EP3856673A1 - Grue et procédé pour surveiller le fonctionnement d'une telle grue - Google Patents

Grue et procédé pour surveiller le fonctionnement d'une telle grue

Info

Publication number
EP3856673A1
EP3856673A1 EP19806147.5A EP19806147A EP3856673A1 EP 3856673 A1 EP3856673 A1 EP 3856673A1 EP 19806147 A EP19806147 A EP 19806147A EP 3856673 A1 EP3856673 A1 EP 3856673A1
Authority
EP
European Patent Office
Prior art keywords
crane
gravity
load
determined
overall center
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
EP19806147.5A
Other languages
German (de)
English (en)
Other versions
EP3856673B1 (fr
Inventor
Alexander DANGEL
Manfred FAKLER
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 Biberach GmbH
Original Assignee
Liebherr Werk Biberach 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 Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Publication of EP3856673A1 publication Critical patent/EP3856673A1/fr
Application granted granted Critical
Publication of EP3856673B1 publication Critical patent/EP3856673B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B66C23/18—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0328—Cranes on rails or on rail vehicles
    • B66C2700/0335—Cranes on rails or on rail vehicles with a slewing arm
    • B66C2700/0342—Cranes on rails or on rail vehicles with a slewing arm on a turntable

Definitions

  • the present invention relates to a method for monitoring the operation of a crane, in which an overall center of gravity of the crane is determined with a load attached to it, if any, and its position relative to a tilting edge of the crane is monitored.
  • the invention further relates to a crane, in particular a tower crane, with drive devices for crane and / or load movements, such as a crane controller for controlling the drive devices, the crane controller having a monitoring device for monitoring the crane load and restricting crane movements when a critical crane load is reached .
  • cranes such as construction cranes, for example mobile and / or telescopic construction cranes or tower cranes
  • it is usually monitored by means of a crane control or a monitoring device implemented therein whether the stability of the crane is guaranteed or the load on the crane reaches a critical load limit so that the crane threatens to fall over or into is otherwise endangered, in order to then possibly switch off the corresponding drive devices of the crane in good time or only allow those crane movements which reduce the crane load or at least do not increase it further.
  • NEN the lifting load and the outreach of the lifting load are monitored, for example by determining the pulling force acting on the hoist rope or a torque induced here by the hoist rope winch, and - as far as the unloading is concerned - by the position of a trolley or a unwound trolley length can be done.
  • the sizes mentioned can also be determined in a different way, for example in the case of cranes with a luffing jib, the outreach can be determined by means of the luffing angle and, if appropriate, the respectively telescoped jib length.
  • a load torque acting on the crane can be determined as a result, which can be compared with a corresponding load limit in the form of a limit torque in order to ensure the stability of the crane. If the monitoring device detects that a load that is generally too heavy is being lifted or that a certain lifting load is being moved too far outwards, so that the outreach for this load is too large, the crane controller can, for example, stop the hoist drive and the trolley travel drive to ensure the stability of the crane .
  • the stability of the crane does not only depend on the mentioned lifting capacity and radius, but is also influenced by other operating and influencing factors, such as the speed of movement and acceleration.
  • the document DE 10 2005 035 729 A1 proposes to continuously reduce the speed of the crane drives when the crane approaches its load limit by a corresponding crane movement.
  • the stability of a crane depends not only on the load moment loading the crane, but also on the support base on which the crane rests or stands.
  • cranes are supported on the floor by extendable floor supports, so that there is usually a support rectangle that is defined by the connecting lines through the contact points.
  • Such a support rectangle results in a directional dependence of the stability, since in different rotational positions of the crane around its upright axis of rotation, the load moment counteracts a differently large counter moment, which results from the different lever arm of the supporting forces on the supports.
  • the supports mentioned define tilting edges from which the articulation point of the rotatable upper crane part is at different distances, depending on the direction in which the said upper part is rotated.
  • variably adjustable support bases have recently been used in order to be able to adapt the support system to limited space. For example, if a crane is in a very tight space on a roadside or sidewalk, it is sometimes not possible to extend the supports fully in order to open a maximum-sized support square. In order to be able to use the crane in the above-mentioned installation situation, it is possible to operate the crane with one or more only partially extended guy supports, which of course then has an impact on the stability and must be taken into account by the crane's monitoring device.
  • the document DE 10 2008 021 627 A1 suggests determining the tilting edges of the crane as a function of an actual position of the supports and the overall center of gravity of the crane system, that is to say the crane with the load attached to it.
  • the particular The total center of gravity is then checked by the monitoring device to determine whether it lies within the support surface spanned by the tilting edges.
