EP4059879A1 - Grue mobile dotée d'un dispositif permettant d'aider ou de mettre en uvre de manière automatique un processus de montage et/ou d'enlèvement d'une flèche derrick, ainsi que procédé correspondant - Google Patents

Grue mobile dotée d'un dispositif permettant d'aider ou de mettre en uvre de manière automatique un processus de montage et/ou d'enlèvement d'une flèche derrick, ainsi que procédé correspondant Download PDF

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Publication number
EP4059879A1
EP4059879A1 EP22161545.3A EP22161545A EP4059879A1 EP 4059879 A1 EP4059879 A1 EP 4059879A1 EP 22161545 A EP22161545 A EP 22161545A EP 4059879 A1 EP4059879 A1 EP 4059879A1
Authority
EP
European Patent Office
Prior art keywords
boom
derrick
winch
derrick boom
main
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.)
Pending
Application number
EP22161545.3A
Other languages
German (de)
English (en)
Inventor
Walter Mietschnig
Manfred Schapler
Tizian Lamprecht
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP4059879A1 publication Critical patent/EP4059879A1/fr
Pending legal-status Critical Current

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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
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • B66C23/36—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 mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • 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
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks
    • B66C2700/0364—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks with a slewing arm
    • B66C2700/0371—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks with a slewing arm on a turntable
    • 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
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm

