EP4116251A1 - Steuerungsverfahren eines krans zum auswählen und anwenden einer bevorzugten lastkurve in abhängigkeit von der neigung eines auslegerstrukturelements - Google Patents

Steuerungsverfahren eines krans zum auswählen und anwenden einer bevorzugten lastkurve in abhängigkeit von der neigung eines auslegerstrukturelements Download PDF

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Publication number
EP4116251A1
EP4116251A1 EP22180514.6A EP22180514A EP4116251A1 EP 4116251 A1 EP4116251 A1 EP 4116251A1 EP 22180514 A EP22180514 A EP 22180514A EP 4116251 A1 EP4116251 A1 EP 4116251A1
Authority
EP
European Patent Office
Prior art keywords
boom
structural element
boom structural
crane
load curve
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
EP22180514.6A
Other languages
English (en)
French (fr)
Inventor
Nicolas Larmonier
François LEMIRE
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.)
Manitowoc Crane Group France SAS
Original Assignee
Manitowoc Crane Group France SAS
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 Manitowoc Crane Group France SAS filed Critical Manitowoc Crane Group France SAS
Publication of EP4116251A1 publication Critical patent/EP4116251A1/de
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
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • 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
    • B66C23/34—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes
    • B66C23/342—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes with telescopic elements
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • B66C23/34—Self-erecting cranes, i.e. with hoisting gear adapted for crane erection purposes
    • 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