  • the current position of the center of gravity is shown on a display in the crane cab in relation to the support surface defined by the tipping edges, so that the crane operator can stop the crane movement in good time if the entire center of gravity threatens to approach a tipping edge.
  • the present invention seeks to provide an improved crane and an improved method for monitoring the operation of a crane, avoid the disadvantages of the prior art and advantageously further develop the latter.
  • timely limitation of critical crane movements should be ensured without unnecessarily restricting the efficient operation of the crane with high throughput rates.
  • the stated object is achieved by a method according to claim 1 and a crane according to claim 12.
  • Preferred embodiments of the invention are the subject of the dependent claims. It is therefore proposed to no longer only monitor the overall center of gravity and its distance from a respective tilting edge, but to anticipate possible shifts in the overall center of gravity under different operating and influencing factors and to use the future overall center of gravity in relation to the tilting edge to consider the ver to estimate the remaining load or stability reserve in order to be able to initiate necessary restrictions on crane movements or countermeasures.
  • possible shifts in the overall center of gravity are determined by possible changes in various operating and / or influencing variables, which include at least different crane movements, and the resulting future overall center of gravity, from which the most critical future overall center of gravity with respect to the tipping edge is then selected.
  • a possible restriction of crane movements is then determined based on the location of this most critical future center of gravity with respect to a tipping edge.
  • an outreach reserve can be determined, i.e. the still possible way to increase the outreach, which can still be driven without endangering the stability of the crane.
  • the mentioned unloading reserve can be the way that the trolley can still be moved outwards on the jib.
  • a movement reserve for a possible rotary movement of the crane can also be determined on the basis of said distance of the most critical future center of gravity from the tipping edge. For example, for turning the crane around its upright axis of rotation to the right to a little If the support leg is extended far enough, the angle of rotation to the right can be limited based on the distance mentioned as a movement reserve.
  • the most critical future overall center of gravity mentioned can be determined from the several possible future overall centers of gravity, for example on the basis of the positions of the possible future overall centers of gravity from the tilting edges of the support base of the crane. If all the possible future overall focal points determined lie within the supporting surface spanned by the tilting edges of the support base, the most critical overall center of gravity can be selected from the one that has the smallest distance from a tilting edge. If one or more possible future focal points lie outside of the above-mentioned support base, the overall focal point outside or the total focal point outside the greatest distance from a tilting edge can be selected.
  • the remaining load or stability reserve can be determined, whereby for the described case of a future total center of gravity lying outside the support base, a negative load capacity reserve is obtained, which can lead, for example, to the Monitoring device stops the crane.
  • the device for determining the future center of gravity not only takes into account the various possible crane movements and the mass forces induced thereby from, for example, a possible rotary movement, a possible lifting and / or a possible trolley movement of the crane, but also other influencing variables.
  • a possible shift in the overall center of gravity can be determined, which can result from a wind load.
  • a wind force can be applied for this, which results from the maximum permissible wind speed at which the crane can be operated, or from the difference between a current wind speed and the stated maximum permissible wind speed.
  • different wind directions and, as a result, different shifts in the overall center of gravity can be determined and taken into account, advantageously only one or a few wind directions needing to be taken into account which have an unfavorable influence on the stability of the crane.
  • wind from behind and / or wind from the side can be taken into account with the respectively maximum permissible wind speed for determining a possible shift in the overall center of gravity.
  • a structural deformation of the crane can also be determined for determining the possible displacement of the overall center of gravity, which can result from current operating and / or influencing variables and / or changes in these operating and / or influencing variables .
  • the crane deformation and the resulting shift in the overall center of gravity can be calculated, which occurs due to a certain wind load, for example at a certain wind speed with wind from the front or wind from the side.
  • a crane deformation can also be calculated, which results from mass forces from lifting the load and / or moving the trolley and / or rotating the crane about its upright axis of rotation and / or rocking or luffing the jib can.
  • the overall focus shifts not only due to the travel of the trolley to the outside, but also due to the bending deformation of the tower.
  • the overall center of gravity can shift if, for example, the tower is deformed to the front by a gust of wind from behind.
  • centrifugal forces can be determined and taken into account for the shift of the center of gravity. Such centrifugal forces can on the one hand pull the load on the load hook depending on the lowering depth of the load hook when the crane is rotated about its upright axis of rotation.
