EP1153876A2 - Method for protecting a mobile crane against an overload - Google Patents

Method for protecting a mobile crane against an overload Download PDF

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Publication number
EP1153876A2
EP1153876A2 EP01110674A EP01110674A EP1153876A2 EP 1153876 A2 EP1153876 A2 EP 1153876A2 EP 01110674 A EP01110674 A EP 01110674A EP 01110674 A EP01110674 A EP 01110674A EP 1153876 A2 EP1153876 A2 EP 1153876A2
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Prior art keywords
crane
data
switch
values
calculation
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Granted
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EP01110674A
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German (de)
French (fr)
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EP1153876B1 (en
EP1153876A3 (en
Inventor
Josef Kaspar Schmid
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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    • 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 method for overload protection of a mobile crane.
  • Statutory regulations require overload protection for all mobile cranes.
  • An overload protection for mobile cranes is required, their load capacity greater than 1,000 kilograms or whose load torque is greater than 40,000 Nm.
  • mobile Cranes are, for example, mobile cranes, mobile harbor cranes, crawler cranes, Etc.
  • the switch-off curves required for overload protection are already known for all possible set-up conditions of the respective mobile crane and in the memory of the overload protection.
  • the switch-off curves are there represented by a number of points that were calculated. Between these Points are interpolated during operation.
  • the invention is based on the object of a method for overload protection of a mobile crane, in particular a crawler crane, with which the current switch-off values even with a large number of possible setup states can be determined quickly and precisely.
  • this object is achieved by a method for overload protection a mobile crane according to the combination of features of claim 1 solved.
  • control computer of the crane no more dumping load curves stored in the assigned memory, but geometry files with the physical properties of the components of the crane.
  • the corresponding geometry data corresponding to the set-up state are then compiled in a physical simulation model in the control computer. Now the real measurement data from the force and position sensors on the crane side determined and from this the geometric on the control computer Data, focus data and forces and then the switch-off values determined. When the crane is in operation, it will then, if necessary, reach a switch-off value switched off.
  • the components are related to the memory Geometry data for each component type of the crane components in assigned Geometry files filed. So it is no longer a complete boom recorded, but the data of the boom spacers and the other component types geometry files assigned to them are stored. It is One geometry file per component type is required. In a corresponding crane configuration file the instructions are stored in parallel, according to the crane components can be combined with each other. Here are the different ones Possible combinations of the individual component types to complete booms or add-on parts.
  • the crane configuration file also a pre-selection option for calculating the switch-off values entered.
  • These pre-selection options are, for example to a calculation specification for permissible loads according to the national legislation. So the permissible loads differ in the USA, for example, from those in Europe (according to the EN 13000 standard). Because of the inventive method and the storage of the corresponding The calculation rule can modularly result by accessing the respective data stored in the memory are put together. According to the state of the Technology you were still forced to do for each different calculation rule, i.e. for example, every different legal regulation, a new one to calculate complete set of payload curves and in the corresponding to put down mobile crane.
  • the values calculated in the control computer are advantageously displayed on a Played display device.
  • this Display device not only the permissible load and the corresponding Limit curve, but at the same time as a "waste product" of the simulation model the actual load, the outreach, the crane height etc. are displayed.
  • Another advantageous embodiment of the invention is that the setup information the operator in the selection device on a display device are reproduced. So here he can see the Assemble the crane with the equipment as it is assembled in reality is.
  • the instructions are on the one hand about how the crane components are combined can.
  • the crane configuration file 14 contains in the embodiment shown here also pre-selection options, which the calculation of the switch-off values influence.
  • the calculation rule for permissible loads can be used here as an alternative for the USA or for Europe. Upon delivery of the corresponding Cranes to the USA then only have to apply the appropriate calculation rule can be retrieved in the later calculation.
  • a selection device 16 the desired setup conditions are then from Device operator compiled.
  • a screen not shown here, serves this purpose, on which the crane operator with an appropriate manipulation device, which is also not shown, assemble the crane as it is the reality corresponds.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

Method involves placing component-specific geometric data in memory, selecting desired equipment state, compiling a physical simulation model from selected data in a control computer, entering real measurement data from force and position sensors on crane, computing the geometric data, center of gravity data and forces then switch-off value and switching the crane off if the threshold is reached.

