FR2796059A1 - CONTINUOUSLY ADJUSTABLE CRANE - Google Patents

Abstract

Adjustment of a crane.The control device of a crane comprises at least one sensor element for detecting the current position or the load situation of the crane; a memory unit for storing data of load limit values for at least one pre-established crane position; and a computing unit (CPU) for determining the allowable load of a freely selectable crane position in dependence on the signal from at least one sensor element and the data stored in the memory unit.

Description

The present invention relates to a crane

continuously adjustable.

  To ensure the operational safety of a crane, limit data of the crane is determined for certain positions of the main arm of the crane. By using this data for the lifting capacity, it is possible to determine which load must be taken up by the crane without coming into a critical operating situation. If the crane is to be used in a different configuration, the main arm of the crane is moved in an unloaded state to another position for which corresponding crane limit data are available. In this position, the crane can then be put back into operation and it is possible to ensure, using the data available for this state, that no critical load of the crane will occur. It is therefore normal, with known crane systems, to have the lifting accessories for the main arm of the crane actuated in one or more fixed lifting positions presenting limit value curves.

  respectively imposed which are stored.

  The object of the present invention is to broaden

  the scope of application of a known crane.

  This object is solved by a method for adjusting a crane, in particular under load, which is characterized in that the permitted load states are established beforehand for a lifting arm of the crane in at least one lifting position and in that the load states permitted for other lifting positions are calculated from the load state

  permit determined for at least one lifting position.

  In accordance with other characteristics of the invention: - the possible load states are established beforehand for at least two lifting positions and the load states for intermediate or similar positions or for other positions are determined by a method calculation, for example by interpolation and extrapolation; - the signals from the angle sensors, a load sensor and / or a position sensor are used to determine the permitted load states; - the permitted load states are determined over the entire lifting range of the main arm; - the permitted load states are determined over the entire range of lifting of the needle arm; - the main arm is infinitely adjusted under load; - at least one balancing element of the crane can be infinitely adjusted in dependence on the state of charge of the crane or independently of it; - The horizontal distance between at least one balancing element and the lower lifting axis of the main arm can be infinitely adjusted; - the balancing element is suspended from a counter arm or headframe; - At least one sensor element is provided to determine the configuration of the crane; - an overload control and / or a

maximum load display.

  As regards the control device according to the invention for adjusting a crane, in particular under load, it is characterized in that it comprises: a) at least one sensor element for detecting the current position or the load situation of the crane; b) a memory unit for storing data of load limit values for at least one position of the crane previously established; and c) a calculation unit for determining the permissible load of a freely selectable crane position depending on the signal of at least one sensor element and

  data stored in the memory unit.

  In accordance with still other characteristics of the invention: - a control unit is provided for the automatic stopping of a process when it is recognized that a load of the crane which has been permitted has been exceeded; - a lifting capacity display is provided to show the current load in relation to the load

maximum allowed.

  Thus, according to the invention, in a method for adjusting a crane, in particular under load, which has at least one lifting arm and / or a telescopic arm, a limit value curve or limit data are determined for the permitted load

  in at least one lifting position of the crane arm.

  These data indicate to what load the crane can be exposed in a specific lifting position. One or more of these limit value curves determined for a certain lifting position of a crane arm are respectively used to calculate possible load states which are permitted or working load limit values for other lifting positions of the crane arm, which indicates the value of the respective maximum load for each individual lifting position for a continuously lifting crane arm. In this way, it is possible to continuously raise a crane arm, also under load, because the respective lifting capacity limits can be determined for each unique lifting state. With the method according to the invention, the crane operator can move the load over the entire working radius by freely raising, for example, the main arm or the extension arm. A simultaneous lifting of the main arm and

  of the extension arm is of course also possible.

  It is for example possible for the main arm and the extension arm to be moved under load from their respective steepest operating positions (for example, angle of the main arm = 87, angle of the extension arm = 77) to their respective flattest operating positions (for example, angle of the main arm = 67, angle of the extension arm = 10) while being able to determine in each case with the method according to the invention which may be the maximum allowable value of the lifting capacity of the crane. It is not necessary here to switch to a state of the crane attached to an overload cutout so that, for example, a display of the lifting capacity and a load control can always be carried out during the whole process of lifting. It is possible to calculate new load limit values for the current position of the main boom from the load limit values stored for different positions of the crane arm such as the main boom and from the position

current of the main arm.