  • an additional deformation of the tower or of the telescopic luffing jib can also occur if, in addition to the load, a corresponding centrifugal torque pulls on the crane.
  • a rope break can be taken into account and its impact on a shift in the overall center of gravity can be determined.
  • Such consideration of a rope break can consist, on the one hand, of the fact that the overall system lacks the hook load and its share in the overall center of gravity on the one hand, and on the other hand, due to the sudden breaking of the hook load, a dynamic load acts on the crane, in particular in the form of a load towards the rear of the crane due to the resetting of the previously existing deformations under load.
  • all possible crane movements are advantageously taken into account, all axes of movement in both of their directions being able to be taken into account.
  • a lifting and lowering of the load hook and a turning of the jib about the upright crane rotation axis to the right and to the left can be taken into account.
  • the maximum movement speeds and / or accelerations provided by the crane controller can be used as a basis. Is there still no restriction speeds have been specified by the monitoring device, maximum travel speeds and accelerations can be used as a basis. If there has already been a limitation of the travel speeds or even a single travel speed because, for example, the permissible load limits have already been approximated, the mass forces can be determined on the basis of this already limited speed and / or acceleration and a possible shift in the overall center of gravity therefrom be calculated.
  • the restriction made by the monitoring device on the basis of the position of the most critical possible future overall center of gravity with respect to a tilting edge can fundamentally be different.
  • all crane drives can be restricted accordingly, for example by prescribing a reduced maximum speed and / or by writing a single actuation of the crane drives, in which only one of the several crane drives can be operated simultaneously.
  • the monitoring device can also selectively select or carry out the restriction to be made, in particular on the basis of the crane movement which was the basis of the displacement and the resulting overall focus, which was then selected as the most critical overall focus. If the most critical overall center of gravity has resulted, for example, from a counter-clockwise rotation of the crane, for example because this would lead to a support that is only partially extended, the monitoring device can, for example, lock the slewing gear in the corresponding direction of rotation while lifting and lowering movements of the load hook are still unrestricted possible are. In addition to the selective limitation mentioned, a further crane movement which increases the tipping moment can also be prevented, restricted or limited, for example a further outward movement of the trolley of a tower crane.
  • the tilting edges of the crane are determined on the basis of the respective extended state of the supports of the floor support, in order to be able to take into account different support configurations.
  • sensors can detect the current extension state of the respective support in order to then determine the support base or the tipping edges on the basis of the detected extension values, which can be determined using connecting lines through the contact points.
  • the position and / or orientation of the tilting edges can advantageously also be taken from a data memory in which the tilting edges and their position and orientation can be stored for different extension states.
  • the monitoring device of the crane control can currently calculate the possible displacements and possible future positions of the overall center of gravity and their position relative to the tilting edges on the basis of a respective actual state, in particular on the basis of current sensor values of the relevant parameters.
  • the monitoring device uses the current overall center of gravity as a starting point and determines the possible shifts in the current center of gravity and the resulting ones based on the possible operating and influencing variables and their possible changes, such as actuation of the crane drives, the wind forces mentioned or possible deformations future possible possible focal points, in order to then limit the crane movements in the manner mentioned.
  • the theoretically possible, future center of gravity can also be determined outside the crane control and the monitoring device, in particular already in advance using a model that takes into account the possible different set-up states of the crane and the relevant operating and / or influencing variables and their possible changes are taken into account.
  • the parameter sets calculated in advance on the basis of the model can be used by the control device or the monitoring device of the crane. be provided, for example by means of a data memory in which the respective parameter sets are stored.
  • the monitoring device then only needs to access the parameter sets mentioned and, based on the current center of gravity and / or current positions of the slewing gear, trolley, load hook and / or jib, call up a relevant parameter set which contains the future center of gravity and for a respective current crane position and configuration applies.
  • FIG. 1 is a schematic side view of a mobile tower crane, the tower supported on a rotating superstructure carries a boom with trolley and the undercarriage is supported by extendable supports on the ground,
  • Fig. 2 a plan view of the crane of Figure 1, which shows the tipping edges, which are defined by the extended supports of the floor support, as well as the current center of gravity and possible future focal positions and the possible movability of the payload, which from the possible future Center of gravity and the resulting stability reserve,