Description

Die Erfindung betrifft ein Verfahren zur Überlastsicherung eines mobilen Kranes. Gesetzliche Bestimmungen fordern für alle mobilen Krane Überlastsicherungen. Entsprechend der für die europäische Gemeinschaft geltenden EN 13000 wird beispielsweise eine Überlastsicherung für mobile Krane gefordert, deren Tragfähigkeit größer als 1.000 Kilogramm oder deren Lastmoment größer als 40.000 Nm ist. Mobile Krane sind beispielsweise Fahrzeugkrane, Hafenmobilkrane, Raupenkrane, etc.The invention relates to a method for overload protection of a mobile crane. Statutory regulations require overload protection for all mobile cranes. For example, according to the EN 13000 applicable to the European Community An overload protection for mobile cranes is required, their load capacity greater than 1,000 kilograms or whose load torque is greater than 40,000 Nm. mobile Cranes are, for example, mobile cranes, mobile harbor cranes, crawler cranes, Etc.

Es ist bereits bekannt, die für die Überlastsicherung notwendigen Abschaltkurven für alle möglichen Rüstzustände des jeweiligen Mobilkranes vorzuberechnen und im Speicher der Überlastsicherung abzulegen. Die Abschaltkurven werden dabei durch eine Anzahl von Punkten dargestellt, die berechnet wurden. Zwischen diesen Punkten wird im Betrieb interpoliert.The switch-off curves required for overload protection are already known for all possible set-up conditions of the respective mobile crane and in the memory of the overload protection. The switch-off curves are there represented by a number of points that were calculated. Between these Points are interpolated during operation.

Da die abgelegten Kurven viel Speicherplatz benötigen, wird zur Einsparung von Speicherplatz häufig auch zwischen verschiedenen Lastkurven interpoliert. Die Kurve, die dabei entsteht, entspricht aber nicht mehr genau den Ergebnissen, die bei einer Berechnung mit den durch die Vorschriften vorgegebenen Berechnungsmethoden erhalten würden. Wird der Kran nun so betrieben, daß im Vergleich zu normgerecht berechneten Abschaltkurven, die entsprechenden Werte überschritten werden, führt dies zu einem relativen Verlust an Sicherheit. Werden die realen Abschaltkurven bei dieser Interpolation unterschritten, wird der Mobilkran dagegen nicht optimal ausgenutzt.Since the stored curves require a lot of storage space, saving of Storage space is often interpolated between different load curves. The However, the curve that arises no longer corresponds exactly to the results that for a calculation using the calculation methods specified by the regulations would receive. Is the crane now operated in such a way that compared to Shutdown curves calculated according to the standard, the corresponding values exceeded this leads to a relative loss of security. Will the real shutdown curves with this interpolation, the mobile crane will fall short not optimally used.

Für die Berechnung und Anzeige von Lastausladung und beispielsweise Kranhöhe werden meist vorberechnete Geometriedaten für jeden Rüstzustand gespeichert. Hier wird beispielsweise ein kompletter Ausleger vereinfacht durch einen Vektor beschrieben. Mittels dieser für die komplette Zurüstung gespeicherten Daten wird dann mittels der Trigonometrie und den Daten von Positionssensoren die aktuelle Ausladung und andere für den Geräteführer wichtige Informationen berechnet. Von dieser Verfahrensführung versprach man sich, daß möglichst wenig Berechnungen durchgeführt werden müssen.For the calculation and display of load unloading and, for example, crane height Pre-calculated geometry data are usually saved for every setup state. Here, for example, a complete boom is simplified by a vector described. By means of this data stored for the complete equipment then the current one using trigonometry and the data from position sensors Outreach and other important information for the operator. Of This procedure was promised that as few calculations as possible must be carried out.

