EP3470362B1 - Method and device for monitoring the stability of a loading crane mounted on a vehicle - Google Patents
Method and device for monitoring the stability of a loading crane mounted on a vehicle Download PDFInfo
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- EP3470362B1 EP3470362B1 EP18207557.2A EP18207557A EP3470362B1 EP 3470362 B1 EP3470362 B1 EP 3470362B1 EP 18207557 A EP18207557 A EP 18207557A EP 3470362 B1 EP3470362 B1 EP 3470362B1
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- 238000000034 method Methods 0.000 title claims description 15
- 238000012544 monitoring process Methods 0.000 title claims description 10
- 238000005259 measurement Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims 8
- 230000010355 oscillation Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000013112 stability test Methods 0.000 description 1
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Classifications
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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
- B66C23/88—Safety gear
- B66C23/90—Devices for indicating or limiting lifting moment
- B66C23/905—Devices for indicating or limiting lifting moment electrical
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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
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
Definitions
- the invention relates to a method and a device for monitoring at least one stability parameter of a loading crane mounted on a vehicle, the vehicle being supported or capable of being supported on the ground via wheels and via support elements separate from the wheels during crane operation.
- the support elements are usually support legs that can be extended in the vertical direction and are mounted on a support widening that can be extended laterally in the horizontal direction.
- the ability to extend the support legs and the widening of the support is made possible by a telescopic construction.
- the vehicles relevant in connection with the invention usually have either one or two such support widenings, each with two support legs.
- overload protection is required for loading cranes with a load capacity of more than 1000 kg.
- the corresponding stability test is carried out with a test load that corresponds to 125% of the specified load-bearing capacity. It is important that at least one wheel that is braked by means of a (usually manually operated) parking brake must remain on the ground. In this case, the loading crane is in a so-called partially raised state. The at least one wheel braked by means of a parking brake, which must remain on the ground, acts as an additional friction point and serves to absorb horizontal forces.
- the object of the invention is therefore to avoid the disadvantages described above and to specify a solution for monitoring the stability of a loading crane mounted on a vehicle that is improved compared to the prior art.
- One of the basic ideas of the invention is that not only the contributions of the support elements, but also the contributions of the wheels to the size of at least one stability parameter are recorded and this size is compared with at least one predetermined limit value.
- At least one warning signal is advantageously output (to the operating personnel of the crane) and/or at least a measure to Re-compliance with the limit value carried out. These include, in particular, correction movements of the boom system.
- a rotation angle ⁇ of the Loading crane is detected about a vertical axis and / or an extended state of the supporting elements.
- the at least one stability parameter as a function of the angle of rotation ⁇ and/or the extended state of the support elements.
- the relative position of the supporting elements in relation to the vehicle is known by detecting the extended state of the supporting elements.
- the detection of the extended state of the support elements includes both the detection of the distance by which the Outrigger extension is extended, as well as the detection of the distances by which the support legs are extended.
- the number a of wheels and supporting elements, via which the vehicle is supported on the ground, and the force stability coefficient S F are monitored as stability parameters, with S F being calculated from the supporting forces F i provided via the wheels and the supporting elements.
- the advantage of the force stability coefficient SF is that it can be used to monitor compliance with this specified limit value very easily by making sure that the value of SF - calculated using the above formula - is always greater than one.
- the sum of forces in the denominator would assume the same value as the sum of forces in the numerator, since the three largest supporting forces are then the only three supporting forces different from zero .
- the axle load is the proportion of the total mass (dead mass and mass of the load of a vehicle) that falls on one axle (axle) of this vehicle.
- the maximum possible suspension distance corresponds to the distance in which a wheel lifts off the ground and the supporting force provided by this wheel assumes the value zero. This procedure is particularly useful for vehicles that have leaf springs with a linear spring characteristic.
- the measured lengths L i of the vibration dampers of the wheels could also be converted directly into a longitudinal stability coefficient S L and the value of SL could be monitored.
- S F the force-stability coefficient
- Protection is also sought for a device for monitoring at least one stability parameter of a loading crane mounted on a vehicle, the vehicle being able to be supported on the ground during crane operation via wheels and via support elements separate from the wheels according to claim 9.
- the at least one stability parameter is again - exactly the same as described in connection with the method according to the invention - by the number a of the wheels and supporting elements, over which the vehicle on Ground is supported and the force-stability coefficient S F It can also be the residual torque M rest,K ⁇ as a function of the rotation angle ⁇ of the loading crane in relation to the momentarily relevant tipping edge K ⁇ .
- control and regulation unit can generate at least one warning signal and/or control at least one measure for maintaining the at least one predetermined limit value when the at least one predetermined limit value is exceeded or not reached.
- the warning signal can be generated by the control and regulation unit, e.g. in the form of an electrical pulse sequence, and then converted into an optical and/or acoustic signal by means of warning lights and/or loudspeakers.
- the at least one measure for maintaining the at least one predetermined limit value again can be stored, for example, as a programmed course of action in the control and regulation unit. In the simplest case, the course of action is a stopping process that stops the crane operation.
- the device has a rotation angle measuring device for detecting a rotation angle ⁇ of the loading crane about a vertical axis and/or an extended status measuring device for detecting an extended status of the support elements, the measurement signals of the rotational angle and/or the extended status Measuring device (eg via appropriate signal lines or by wireless transmission) of the control and regulation unit can be fed.
- the support elements are support legs that are mounted on a laterally extendable support extension and that all non-variable parameters (such as the installation position of the support extension on the vehicle frame) are known and stored in the control and regulation unit , in order to determine the position of the support elements relative to the vehicle, it is only necessary to use the extended state measuring device to record the extended lengths of the support widening and the support legs.