  At least one limit value curve is advantageously provided for an arm position. It is also naturally possible to store a large number of load limit values, in each case for a certain position of a crane arm such as the main arm. The load limit values for the respective positions can then be calculated using appropriate calculation methods, for example by interpolation or extrapolation, for each state of the crane, i.e. for any angle of lifting of the arm

  main or extension arm, or

  arm, from data stored for one or more

  several lifting positions of the crane arm.

  At least one sensor is preferably placed on the crane in order to be able to determine the current position or the configuration of the crane. For this purpose, a rotary encoder can, for example, be provided on the main arm to detect the current position of the main arm. It is of course also also possible to provide a corresponding sensor for the extension arm. It is also possible to provide other sensors, such as load sensors or position sensors, with which it is possible to determine the momentary position of the individual crane arm (s),

  in particular their lifting or tilting angles.

  The signals received from the sensor (s) are used to determine the current position of a crane arm for which the values must be determined.

applicable overload limits.

  The possible lifting capacities are preferably calculated for each operating position of the main arm, so that it is possible to determine the load limit values for the crane for any position with continuous lifting of the main arm. It is of course also possible to use this method on the extension arm or on both the extension arm and the main arm so that the two arms can be raised under load, a load check being carried out at all

  moment. This is also possible for a counter-arm.

  According to the invention, any crane arm, such as the main arm, can preferably be infinitely adjusted

under charge.

  According to the invention, it is possible to provide an adjustable balancing element with which it can be ensured, in particular with a load suspended from a crane arm, that the balancing or the momentary position of the element balancing corresponds to the current load status of the crane. If, for example, the main arm is infinitely raised under load, a balancing exactly adjusted to the respective operating state can be carried out by means of a corresponding infinite and simultaneous adjustment of the balancing element. By means of infinite adjustment of the balancing element, it can be ensured that each lifting state of the crane arm (s) corresponds to a coordinated or optimum counterbalancing. The balancing element is preferably here at an adjustable distance from the lower lifting axis or from the rotation platform of the

main arm.

  A counter arm or headframe, to which a balancing element is suspended, can, for example, be provided for the balancing element infinitely

  adjustable. In order to design infinitely the counter

  balancing, the head frame can be either infinitely raised or, for example, be brought to perform a telescopic movement of exit. If, for example, a crane with a main arm and possibly an extension arm is to be moved under load from a sloping operating position to a flatter operating position, then, for example, the head frame can also be moved from a sloping operating position to a flatter operating position for coordinated counterbalancing so as to increase the

  counterweight acting on the main arm or platform

  form of rotation by means of the balancing element

increasing the lever arm.

  It is also possible to provide the balancing element on a suspension load or a balancing carriage having, for example, wheels which can be controlled, the balancing element preferably being able to be moved infinitely in a horizontal direction. so that a balanced balancing for the current load state of the crane can be achieved by a corresponding displacement or a telescopic movement of the balancing element. Here, it is advantageous to provide at least one sensor element to detect the current configuration of the crane. For this purpose, as already described above, rotary encoders can, for example, be provided on the respective crane arms to detect the operating state. Similarly, corresponding sensor elements can be arranged, for example, on the head frame or the balancing element, which can determine the momentary position of the balancing element. Using the methods given above, it is advantageous to carry out a control of the load, checking, for each state of the crane and for the load currently lifted, that the crane is always in a safe operating range. . As with the infinite adjustment of the individual crane arm (s) or the balancing element, the applicable load limit values are calculated at each time for each operating state. It is also possible to determine in each case during the lifting of the crane from a first position to a second position if the load currently appearing is still within the permitted range, or where are the limits of the maximum allowable load of the crane. As already stated above, this can be done using load limit values or a limit value curve for a given fixed condition of the crane, a limit value curve or appropriate load limit values that can be determined for any configuration of the crane, i.e. any angle of lifting of the individual crane arm (s), by means of a calculation process, for example a

interpolation or extrapolation.

  It is advantageous to display the maximum allowable load calculated in each case; the load appearing momentarily, which is for example measured by means of a load sensor, is also advantageously shown. This allows a crane operator or an appropriate command to estimate what maximum value the reserves of

crane safety.

  The control device according to the invention for adjusting a crane, in particular under load, has at least one sensor element with which it is possible to determine data concerning the momentary position of the crane. It is also possible, for example by means of a rotary encoder provided on the main arm, the extension arm or the headframe to determine, in each case, the current position; load sensors or position sensors, for example for infinitely adjustable balancing, which can

  also be expected. Each of the sensors mentioned above

  above - can be provided on the crane separately or in combination with one or more other sensors. The signal or signals detected by the sensor element are transmitted to a computing unit. In addition, the control device according to the invention comprises a memory unit in which it is possible to store at least one item of data for load limit values or load limit values corresponding to a configuration or a fixed lifting position. determined from the crane. The memory unit is connected to the above-mentioned calculation unit so that using the data for the load limit values placed in the memory unit and using the data from the sensors for determining the current configuration of the crane, the calculation unit can calculate the current lifting capacity for the respective current operating state of the crane. The calculated data can then be supplied either to the crane operator via an appropriate output device, for example in order to display the current load in relation to the calculated lifting capacity, or be supplied to a crane control that prevents the crane from coming into a

critical operating condition.

