EP3428112A1 - Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant - Google Patents

Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant Download PDF

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Publication number
EP3428112A1
EP3428112A1 EP18178564.3A EP18178564A EP3428112A1 EP 3428112 A1 EP3428112 A1 EP 3428112A1 EP 18178564 A EP18178564 A EP 18178564A EP 3428112 A1 EP3428112 A1 EP 3428112A1
Authority
EP
European Patent Office
Prior art keywords
hoist
holding force
detecting
limit
boom system
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
EP18178564.3A
Other languages
German (de)
English (en)
Other versions
EP3428112C0 (fr
EP3428112B1 (fr
Inventor
Walter Mietschnig
Manfred Schapler
Thomas Klimmer
Mathias Eder
Martin Stenech
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.)
Filing date
Publication date
Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP3428112A1 publication Critical patent/EP3428112A1/fr
Application granted granted Critical
Publication of EP3428112C0 publication Critical patent/EP3428112C0/fr
Publication of EP3428112B1 publication Critical patent/EP3428112B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C23/88—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
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear
    • B66D1/58—Safety gear responsive to excess of load
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • 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
    • B66C23/34—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes

Definitions

  • the invention relates to a hoist, in particular a mobile crane or a crawler crane, with a device for monitoring the erection and depositing process of a boom system of the hoist.
  • lifting equipment such as mobile cranes with a load capacity of at least 1000 kg or a tilting torque of at least 40,000 Nm according to product standard EN 13000 must be equipped with an overload safety device that prevents the hoist outside the specified in a load capacity table Limits for discharges, positions, loads and permissible rope forces is operated.
  • the overload protection is based on precalculated load tables, which are created in advance on the crane design on external computers and transmitted to a controller of the hoist in tabular form. It is also known, the overload protection at runtime on the device in which the calculation takes place directly in the control of the hoist to execute, stored in the control of the hoist configuration files are processed or calculated accordingly.
  • the overload protection can be bridged by means of a setup button and a corresponding set-up procedure can be carried out without a fuse.
  • Erecting and depositing usually takes place on the basis of detailed process descriptions in the operating manual of the corresponding hoist.
  • methods for monitoring crane safety during set-up operations such as, for example, during assembly or disassembly or for upgrading and depositing the boom system in mobile cranes and cable-operated excavators, are known from the prior art.
  • the calculation of the limit values is based on a calculation on an external computer, which is transmitted to the control of the hoist in tabular form.
  • a problem here is that when reaching limits, a shutdown of the movements of the hoist, which can only be canceled by a bypass switch. By activating the override, all monitoring is switched off and the crane driver must decide for himself which movement on the crane can lead to a safe condition.
  • a hoist in particular a mobile crane or a crawler crane is provided with a device for monitoring the righting and depositing process, in particular a boom system of the hoist.
  • the hoist comprises means for detecting the lifting torque of the hoist increasing loads, means for detecting the tilting torque of the hoist stabilizing or reducing loads, a control unit, which is adapted from the detected loads, a limit holding force for a support strand of the boom system of the Calculate lifting gear that corresponds to the maximum allowable load on the hook, and means for detecting the actual holding force of the support strand of the hoist, wherein the control unit is configured to compare the limit holding force and the actual holding force.
  • all the tipping moment increasing loads such as a load on the hook
  • the weight of the boom system and acting on the boom system and the load on the hook wind force can be compared with all loads that stabilize or reduce the stalling moment.
  • the Grenzhaltekraft can be calculated, which corresponds to the maximum load on the hook.
  • At least one signal can be output as a function of the comparison between the limit holding force and the actual holding force.
  • the signal may be a representation of the current utilization in terms of allowable utilization for the operator on the monitor of the hoist, or a warning and / or control signal that allows it to respond appropriately in a timely manner when the actual holding force approaching the limit holding force and thereby the risk of tilting the hoist is displayed.
  • the device for detecting the loads that increase the tipping moment detects the dead weight of the boom system of the hoist and the wind force on the boom system of the hoist.
  • the term boom system may refer to the main boom and possibly other components of the hoist.
  • the aforementioned devices for detecting the loads may be sensors and / or input means by means of which the corresponding loads can be detected or entered automatically or manually.
  • the device for detecting the loads stabilizing or reducing the overturning moment detects the dead weight of a carrier device of the hoist.
  • the aforementioned devices for detecting the loads may be sensors and / or input means by means of which the corresponding loads can be detected or entered automatically or manually.
  • a sensor system for detecting the current geometry of the hoist is provided.
  • an additional or alternative manual input of the corresponding geometry data via a corresponding device is also conceivable.
  • the device for detecting the actual holding force of the holding strand comprises at least one force measuring tab and / or at least one force measuring axis.
  • the signal is a signal for stopping a movement of the hoist. If the control unit of the hoist according to the invention determines that the limit holding force and the actual holding force are in an unfavorable relationship to each other, movement of the hoist can in particular be automatically stopped.
  • control unit is adapted to calculate the maximum allowable load on the hook simultaneously for a range of positions of the Ausle-gersystems in addition to the current position of the boom system. By comparing the results, permissible directions of movement can be defined. An allowable direction of movement is given when the maximum allowable load on the hook increases in this direction of movement.
  • control unit is set up not to stop a movement or direction of movement of the hoist or after a stop due to exceeding the Limit load selectively release permissible directions of movement of the hoist again.
  • the method may include further features corresponding to at least one of the device features of claims 1 to 9 and is waived its repetition.
  • FIG. 1 shows an overview of the forces acting on the hoist 1 forces the example of a crawler crane 1 with a main boom 2 and a rocker needle.
  • the arrow 31 designates the own weight of the rocking needle 3, the arrow 32 the wind force acting on the load L, the arrow 21 the dead weight of the main boom 2, the arrow 22 the wind force acting on the boom system consisting of main boom 2 and optional jib 3 and the arrow
  • the unmarked arrows indicate the respective distances of the forces and / or center of gravity of the components with respect to a tilting edge and / or on the Auslegeranschddling 12 at. Based on the distances and the forces, the moments can be detected or calculated relative to the jib attachment point 12.
  • the loads that increase the tipping moment counterclockwise and the loads stabilizing the tipping moment act clockwise with respect to the jib attachment point 12.
  • the limit holding force FGrenz represents the maximum permissible force in the holding strand that may be reached during the erection or depositing operation, without the hoist tipping over. It corresponds to 100% of the permissible utilization taking into account the requirements of applicable standards regarding stability.
  • the calculation of the maximum load L on the hook and the limit force F limit can advantageously be made directly online on the control computer of the crane respectively.
  • the actual geometry of the machine (boom angle, angle of rotation) required for a calculation carried out on the control can be permanently recorded on the machine by means of corresponding sensors (tilt transmitter, rotary encoder) or entered manually into the control computer.
  • the maximum allowable load L on the hook and the limit force FGrenz can be calculated offline via an external computer.
  • the limit force FGrenz must in this case be transferred to the controller for each boom position.
  • the current geometry of the machine (boom angle, rotation angle) can be permanently measured by appropriate sensors on the machine.
  • the actual actual force F in the support strand is measured by appropriate sensors (force measuring links or force measuring axes) on the machine and compared by the control computer on the machine with the calculated actual limit holding force FGrenz and advantageously presented as current utilization in terms of allowable utilization to the operator on the monitor.
  • control unit will be able to stop those movements of the boom system that result in a further increase in utilization and congestion.
  • the direction of movement or movement to be stopped or released is determined as follows: the control unit calculates the maximum allowable load on the hook simultaneously for a range of positions in addition to the current position of the boom system. By comparing the results, permissible directions of movement are defined. A permissible direction of movement is given when the maximum permissible load on the hook increases in this direction of movement.
  • the calculation of the bandwidth in addition to the current position can advantageously be done online on the control computer of the machine or alternatively offline on an external computer.
  • the movement directions to be released must in this case be transferred to the controller for each boom position.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Jib Cranes (AREA)
EP18178564.3A 2017-06-19 2018-06-19 Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant Active EP3428112B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017113386.0A DE102017113386A1 (de) 2017-06-19 2017-06-19 Hebezeug, insbesondere ein Mobilkran oder ein Seilbagger, mit einer Vorrichtung zur Überwachung des Aufricht- und Ablegevorganges eines Auslegersystems und entsprechendes Verfahren