- the support elements are arranged on at least one laterally extendable support extension and the loading crane rests on a crane base which is connected to the at least one support extension, it is advantageous to use the support element measuring devices in the support elements and/or to be arranged at the connection of the support elements with the support widening and/or at the connection of the support widening with the crane base.
- the wheel and support element measuring devices can detect the support forces F i provided via the wheels and the support elements.
- the supporting forces F i provided by the supporting elements this is possible, for example, by the supporting element measuring devices being designed as load cells.
- the measurement of the supporting forces F i can be carried out, for example, by measuring the despringing distances (of the wheel spring systems) or the lengths L i of the vibration dampers (eg using cable length sensors) or by measuring the internal tire pressures. It is also conceivable to measure the wheel force using strain gauges near the ends of the axle.
- FIG. 1 For exemplary embodiments, the tilting edges Kj of the vehicle during crane operation and, in addition, the distances l i,Kj of the wheels and supporting elements from the tilting edges K j are computable. Under this condition, the residual stability torque M rest,K ⁇ can then be monitored (as described further above) as a stability parameter.
- a vehicle 1 is shown schematically, on which a loading crane 2 is mounted and whose stability can be monitored using the method according to the invention or the device according to the invention.
- the vehicle 1 can be supported on the ground via two front wheels 3a and four rear wheels 3b designed as twin wheels, as well as a laterally extendable support widening 5 with two support elements 4 .
- One of the axles 6 of the vehicle 1, part of the vehicle frame 9, a control and regulation unit 7 and the crane base 8 of the loading crane 2 can also be seen. since these are partially integrated into certain vehicle components--such as, for example, in the case of the supporting element measuring devices in the supporting feet 4--or are covered by other vehicle components.
- the 2 shows a model of the in 1 illustrated vehicle 1 in plan view.
- the support points on the ground black and white circles
- the position of the crane base 8 which at the same time also defines the intersection of the vertical axis around which the loading crane 2 can be rotated, with the horizontal vehicle plane, are one of the in this state possible tipping edges K ⁇ and the distances l i , K ⁇ of the support points (wheels 3a and 3b and support elements 4) to the Tilting edges K ⁇ located.
- the model also includes a definition of the angle of rotation ⁇ of the loading crane 2 about the vertical axis. It should be noted that the wheels 3a and 3b are of course not support points but support surfaces. In a first approximation, however, support points were assumed here.
- FIGS 3a, 3b, 4a and 4b Preferred limit values for the minimum number of wheels 3a and 3b and supporting elements 4, via which the vehicle 1 must be supported at least on the ground in different embodiments, are shown as a function of the rotation angle ⁇ of the loading crane 2 and the extended state of the supporting elements 4.
- the reference numbers are representative of this group of figures only in the Figure 3a specified.
- the Figures 3a and 3b refer to the case in which the vehicle 1 can be supported on the ground at most via two front wheels 3a and two rear wheels 3b designed as twin wheels and two laterally extendable support widenings 5 each with two support elements 4 .
- FIG. 6 shows a schematic representation of a possible vibration damper 10 of the wheels 3a and 3b.
- the position of the vibration damper 10 at which the wheel would lift off the ground is shown in dashed lines.
- the values L i and L limit , i relevant for the calculation of the length stability coefficient S L are shown.
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Description
Die Erfindung betrifft ein Verfahren bzw. eine Vorrichtung zur Überwachung wenigstens eines Standsicherheitsparameters eines auf einem Fahrzeug montierten Ladekrans, wobei das Fahrzeug im Kranbetrieb über Räder und über von den Rädern gesonderte Abstützelemente am Untergrund abgestützt wird bzw. abstützbar ist.The invention relates to a method and a device for monitoring at least one stability parameter of a loading crane mounted on a vehicle, the vehicle being supported or capable of being supported on the ground via wheels and via support elements separate from the wheels during crane operation.
Üblicherweise handelt es sich bei den Abstützelementen um in vertikaler Richtung ausfahrbare Stützbeine, die an einer in horizontaler Richtung seitlich ausfahrbaren Abstützverbreiterung montiert sind. Dabei wird die Eigenschaft der Ausfahrbarkeit der Stützbeine und der Abstützverbreiterung durch eine teleskopartige Bauweise ermöglicht. Die im Zusammenhang mit der Erfindung relevanten Fahrzeuge weisen in der Regel entweder eine oder zwei derartige Abstützverbreiterungen mit jeweils zwei Stützbeinen auf.The support elements are usually support legs that can be extended in the vertical direction and are mounted on a support widening that can be extended laterally in the horizontal direction. The ability to extend the support legs and the widening of the support is made possible by a telescopic construction. The vehicles relevant in connection with the invention usually have either one or two such support widenings, each with two support legs.
Nach der EN 12999 ist eine Überlastsicherung für Ladekrane mit Tragfähigkeiten über 1000 kg erforderlich. Gemäß dieser Norm wird die entsprechende Standsicherheitsprüfung mit einer Prüflast durchgeführt, die 125 % der angegebenen Tragfähigkeit entspricht. Wichtig ist, dass dabei mindestens ein mittels einer (in der Regel handbetätigten) Feststellbremse gebremstes Rad am Boden verbleiben muss. In diesem Fall befindet sich der Ladekran in einem sogenannten teilausgehobenen Zustand. Das mindestens eine mittels einer Feststellbremse gebremste Rad, das am Boden verbleiben muss, fungiert als zusätzliche Reibstelle und dient der Aufnahme von Horizontalkräften.According to EN 12999, overload protection is required for loading cranes with a load capacity of more than 1000 kg. According to this standard, the corresponding stability test is carried out with a test load that corresponds to 125% of the specified load-bearing capacity. It is important that at least one wheel that is braked by means of a (usually manually operated) parking brake must remain on the ground. In this case, the loading crane is in a so-called partially raised state. The at least one wheel braked by means of a parking brake, which must remain on the ground, acts as an additional friction point and serves to absorb horizontal forces.