  It is therefore sufficient to make the permitted limit data of the crane available for

  the load in a single configuration of the crane,

  ie corresponding lifting positions of the individual arms; the load limit data for all other operating states which can be calculated from this data record by means of appropriate calculation operations without the need for individual fixed states to be established in advance. It can also be provided here that the balancing is coordinated with the respective state of the crane so that a corresponding suitable position of the balancing element can be established for any

  load raised or to be lifted.

  A crane operator can thus move the balancing element, for example from a smaller determined balancing radius of, for example, llm to a larger determined balancing radius of, for example , 15m by any adjustment of the position of the balancing element such as, for example, by carrying out a telescopic movement of the balancing element in extension or in retreat in the total range of the balancing radius; a load control or a lifting capacity display can always be performed for the respective operating status of the crane. It is possible to establish limit value curves beforehand for a certain condition of crane equipment, for example for one or more nominal balancing establishments; new load limit values for the current balancing position which can be calculated from the previously established load limit values and the current position of

  the balancing element determined by means of a sensor.

  The invention will be better understood, and other aims, characteristics, details and advantages thereof

  will appear more clearly during the description

  Explanatory which will follow made with reference to the accompanying schematic drawings given solely by way of example, illustrating several embodiments of the invention, and in which: - Figure 1 shows a crane mounted on a tracked vehicle and having an arm main; Figure 2 shows a crane mounted on a tracked vehicle and having a main arm and a counter arm or headframe; Figure 3 shows a crane mounted on a tracked vehicle and having a main arm and an extension arm; - Figure 4 shows a crane mounted on a tracked vehicle and having a main arm, an extension arm and a counter arm or head frame; Figure 5 shows a mobile crane having a main arm, an extension arm and a counter arm or headframe; - Figure 6 shows a mobile crane having a main telescopic arm, an extension arm and a counter-arm or headframe; - Figure 7 is a block diagram of the

device according to the invention.

  Figure 1 shows a crane mounted on a tracked vehicle and having a main arm which can be infinitely raised in the direction of the arrow from its steepest position shown to a flatter position; the load limit value applicable in each case can be determined in any state of lifting of the main arm 1. A balancing element 6 is provided on the crane and the latter can be infinitely moved in a horizontal direction as shown by the double arrow to establish a coordinated position of the element

  balancing 6 for any position of the main arm.

  In this process, the position of the balancing element 6 can also be established in dependence on a load taken up by the main arm 1; a load sensor 5 provided on the extension of the main arm 1 which can by

  example accept corresponding data.

  Figure 2 shows a crane mounted on a tracked vehicle and having a main arm 1 and a counter-arm or frame arm 3, which can be continuously adjusted independently of each other, the position of the load taken off can be modified by adjusting the main arm 1 and the associated balancing can be carried out by adjusting the head frame 3. Here, the balancing element 6 can perform a telescopic movement in a horizontal direction as shown in the Figure 1. The balancing element 7 can either perform a telescopic movement in a horizontal direction, or be suspended from the head frame 3 by means of a cable, the head arm 3 can be raised in the indicated direction by the arrow. It is also possible to provide only one

  single balancing element 6 or 7.

  Figure 3 shows a crane mounted on a tracked vehicle and having a first arm 1 and an extension arm 2 which are both infinitely adjustable under load. The main arm 1 can be raised at the same time as the extension arm 2 from the steepest operating position shown in FIG. 3, with the load which has been removed, to a flatter operating position, the main arm 1 and the extension arm 2 being raised at the same time. So as to provide in each case the corresponding balancing for the load which has been taken off, the balancing element 6 may for example be moved in or out or be made to effect an infinite movement

  telescopic in a horizontal direction.

  FIG. 4 shows a crane mounted on a tracked vehicle and having a main arm 1, an extension arm 2 and a head frame 3, which can be adjusted simultaneously or independently of one another, the position of the load being able to be modified by means of the angular position of the main arm 1 and of the extension arm 2 and a corresponding balancing which can be carried out by means of the angular position of the head frame 3. As described above, it is possible to adjust the balancing element 6, and the balancing element 7 can be suspended from the head frame 3 or be brought to perform a corresponding telescopic movement away from the position of the crane or to carry out a telescopic movement while approaching the position of the crane. Rotary encoders 4, 4 'are provided on the arms and a load sensor 5 is provided on the needle arm 2. The sensors 4, 4' and 5 can

  be arranged at any suitable position.