Soweit ein Mobilkran nur wenig unterschiedliche Rüstzustände aufweist, ist das bekannte Verfahren, das sich der gespeicherten Kurven bedient, vergleichsweise problemlos anwendbar. Nachteilig ist es hier immerhin, daß am Prüfstand des Mobilkranherstellers das Verhalten des Kranes (Stichwort: Auslegereigengewicht) jeweils für jeden Kran justiert werden muß, da die Bauteilegewichte in der Regel nicht in der Genauigkeit vorliegen, die für die Berechnung der Überlastsicherung notwendig ist.As far as a mobile crane has only a few different setups, that is known method, which uses the stored curves, comparatively easily applicable. The disadvantage here is that on the test bench of the mobile crane manufacturer the behavior of the crane (keyword: jib weight) in each case must be adjusted for each crane, since the component weights are usually not are accurate enough to calculate the overload protection is.

Speziell bei Raupenkranen besteht im Unterschied zu anderen Krantypen die Notwendigkeit, eine sehr hohe Anzahl von möglichen Rüstzuständen bereit zu halten. Bei großen Kranen können hier alternativ mehrere 10.000 Rüstzustände erreicht werden. Bei dem Liebherr-Raupenkran LR 1250 ergeben sich mehr als 20.000 Rüstzustände. Aus dieser Vielzahl unterschiedlicher Kombinatinsmöglichkeiten ist es ersichtlich, daß der Speicher für die Lastkurven im Kran relativ groß wird und unter Umständen beim Hinzufügen eines einzigen neuen Rüstkriteriums verdoppelt werden muß. In contrast to other types of crawler crane, there is a particular need for to have a very high number of possible setup states available. With large cranes, several 10,000 set-up states can alternatively be achieved here become. The Liebherr LR 1250 crawler crane results in more than 20,000 Setup states. From this multitude of different possible combinations it can be seen that the memory for the load curves in the crane is relatively large and possibly doubled when adding a single new setup criterion must become.

Um diesem Problem Herr zu werden, haben einige Hersteller Beschränkungen in der Kombinationsmöglichkeit der Kranbauteile eingeführt. Das führt zu einer nicht gewünschten verminderten Flexibilität des Kranes.To deal with this problem, some manufacturers have limitations in the possibility of combining the crane components was introduced. That doesn't lead to one desired reduced flexibility of the crane.

Wird bei der Ausrüstung des Kranes ein Bauteil geändert, so besteht bei dem bekannten Verfahren der Nachteil, daß alle Lastkurven neu gerechnet werden müssen, was zu einer häufig mehrwöchigen Neuberechnung führt. Dasselbe gilt für den Fall, daß der Kranbetreiber einen Rüstzustand benötigt, der ursprünglich nicht vorgesehen war. Auch bei der Entwicklung von Mobilkranen, d.h. beim Bau von Prototypen, bei dem die Bauteilegewichte im einzelnen noch nicht so genau bekannt sind, ergeben sich Probleme bei den herkömmlichen Berechnungsverfahren.If a component is changed when equipping the crane, the known one exists Procedure the disadvantage that all load curves have to be recalculated, which often leads to recalculations that take several weeks. The same applies to the In the event that the crane operator needs a set-up condition that was not originally intended was. Also in the development of mobile cranes, i.e. when building prototypes, where the component weights are not yet known in detail there are problems with the conventional calculation methods.

Der Erfindung liegt nun die Aufgabe zugrunde, ein Verfahren zur Überlastsicherung eines mobilen Kranes, insbesondere eines Raupenkranes, zu schaffen, mit dem auch bei einer Vielzahl von möglichen Rüstzuständen die jeweils aktuellen Abschaltwerte schnell und genau ermittelbar sind.The invention is based on the object of a method for overload protection of a mobile crane, in particular a crawler crane, with which the current switch-off values even with a large number of possible setup states can be determined quickly and precisely.