Es ist bekannt, dass die Lastmomentbegrenzung für die Überlastsicherung gemäß der EN 12999 über Hubkraftanpassungen in der Kranhydraulik gelöst wird. Für Kranarbeiten mit seitlich nicht vollständig ausgefahrenen Abstützelementen und/oder Auslegerstellungen über dem Fahrerhaus sind zusätzliche Hubkraftbegrenzungen vorzunehmen. Kennfeldbasierende Hubkraftanpassungen zählen zum Stand der Technik.It is known that the load moment limitation for the overload protection according to EN 12999 is solved by adjusting the lifting force in the crane hydraulics. For crane work with laterally incompletely extended support elements and/or jib positions above the driver's cab, additional lifting capacity limitations must be implemented. Map-based lifting force adjustments are state-of-the-art.
Bei derartigen Systemlösungen wird der hohe Einstellungs- und Prüfaufwand allerdings als nachteilig bewertet. Die Gefahr von Fehleinstellungen besteht. Zudem werden keine Nutzlasten berücksichtigt. Um diese Nachteile zu vermeiden, sind bevorzugt Wirkungen der Kranarbeit auf die Gesamtmaschine sensorisch zu erfassen.With such system solutions, however, the high adjustment and testing effort is rated as disadvantageous. There is a risk of incorrect settings. Also become no payloads considered. In order to avoid these disadvantages, the effects of the crane work on the entire machine should preferably be detected by sensors.
Für Autobetonpumpen gibt es Lösungsansätze, die in diese Richtung zielen. Exemplarisch sei in diesem Zusammenhang die Patentschrift
Daher besteht die Aufgabe der Erfindung darin, die vorbeschriebenen Nachteile zu vermeiden und eine gegenüber dem Stand der Technik verbesserte Lösung zur Standsicherheitsüberwachung eines auf einem Fahrzeug montierten Ladekrans anzugeben.The object of the invention is therefore to avoid the disadvantages described above and to specify a solution for monitoring the stability of a loading crane mounted on a vehicle that is improved compared to the prior art.
Diese Aufgabe wird erfindungsgemäß durch die Merkmale der beiden unabhängigen Ansprüche 1 und 9 gelöst.According to the invention, this object is achieved by the features of the two
Eine der Grundideen der Erfindung besteht also darin, dass nicht nur die Beiträge der Abstützelemente, sondern auch die Beiträge der Räder zur Größe wenigstens eines Standsicherheitsparameters erfasst werden und diese Größe mit wenigstens einem vorbestimmten Grenzwert verglichen wird.One of the basic ideas of the invention is that not only the contributions of the support elements, but also the contributions of the wheels to the size of at least one stability parameter are recorded and this size is compared with at least one predetermined limit value.
Vorteilhafterweise wird dabei - je nachdem, ob es sich bei dem wenigstens einen vorbestimmten Grenzwert um eine obere oder eine untere kritische Grenze handelt, - bei einer Über- oder Unterschreitung des Grenzwertes wenigstens ein Warnsignal (an das Bedienpersonal des Krans) ausgegeben und/oder wenigstens eine Maßnahme zur Wiedereinhaltung des Grenzwertes durchgeführt. Hierzu zählen insbesondere Korrekturbewegungen des Auslegersystems.Depending on whether the at least one predetermined limit value is an upper or a lower critical limit, at least one warning signal is advantageously output (to the operating personnel of the crane) and/or at least a measure to Re-compliance with the limit value carried out. These include, in particular, correction movements of the boom system.
Da die durch die üblicherweise verwendeten Abstützelemente erzielbare Standsicherheit nicht in jedem Teilbereich des theoretisch denkbaren Arbeitsraums des Auslegersystems gleich groß ist und die Abstützelemente unter bestimmten Arbeitsumständen, z.B. auf beengten Baustellen, nicht vollständig ausgefahren werden können, ist es weiterhin vorteilhaft, wenn ein Drehwinkel α des Ladekrans um eine vertikale Achse und/oder ein Ausfahrzustand der Abstützelemente erfasst wird. In diesem Fall ist es möglich, den wenigstens einen Standsicherheitsparameter in Abhängigkeit von dem Drehwinkel α und/oder dem Ausfahrzustand der Abstützelemente zu überwachen. Durch die Erfassung des Ausfahrzustands der Abstützelemente ist die relative Position der Abstützelemente in Bezug auf das Fahrzeug bekannt. Wenn es sich bei den Abstützelementen - wie oben beschrieben - um in vertikaler Richtung ausfahrbare Stützbeine, die an einer in horizontaler Richtung seitlich ausfahrbaren Abstützverbreiterung montiert sind, handelt, so zählt zu der Erfassung des Ausfahrzustands der Abstützelemente sowohl die Erfassung der Strecke, um welche die Abstützverbreiterung ausgefahren ist, als auch die Erfassung der Strecken, um welche die Stützbeine ausgefahren sind.Since the stability that can be achieved with the support elements that are usually used is not the same in every part of the theoretically conceivable working space of the boom system and the support elements cannot be fully extended under certain working conditions, e.g. on cramped construction sites, it is also advantageous if a rotation angle α of the Loading crane is detected about a vertical axis and / or an extended state of the supporting elements. In this case it is possible to monitor the at least one stability parameter as a function of the angle of rotation α and/or the extended state of the support elements. The relative position of the supporting elements in relation to the vehicle is known by detecting the extended state of the supporting elements. If the support elements - as described above - are support legs that can be extended in the vertical direction and are mounted on a support extension that can be extended laterally in the horizontal direction, then the detection of the extended state of the support elements includes both the detection of the distance by which the Outrigger extension is extended, as well as the detection of the distances by which the support legs are extended.