  • the crane 1 can be designed as a mobile construction crane or mobile tower crane, which comprises a tower 2, which is supported on a rotating platform 3, which is seated on an undercarriage 4 and about an upright axis of rotation by means of a slewing gear drive device 9 can be rotated.
  • the mentioned Unterwa conditions 4 can be designed as a truck or movable in another way, but possibly also be a firmly anchored or supported support base.
  • the tower 2 can carry a cantilever 5, which can be rocked up and down about a lying, transverse rocking axis, cf. Fig. 1.
  • a luffing drive device 12 for the boom 5 can rock the boom 5, for example, via the tensioning.
  • a trolley 6 can be mounted to be longitudinally movable, which can be moved by a trolley drive device 11, for example via a corresponding trolley rope.
  • a hoist rope 8 can run, to which a load harness can be connected, for example in the form of a load hook 7, in order to lift a load in a manner known per se.
  • a hoist drive device 10 can drive a hoisting rope drum accordingly.
  • the crane can include further drive devices, for example a telescopic boom with a telescopic drive device 13, a ballast adjustment drive device 15 for adjusting a ballast or a travel drive device 14 for moving the entire crane, which will not normally be the case in the design of the mobile construction crane, as it is jacked up for lifting loads.
  • further drive devices for example a telescopic boom with a telescopic drive device 13, a ballast adjustment drive device 15 for adjusting a ballast or a travel drive device 14 for moving the entire crane, which will not normally be the case in the design of the mobile construction crane, as it is jacked up for lifting loads.
  • the various drives are controlled by a central crane control 16 which, in a manner known per se, can provide corresponding actuation levers or other input means for a crane operator so that the latter can control the various axes of movement of the crane.
  • the crane control 16 comprises a monitoring device 17, which monitors the crane load acting on the crane by means of suitable sensors, in particular the lifting load taken up on the load hook 7 and the outreach which the load hook 7 has with respect to the standing base of the crane.
  • the cantilever can be determined, for example, via the position of the trolley 6 on the boom 5 and, if appropriate, the luffing angle of the boom 5 compared to the horizontal.
  • Said drive devices and / or the crane elements movable therefrom can be monitored by appropriate sensors in their position or in their operating state, so that the crane control 16 or the monitoring device 17 the respective current crane position, that is to say in particular the angle of rotation about the upright crane axis of rotation 18 and thus the orientation of the jib 5, the position of the trolley 6 in the sense of the distance from the tower 2, the sinking depth of the load hook 6 and possibly the luffing angle of the jib 5 and the position of the ballast.
  • the load taken on the load hook 6 can be determined by a lifting load sensor, which measures, for example, the load on the lifting mechanism 10.
  • the current overall center of gravity of the overall system of crane 1 and the lifting load attached to the load hook 7 can be determined by the monitoring device 17, in particular with regard to the position of the current center of gravity relative to the contact area defined by the floor support 19, what is shown in Figure 2.
  • the current position of the overall center of gravity which the monitoring device 17 knows or can determine from the state variables mentioned, for example can calculate or can read from a parameter set intended for the crane configuration, is identified by the letter y.
  • the said monitoring device 17 can determine the tilting edges 20 which result as support lines 19 through the contact points of the floor support 19.
  • the floor support 19 can be wise comprise four supports which can be extended in pairs to opposite sides of the undercarriage 4 and can be lowered to the floor in the respectively extended position.
  • the supports of the floor support 19 can be extended to different extents, so that different geometries of the support surface defined by the tilting edges 20 can result. It is fundamentally possible that the supports mentioned can be extended as desired, for example continuously or in stages, so that any number of differently configured contact surfaces or support surfaces can result.
  • each support is 1/4, 2/4, 3/4 and 4/4 or, for example, 1/3, 2/3 and 3/3 is extensible.
  • the resulting tilting edges 20 and their orientation can either be calculated by the monitoring device currently using sensor signals or can also be read out values stored in the form of parameter sets for the permitted and / or detected extension states.
  • the monitoring device 17 can determine the shift in the overall center of gravity and accordingly possible future overall centers of gravity, which are marked with an x in FIG. 2, the possible shifts for different operating and / or influencing variables and / or their changes can be determined.
  • the various crane movements can be taken into account for the possible shift of the current overall center of gravity towards a possible future overall center of gravity, for example rotating the crane about the upright crane axis of rotation 18, lifting or lowering the load on the load hook 7, moving the trolley 6 , a swinging up or rocking down of the boom 5, optionally telescoping and telescoping the boom 5 and / or a method of ballast.
  • external factors influencing the crane can also be taken into account when determining the possible shifts in the center of gravity.
  • wind forces or a wind load on the crane 1 can be taken into account.