  FIG. 5 shows a mobile crane having a truss arm of a configuration similar to that of FIG. 4, the balancing elements 6, 7 being able to be

set as described above.

  FIG. 6 shows a mobile crane having a telescopic arm of a configuration similar to that of FIG. 5, the balancing elements 6, 7 being able to

  also be set as described above.

  Although the adjustment of the balancing elements 6 and 7 has been described above at the same time as the inclined adjustment of the individual crane arms, an infinitely adjustable balancing element according to the invention

  may be provided in conjunction with any known crane.

  The counterbalancing element, also under load, can both be moved to the desired position by being suspended from a forestay and preferably be infinitely moved in or out, or even be brought to perform a telescopic movement by via suspended balancing or a balancing carriage. It is also possible to use the infinite lifting of the individual crane arm (s), such as the main arm 1, with simultaneous calculation of the respective limit load states using a known crane without designing the balancing so that 'it is infinitely adjustable. Figure 7 is a block diagram of a control device according to the invention. Here, data for one or more defined configurations or positions of a crane are stored and, with this data, it is possible to determine the respective permissible limit loads. For example, a data record is stored in the memory which, for a crane conforming to FIG. 4, establishes, for a first determined position of the main arm 1, the extension arm 2 and the head frame 3, which charges it is possible to withdraw. Such a data record can also be stored in memory for a second position of the crane. If the crane is infinitely displaced in a certain position, by means of corresponding sensors such as angle sensors and load sensors, the respective positions and, where applicable, the loads of the individual crane arms are transferred to a central processing unit (CPU) on a computer which, while taking into account the data records stored in memory, calculates the new limit load data of the crane so that the data can be delivered to an element overload cutoff or display. In addition, the data can be entered by the crane operator into the CPU via a console, said data being able to be used for calculation, by the CPU,

limit load data.

  The invention is not limited to the embodiments shown and described in detail because various modifications can be made thereto without departing from its scope.

  framework as defined by the appended claims.

Claims (13)

  1. Method for adjusting a crane, in particular under load, characterized in that the permitted load states are established beforehand for a lifting arm (1, 2, 3) of the crane in at least one lifting position and in that the permitted states of charge for other lifting positions are calculated from the permitted state of charge determined for at least one lifting position.   2. Method according to claim 1, characterized in that the possible states of charge are established beforehand for at least two lifting positions and the states of charge for intermediate or similar positions or for other positions are determined by a method calculation, for example by interpolation or extrapolation.   3. Method according to one of claims 1 or 2,   characterized in that signals from an angle sensor, a load sensor and / or a position sensor   are used to determine permitted states of charge.   4. Method according to one of claims 1 to 3,   characterized in that the permitted load states are determined over the entire range of arm lifting main (1).   5. Method according to one of claims 1 to 4,   characterized in that the permissible load states are determined over the entire lifting range of the arm to needle (2).   6. Method for adjusting a crane, characterized in that the main arm (1) is infinitely adjusted under load. 7. Method for adjusting a crane, in particular under load, characterized in that at least one balancing element (6, 7) of the crane can be infinitely adjusted depending on the state of charge of the   crane or independently of it.   8. Method according to claim 7, characterized in that the horizontal distance between at least one balancing element (6, 7) and the lower lifting axis of the   main arm (1) can be infinitely adjusted.   9. Method according to one of claims 7 or 8,   characterized in that the balancing element (7) is   suspended from a counter-arm or headframe (3).   10. Method according to one of claims 7 to 9,   characterized in that at least one element is provided   sensor to determine the configuration of the crane.   11. Method according to one of claims 1 to 10,   characterized in that an overload control is carried out   and / or a maximum load display.   12. Control device for adjusting a crane, in particular under load, characterized in that it comprises: a) at least one sensor element (4, 5) for detecting the current position or the load situation of the crane; b) a memory unit for storing data of load limit values for at least one position of the crane previously established; and c) a computing unit (CPU) for determining the permissible load of a freely selectable crane position depending on the signal of at least one sensor element (4, 5) and the data stored in the memory unit.   13. Device according to claim 12, characterized in that a control unit is provided for the automatic stopping of a process when it is recognized that a load of the crane which has been permitted has been exceeded and / or what is expected a lifting capacity display to show the current load compared to the maximum load allowed.