Definitions

  • the invention relates to a crane control method for selecting and applying a preferential load curve adapted to a working configuration of a crane. It also relates to a crane comprising a mast supporting a luffing jib and means for implementing such a crane piloting method.
  • the invention finds a preferred, and non-limiting, application for a self-erecting crane with a luffing and collapsible jib.
  • Such a crane comprises a mast, generally of the collapsible mast or telescopic mast type, supporting a lifting and collapsible jib comprising structural elements of jib articulated between them.
  • a self-erecting crane is configurable between a transport configuration in which the mast and the jib are gathered together or folded on themselves or side-by-side, and at least one working configuration in which the mast is vertical and the jib is unfolded to allow operation of lifting and moving a load along the jib.
  • a fitter selects a load curve suited to the working configuration of the crane; it being noted that this load curve will depend on the working configuration of the crane, such as the length of the boom, the height of the boom, the inclination of the boom. Also, an error in selection by the fitter of the load curve adapted to the actual working configuration of the crane can have serious consequences, such as damage or even collapse of the lifting and handling device.
  • the object of the present invention is to solve all or part of this drawback, by proposing a solution for knowing at least partially the real working configuration of the crane, and automatically deducing therefrom the load curve adapted to this real working configuration.
  • the invention proposes to evaluate the working configuration of the crane from a measurement of the inclination of at least one boom structural element, thus making it possible to determine whether the boom is horizontal or raised, and therefore making it possible to adapt the load curve according to such an inclination.
  • Such a solution is particularly advantageous since it bases the selection of the preferential load curve on the inclinations of the two jib structural elements, thus allowing access to a greater number of working configurations of the crane, and in particular to working configurations in which the boom is partially extended.
  • the two jib structural elements comprise a first jib structural element, forming a jib foot, which is articulated on the mast, and a second jib structural element articulated on the first jib structural element.
  • the luffing jib comprises a third boom structural element, forming a jib tip, which is articulated on the second boom structural element and which is movable between two positions including a retracted position in which the third structural element of boom is folded and folded towards the second boom structural element, and a deployed position in which the third boom structural element is unfolded and extends in alignment the second boom structural element, wherein a position detection step implements detection of the actual position of the third boom structural member among its two positions, and wherein the selection step implements the automated selection of the preferential load curve as a function of the actual inclinations of the two boom structural elements and of the actual position of the third boom structural element, said preferential load curve being selected from among the plurality of load curves calculated beforehand for several inclinations of the two elements boom structural elements and for the two positions of the third boom structural element.
  • the selection of the preferential load curve is based on the inclinations of the first two boom structural elements, and also on the position of the third structural element forming the boom tip, which will allow access to even more large number of working configurations of the crane, and in particular to working configurations in which the jib tip is extended or retracted.
  • this third boom structural element it is possible to use an inclinometer (as for the first two boom structural elements), but alternatively it is possible to use a position or proximity sensor, since this third boom structural element is either in the deployed position or in the retracted position, with no intermediate position in the working configuration.
  • the crane piloting method further comprises a height measurement step implementing a measurement of an actual height of the luffing jib relative to the ground in the working configuration, and wherein the step of selecting implements the automated selection of the preferential load curve as a function of the actual inclination of the boom structural member and the actual height of the luffing boom, said preferential load curve being selected from among the plurality of load curves calculated beforehand for several inclinations of said boom structural element and for several heights of the luffing jib.
  • the selection of the preferential load curve is also based on the actual height of the luffing jib (similar to the height under the hook generally considered in the field of cranes), increasing the range of working configurations for the crane.
  • the mast is a telescopic mast comprising structural mast elements mounted in telescoping, and the height measurement step is performed by means of a sensor which measures a level of telescoping between the structural mast elements.
  • the selection step is operated by a control/command system, which control/command system is linked to the memory storing the plurality of load curves and to maneuvering actuators of the crane for perform the piloting step.
  • the luffing jib is foldable and comprises at least two boom structural elements hinged together and on which respective inclinometers are mounted to measure the actual inclinations of the two boom structural elements with respect to the reference axis in the working setup, and the control/command system is configured to operate the selection automation of the preferential load curve as a function of the actual inclinations of said two boom structural elements, said preferential load curve being selected from among the plurality of load curves calculated beforehand for several inclinations of said two boom structural elements.
  • the crane comprises a height measuring device implementing a measurement of an actual height of the luffing jib relative to the ground in the working configuration
  • the control/command system is configured to operate the automated selection of the preferential load curve as a function of the actual inclination of the boom structural element and the actual height of the luffing boom, said preferential load curve being selected from among the plurality of load curves calculated beforehand for several inclinations of said boom structural element and for several heights of the luffing jib.
  • the mast is a telescopic mast comprising structural mast elements mounted in telescoping
  • the height measuring device comprises a sensor which measures a level of telescoping between the structural mast elements.
  • height measurement devices such as for example a laser rangefinder, an ultrasonic rangefinder, a camera, etc.
  • a crane 1 comprises a mast 2 mounted on a platform 10 and supporting a luffing jib 3.