Laut Erfindung wird als Standsicherheitsparameter die Anzahl a der Räder und Abstützelemente, über welche das Fahrzeug am Untergrund abgestützt ist, und der Kraft-Standsicherheitsbeiwert SF überwacht, wobei SF aus den über die Räder und die Abstützelemente bereitgestellten Abstützkräften Fi berechnet wird. Dabei erfolgt die Berechnung von SF vorzugsweise nach folgender Formel:
In dem Fall, dass das Fahrzeug über zwei Vorderräder und zwei, insbesondere als Zwillingsräder ausgebildete, Hinterräder sowie zwei seitlich ausfahrbare Abstützverbreiterungen mit jeweils zwei Abstützelementen am Untergrund abstützbar ist und der Drehwinkel α des Ladekrans um eine vertikale Achse sowie der Ausfahrzustand der Abstützelemente erfasst wird, ist es vorteilhaft, wenn bei seitlich voll ausgefahrenen Abstützverbreiterungen je nach Drehwinkel α des Ladekrans amin =6 oder amin =5 und bei seitlich nicht voll ausgefahrenen Abstützverbreiterungen amin =6 gewählt wird.In the event that the vehicle can be supported on the ground via two front wheels and two rear wheels, in particular designed as twin wheels, as well as two laterally extendable support extensions, each with two support elements, and the angle of rotation α of the loading crane about a vertical axis and the extended state of the support elements are recorded, it is advantageous if a min = 6 or a min = 5 is selected depending on the angle of rotation α of the loading crane when the support extensions are fully extended at the side and a min = 6 is selected for the support extensions that are not fully extended at the side.
In dem Fall, dass das Fahrzeug über zwei Vorderräder und zwei, insbesondere als Zwillingsräder ausgebildete, Hinterräder sowie eine seitlich ausfahrbare Abstützverbreiterung mit zwei Abstützelementen am Untergrund abstützbar ist und der Drehwinkel α des Ladekrans um eine vertikale Achse sowie der Ausfahrzustand der Abstützelemente erfasst wird, ist es vorteilhaft, wenn bei seitlich voll ausgefahrener Abstützverbreiterung je nach Drehwinkel α des Ladekrans amin =6 oder amin =4 und bei seitlich nicht voll ausgefahrener Abstützverbreiterung amin =6 gewählt wird.In the event that the vehicle can be supported on the ground via two front wheels and two rear wheels, in particular designed as twin wheels, as well as a laterally extendable support extension with two support elements and the angle of rotation α of the loading crane about a vertical axis and the extended state of the support elements is recorded it is advantageous if a min =6 or a min =4 is selected with the laterally fully extended outrigger extension, depending on the angle of rotation α of the loading crane, and with the laterally not fully extended outrigger extension a min =6.
Es sei angemerkt, dass durch die Einhaltung der in den letzten beiden Abschnitten genannten Grenzwerte für amin automatisch auch die eingangs erwähnte Norm EN 12999 erfüllt wird, vorausgesetzt, dass alle Räder durch eine Feststellbremse bremsbar sind.It should be noted that by complying with the limit values for a min mentioned in the last two sections, the EN 12999 standard mentioned at the beginning is also automatically met, provided that all wheels can be braked with a parking brake.
Werden die über die Räder bereitgestellten Abstützkräfte Fi erfasst, so bietet es sich an, im Zuge der Standsicherheitsüberwachung auch noch zusätzlich die Achslasten zu überwachen, da sie sich sehr einfach aus den entsprechenden Abstützkräften Fi (durch Summenbildung) berechnen lassen. Bei der Achslast handelt es sich um den Anteil der Gesamtmasse (Eigenmasse und Masse der Ladung eines Fahrzeugs), der auf eine Achse (einen Radsatz) dieses Fahrzeugs entfällt.If the support forces F i provided by the wheels are recorded, it makes sense to also monitor the axle loads as part of the stability monitoring, since they can be calculated very easily from the corresponding support forces F i (by summation). The axle load is the proportion of the total mass (dead mass and mass of the load of a vehicle) that falls on one axle (axle) of this vehicle.
Besonders vorteilhaft ist es, die über die Räder bereitgestellten Abstützkräfte Fi über eine Messung von Entfederungswegen (der Radfederungen) zu ermitteln. Hierzu ist es vorteilhaft, für jedes der Räder einmal eine Entfederungskennlinie (Entfederungsweg in Abhängigkeit von der Abstützkraft) zu ermitteln. Anschließend können diese Kennlinien jederzeit für eine Umrechnung der gemessenen Entfederungswege in Abstützkräfte verwendet werden. Der maximal mögliche Entfederungsweg entspricht dem Weg, bei dem ein Rad vom Untergrund abhebt und die von diesem Rad bereitgestellte Abstützkraft den Wert Null annimmt. Diese Vorgehensweise bietet sich vor allem bei Fahrzeugen an, die Blattfederungen mit einer linearen Federcharakteristik aufweisen. Bei andersartigen Federungen könnte man z.B. der Einfachheit halber auch die gemessenen Längen Li der Schwingungsdämpfer der Räder direkt in einen Längen-Standsicherheitsbeiwert SL umrechnen, und den Wert von SL überwachen. Dabei erfolgt die Berechnung von SL vorzugsweise nach folgender Formel:
Ein weiteres vorteilhaftes Ausführungsbeispiel besteht darin, dass der Ausfahrzustand der Abstützelemente erfasst wird, und darauf basierend, die möglichen Kippkanten Kj des Fahrzeugs im Kranbetrieb berechnet werden. Berechnet man darüber hinaus die Abstände li,Kj der Räder und Abstützelemente zu den Kippkanten Kj und erfasst man gleichzeitig den Drehwinkel α des Ladekrans um eine vertikale Achse sowie die über die Räder und die Abstützelemente bereitgestellten Abstützkräften Fi , so ist es möglich, in Abhängigkeit von dem Drehwinkel α des Ladekrans in Bezug auf die momentan relevante Kippkante Kα als Standsicherheitsparameter das Reststandmoment Mrest,Kα zu überwachen, wobei sich Mrest,Kα nach folgender Formel berechnen lässt:
