EP4086215A1 - Grue à faible consommation d'énergie et son procédé - Google Patents

Grue à faible consommation d'énergie et son procédé Download PDF

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Publication number
EP4086215A1
EP4086215A1 EP21171987.7A EP21171987A EP4086215A1 EP 4086215 A1 EP4086215 A1 EP 4086215A1 EP 21171987 A EP21171987 A EP 21171987A EP 4086215 A1 EP4086215 A1 EP 4086215A1
Authority
EP
European Patent Office
Prior art keywords
crane
hydraulic
hydraulic actuators
estimated
movements
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
EP21171987.7A
Other languages
German (de)
English (en)
Other versions
EP4086215B1 (fr
EP4086215C0 (fr
Inventor
Marcus RÖSTH
Pelle Gustafsson
Alessandro Santini
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.)
Hiab AB
Original Assignee
Hiab AB
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 Hiab AB filed Critical Hiab AB
Priority to EP21171987.7A priority Critical patent/EP4086215B1/fr
Publication of EP4086215A1 publication Critical patent/EP4086215A1/fr
Application granted granted Critical
Publication of EP4086215B1 publication Critical patent/EP4086215B1/fr
Publication of EP4086215C0 publication Critical patent/EP4086215C0/fr
Active 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
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • B66C13/20—Control systems or devices for non-electric drives

Definitions

  • the energy supplied by a hydraulic pump of a crane is defined as the integral of the hydraulic power over a time period of operation.
  • the hydraulic power is calculated by the pressure multiplied by the flow supplied by the pump.
  • the different hydraulic cylinders used for crane functions like the slewing of the crane, the first boom movement, the second boom movement and the extension/retraction of the second boom telescopic boom system, have different working requirements in terms of pressure and flow.
  • the required pressure may further be dependent on the load and the position of the respective crane components but may be monitored using pressure sensors and further estimated for future movements based on input from the pressure sensors and/or known parameters of the planned movements. When operating multiple functions at the same time, it is the function that requires the largest pressure that determines the working pressure level of the hydraulic pump.
  • waste component if also other crane functions requiring a lower working pressure are activated at the same time.
  • the waste component will further be dependent on the flow requirement of the other crane functions, as the hydraulic power supplied to the system is further dependent on the flow of the hydraulic fluid.
  • a portion of the consumed energy of the hydraulic system is hence waste, i.e. not used for moving the crane components, if operating multiple functions at the same time that are not matched in terms of working pressure and to some extent flow.
  • Figures 1-3 are graphs illustrating the energy consumption during use of an exemplary crane provided with an inner boom (IB), an outer boom (OB), and an extension (EXT).
  • IB inner boom
  • OB outer boom
  • EXT extension
  • SLEW energy consumption during slewing
  • the required energy for the movements is shown by dashed areas, and energy waste is shown by dotted areas.
  • the consumed energy of the hydraulic system is the sum of the required energy for the movements and the waste energy.
  • the Y-axis designates pressure and the X-axis designates flow.
  • the waste energy may be decreased from 30.8 kW to 12.9kW in this specific example, see figure 2 , where the inner boom (IB) is activated at another point in time and is not illustrated in figure 2 .
  • the total energy input is 28.3kW
  • the waste energy is 12.9kW, i.e. 83.78% of the useful energy.
  • the path planner must be smarter, the easiest method is to move the known high pressure functions first, normally the first and the second boom which pressures can be assumed high, or measured.
  • the crane comprises a control interface 20 arranged to receive an operating instruction, preferably from an input unit 22, defining wanted movements of the crane components.
  • the input unit 22, e.g. a maneuvering unit, may be used by an operator to operate the crane, remotely or at the site of the working assignment for the crane.
  • the control interface 20 of the crane may alternatively comprise an interface to an autonomous system controlling the crane and optionally also the vehicle that the crane is mounted to.
  • the crane operator may by pulling a first and a second lever at the maneuvering unit, generate operating instructions for raising the first boom of the crane and at the same time extending the second boom telescopic extensions.
  • the operation instructions will be received over the control interface and the crane controller will generate driving instructions to be applied to the hydraulic system so that the hydraulic cylinders of the first boom and extension cylinders are supplied with hydraulic fluid accordingly.
  • the crane controller 24 is further configured to estimate a pressure level of a required working pressure of the hydraulic pump 12 and required flow level of each of the hydraulic actuators for the wanted movements of the crane components 6, based on the generated sensor signals 18 and/or predetermined operating conditions.
  • the crane controller 24 is also configured to estimate a waste contribution measure for the wanted movements of the crane components 6, based on the difference between the working pressure of the hydraulic pump 12 and the estimated pressure levels and further the estimated required flow level, of each of the hydraulic actuators for the wanted movements of the crane components 6.
  • the waste contribution measure is a measure of the energy waste if the wanted movements of the crane components are performed in comparison to the energy required for each of the involved hydraulic actuators at specific point of time.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
EP21171987.7A 2021-05-04 2021-05-04 Grue à faible consommation d'énergie et son procédé Active EP4086215B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21171987.7A EP4086215B1 (fr) 2021-05-04 2021-05-04 Grue à faible consommation d'énergie et son procédé

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21171987.7A EP4086215B1 (fr) 2021-05-04 2021-05-04 Grue à faible consommation d'énergie et son procédé

Publications (3)

Publication Number Publication Date
EP4086215A1 true EP4086215A1 (fr) 2022-11-09
EP4086215B1 EP4086215B1 (fr) 2023-11-15
EP4086215C0 EP4086215C0 (fr) 2023-11-15

Family

ID=75801454

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21171987.7A Active EP4086215B1 (fr) 2021-05-04 2021-05-04 Grue à faible consommation d'énergie et son procédé

Country Status (1)

Country Link
EP (1) EP4086215B1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140060030A1 (en) 2012-08-31 2014-03-06 Caterpillar Inc. Hydraulic accumulator health monitor
US20170268541A1 (en) 2014-11-24 2017-09-21 Xuzhou Heavy Machinery Co., Ltd. Method and system for recovering and utilizing operating energy of crane, and crane
US20190308851A1 (en) 2016-06-13 2019-10-10 Cargotec Patenter Ab Hydraulic crane
WO2019206774A1 (fr) 2018-04-24 2019-10-31 Putzmeister Engineering Gmbh Procédé de commande du mouvement d'un mât et machine de travail

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140060030A1 (en) 2012-08-31 2014-03-06 Caterpillar Inc. Hydraulic accumulator health monitor
US20170268541A1 (en) 2014-11-24 2017-09-21 Xuzhou Heavy Machinery Co., Ltd. Method and system for recovering and utilizing operating energy of crane, and crane
US20190308851A1 (en) 2016-06-13 2019-10-10 Cargotec Patenter Ab Hydraulic crane
WO2019206774A1 (fr) 2018-04-24 2019-10-31 Putzmeister Engineering Gmbh Procédé de commande du mouvement d'un mât et machine de travail

Also Published As

Publication number Publication date
EP4086215B1 (fr) 2023-11-15
EP4086215C0 (fr) 2023-11-15

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