  • Such a wind load can, for example, be taken into account virtually in the form of a mass force additionally struck on the load hook when the wind presses against the tower from behind.
  • a wind force can also be taken into account in the form of an actual shift in the overall center of gravity, in particular by the fact that the wind deflects the lifting load picked up on the load, the lowering depth of the load hook 7 being able to be taken into account here if necessary, since at Lowered load hook allows the load to be deflected further by the wind than when the load hook is moved close to the trolley.
  • a deformation of the crane in particular a bending of the tower 2 by a wind load, can also be taken into account, as was explained at the beginning. For example, presses a wind force from behind against the tower 2, this will deform a bit forward towards the boom 3, which increases the radius of the load hook 7 ver and accordingly shifts the overall center of gravity of the system.
  • a deformation of the crane 1 can also be taken into account, which can occur not only in the manner mentioned by wind loads, but also by other load sizes, in particular the lifting load 7 and lifting forces and mass forces turning the crane 1, moving the trolley 6, lifting or lowering the load hook 7 or another of the crane movements explained.
  • the deformations can be calculated or determined from the mass forces, wind forces and other loads on the crane mentioned will.
  • Such deformations of the crane structure can be determined, for example, on the basis of a model, wherein the deformations occurring for different load sizes can be stored as a parameter set and can be made available to the crane control 16 or the monitoring device 17.
  • the deformations mentioned could also be calculated directly on the basis of the influencing variables.
  • the monitoring device 17 Based on the current overall center of gravity and its location, the monitoring device 17, so to speak, runs through the possible operating and influencing variables and their possible changes, in particular possible crane movements, possible wind loads and possible crane deformations, and uses this to determine various possible displacements and the resulting possible future centers of gravity , which are identified in FIG. 2 by the reference variable x.
  • the monitoring device 17 analyzes the possible future center of gravity positions x in relation to their relative position to the tilting edges 20 and selects as the most critical future overall center of gravity the one that is closest to one of the tilting edges 20. In FIG. 2, this critical future overall center of gravity is also marked with the parameter x k in addition to the letter x.
  • the monitoring device 17 can determine the remaining load or stability reserve, and then determine from the said load or stability reserve how far the radius of the crane can be increased can, for example, by moving the trolley 6 outwards or luffing the boom 5 or telescoping the boom 5.
  • the monitoring device 17 can determine the possible new locations of the payload for all jib positions or rotary positions of the crane for a lifting load respectively received on the load hook 7 1 determine.
  • These possible new locations of the payload for all boom positions are identified in FIG. 2 by the reference number 21 and, approximately, roughly speaking, result in a quadrilateral whose main axes are approximately aligned with the main axes of the footprint of the floor support 19, which are caused by the extended states the supports are determined.
  • this outreach limit 21 is direction-dependent for a specific lifting load received on the load hook 6 and varies for different boom positions or depending on the angle of rotation of the boom 5 about the upright crane axis of rotation 18.
  • reach limits 21 can be determined, based on which the crane 1 or its monitoring device 17 knows how far one on the load hook 7 Load still moved by appropriate crane movements who can. Since the outreach limits 21 are not circular in shape around the axis of rotation 18 of the crane, but rather are roughly contoured - roughly speaking - roughly speaking, the outreach limits 21 can not only be moved outwards or rocked away by moving the trolley 6 of the jib 5 can be reached, but also by rotating the crane 1 about its upright axis of rotation 18.
  • the monitoring device 17 can selectively switch off and / or slow down and / or limit the crane movement, which leads to an achievement. Chen or would lead to a further approach to the outreach limit 21, in particular an outward movement of the trolley 6 and a corresponding rotary movement about the crane axis of rotation 18th
  • the method described for monitoring the operation of a crane and the corresponding crane with the appropriate monitoring device are characterized, among other things, by the following advantageous aspects:
  • the calculation method provides knowledge of all possible focal points of the overall system, which can result from external influences (e.g. wind), mass forces, certain failure conditions (e.g. broken rope) or other influences.
  • external influences e.g. wind
  • mass forces e.g. wind
  • certain failure conditions e.g. broken rope
  • the deformations of the crane system are taken into account when determining the center of gravity.
  • the underlying calculation procedure is designed in such a way that the calculation rules and calculation standards specified for the respective crane configuration and the current crane use are met.
  • the method proactively provides the possible center of gravity of the system for all possible system states. From this, the permitted load locations and the associated gradients for all possible directions of movement can be determinations of the upper crane part and the load are determined at all times and used to control the crane movements.
  • Support pressures could also be stored in the controller and used for additional monitoring / redundancy.