Schutz wird auch begehrt für eine Vorrichtung zur Überwachung wenigstens eines Standsicherheitsparameters eines auf einem Fahrzeug montierten Ladekrans, wobei das Fahrzeug im Kranbetrieb über Räder und über von den Rädern gesonderte Abstützelemente am Untergrund abstützbar laut Anspruch 9 Bei dem wenigstens einen Standsicherheitsparameter handelt es sich wiederum - genauso wie im Zusammenhang mit dem erfindungsgemäßen Verfahren beschrieben - um die Anzahl a der Räder und Abstützelemente, über welche das Fahrzeug am Untergrund abgestützt ist und den Kraft-Standsicherheitsbeiwert SF Es kann sich weiterhin um das Reststandmoment Mrest,Kα in Abhängigkeit von dem Drehwinkel α des Ladekrans in Bezug auf die momentan relevante Kippkante Kα handeln.Protection is also sought for a device for monitoring at least one stability parameter of a loading crane mounted on a vehicle, the vehicle being able to be supported on the ground during crane operation via wheels and via support elements separate from the wheels according to
Vorteilhafterweise ist durch die Steuer- und Regeleinheit bei einer Über- bzw. Unterschreitung des wenigstens einen vorbestimmten Grenzwertes wenigstens ein Warnsignal generierbar und/oder wenigstens eine Maßnahme zur Wiedereinhaltung des wenigstens einen vorbestimmten Grenzwertes steuerbar. Das Warnsignal kann durch die Steuer- und Regeleinheit z.B. in Form einer elektrischen Pulsfolge generiert und anschließend mittels Warnleuchten und/oder Lautsprechern in ein optisches und/oder akustisches Signal umgewandelt werden. Die wenigstens eine Maßnahme zur Wiedereinhaltung des wenigstens einen vorbestimmten Grenzwertes kann beispielsweise als programmierter Handlungsablauf in der Steuer- und Regeleinheit hinterlegt sein. Im einfachsten Fall handelt es sich bei dem Handlungsablauf um einen Stopp-Vorgang, durch den der Kranbetrieb gestoppt wird.Advantageously, the control and regulation unit can generate at least one warning signal and/or control at least one measure for maintaining the at least one predetermined limit value when the at least one predetermined limit value is exceeded or not reached. The warning signal can be generated by the control and regulation unit, e.g. in the form of an electrical pulse sequence, and then converted into an optical and/or acoustic signal by means of warning lights and/or loudspeakers. The at least one measure for maintaining the at least one predetermined limit value again can be stored, for example, as a programmed course of action in the control and regulation unit. In the simplest case, the course of action is a stopping process that stops the crane operation.
Es ist weiterhin vorteilhaft, wenn die Vorrichtung eine Drehwinkel-Messeinrichtung zur Erfassung eines Drehwinkels α des Ladekrans um eine vertikale Achse und/oder eine Ausfahrzustand-Messeinrichtung zur Erfassung eines Ausfahrzustands der Abstützelemente aufweist, wobei die Messsignale der Drehwinkel- und/oder der Ausfahrzustand-Messeinrichtung (z.B. über entsprechende Signalleitungen oder durch eine drahtlose Übertragung) der Steuer- und Regeleinheit zuführbar sind. Für den Fall, dass es sich bei den Abstützelementen um Stützbeine, die an einer seitlich ausfahrbaren Abstützverbreiterung montiert sind, handelt und dass alle nicht-variablen Parameter (wie z.B. die Montageposition der Abstützverbreiterung am Fahrzeugrahmen) bekannt und in der Steuer- und Regeleinheit hinterlegt sind, ist es zur Bestimmung der Position der Abstützelemente relativ zum Fahrzeug nur noch erforderlich, mit Hilfe der Ausfahrzustand-Messeinrichtung die Ausfahrlängen der Abstützverbreiterung und der Stützbeine zu erfassen.It is also advantageous if the device has a rotation angle measuring device for detecting a rotation angle α of the loading crane about a vertical axis and/or an extended status measuring device for detecting an extended status of the support elements, the measurement signals of the rotational angle and/or the extended status Measuring device (eg via appropriate signal lines or by wireless transmission) of the control and regulation unit can be fed. In the event that the support elements are support legs that are mounted on a laterally extendable support extension and that all non-variable parameters (such as the installation position of the support extension on the vehicle frame) are known and stored in the control and regulation unit , in order to determine the position of the support elements relative to the vehicle, it is only necessary to use the extended state measuring device to record the extended lengths of the support widening and the support legs.
Für den Fall, dass die Abstützelemente an wenigstens einer seitlich ausfahrbaren Abstützverbreiterung angeordnet sind und der Ladekran auf einem Kransockel, welcher mit der wenigstens einen Abstützverbreiterung verbunden ist, ruht, ist es vorteilhaft, die Abstützelement-Messeinrichtungen in den Abstützelementen und/oder an der Verbindung der Abstützelemente mit der Abstützverbreiterung und/oder an der Verbindung der Abstützverbreiterung mit dem Kransockel anzuordnen.In the event that the support elements are arranged on at least one laterally extendable support extension and the loading crane rests on a crane base which is connected to the at least one support extension, it is advantageous to use the support element measuring devices in the support elements and/or to be arranged at the connection of the support elements with the support widening and/or at the connection of the support widening with the crane base.