Definitions

  • the present invention relates to a mobile crane with a device for supporting or fully automatically carrying out an erecting and/or laying down process of a derrick boom and a corresponding method.
  • Mobile cranes are regularly used with boom systems in which an additional boom is directed rearward to counter the forward main boom and are used to attach a counterweight to increase the maximum lifting weight of the crane. These rearward booms are called derrick booms.
  • the angle of the derrick boom can be changed using the derrick boom adjustment winch.
  • the derrick boom When assembling a mobile crane, the derrick boom is usually assembled lying in front of the basic machine and then bolted to the basic machine.
  • the derrick boom adjustment winch is connected to the head of the derrick boom via the A-frame.
  • the main boom and possibly a luffing jib bolted to the main boom can be installed underneath.
  • the head of the derrick boom is connected to the main boom head via a retaining strand.
  • This retaining strand can be changed in length with the main boom adjustment winch, whereby the angle of the main boom can be adjusted during regular crane operation, but this can also be controlled or braced during erection of the derrick boom.
  • the derrick boom is thus clamped between the main boom support string (e.g. main boom support rods and reeving adjustment cable of the main boom adjusting winch) and the derrick support string (derrick support rods, A-frame and reeving adjustment cable of the derrick boom adjusting winch).
  • main boom support string e.g. main boom support rods and reeving adjustment cable of the main boom adjusting winch
  • derrick support string derrick support rods, A-frame and reeving adjustment cable of the derrick boom adjusting winch
  • a process of erecting or laying down the derrick boom is described below. This is based on a completely assembled mobile crane, in which the main boom (with an optional luffing jib that can be attached to it) is on the ground and the derrick boom is at the front over the main boom, i.e. it has already been swiveled upwards in relation to the main boom.
  • click on the figs 1 - 2 be resorted to, which show schematic representations when erecting a derrick boom.
  • the machine operator In order to bring the derrick boom into its rear-facing crane working position for crane operation, the machine operator must move the derrick boom adjustment winch in the lifting direction (cf. direction B in 1 ) and at the same time control the main boom adjustment winch in the direction of lowering.
  • the connection between the main boom and the derrick boom is given more play, so that the main boom remains on the ground and the derrick boom can be pivoted backwards from this path (by operating the derrick boom winch).
  • a critical phase is when the derrick boom is driven over the area around its vertical alignment. If the main boom support line forces are not within the necessary range, the derrick can fall backwards into the slack main boom support line. So it can happen that the cable connection between the derrick boom and the main boom, which can be controlled by the main boom winch, is not tensioned enough, so that when the derrick boom is moved through the vertical alignment into a rearward-facing position, the derrick boom, which after passing through the vertical alignment is no longer held by a cable that can be controlled by the derrick boom adjustment winch, but by a cable that can be controlled by the main boom winch, falls backwards in an uncontrolled manner. This can lead to structural damage to the mobile crane, in which case the derrick boom can also fold completely backwards, which usually leads to the total loss of the mobile crane.
  • Raising and lowering the derrick boom is relatively complex, since the machine operator has to control two winches (derrick boom winch and main boom winch) at the same time and has to pay attention to the holding line forces for correct control. If the holding cord force is too high, it may happen that that the boom system (main boom and possibly attached luffing jib) is lifted off the ground or the basic machine tilts. In addition to the above-mentioned dangers when changing loads, if the retaining cord force is too low, the winding on the winch will not be clean and the rope can be damaged.
  • force measuring devices can be provided which the operator can observe when moving the several winches.
  • the measured values of the force measuring unit allow the operator to better estimate his control inputs, which still makes it very challenging to keep track of all requirements.
  • the invention relates to a mobile crane, which has an upper carriage with a winch arrangement, a main boom, which extends from the upper carriage and is pivotably arranged on it, and a derrick boom goes off the superstructure and is pivotably arranged on it, the winch arrangement comprising a main boom winch for controlling the main boom and a derrick boom winch for controlling the derrick boom.
  • the mobile crane is characterized by an assistance device for supporting or fully automatically performing an erecting and/or laying down process of the derrick boom, which is designed to control the main boom and the derrick boom, preferably the main boom winch and the derrick boom winch, simultaneously.
  • a force measuring unit is provided for determining the force of the support strand of the derrick boom and/or the force of the support strand of the main boom, with the assistance device controlling the main boom winch and/or the derrick boom winch depending on the force measuring unit controls certain values of the support strand force for the derrick boom and/or the main boom, preferably so that the support strand of the main boom and/or the derrick boom exceeds a predetermined (first) tension value in order to enable correct winding on the main boom winch and/or the derrick boom winch.
  • the assistance device controls the derrick boom and/or the main boom or the corresponding winches in such a way that a predetermined (second) voltage value is not exceeded in order to prevent the mobile crane or a tipping over prevent the main boom from raising.
  • the main boom should remain in contact with the ground while the derrick boom is being laid down or erected, so that the derrick boom is only moved.