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

Abstract

L'invention concerne un procédé pour surveiller le fonctionnement d'une grue (1) dont le centre de gravité global est déterminé par une charge éventuellement appliquée sur la grue et est surveillé pour détecter sa position par rapport à une arête pivot (20) de la grue, des décalages éventuels du centre de gravité global étant déterminés par d'éventuelles modifications de différentes grandeurs de fonctionnement et/ou d'influence qui comprennent au moins différents mouvements de grue, et de futures positions de centre de gravité global (x) résultantes sont déterminées de cette façon, le centre de gravité global le plus critique par rapport à l'arête pivot étant déterminé à partir de la pluralité de futures positions de centre de gravité global déterminées, et une éventuelle restriction de mouvements de grue étant déterminée sur la base de la position dudit futur centre de gravité global le plus critique par rapport à l'arête pivot.
EP19806147.5A 2018-11-21 2019-11-14 Grue et procédé pour surveiller le fonctionnement d'une telle grue Active EP3856673B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018129352.6A DE102018129352A1 (de) 2018-11-21 2018-11-21 Kran sowie Verfahren zum Überwachen des Betriebs eines solchen Krans
PCT/EP2019/081274 WO2020104282A1 (fr) 2018-11-21 2019-11-14 Grue et procédé pour surveiller le fonctionnement d'une telle grue

Publications (2)

Publication Number Publication Date
EP3856673A1 true EP3856673A1 (fr) 2021-08-04
EP3856673B1 EP3856673B1 (fr) 2022-11-02

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Application Number Title Priority Date Filing Date
EP19806147.5A Active EP3856673B1 (fr) 2018-11-21 2019-11-14 Grue et procédé pour surveiller le fonctionnement d'une telle grue

Country Status (7)

Country Link
US (1) US20210276840A1 (fr)
EP (1) EP3856673B1 (fr)
CN (1) CN113165855A (fr)
BR (1) BR112021009188A2 (fr)
DE (1) DE102018129352A1 (fr)
ES (1) ES2937812T3 (fr)
WO (1) WO2020104282A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102021102699A1 (de) 2021-02-05 2022-08-11 Liebherr-Werk Biberach Gmbh Kran
CN114044452B (zh) * 2021-10-27 2023-06-23 浙江三一装备有限公司 作业机械作业控制方法、装置及作业机械
DE102022116319A1 (de) * 2022-06-30 2024-01-04 Liebherr-Mischtechnik Gmbh Verfahren zur Überwachung der Standsicherheit einer Arbeitsmaschine

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DE102005035729A1 (de) 2005-07-29 2007-02-01 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans
DE202006017724U1 (de) * 2006-11-21 2008-04-03 Liebherr-Werk Ehingen Gmbh Mobilkran
DE102008021627A1 (de) * 2008-04-30 2009-11-12 Liebherr-Werk Ehingen Gmbh Mobilkran und Verfahren zum Betreiben eines Mobilkranes
JP5491627B2 (ja) * 2010-05-24 2014-05-14 日立建機株式会社 作業機械の安全装置
DE202010014309U1 (de) * 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
CN102464270B (zh) * 2010-11-11 2014-05-14 徐州重型机械有限公司 一种防倾翻力矩限制器系统及移动式起重机
CN102910543B (zh) * 2012-08-08 2014-10-15 三一集团有限公司 一种起重机及其防前倾翻保护方法和装置
US9365398B2 (en) * 2012-10-31 2016-06-14 Manitowoc Crane Companies, Llc Outrigger pad monitoring system
DE102014105618A1 (de) * 2014-04-22 2015-10-22 Terex Cranes Germany Gmbh Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran
DE202015001023U1 (de) * 2015-02-09 2016-05-10 Liebherr-Components Biberach Gmbh Kran

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WO2020104282A1 (fr) 2020-05-28
BR112021009188A2 (pt) 2021-08-17
US20210276840A1 (en) 2021-09-09
DE102018129352A1 (de) 2020-05-28
EP3856673B1 (fr) 2022-11-02
CN113165855A (zh) 2021-07-23

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