In einer bevorzugten Ausführungsform sind durch die Rad- und Abstützelement-Messeinrichtungen die über die Räder und die Abstützelemente bereitgestellten Abstützkräfte Fi erfassbar. Das ist im Falle der durch die Abstützelemente bereitgestellten Abstützkräfte Fi z.B. dadurch möglich, dass die Abstützelement-Messeinrichtungen als Kraftmesszellen ausgebildet sind. Im Falle der Räder kann die Messung der Abstützkräfte Fi beispielsweise über eine Messung von Entfederungswegen (der Radfederungen) bzw. der Längen Li der Schwingungsdämpfer (z.B. mittels Seillängengebern) oder über eine Messung der Reifeninnendrücke erfolgen. Weiterhin ist es denkbar, eine Radkraftmessung mit Hilfe von Dehnungsmessstreifen nahe der Achsenenden zu realisieren. Werden die über die Räder bereitgestellten Abstützkräfte Fi erfasst, so bietet es sich (wie weiter oben bereits beschrieben) an, im Zuge der Standsicherheitsüberwachung - mit Hilfe der Steuer- und Regeleinheit - auch noch zusätzlich die Achslasten zu überwachen, da sie sich sehr einfach aus den entsprechenden Abstützkräften (durch Summenbildung) berechnen lassen.In a preferred embodiment, the wheel and support element measuring devices can detect the support forces F i provided via the wheels and the support elements. In the case of the supporting forces F i provided by the supporting elements, this is possible, for example, by the supporting element measuring devices being designed as load cells. In the case of the wheels, the measurement of the supporting forces F i can be carried out, for example, by measuring the despringing distances (of the wheel spring systems) or the lengths L i of the vibration dampers (eg using cable length sensors) or by measuring the internal tire pressures. It is also conceivable to measure the wheel force using strain gauges near the ends of the axle. If the support forces F i provided via the wheels are recorded, then it makes sense (as already described above) to also monitor the axle loads as part of the stability monitoring—with the aid of the control and regulation unit—because they are very simple can be calculated from the corresponding support forces (by summation).
Weitere Ausführungsbeispiele zeichnen sich dadurch aus, dass (bei bekannter Position der Position der Abstützelemente relativ zum Fahrzeug) durch die Steuer- und Regeleinheit die Kippkanten Kj des Fahrzeugs im Kranbetrieb und zusätzlich die Abstände li,Kj der Räder und Abstützelemente zu den Kippkanten Kj berechenbar sind. Unter dieser Voraussetzung kann dann nämlich (wie weiter oben beschrieben) in weiterer Folge als Standsicherheitsparameter das Reststandmoment Mrest,Kα überwacht werden.Further exemplary embodiments are characterized in that (when the position of the supporting elements relative to the vehicle is known) the tilting edges Kj of the vehicle during crane operation and, in addition, the distances l i,Kj of the wheels and supporting elements from the tilting edges K j are computable. Under this condition, the residual stability torque M rest,Kα can then be monitored (as described further above) as a stability parameter.
Weitere Einzelheiten und Vorteile der vorliegenden Erfindung werden anhand der Figurenbeschreibung unter Bezugnahme auf die in den Zeichnungen dargestellten Ausführungsbeispiele näher erläutert. Dabei zeigt:
- Fig. 1
- eine schematische Darstellung eines Ausführungsbeispiels eines Fahrzeugs, auf dem ein Ladekran montiert ist und das für die vorliegende Erfindung relevant ist,
- Fig. 2
- ein Modell des in
Fig. 1 dargestellten Fahrzeugs, in dem einige der für die Standsicherheitsüberwachung relevanten Parameter eingezeichnet sind, - Fig. 3a, 3b, 4a, 4b
- Grenzwertdarstellungen für die Mindestanzahl an Rädern und Abstützelementen, über welche das Fahrzeug in unterschiedlichen Ausführungsformen wenigstens am Untergrund abgestützt sein muss, in Abhängigkeit von dem Drehwinkel α des Ladekrans und dem Ausfahrzustand der Abstützelemente,
- Fig. 5
- einen beispielhaften Verlauf des Kraft-Standsicherheitsbeiwerts SF in Abhängigkeit von dem Drehwinkel α des Ladekrans und
- Fig. 6
- eine schematische Darstellung eines möglichen Schwingungsdämpfers eines Rads.
- 1
- a schematic representation of an embodiment of a vehicle on which a loading crane is mounted and which is relevant to the present invention,
- 2
- a model of the in
1 vehicle shown, in which some of the parameters relevant for the stability monitoring are marked, - Figures 3a, 3b, 4a, 4b
- Representations of limit values for the minimum number of wheels and supporting elements, via which the vehicle must be supported at least on the ground in different embodiments, depending on the rotation angle α of the loading crane and the extended state of the supporting elements,
- figure 5
- an exemplary course of the force stability coefficient SF as a function of the rotation angle α of the loading crane and
- 6
- a schematic representation of a possible vibration damper of a wheel.
In der
Die
Den
In der
Claims (15)
- A method for monitoring at least one stability parameter of a loading crane (2) mounted on a vehicle (1) by means of a device, wherein during crane operation the vehicle (1) is supported on the ground by means of wheels (3a, 3b) and by means of support elements (4) separate from the wheels (3a, 3b), characterized in that both contributions of the wheels (3a, 3b) and contributions of the support elements (4) to a magnitude of the stability parameter are detected and said magnitude is compared to at least one predetermined limit value, wherein the device comprises wheel and support element measuring devices, by which both contributions of the wheels (3a, 3b) and contributions of the support elements (4) to the magnitude of the at least one stability parameter can be detected, wherein the device comprises a control and regulating unit (7), to which measuring signals of the wheel and support element measuring devices can be fed, wherein a magnitude of the at least one stability parameter can be detected and can be compared to at least one predetermined limit value by the control and regulating unit (7), and in that a number (a) of the wheels (3a, 3b) and support elements (4), by means of which the vehicle (1) is supported on the ground, is monitored as stability parameter, and in that a force-stability coefficient (SF) is monitored as stability parameter, wherein the force-stability coefficient (SF) is calculated from support forces (Fi ) provided by means of the wheels (3a, 3b) and the support elements (4), wherein the force stability coefficient (SF) is calculated in accordance with the following formula:
- The method as set forth in claim 1, characterized in that- when said magnitude exceeds or falls below the at least one predetermined limit value, at least one warning signal is output and/or at least one measure for return to compliance with the at least one predetermined limit value is implemented and/or- a rotational angle (a) of the loading crane (2) about a vertical axis and/or an extension condition of the support elements (4) is detected, wherein preferably the at least one stability parameter is monitored in dependence on the rotational angle (a) of the loading crane (2) and/or the extension condition of the support elements (4).
