DE19931303C2 - Capacity optimization when executing crane movements - Google Patents

Abstract

The invention relates to a method for executing movements of a crane with at least two movable elements (1, 2, 3, 6, 7), the at least two movable elements of the crane being moved such that the crane is approximately in the region of the is optimal resilience; and a device for executing movements of a crane with a first movement device for a first movable element (1, 2, 3, 6, 7); a second movement device for a second movable element (1, 2, 3, 6, 7) and a control device with which the first and second movement devices can be controlled so that the crane is approximately in the range of the optimal load capacity.

Description

The present invention relates to a crane and a method of execution of crane movements according to the preambles of claims 1 and 6. If ei ne on a crane with various individually adjustable boom elements, such as z. B. main, jib and derrick or counter jib (in the following briefly Ausle ger)), the attached load is to be moved to another position the crane operator usually controls one type of movement to move the load gen. This can, for. B. happen that the luffing angle of the luffing jib is changed so the load in a horizontal and at the same time vertical Direction to transport. The for the crane in the respective operating position too casual maximum load is such a single rocking movement of the The luffing jib generally does not remain constant, i.e. increases or decreases men. I.e. the crane was either in egg before rocking ner configuration with a higher permissible load, or it is due to this rocker Movement from a less favorable position to a more favorable one which he can take a bigger load.

A generic crane shows z. B. DE 298 16 385 U1, according to which a Upper carriage of the crane articulated ballast carriage can be retracted and extended can to optimize the stability of the crane. Furthermore, from DE 35 08 215 A1, JP 093 28 294 A, DE 28 21 286 A1 and DE 198 57 779 A1 also known cranes, in which a counterweight corresponding to the jewei current load condition is moved to optimize the stability of the crane.

It is the object of the present invention a method and an apparatus propose with which a crane is used in a larger load range can be.

This object is achieved by a crane according to claim 1 and a method Claim 6 solved. Advantageous embodiments result from the subordinate claims.

So there are movements of the jib parts of the crane, in which a load can be attached so that the crane is always in the area the optimal resilience. If e.g. B. a crane with main and tips boom with attached load from a first position to a second position to be moved, this does not happen simply because z. B. only the Luffing jib is rocked. According to the invention, z. B. The main and luffing jibs each move in such a way that the overall arrangement extends Main and luffing jibs are approximately in the range of the optimal load capacity det. It can e.g. B. the case that it is for the sake of optimal carrying capacity speed of the crane is advantageous, first the luffing angle of the luffing jib enlarge a certain amount, whereupon the rocking angle of the Main boom is enlarged and the luffing angle of the luffing jib is constant remains. The individual moving elements of a crane should therefore be moved in this way be that position for each load-bearing element or crane position is selected, which roughly the optimal load capacity or ma Maximum load capacity of the entire crane enables.

According to the invention, the load capacity can be optimized in that z. B. for the individual boom of the crane, the angles are determined at which a load at a predetermined distance from the location of the crane with maxi painter carrying capacity can be raised. A maximum load capacity curve can be calculated, which results from certain rocking angles of the individual Crane boom results. With the method according to the invention for load capacity optimization  When executing crane movements, it is also possible to use a extend the load as far as possible. The crane is always safe moved their operating state, d. H. below the respective limit load data. The one individual crane booms or their luffing angles are coordinated with one another in such a way that the crane is operated in the area of the cheapest load capacity curves.

For this purpose, it is advantageous when moving a crane with at least one luffing jib cantilever boom in particular under load, a limit curve or limit data for the permissible load in at least one luffing position of the crane boom to admit. These data indicate which loads the crane has in the particular Rocking position can be subjected. From this predetermined limit curve for a certain luffing position of a crane boom are used for further luffing jibs possible permissible load conditions or load limit values calculated, which for a continuously luffing crane boom for each Indicate individual rocking position how large the respective loads can be. This makes it possible to continuously close a crane boom even under load rock, since the respective load limits for each individual rocking condition can be determined. With the method according to the invention, the crane can rer the load by any rocking z. B. the main boom or the needle boom move casually across the entire working radius. Of course there is also a simultaneous one Rocking of the main boom and luffing jib possible.