  • the assistance device can be designed to keep the corresponding forces of the support cords within an optimal range, the operator of the mobile crane is significantly relieved.
  • the assistance device is designed to control the main boom and the derrick boom, preferably the main boom winch and the derrick boom winch, depending on the values determined by the force measuring unit.
  • the values determined by the force measuring unit indicate whether the forces of the holding strands acting on the derrick boom are in the desired range.
  • the assistance device is also designed to, during an erection process of the derrick boom, the derrick boom in the lifting direction and at the same time the main boom in the lowering direction, preferably the derrick boom winch in the lifting direction and the main boom winch in the lowering direction , head for.
  • Such a control causes the derrick boom to pivot backwards, since the retaining strand, which can be adjusted by the main boom winch, feeds rope, so that the distance between the main boom and the derrick boom can be increased.
  • the retaining strand which can be adjusted by the main boom winch, is guided back to the derrick boom over the head of the main boom, so that moving the main boom winch in the lowering direction increases a possible distance between the derrick boom and the main boom.
  • the derrick boom winch In an appropriate manner and In order to pivot the derrick boom back, the derrick boom winch must then be operated in the lifting direction, so that a distance between the lying main boom and the moving derrick boom is also increased as a result. Adjusting the derrick boom winch causes the derrick boom to be pivoted backwards.
  • the assistance device is designed to actuate the derrick boom in the lowering direction and at the same time the main boom in the raising direction, preferably the derrick boom winch in the lowering direction and the main boom winch in the raising direction, when the derrick boom is being laid down.
  • the corresponding control of the different winches or the main boom and the derrick boom now leads to the angular distance between the two booms being reduced.
  • the main boom is placed on the ground during an erecting and/or laying down process of the derrick boom.
  • the main boom is not erected until the derrick boom has been moved into its rearward position.
  • the derrick boom is clamped between the retaining strand of the main boom and the derrick retaining strand during an erection and/or laying down process, preferably in such a way that the derrick boom is connected between a cable that can be controlled by the main boom winch and a rope that can be controlled by the derrick boom winch is clamped and/or that the derrick boom can be pivoted in a first direction by actuating the main boom winch and in a second direction opposite to the first direction by actuating the derrick boom winch.
  • the derrick boom By clamping the derrick boom between the derrick boom adjustment winch on a first side and the main boom adjustment winch, the rope of which is articulated to the head of the main boom, on the second side of the derrick boom opposite the first side, the derrick boom can be tensioned by actuating the corresponding winches.
  • the derrick boom can be tensioned by actuating the corresponding winches.
  • the assistance device is also designed during an erection process, when the derrick boom is pivoted in the lifting direction, in particular when the derrick boom is passing through a vertical position, to pretension the retaining strand of the main boom in such a way that the derrick boom after a Do not fall into a slack main boom support line when passing through the vertical position.
  • the force of the holding strand of the main boom must exceed a predetermined threshold value in order to prevent undesired movements of the derrick boom when passing through the vertical position.
  • the assistance device is also designed during a laying-down process, when the derrick boom is pivoted in the lowering direction, in particular when the derrick boom is passing through a vertical position, to pretension the retaining strand of the derrick boom in such a way that the derrick boom after a Do not fall into a slack support strand of the derrick boom when driving through the vertical position.
  • the force of the holding strand of the derrick boom must exceed a predetermined threshold value in order to prevent undesired movements of the derrick boom when passing through the vertical position.
  • the mobile crane is provided with a user interface for actuating the assistance device, with the user interface preferably having a lever whose deflection influences the speed of the movement of the derrick boom when erecting and/or laying down, with preferably non-deflection of the lever leads to stopping of the derrick boom.
  • the two winches are controlled by the assistant unit, which actuates the different winches depending on the forces of the retaining strand when the lever is actuated.
  • the entire process of raising or lowering the derrick boom can be controlled via a single operating lever.
  • the two directions from which the lever can be moved out are opposite to one another, so that the lever is designed to be able to be moved back and forth along a line.
  • buttons when a button is used, it only has to be pressed briefly once and then the desired process for raising or lowering the derrick boom is carried out fully automatically.
  • the invention can also include the button having to be kept pressed in order to maintain a movement of the derrick boom, so that when the button is released the movement of the derrick boom stops and any dangerous situations by the operator can be prevented.
  • the invention also relates to a method for supporting or fully automatically carrying out an erection and/or laying down process of a derrick boom, preferably a derrick boom of a mobile crane according to one of the variants discussed above, wherein in the method for supporting or for fully automatically carrying out an erection and/or laying down process of the derrick boom, the main boom and the derrick boom, preferably the main boom winch and the derrick boom winch, are controlled simultaneously by an assistance device.
  • the assistance device which can preferably be deflected starting from a central position and, depending on its deflection, specifies the speed when the derrick boom is moved.