Publications (3)

Publication Number Publication Date
EP3428112A1 true EP3428112A1 (fr) 2019-01-16
EP3428112C0 EP3428112C0 (fr) 2024-01-24
EP3428112B1 EP3428112B1 (fr) 2024-01-24

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Family Applications (1)

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EP18178564.3A Active EP3428112B1 (fr) 2017-06-19 2018-06-19 Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant

Country Status (3)

Country Link
US (1) US10850953B2 (fr)
EP (1) EP3428112B1 (fr)
DE (1) DE102017113386A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022167589A1 (fr) * 2021-02-05 2022-08-11 Liebherr-Werk Biberach Gmbh Grue
EP4059878A1 (fr) * 2021-03-19 2022-09-21 Liebherr-Werk Nenzing GmbH Appareil de levage doté d'un dispositif destiné au support ou à la mise en uvre entièrement automatique d'un processus de levage et/ou de pose d'un système de flèche, ainsi que procédé correspondant
US12084319B2 (en) 2019-04-03 2024-09-10 Liebherr-Werk Biberach Gmbh Method and device for controlling a materials handling and/or construction machine

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011107754A1 (de) * 2011-06-10 2012-12-13 Liebherr-Werk Ehingen Gmbh Verfahren zur Überwachung der Kransicherheit während des Rüstvorgangs, sowie Kran und Kransteuerung

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014012422B4 (de) * 2014-08-20 2023-02-09 Liebherr-Werk Ehingen Gmbh Automatisches Aufrichten eines Krans
DE202015001023U1 (de) * 2015-02-09 2016-05-10 Liebherr-Components Biberach Gmbh Kran
DE202015001024U1 (de) * 2015-02-09 2016-05-10 Liebherr-Werk Biberach Gmbh Kran mit Überwachungsvorrichtung zum Überwachen der Überlastsicherung

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011107754A1 (de) * 2011-06-10 2012-12-13 Liebherr-Werk Ehingen Gmbh Verfahren zur Überwachung der Kransicherheit während des Rüstvorgangs, sowie Kran und Kransteuerung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12084319B2 (en) 2019-04-03 2024-09-10 Liebherr-Werk Biberach Gmbh Method and device for controlling a materials handling and/or construction machine
WO2022167589A1 (fr) * 2021-02-05 2022-08-11 Liebherr-Werk Biberach Gmbh Grue
EP4059878A1 (fr) * 2021-03-19 2022-09-21 Liebherr-Werk Nenzing GmbH Appareil de levage doté d'un dispositif destiné au support ou à la mise en uvre entièrement automatique d'un processus de levage et/ou de pose d'un système de flèche, ainsi que procédé correspondant

Also Published As

Publication number Publication date
US20190185298A1 (en) 2019-06-20
EP3428112C0 (fr) 2024-01-24
EP3428112B1 (fr) 2024-01-24
DE102017113386A1 (de) 2018-12-20
US10850953B2 (en) 2020-12-01

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