For example, it is possible for the main boom and the luffing jib to come out of their steepest operating position, e.g. B. main boom angle = 87 °, tip extension gerwinkel = 77 °, under load in the flattest operating position, z. B. Main Aus Legerwinkel = 67 °, luffing jib angle = 10 °, are moved, with the The method according to the invention can in each case determine how large the maxi The maximum permissible load capacity of the crane can be. It is not necessary to switch a crane condition that is permanently set on an overload protection device, see above that during the entire rocking process z. B. always a load capacity indicator and load monitoring can be performed. From the for different positions lungs of the crane boom stored load limits, such as B. the main boom,  and the current position of the main boom may have new load limits values for the current main boom position are calculated.

At least one limit value curve for a boom position is advantageously provided see, of course, it is also possible to have a larger number of stress limit values, each for a specific position of a crane boom, such as. B. of Main boom, permanently saved. Out of or for one or more seesaws Positions of the crane boom stored data can then be approved Calculation methods, e.g. B. Interpolation or extrapolation, for each Zu stand of the crane, d. H. any luffing angle of the main boom or the Luffing jib or counter jib, the load limit values for the respective Positions are calculated.

At least one sensor is preferably arranged on the crane with which the current position or configuration of the crane can be determined. This can z. B. an angle encoder on the main boom to record the current main boom provision should be provided. Likewise, it is of course also possible to correspond appropriate sensor for the luffing jib. It is also possible for others To provide sensors such. B. load sensors or position sensors with which the current position of the individual crane boom (s), in particular their luffing or angle of inclination can be determined.

The signals recorded by the sensor or sensors are used to determine the current position of a crane boom for which the applicable load limit values should be determined.

The possible load capacities for each operating position of the Main boom calculated so that with a continuous rocking of the main boom limits for each position can be determined for the crane. Of course, it is also possible to use this method with the luffing jib the or at luffing jib and main boom together, so that both under Load can be rocked, load monitoring being carried out at any time. As well  this is possible with a counter jib. According to the invention, any one Crane booms, such as B. the main boom, preferably continuously under load ver be put.

According to the invention, an adjustable ballast element can be provided with which is ensured especially when a load is attached to a crane boom can be that the ballasting or the current position of the ballast the corresponds to the current load condition of the crane. Is z. B. the main boom steplessly rocked under load, so can be steplessly by a corresponding simultaneous adjustment of the ballast element one for the respective operation exactly coordinated ballasting. With a continuous adjustment the ballast element can be ensured that for each rocking state of the or the crane boom has a coordinated or optimal counter-ballasting he follows. The ballast element is preferably at a variable distance from the lower luffing axis or the rotating platform of the main boom.

As an infinitely adjustable ballast element z. B. a counter or Derrickausle ger be provided, on which a ballast element is attached. To the Ge The derrick boom can either be designed to provide continuous ballasting be rocked continuously or z. B. can also be telescoped. Should z. B. a crane with a main boom and, if necessary, a luffing jib under load from a rock len operating position are brought into a flatter operating position, z. B. for matching counterballast of the derrick boom also from a steep to a flatter operating position to be by the Ballast element counterweight acting on the main boom or the rotating platform by enlarging the lever arm.

It is also possible to use the ballast element on a suspended ballast or Ballast car z. B. to provide with controllable wheels, the Ballastele can preferably be extended continuously in a horizontal direction, so that by an appropriate method or telescoping the ballast element  A balla matched to the current load condition of the crane can be done.

It is advantageous for at least one sensor element to detect the current one To provide configuration of the crane. For this purpose, as already described above ben, e.g. B. angle encoder on the respective crane booms to record the loading drive state be provided. Corresponding sensor elements can also be used z. B. attached to the derrick boom or the ballast element, which the can determine the current position of the ballast element.