  • the mast 2 can be a foldable mast comprising mast elements hinged together, or be a telescopic mast comprising structural elements mast 21, 22 telescoping as in the example shown.
  • the luffing jib 3 is for its part a foldable jib comprising structural jib elements 31, 32, 33 hinged together.
  • the first boom structural element 31 and the second boom structural element 32 form the first two boom structural elements 31, 32.
  • the mast 2 is deployed, and more specifically the structural mast elements 21, 22 are unfolded (in the foldable mast version) or are deployed (in the telescopic mast version).
  • the crane 1 can be of the self-erecting crane type, and can thus also be configurable in a CT transport configuration (not shown) in which the mast 2 and the luffing jib 3 are combined on themselves or side-by-side. side by side and extend horizontally, in order to form a transportable package, and more specifically in which the mast structural elements 21, 22 are folded back on themselves (in the collapsible mast version) or are retracted on themselves (in the telescopic mast version) and the boom structural elements 31, 32, 33 are both folded back on themselves and on the mast structural elements 21, 22.
  • the crane 1 is thus equipped with a motorized folding/unfolding system 7 which is coupled to the mast 2 and to the luffing jib 3 to act on the mast 2 and the luffing jib 3 to fold and unfold the crane 1 and thus make it switch from a working configuration to the transport configuration, and vice versa.
  • this motorized folding/unfolding system 7 makes it possible to perform configuration change operations implementing kinematics of folding and unfolding of the luffing jib 3, and if necessary of deployment and retraction of the mast 2.
  • the crane 1 further comprises a control/command system 5 connected to maneuvering actuators (for example a lifting winch 81 to lower/raise a lifting hook 9, and a distribution winch 82 to move a distribution trolley 4 along arrow 3).
  • This control/command system 5 is configured to control maneuvers for lifting and moving a load along the luffing jib 3 in the working configuration of the crane 1, by controlling the maneuver actuators 81, 82, by function of piloting commands exerted by a crane pilot on a piloting interface, and by applying a preferential load curve; such a preferential load curve defining maximum loads of use at the spans considered along the luffing jib 3.
  • This control/command system 5 can for example be a microcontroller, a microprocessor, or an electronic control card.
  • the crane 1 comprises at least one inclinometer mounted on one of the structural boom elements 32, 32, 33 to measure the actual inclinations of this boom element with respect to a reference axis, such as a horizontal axis or a vertical axis.
  • the crane 1 comprises two inclinometers, namely a first inclinometer 61 and a second inclinometer 62, mounted on the first boom structural element 31 and the second boom structural element 32 respectively, to measure the actual inclinations of this first boom element 31 and this second arrow element 32 respectively.
  • the first inclinometer 61 fixed to the first boom structural element 31, can be placed close to the articulation of the first boom element 31 on the top of the mast.
  • the second inclinometer 62 fixed on the second boom structural element 32, can be placed near the articulation between the second boom structural element 32 and the first boom structural element 31.
  • Each of the two inclinometers 61, 62 can be an inclinometer with absolute angular measurement relative to the vertical or to the horizontal, depending on the model.
  • the inclinometers 61, 62 can be reduced-size sensors which are directly mounted in a protected location of the structure of each boom structural element 31, 32.
  • This sensor 63 may be an inclinometer mounted on the third boom structural element 33, or alternatively a position or proximity sensor which is mounted on the second boom structural element 32 or on the third boom structural element 33 to detect the presence/absence of the third arrow structural element 33 in one of the two positions.
  • the control/command system 5 is connected to the two inclinometers 61, 62 and to a memory 50 storing a plurality of load curves calculated beforehand for several inclinations of the first two boom structural elements 31, 32.
  • the control/command 5 is configured to operate an automated selection of a preferential load curve as a function of the actual inclinations of the first two boom structural elements 31, 32, the preferential load curve being selected from among the plurality of load curves stored in memory 50.
  • control/command system 5 is connected to the two inclinometers 61, 62 and also to the detector 63, and the memory 50 stores a plurality of load curves calculated beforehand for several inclinations of the first two boom structural elements 31, 32 and for the two positions of the third boom structural element 33.
  • the control/command system 5 is configured to operate an automated selection of a preferential load curve according to the actual inclinations of the first two boom structural elements 31, 32 and the actual position of the third boom structural element 33, the preferential load curve being selected from the plurality of load curves stored in the memory 50.
  • control/command system 5 selects the preferential load curve which is adapted to the working configuration of the crane 1; this working configuration being dependent on the real inclinations of the first two boom structural elements 31, 32 and the actual position of the third boom structural element 33.
  • the invention thus makes it possible to select and apply a preferential load curve adapted to the working configuration of the crane 1.
  • this height sensor 64 can be a sensor which measures a telescoping level between the mast structural elements 21, 22.
  • the control/command system 5 is connected to the two inclinometers 61, 62, optionally to the detector 63, and to the height sensor 64, and the memory 50 stores a plurality of load curves calculated beforehand for several inclinations of the first two boom structural elements 31, 32, for the two positions of the third boom structural element 33, and for several heights of the luffing boom 3.
  • control/command system 5 is configured to operate an automated selection of a preferential load curve as a function of the actual inclinations of the first two elements boom structures 31, 32, the actual position of the third boom structural element 33 and the actual height of the luffing boom 3, the preferential load curve being selected from the plurality of load curves stored in the memory 50.
  • control/command system 5 recovers measurement data from the various sensors 61, 62, 63, 64, and automatically applies the preferential load curve which is adapted to the working configuration deduced from these measurement data.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
EP22180514.6A 2021-07-06 2022-06-22 Steuerungsverfahren eines krans zum auswählen und anwenden einer bevorzugten lastkurve in abhängigkeit von der neigung eines auslegerstrukturelements Pending EP4116251A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR2107277A FR3125032B1 (fr) 2021-07-06 2021-07-06 Procédé de pilotage de grue pour sélectionner et appliquer une courbe de charge préférentielle en fonction de l’inclinaison d’un élément structurel de flèche