- The method as set forth in claim 1 or 2, wherein the wheels (3a, 3b) of the vehicle (1) are arranged on axles (6), characterized in that axle loads are monitored, wherein the axle loads are calculated from the support forces (Fi ) provided by means of the wheels (3a, 3b).
- The method as set forth in one of the claims 1 through 3, characterized in that the support forces (Fi) provided by means of the wheels (3a, 3b) are detected by measurement of spring relief travel.
- The method as set forth in one of the claims 1 through 4, characterized in that lengths (Li) of vibration dampers (10) of the wheels (3a, 3b) are detected and that a length-stability coefficient (SL) is monitored, wherein the length-stability coefficient (SL) is calculated from the detected lengths (Li), and wherein preferably the length-stability coefficient (SL) is calculated in accordance with the following formula:
- The method as set forth in claims 1 through 5, characterized in that during crane operation a condition SF >1 and/or a condition SL>1 is met.
- The method as set forth in one of the claims 1 through 6, characterized in that tipping lines (Kj) of the vehicle (1) are calculated during crane operation and that preferably distances (li,Kj ) of the wheels (3a, 3b) and the support elements (4) relative to the tipping lines (Kj) are calculated.
- The method as set forth in claim 7, wherein the rotational angle (a) of the loading crane (2) about a vertical axis is detected and the support forces (Fi) provided by means of the wheels (3a, 3b) and the support elements (4) are detected, characterized in that in dependence on the rotational angle (a) of the loading crane (2) in relation to a current tipping line (Kα) as stability parameter a remaining stability moment (Mrest,Kα) is monitored, wherein the remaining stability moment (Mrest,Kα) is calculated in accordance with the following formula:
- A device for monitoring at least one stability parameter of a loading crane (2) mounted on a vehicle (1), wherein during crane operation the vehicle (1) can be supported on the ground by means of wheels (3a, 3b) and at the same time by means of support elements (4) separate from the wheels (3a, 3b), characterized in that the device has:- wheel and support element measuring devices, by which both contributions of the wheels (3a, 3b) and contributions of the support elements (4) to the magnitude of the at least one stability parameter can be detected, and- a control and regulating unit (7), to which measuring signals of the wheel and support element measuring devices can be fed,wherein a magnitude of the at least one stability parameter can be detected and can be compared to at least one predetermined limit value by the control and regulating unit (7), wherein the device is configured for performing a method as set forth in one of claims 1 through 8.
- The device as set forth in claim 9, characterized in that- when the magnitude exceeds or falls below the at least one predetermined limit value, at least one warning signal can be generated and/or at least one measure for returning to compliance of the at least one predetermined limit value is controllable by the control and regulating unit (7), and/or- the device has a rotational angle measuring device for detecting a rotational angle (a) of the loading crane (2) about a vertical axis and/or an extension condition measuring device for detecting an extension condition of the support elements (4), wherein measuring signals of the rotational angle and/or extension condition measuring device can be fed to the control and regulating unit (7).
- The device as set forth in claim 9 or 10, wherein the support elements (4) are arranged on at least one laterally extendable support extension (5) and the loading crane (2) rests on a crane base (8) connected to the at least one support extension (5), characterized in that the support element measuring devices are arranged in the support elements (4) and/or at a connection of the support elements (4) to the support extension (5) and/or at a connection of the support extension (5) to the crane base (8).
- The device as set forth in one of claims 9 through 11, characterized in that the support forces (Fi) provided by means of the wheels (3a, 3b) and the support elements (4) can be detected by the wheel and support element measuring devices, wherein preferably the support forces (Fi) provided by means of the wheels (3a, 3b) can be detected by means of a measurement of spring relief travels.
- The device as set forth in one of the claims 9 through 12, characterized in that lengths (Li) of vibration dampers (10) of the wheels (3a, 3b) can be detected by the wheel measuring devices.
- The device as set forth in one of the claims 9 through 13, characterized in that tipping lines (Kj) of the vehicle (1) can be calculated during crane operation by the control and regulating unit (7), and that preferably distances (li,Kj) of the wheels (3a, 3b) and support elements (4) relative to the tipping lines (Kj) can be calculated by the control and regulating unit (7).
- A vehicle (1) on which a loading crane (2) is mounted, and which has wheels (3a, 3b) and extendable support elements (4), characterized in that the vehicle (1) has a device as set forth in one of the claims 9 through 14.