  • the method can provide for the derrick boom to be clamped between the support strand of the main boom and the derrick support strand during an erection and/or laying down process, and for the assistance device to operate a main boom winch and/or a derrick boom winch depending on a support strand force for the derrick boom and/or the main boom is controlled, preferably around the support strand of the To keep the main boom and / or the tether of the derrick boom at a predetermined tension value, so that a correct winding on the main boom winch and / or the derrick boom winch is possible.
  • a further advantage here is that when the derrick boom moves through a vertical position in which the load on the support strands changes, the newly loaded support strand has no play, so that the derrick boom cannot tip over in an uncontrolled manner.
  • the derrick boom is clamped between a cable that can be controlled by the main boom winch and a cable that can be controlled by the derrick boom winch and/or the derrick boom is clamped by actuating the main boom winch in a first direction and by actuating the derrick boom winch in a second direction opposite to the first direction can be pivoted.
  • the support strand of the main boom is prestressed by the assistance device in such a way that the derrick boom is not in the vertical position after passing through the vertical position a slack main boom support line falls.
  • the support strand of the derrick boom is prestressed by the assistance device in such a way that the derrick boom after it has passed through vertical position does not fall into a slack support strand of the derrick boom.
  • FIG. 1 shows a side view of a mobile crane 1, on whose superstructure 2 a main boom 3 and a derrick boom 4 are arranged.
  • the derrick boom 4 is arranged above the main boom 3 lying on the ground 7 and is pivoted backwards relative to it.
  • a retaining strand 6 of the derrick boom winch goes to the head of the derrick boom 4 , the retaining strand 6 being guided over the A frame 9 .
  • the derrick boom 4 can be made steeper from an approximately horizontal orientation (in the direction of arrow B) and also pivoted beyond its vertical position. However, if the derrick boom 4 exceeds its vertical orientation and the weight shifts to the rear, the holding strand 6 of the derrick boom 4 no longer offers any support.
  • the head of the derrick boom 4 is connected to the head of the main boom 3 via a second tether 5, the main boom tether, the length of which can be controlled via the main boom adjustment winch.
  • the two retaining strands 5, 6 ensure that the derrick can be braced in opposite directions, so that even with a Passing through the vertical alignment of the load change can be carried out from one holding strand to the other holding strand without uncontrolled movement of the derrick boom occurring.
  • FIG. 2 shows a side view showing a derrick boom in its final working position.
  • the derrick boom is directed backwards and can be loaded with an additional weight via a corresponding guying 8, which serves as an additional counterweight for a load attached to the main boom in the case of heavy load hoists.
  • the main boom 3 with a possibly attached luffing jib lies on the ground 7.
  • the derrick boom 4 is in a defined angular range above the main boom 3.
  • the connections between the derrick boom 4 and the superstructure 2 or the main boom 3 are given and can also include support rods, for example.
  • the machine operator only actuates an operating lever of a user interface in the direction of raising, so that the assistance device controls both the derrick boom adjustment winch in the lifting direction and the main boom adjustment winch in the lowering direction. It can be provided that the speed is dependent on the magnitude of the deflection of the operating lever.
  • the tether forces of the main boom 3 and the derrick 4, which are determined by the force measuring unit for determining the force of the tether 6 from the derrick 4 and/or the force of the tether 5 from the main boom 3, are processed by the assistance control module so that the derrick 4 is kept in an optimal force range.
  • the derrick boom 4 is clamped and the situation in which the derrick boom 4 can fall into a slack main boom holding strand 5 does not occur in the region of the vertical position of the derrick boom 4 .
  • the process of laying down the derrick boom 4 is to be described in more detail below.
  • the main boom 3 with a possibly attached luffing jib lies on the ground 7.
  • the derrick boom 4 is in its regular working position for crane operation facing backwards.
  • the machine operator actuates the derrick boom operating lever in the direction of laying down.
  • the assistance device controls both the derrick boom adjustment winch in the lowering direction and, at the same time, the main boom adjustment winch in the lifting direction, with the speed being dependent on the magnitude of the deflection of the operating lever.
  • the support strand forces 5, 6 of the main boom 3 and the derrick boom 4, which are processed by the force measuring unit, are kept in an optimal range by the assistance device, so that the derrick boom 4 is clamped and not in the vertical position of the derrick boom 4 in a slack derrick boom -Retaining strand 6 can fall.
  • the derrick boom After the retaining line, which can be controlled by the main boom winch, has been separated, the derrick boom can then be laid down on the ground by the derrick boom winch being controlled accordingly.
  • the main boom can be unbolted from the superstructure before the derrick boom is laid down on the ground, so that the derrick boom can be moved further in the direction of the ground.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
EP22161545.3A 2021-03-19 2022-03-11 Grue mobile dotée d'un dispositif permettant d'aider ou de mettre en uvre de manière automatique un processus de montage et/ou d'enlèvement d'une flèche derrick, ainsi que procédé correspondant Pending EP4059879A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102021106746.4A DE102021106746A1 (de) 2021-03-19 2021-03-19 Mobilkran mit einer Vorrichtung zum Unterstützen oder vollautomatischen Durchführen eines Aufricht- und/oder Ablegevorgangs eines Derrickauslegers sowie entsprechendes Verfahren

