed by a standard or directive.
  • the analysis steps are initially performed for the largest range selected, so as to first find the theoretical load for the largest range selected, then, during the step of choosing a theoretical load for each other selected range, the theoretical load is selected inducing, around an end of the arrow opposite the largest range, a moment equal to the moment induced by the theoretical load found for the largest range selected.
  • the restriction step comprises: i) a prevention step in which said at least one movement of the lifting member is prevented, and ii) a warning step in which the control device communicates a passing warning warning that the target load is excessive for the target range.
  • the restriction step may comprise: i) a limiting step in which the lifting member is moved to a range below the target range.
  • a limitation step allows only partially to allow a movement of the suspended load to the extent permitted by the load curve.
  • the evaluation device comprises at least one measuring device selected from the group consisting of an electronic encoder and a displacement potentiometer.
  • control device may belong to the crane.
  • control device can be integrated with a crane control system, which can be installed in a crane control cabin.
  • the present invention also relates to a crane comprising a control system, the control system incorporating such a control device.
  • control device may be remote from the crane.
  • control device can be integrated into a remote control configured to control the crane from the ground.
  • the subject of the present invention is a crane comprising such a control device.
  • the figure 1 illustrates a crane 1 comprising an arrow 2 and a tower 3 which supports the arrow 2.
  • the arrow 2 is articulated with respect to the tower 3 especially around an axis 2.3.
  • the arrow 2 comprises a structure 4.
  • the structure 4 is composed of several elements 5. Each element 5 forms a structural element, that is to say an element of the structure 4.
  • the structure 4 comprises a lattice and the elements 5 comprise bars arranged to form this lattice.
  • Each element 5 is here a section of the structure 4 comprising several bars.
  • the crane 1 further comprises a lifting member 8.
  • the lifting member 8 is configured to lift a load 10.
  • the lifting member 8 here comprises a carriage, a hook, a muffle, a cable and an actuator configured to drive the cable and the carriage.
  • the lifting member 8 is movable along the boom 2 successively in several litters L.
  • the lifting member 8 is at the minimum range when it is closest to the turn 3.
  • the lifting member 8 is at maximum reach when it is furthest from tower 3.
  • the figure 2 illustrates a defining method 100 for defining a load curve for a crane 1.
  • the defining method 100 comprises a simulation step 102, in which the crane 1 comprising the lifting member 8 and the arrow 2 is simulated.
  • simulation step 102 can implement a computer-assisted design software to design the arrow 2.
  • the structure 4 is decomposed into several elements 5.
  • This simulation step 102 can also be performed by means of a computer, not shown, which is equipped with a program designed to perform analytical calculations.
  • the definition method 100 further comprises a step 104 for selecting elements to be tested 6, in which several elements to be tested 6 among the elements 5 are selected.
  • a step 104 for selecting elements to be tested 6 in which several elements to be tested 6 among the elements 5 are selected.
  • most of the elements 5 of the structure 4 are selected as test elements 6.
  • 90% of the bars forming the lattice of the arrow 2 can be selected.
  • This step 104 of the selection of elements to be tested 6 can be operated using the computer.
  • the definition method 100 comprises a step 108 of constraint selection, in which, for each element to be tested 6, predetermined maximum stresses are selected so as to define in a set of predetermined maximum stresses.
  • predetermined maximum stresses may be selected at 90% of the permissible stresses imposed by Machine Directive CE-89/392, FEM.1.001 and EN14439.
  • This constraint selection step 108 can be performed by means of the computer, so that the set of predetermined maximum constraints can be recorded in this computer.
  • the predetermined maximum stresses can be selected so as to achieve, for each element 5, a utilization rate of about 90%.
  • the definition method 100 further comprises a range selection step L, in which several ranges L are selected along the arrow 2.
  • this selection step 110 of several ranges L the ranges L are selected according to a regular distribution along the arrow 2.
  • the selected spans L are spaced two by two by an interval 9 approximately equal to 1.5% of the length of the arrow 2, here about 1 m.
  • This step 110 of range selection can be operated by means of the computer.
  • the analysis steps 112 are carried out.
  • the analysis steps 112 can be operated by means of the computer.
  • the number of iteration steps 112.5 depends on the theoretical load chosen during the selection step 112.1 and the increment of the theoretical load. A small increment will require more iteration steps 112.5 than a large increment, but a small increment will result in a theoretical load defined more accurately than a large increment.
  • the definition method 100 comprises a recording step 112.6, in which a group of values is recorded in a memory of the computer comprising i) the range L and ii) the theoretical maximum load for which the calculated stresses are substantially equal to the respective predetermined maximum stresses.
  • a maximum theoretical load is associated with each scope L in the memory.
  • the payload 10 + 8 is here the sum of the theoretical load found and the mass of the lifting member 8 (carriage, hook, muffle, cable and actuator).
  • the figure 5 illustrates a load curve 49 which has been obtained by a method of the state of the art by keeping the maximum load moment constant.
  • the charge curve 50 obtained by the definition method 100 according to the invention is optimized with respect to the charge curve 49 of the state of the art. Indeed, the load curve 50 makes it possible to lift heavier payloads at all L spans.
  • the control method 200 further comprises a supply step 204, in which a control device 24 is provided, visible to the figure 7 , comprising a memory 26 which contains the charge curve 50 defined according to the definition method 100.
  • control device 24 further comprises a calculation unit 28 which is configured to carry out the control method 200.
  • control device 24 is integrated in a control system 25 installed on the crane 1 .
  • the control system 25 further comprises a stop control 29 and position sensors 27 which are configured to generate signals representative respectively of the position of the carriage, the angular position of the boom 2 relative to the tower 3, the position of the hook, the position of the muffle and the position of the load 10.
  • the restriction step 214 comprises: i) a prevention step 214.1 in which said at least one movement of the lifting member 8 is prevented, and ii) a warning step 214.2 in which the control 24 communicates an overrun warning warning that the target load is excessive for the target range.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP16739226.5A 2015-06-18 2016-06-16 Procédé de définition d'une courbe de charges optimisée pour grue, procédé et dispositif de contrôle pour contrôler la charge suspendue à une grue à partir de la courbe de charges optimisée Active EP3310702B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1555585A FR3037681B1 (fr) 2015-06-18 2015-06-18 Procede de definition d’une courbe de charges optimisee pour grue, procede et dispositif de controle pour controler la charge suspendue a une grue a partir de la courbe de charges optimisee
PCT/FR2016/051469 WO2016203165A1 (fr) 2015-06-18 2016-06-16 Procédé de définition d'une courbe de charges optimisée pour grue, procédé et dispositif de contrôle pour contrôler la charge suspendue à une grue à partir de la courbe de charges optimisée