In the above-mentioned methods, it is advantageous to monitor the load by feed, monitoring for each crane condition and the currently lifted load the crane is still in a safe operating area. Since at the stepless adjustment of the individual crane boom or the ballast column the applicable load limit values for every operating condition at all times it is also during the luffing of the crane from a first Position in a second position possible to determine whether the currently open occurring load is still within the permissible range or where the limits of the ma maximum permissible load on the crane. As already stated above, this can be done leads through the use of load limit values or a limit value curve for a predetermined state of the crane take place, with a calculation z. B. Interpolation or extrapolation for each configuration of the Cranes, i. H. any luffing angle of the individual crane boom (s), a limit value curve or suitable load limit values can be determined.

It is advantageous to display the calculated maximum load, where equally advantageous is the current load, which, for. B. by means of a Load sensor is measured, is shown. This enables a crane operator or a suitable control system to assess how large the safety reserves are of the crane are still.  

Different operating modes can be used to optimize the crane position or Maximize the permissible load. For this purpose, e.g. B. correspond Function buttons on the crane monitor with which one of the following operating modes is set.

According to an advantageous embodiment, the crane operator z. Legs Hand control lever movement specified that the load should be rocked. It is then automatically selected whether it is in terms of maximum load capacity z. B. luffing up the main boom or the luffing jib. It the rocking movement is carried out which has the greatest increase or with the slightest decrease in the maximum load capacity of the entire crane is bound. It can happen that first the luffing jib up to a certain position is rocked, followed by the tips Maintain boom position and the main boom is luffed up. This must the crane operator does not carry out a separate control movement as this is load-bearing optimization can be carried out automatically.

The crane control can be based on the saved load capacity and on Signals made available to sensor elements for determining the current The position, configuration or load situation of the crane calculate which Movement of the individual adjustable elements of the crane or crane extension like to be carried out, always in the range of optimal carrying capacity ability of the crane to stay.

Of course, it is also possible that two or more movable elements of the Kra nes can be moved at the same time. So it can e.g. B. be advantageous the main boom up, while the luffing jib is tipped a little when a load is to be picked up or transported.

The counter-jib or derrick boom can preferably also be used when executing one Crane movement can be controlled in that for an optimal load capacity appropriate position is moved. The derrick boom z. B. when seesawing  of the main boom or luffing jib or when lifting or lowering the Load hooks are automatically tipped up or down so that the maximum carrying capacity ability of the crane remains constant or is optimized. The derrick boom can either separately from or together with other crane elements are moved so that, for. B. main, jib and derrick boom at one Crane attached load can be moved or adjusted at the same time. The Calculate crane control for a given crane movement, whether it is in the current position of the crane is more advantageous the derrick boom up or abzuwippen.

It is also possible to provide a ballast element on the crane so that this is adjustable by a ballast wagon or suspended ballast. Such ballast element can be adjusted horizontally and / or vertically, e.g. B. hydraulically off or on be telescoped to optimize the load capacity of the crane perform. The ballast element when rocking z. B. the main boom or the luffing jib, as well as when lifting or lowering the load hook auto can be adjusted so that the maximum load capacity of the crane is constant remains or is optimized.

Depending on the application, it can be provided that to optimize the load capacity only certain crane elements are used, e.g. B. only the simultaneous or mutual control of main and luffing jibs, with other actuators movement elements of the crane remain in a fixed position. Of course you can also all elements that can be actuated for crane control in the capacity optimization be included.

According to the invention, it is also possible to use a crane which does not have a carrying capacity ability to be transferred to a position with optimal load-bearing capacity Ren. B. a switch for the crane operator can be provided, which after actuation causes the crane to move into the optimal position with regard to the maximum load capacity is moved. This can z. B. done by luffing the main boom and the luffing jib  is tipped if this gives the crane a better load capacity the load remains in a fixed position.

The device according to the invention for controlling a crane has a first loading Movement device for a first movable element, such as. B. the main exit ger, a second moving device for a second movable element, such as z. B. the jib and a control device with which the first and second movement device can be controlled so that the crane in et wa is in the range of the optimal load capacity. Suitable sensors can be used for this elements such as B. angle encoder, winch incremental encoder or length encoder or Load sensor for determining the current position or load situation of the crane be provided.

The invention is described below with reference to two figures. Show it:

. Figure 1 shows a crane; and

Fig. 2 shows a characteristic field for a crane with main and jib.