Publications (1)

Publication Number Publication Date
EP4116251A1 true EP4116251A1 (de) 2023-01-11

Family

ID=77411887

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22180514.6A Pending EP4116251A1 (de) 2021-07-06 2022-06-22 Steuerungsverfahren eines krans zum auswählen und anwenden einer bevorzugten lastkurve in abhängigkeit von der neigung eines auslegerstrukturelements

Country Status (4)

Country Link
US (1) US11999598B2 (de)
EP (1) EP4116251A1 (de)
CN (1) CN115583579A (de)
FR (1) FR3125032B1 (de)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1327601A1 (de) * 2002-01-09 2003-07-16 Potain Steuerungsverfahren und -vorrichtung zum sicheren Zusammenklappen und Aufklappen eines Turmkrans
EP1775252A1 (de) * 2005-08-02 2007-04-18 Potain Verfahren und Vorrichtung zur Steuerung der Last eines Drehkranes mit ausklappbarem Ausleger
WO2016128122A1 (de) * 2015-02-09 2016-08-18 Liebherr-Components Biberach Gmbh Kran sowie verfahren zum überwachen der überlastsicherung eines solchen krans
EP3310702A1 (de) * 2015-06-18 2018-04-25 Manitowoc Crane Group France Verfahren zur definition einer optimierten belastungskurve für einen kran, verfahren und vorrichtung zur steuerung der von einem kran hängenden last auf der basis der optimierten belastungskurve

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2104800C3 (de) * 1971-02-02 1980-05-14 Tax, Hans, 8000 Muenchen Überlastsicherung
FR2792627B1 (fr) * 1999-04-23 2001-06-01 Potain Sa Grue avec fleche a fonctions multiples
FR2838415B1 (fr) * 2002-04-12 2004-10-01 Potain Sa Dispositif de relevage et depliage du mat et de relevage de la fleche d'une grue
DE102014019465A1 (de) * 2014-12-23 2016-06-23 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung der Kransicherheit sowie ein System zur Überwachung der Kransicherheit

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1327601A1 (de) * 2002-01-09 2003-07-16 Potain Steuerungsverfahren und -vorrichtung zum sicheren Zusammenklappen und Aufklappen eines Turmkrans
EP1775252A1 (de) * 2005-08-02 2007-04-18 Potain Verfahren und Vorrichtung zur Steuerung der Last eines Drehkranes mit ausklappbarem Ausleger
WO2016128122A1 (de) * 2015-02-09 2016-08-18 Liebherr-Components Biberach Gmbh Kran sowie verfahren zum überwachen der überlastsicherung eines solchen krans
EP3310702A1 (de) * 2015-06-18 2018-04-25 Manitowoc Crane Group France Verfahren zur definition einer optimierten belastungskurve für einen kran, verfahren und vorrichtung zur steuerung der von einem kran hängenden last auf der basis der optimierten belastungskurve

Also Published As

Publication number Publication date
FR3125032A1 (fr) 2023-01-13
US11999598B2 (en) 2024-06-04
US20230008800A1 (en) 2023-01-12
CN115583579A (zh) 2023-01-10
FR3125032B1 (fr) 2023-07-07

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