Publications (2)

Publication Number Publication Date
EP3310702A1 EP3310702A1 (fr) 2018-04-25
EP3310702B1 true EP3310702B1 (fr) 2019-06-12

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EP16739226.5A Active EP3310702B1 (fr) 2015-06-18 2016-06-16 Procédé de définition d'une courbe de charges optimisée pour grue, procédé et dispositif de contrôle pour contrôler la charge suspendue à une grue à partir de la courbe de charges optimisée

Country Status (10)

Country Link
US (1) US11148914B2 (ko)
EP (1) EP3310702B1 (ko)
JP (1) JP2018517647A (ko)
KR (1) KR102566843B1 (ko)
CN (1) CN107750230B (ko)
AU (1) AU2016277966A1 (ko)
ES (1) ES2744433T3 (ko)
FR (1) FR3037681B1 (ko)
RU (1) RU2018100426A (ko)
WO (1) WO2016203165A1 (ko)

Families Citing this family (3)

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US11084691B2 (en) * 2016-04-08 2021-08-10 Liebherr-Components Biberach Gmbh Crane
EP3802395A4 (en) * 2018-05-30 2022-03-16 Syracuse Ltd. SYSTEM AND METHOD FOR TRANSPORTING A VARIABLE LIFTING LOAD
FR3125032B1 (fr) 2021-07-06 2023-07-07 Manitowoc Crane Group France Procédé de pilotage de grue pour sélectionner et appliquer une courbe de charge préférentielle en fonction de l’inclinaison d’un élément structurel de flèche

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Also Published As

Publication number Publication date
KR20180019537A (ko) 2018-02-26
CN107750230B (zh) 2019-07-16
AU2016277966A1 (en) 2017-12-07
CN107750230A (zh) 2018-03-02
US20180155159A1 (en) 2018-06-07
ES2744433T3 (es) 2020-02-25
EP3310702A1 (fr) 2018-04-25
KR102566843B1 (ko) 2023-08-11
RU2018100426A (ru) 2019-07-18
WO2016203165A1 (fr) 2016-12-22
FR3037681A1 (fr) 2016-12-23
US11148914B2 (en) 2021-10-19
FR3037681B1 (fr) 2017-11-24
JP2018517647A (ja) 2018-07-05

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