Fig. 1 shows a crane with main boom 1 , luffing jib 2 and counter jib 3 , with an infinitely adjustable ballast element 7 being hung on the counter jib 3 . Main boom 1 , luffing jib 2 , counter jib 3 and ballast element 7 can be adjusted independently of one another - even under load. Additionally to a further ballast element can be provided. 6 At the tip of the jib 2 or at another suitable location, a load sensor 5 and at the jibs angle sensors 4 , 4 'can be provided for determining the current position of the crane or momentary load. When picking up a load on the load hook 8 can be used to move the load z. B. the main boom ger 1 and the luffing jib 2 matched up or luffed to whoever to transport the load attached to the load hook 8 always in the range of the optimal load capacity of the crane.

Fig. 2 shows a characteristic diagram for the load capacity of a crane with main boom 1 and jib 2. Curve A shows the load capacity of a crane as a function of the angular position of the continuously adjustable jib 2 at a first fixed position of the main boom 1 . In this positi on of the main boom 1, the optimum angle for the jib 2 results in the drawn position WA. If the boom 1 in a second Posi rocked tion, it follows as a new bearing capacity, drawn in FIG. 2 Kur ve B. Here, then, the optimum load-bearing capacity of the crane before, when the spit procedure zenausleger 2 in a position with the luffing angle WB becomes. In the case of a continuously adjustable main boom 1 and luffing jib 2 , a characteristic field results, whereby according to the invention the crane should always be moved into the position in which the optimum load capacity is approximately present. In Fig. 2, therefore, the jib 2 to be always up / luffed that is achieved the optimum load capacity at a specific position of the main boom 1.

If several adjustable elements of the crane boom are taken into account, e.g. B. in addition to the cantilevers mentioned, also as the third cantilever of the derrick cantilever, so there are multi-dimensional characteristic fields, each with the Maximum of the characteristic field selected or calculated and the crane into the ent speaking position is moved when z. B. a load in the corresponding Po sition should be brought.

Claims (7)

1. Crane with a boom ( 1 , 2 ) which is luffably steered about a horizontal axis and has a plurality of boom parts ( 1 , 2 ) which are movably arranged relative to each other so that a load hook articulated on the boom ( 8 ) can be moved to a desired point, the boom parts ( 1 , 2 ) being able to assume several different positions with respect to one another, one of which gives the crane an optimum load capacity, and with a plurality of movement devices each for moving one of the boom parts ( 1 , 2 ), and an electronic control device for controlling the movement devices, characterized in that the control device controls the movement devices of the jib parts ( 1 , 2 ) in such a way that the jib parts ( 1 , 2 ) in the above-mentioned position relative to one another which give the crane its maximum Resilience gives, are moved when the load hook ( 8 ) is moved to the desired point. 2. Crane according to claim 1, wherein the control device is designed such that the plurality of boom parts ( 1 , 2 ) can be moved simultaneously under load. 3. Crane according to claim 1 or 2, wherein with the control device connected sensor elements ( 4 ) for determining the current position of the Ausle gerteile ( 1 , 2 ) are provided. 4. Crane according to one of the preceding claims, wherein with the Steuerervor direction connected sensor elements ( 5 ) are provided for determining a momentary load acting on the crane. 5. Crane according to one of the preceding claims, wherein a ballast element and a movement device for moving the ballast element are provided, wherein the control device controls the movement device for the ballast element in such a way that the ballast element is moved into a position which gives the crane maximum load capacity when the load hook ( 8 ) is moved to the desired point. 6. A method of performing movements of a crane a luffing articulated about a horizontal axis arm with a plurality of mutually movably arranged jib parts (1, 2) having to be at the interpretation Gert parts (1, 2) is moved to a to the boom articulated load hook ( 8 ) to move to a desired point, characterized in that the boom parts ( 1 , 2 ) are rocked when the crane hook moves to the desired point in such a way that the boom elements are in a position with respect to one another that gives the crane its maximum Resilience there. 7. The method according to the preceding claim, wherein at least one Balla stelement ( 6 , 7 ) is adjusted so that the maximum load capacity of the crane remains constant or is optimized.