EP3470362B1 - Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans - Google Patents

Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans Download PDF

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Publication number
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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EP
European Patent Office
Prior art keywords
wheels
support
support elements
vehicle
stability
Prior art date
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Active
Application number
EP18207557.2A
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German (de)
English (en)
French (fr)
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EP3470362A1 (de
Inventor
Thomas Zinke
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.)
Palfinger AG
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Palfinger AG
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Publication date
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Publication of EP3470362A1 publication Critical patent/EP3470362A1/de
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Publication of EP3470362B1 publication Critical patent/EP3470362B1/de
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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
    • B66C23/62—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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP18207557.2A 2011-04-08 2012-04-05 Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans Active EP3470362B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
ATA500/2011A AT511234B1 (de) 2011-04-08 2011-04-08 Standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans
PCT/AT2012/000092 WO2012135882A1 (de) 2011-04-08 2012-04-05 Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans
EP12721693.5A EP2694426A1 (de) 2011-04-08 2012-04-05 Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP12721693.5A Division EP2694426A1 (de) 2011-04-08 2012-04-05 Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans

Publications (2)

Publication Number Publication Date
EP3470362A1 EP3470362A1 (de) 2019-04-17
EP3470362B1 true EP3470362B1 (de) 2022-06-08

Family

ID=46124214

Family Applications (2)

Application Number Title Priority Date Filing Date
EP12721693.5A Ceased EP2694426A1 (de) 2011-04-08 2012-04-05 Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans
EP18207557.2A Active EP3470362B1 (de) 2011-04-08 2012-04-05 Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans

Family Applications Before (1)

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EP12721693.5A Ceased EP2694426A1 (de) 2011-04-08 2012-04-05 Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans

Country Status (11)

Country Link
US (1) US8874329B2 (es)
EP (2) EP2694426A1 (es)
CN (1) CN103476699B (es)
AT (1) AT511234B1 (es)
AU (1) AU2012239830B2 (es)
BR (1) BR112013025008A8 (es)
DK (1) DK3470362T3 (es)
ES (1) ES2926531T3 (es)
PL (1) PL3470362T3 (es)
RU (1) RU2597043C2 (es)
WO (1) WO2012135882A1 (es)

Families Citing this family (10)

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FR3002799B1 (fr) * 2013-03-01 2015-07-31 Haulotte Group Cellule de mesure d'effort pour nacelle elevatrice et nacelle elevatrice comprenant une telle cellule
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 Arrangement and method for positioning the machine
DE102014105618A1 (de) * 2014-04-22 2015-10-22 Terex Cranes Germany Gmbh Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran
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 (it) * 2017-04-05 2018-10-05 Jacques Tranchero Gru con sistema antiribaltamento settoriale
DE102018204079A1 (de) * 2018-03-16 2019-09-19 Putzmeister Engineering Gmbh Autobetonpumpe und Verfahren zur stabilitätsrelevanten Steuerung einer Autobetonpumpe
US10456610B1 (en) 2018-04-23 2019-10-29 Oshkosh Corporation Stability system for a fire apparatus
JP7342548B2 (ja) * 2019-09-12 2023-09-12 株式会社タダノ 積載形トラッククレーン

Family Cites Families (12)

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DE4136104A1 (de) * 1991-11-02 1993-05-06 Fichtel & Sachs Ag, 8720 Schweinfurt, De Verfahren zur lastabhaengigen beeinflussung eines federnden und daempfenden abstuetzsystems zwischen fahrwerk und aufbau eines fahrzeugs und abstuetzsystems zur durchfuehrung dieses verfahrens
JPH07144884A (ja) * 1993-11-26 1995-06-06 Komatsu Mec Corp 移動式リーチタワークレーン
DE29519928U1 (de) * 1995-12-15 1996-04-04 Liebherr Werk Ehingen Kranfahrzeug mit einer Überlastsicherungseinrichtung
DE19710341C2 (de) * 1997-03-13 1999-01-21 Deutsche Bahn Ag Abstützeinrichtung für Schienenfahrzeuge
US6424907B1 (en) * 1998-07-17 2002-07-23 Continental Teves Ag & Co., Ohg Method and device for determining and detecting the overturning hazard of a vehicle
IT1319455B1 (it) * 2000-06-29 2003-10-10 Dana Italia Spa Dispositivo per il controllo della stabilita' dinamica di un veicoloindustriale.
GB2390595B (en) * 2002-07-12 2005-08-24 Bamford Excavators Ltd Control system for a machine
DE10349234A1 (de) 2003-10-20 2005-05-19 Putzmeister Ag Mobiles Arbeitsgerät mit Stützauslegern
RU2267458C1 (ru) * 2004-04-28 2006-01-10 Тульский государственный университет Система контроля грузовой устойчивости мобильных грузоподъемных машин
US7970520B2 (en) * 2004-11-25 2011-06-28 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 (de) * 2005-08-23 2007-01-04 Liebherr-Hydraulikbagger Gmbh Überlastwarneinrichtung für Bagger
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Also Published As

Publication number Publication date
BR112013025008A8 (pt) 2018-03-13
EP2694426A1 (de) 2014-02-12
AU2012239830A1 (en) 2013-10-17
ES2926531T3 (es) 2022-10-26
BR112013025008A2 (pt) 2017-03-21
US8874329B2 (en) 2014-10-28
AT511234B1 (de) 2013-05-15
CN103476699A (zh) 2013-12-25
PL3470362T3 (pl) 2023-01-02
US20140032060A1 (en) 2014-01-30
RU2597043C2 (ru) 2016-09-10
AT511234A1 (de) 2012-10-15
RU2013149870A (ru) 2015-05-20
WO2012135882A1 (de) 2012-10-11
DK3470362T3 (da) 2022-09-12
AU2012239830B2 (en) 2016-07-14
EP3470362A1 (de) 2019-04-17
CN103476699B (zh) 2015-09-09

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