Publications (1)

Publication Number Publication Date
EP4059879A1 true EP4059879A1 (fr) 2022-09-21

Family

ID=80735715

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22161545.3A Pending EP4059879A1 (fr) 2021-03-19 2022-03-11 Grue mobile dotée d'un dispositif permettant d'aider ou de mettre en uvre de manière automatique un processus de montage et/ou d'enlèvement d'une flèche derrick, ainsi que procédé correspondant

Country Status (4)

Country Link
US (1) US11970372B2 (fr)
EP (1) EP4059879A1 (fr)
JP (1) JP2022145593A (fr)
DE (1) DE102021106746A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
USD1019048S1 (en) * 2021-07-01 2024-03-19 Liebherr-Werk Biberach Gmbh Crane

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3930583A (en) * 1972-07-31 1976-01-06 Creusot-Loire Balancing system for high capacity cranes
US4204603A (en) * 1977-04-29 1980-05-27 Creusot-Loire High-capacity crane with counter-weight device
EP1000897A1 (fr) * 1998-10-20 2000-05-17 Van Seumeren Holland B.V. Grue pivotante et son utilisation
DE102016015388A1 (de) * 2016-12-22 2018-06-28 Liebherr-Werk Ehingen Gmbh Verfahren zur assistierten Ausführung von Kranbewegungen eines Krans sowie Kran
US20200198700A1 (en) * 2018-12-20 2020-06-25 Rce Equipment Solutions, Inc. Tracked vehicle with steering compensation

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CA2266791C (fr) * 1998-03-27 2005-02-01 Manitowoc Crane Group, Inc. Grue sur quatre chenilles
US6378653B1 (en) * 1998-12-28 2002-04-30 Kabushiki Kaisha Aichi Corporation Travel and rotation control device for boom lift
US8397924B2 (en) * 2008-09-19 2013-03-19 Manitowoc Crane Companies, Llc Drum frame system for cranes
US8348073B2 (en) * 2008-09-22 2013-01-08 Manitowoc Crane Companies, Llc Carbody connection system and crane using same
JP2020019632A (ja) * 2018-08-01 2020-02-06 コベルコ建機株式会社 クレーン
JP7113735B2 (ja) * 2018-12-21 2022-08-05 住友重機械建機クレーン株式会社 移動式クレーン
DE202020104793U1 (de) 2020-08-19 2020-08-27 Manitowoc Crane Group France Sas Kransteuerung zur automatisierten Ansteuerung von Kran-Stellwerken

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3930583A (en) * 1972-07-31 1976-01-06 Creusot-Loire Balancing system for high capacity cranes
US4204603A (en) * 1977-04-29 1980-05-27 Creusot-Loire High-capacity crane with counter-weight device
EP1000897A1 (fr) * 1998-10-20 2000-05-17 Van Seumeren Holland B.V. Grue pivotante et son utilisation
DE102016015388A1 (de) * 2016-12-22 2018-06-28 Liebherr-Werk Ehingen Gmbh Verfahren zur assistierten Ausführung von Kranbewegungen eines Krans sowie Kran
US20200198700A1 (en) * 2018-12-20 2020-06-25 Rce Equipment Solutions, Inc. Tracked vehicle with steering compensation

Also Published As

Publication number Publication date
US11970372B2 (en) 2024-04-30
DE102021106746A1 (de) 2022-09-22
JP2022145593A (ja) 2022-10-04
US20220297983A1 (en) 2022-09-22

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