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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ATA500/2011A AT511234B1 (en) | 2011-04-08 | 2011-04-08 | STAND SAFETY MONITORING OF A LOADING CRANE MOUNTED ON A VEHICLE |
PCT/AT2012/000092 WO2012135882A1 (en) | 2011-04-08 | 2012-04-05 | Method and device for monitoring the stability of a loading crane mounted on a vehicle |
EP12721693.5A EP2694426A1 (en) | 2011-04-08 | 2012-04-05 | Method and device for monitoring the stability of a loading crane mounted on a vehicle |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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EP12721693.5A Division EP2694426A1 (en) | 2011-04-08 | 2012-04-05 | Method and device for monitoring the stability of a loading crane mounted on a vehicle |
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EP3470362A1 EP3470362A1 (en) | 2019-04-17 |
EP3470362B1 true EP3470362B1 (en) | 2022-06-08 |
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EP18207557.2A Active EP3470362B1 (en) | 2011-04-08 | 2012-04-05 | Method and device for monitoring the stability of a loading crane mounted on a vehicle |
EP12721693.5A Ceased EP2694426A1 (en) | 2011-04-08 | 2012-04-05 | Method and device for monitoring the stability of a loading crane mounted on a vehicle |
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EP12721693.5A Ceased EP2694426A1 (en) | 2011-04-08 | 2012-04-05 | Method and device for monitoring the stability of a loading crane mounted on a vehicle |
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US (1) | US8874329B2 (en) |
EP (2) | EP3470362B1 (en) |
CN (1) | CN103476699B (en) |
AT (1) | AT511234B1 (en) |
AU (1) | AU2012239830B2 (en) |
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FR3002799B1 (en) * | 2013-03-01 | 2015-07-31 | Haulotte Group | EFFORT MEASUREMENT CELL FOR AN ELEVATOR BOOM AND AN ELEVATOR NACELLE COMPRISING SUCH A CELL |
US9776846B2 (en) | 2014-03-13 | 2017-10-03 | Oshkosh Corporation | Systems and methods for dynamic machine stability |
FI125464B (en) * | 2014-03-18 | 2015-10-15 | Novatron Oy | System and method for locating a construction machine |
DE102014105618A1 (en) * | 2014-04-22 | 2015-10-22 | Terex Cranes Germany Gmbh | Method and device for operating a mobile crane and mobile crane |
US10077174B1 (en) * | 2015-04-21 | 2018-09-18 | Auto Crane Company | Automatic de-rate operating system and method for a truck mounted crane |
US10450716B2 (en) * | 2016-12-19 | 2019-10-22 | Caterpillar Inc. | Power limiting stress-strain monitor system and method for machine |
IT201700037143A1 (en) * | 2017-04-05 | 2018-10-05 | Jacques Tranchero | Crane with sector anti-tipping system |
DE102018204079A1 (en) * | 2018-03-16 | 2019-09-19 | Putzmeister Engineering Gmbh | Truck-mounted concrete pump and method for the stability-relevant control of a truck-mounted concrete pump |
US10456610B1 (en) * | 2018-04-23 | 2019-10-29 | Oshkosh Corporation | Stability system for a fire apparatus |
JP7342548B2 (en) * | 2019-09-12 | 2023-09-12 | 株式会社タダノ | Loading truck crane |
JP7525826B2 (en) | 2021-03-24 | 2024-07-31 | 株式会社タダノ | Loading truck crane |
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DE4136104A1 (en) * | 1991-11-02 | 1993-05-06 | Fichtel & Sachs Ag, 8720 Schweinfurt, De | METHOD FOR INFLUENCING A SPRING AND DAMPING SUPPORT SYSTEM BETWEEN CHASSIS AND ASSEMBLY OF A VEHICLE AND SUPPORT SYSTEM FOR IMPLEMENTING THIS PROCESS |
JPH07144884A (en) * | 1993-11-26 | 1995-06-06 | Komatsu Mec Corp | Mobile reach tower crane |
DE29519928U1 (en) * | 1995-12-15 | 1996-04-04 | Liebherr-Werk Ehingen Gmbh, 89584 Ehingen | Crane vehicle with an overload protection device |
DE19710341C2 (en) * | 1997-03-13 | 1999-01-21 | Deutsche Bahn Ag | Support device for rail vehicles |
EP1097069B1 (en) * | 1998-07-17 | 2002-07-31 | Continental Teves AG & Co. oHG | Method and device for determining and detecting the overturning hazard of a vehicle |
IT1319455B1 (en) * | 2000-06-29 | 2003-10-10 | Dana Italia Spa | DEVICE FOR THE DYNAMIC STABILITY CONTROL OF AN INDUSTRIAL VEHICLE. |
GB2390595B (en) * | 2002-07-12 | 2005-08-24 | Bamford Excavators Ltd | Control system for a machine |
DE10349234A1 (en) | 2003-10-20 | 2005-05-19 | Putzmeister Ag | Mobile implement with support arms |
RU2267458C1 (en) * | 2004-04-28 | 2006-01-10 | Тульский государственный университет | System for checking load stability of mobile load-lifting machine |
CA2588461C (en) * | 2004-11-25 | 2014-08-26 | M.A.T. Malmedie Antriebstechnik Gmbh | System arrangement of a lifting device, in particular for a container crane for the lifting of loads and moving for the operation of the system arrangement |
DE202005013310U1 (en) * | 2005-08-23 | 2007-01-04 | Liebherr-Hydraulikbagger Gmbh | Overload warning device for excavators |
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2011
- 2011-04-08 AT ATA500/2011A patent/AT511234B1/en active
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BR112013025008A2 (en) | 2017-03-21 |
RU2013149870A (en) | 2015-05-20 |
WO2012135882A1 (en) | 2012-10-11 |
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US8874329B2 (en) | 2014-10-28 |
AT511234B1 (en) | 2013-05-15 |
RU2597043C2 (en) | 2016-09-10 |
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AU2012239830A1 (en) | 2013-10-17 |
CN103476699A (en) | 2013-12-25 |
BR112013025008A8 (en) | 2018-03-13 |
AU2012239830B2 (en) | 2016-07-14 |
US20140032060A1 (en) | 2014-01-30 |
CN103476699B (en) | 2015-09-09 |
EP3470362A1 (en) | 2019-04-17 |
AT511234A1 (en) | 2012-10-15 |
PL3470362T3 (en) | 2023-01-02 |
EP2694426A1 (en) | 2014-02-12 |
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