Erfindungsgemäß wird diese Aufgabe durch ein Verfahren zur Überlastsicherung eines mobilen Kranes nach der Merkmalskombination des Anspruchs 1 gelöst.According to the invention, this object is achieved by a method for overload protection a mobile crane according to the combination of features of claim 1 solved.

Entgegen dem Stand der Technik werden in dem dem Steuerechner des Kranes zugeordneten Speicher keine Kipplastkurven mehr abgelegt, sonder Geometriedateien mit den physikalischen Eigenschaften der Bauteile des Kranes. Bei entsprechender Auswahl des gewünschten Rüstzustandes in einer Auswahlvorrichtung werden dann die entsprechenden Geometriedaten, die dem Rüstzustand entsprechen, in einem physikalischen Simulationsmodell im Steuerrechner zusammengestellt. Es werden nun die realen Meßdaten von kranseitigen Kraft- und Positionssensoren ermittelt und hieraus werden auf dem Steuerrechner die geometrischen Daten, Schwerpunktsdaten und -kräfte und anschließend die Abschaltwerte ermittelt. Bei Betrieb des Kranes wird dieser dann ggf. bei Erreichen eines Abschaltwertes abgeschaltet. Contrary to the state of the art, the control computer of the crane no more dumping load curves stored in the assigned memory, but geometry files with the physical properties of the components of the crane. With appropriate Selection of the desired setup status in a selection device the corresponding geometry data corresponding to the set-up state are then compiled in a physical simulation model in the control computer. Now the real measurement data from the force and position sensors on the crane side determined and from this the geometric on the control computer Data, focus data and forces and then the switch-off values determined. When the crane is in operation, it will then, if necessary, reach a switch-off value switched off.

Bevorzugte Ausgestaltungen der Erfindung ergeben sich aus den sich an den Hauptanspruch anschließenden Unteransprüchen.Preferred embodiments of the invention result from the Main claim subsequent subclaims.

So werden in einem ersten bevorzugten Ausführungsbeispiel im Speicher die bauteilebezogenen Geometriedaten für jeden Bauteiletyp der Kranbauteile in zugeordneten Geometriedateien abgelegt. Es wird also nicht mehr ein kompletter Ausleger erfaßt, sondern die Daten der Auslegerzwischenstücke und der anderen Bauteiletypen werden in ihnen jeweils zugeordneten Geometriedateien abgelegt. Dabei ist je eine Geometriedatei pro Bauteiletyp erforderlich. In einer entsprechenden Krankonfigurationsdatei ist parallel die Anleitung abgelegt, entsprechend der die Kranbauteile miteinander kombiniert werden können. Hier werden die unterschiedlichen Kombinationsmöglichkeiten der einzelnen Bauteiletypen zu kompletten Auslegern oder Zurüstteilen erfaßt.Thus, in a first preferred embodiment, the components are related to the memory Geometry data for each component type of the crane components in assigned Geometry files filed. So it is no longer a complete boom recorded, but the data of the boom spacers and the other component types geometry files assigned to them are stored. It is One geometry file per component type is required. In a corresponding crane configuration file the instructions are stored in parallel, according to the crane components can be combined with each other. Here are the different ones Possible combinations of the individual component types to complete booms or add-on parts.

Gemäß einer anderen bevorzugten Ausgestaltung der Erfindung wird in der Krankonfigurationsdatei auch eine Vorwahlmöglichkeit für die Berechnung der Abschaltwerte eingegeben. Bei diesen Vorwahlmöglichkeiten handelt es sich beispielsweise um eine Berechnungsvorschrift für zulässige Traglasten gemäß der nationalen Gesetzgebung. So unterscheiden sich die zulässigen Traglasten in den USA beispielsweise von denjenigen in Europa (entsprechend der Norm EN 13000). Aufgrund des erfindungsgemäßen Verfahrens und der Ablage der entsprechenden Berechnungsvorschrift kann das Ergebnis modular durch Zugriff auf die jeweiligen im Speicher abgelegten Daten zusammengesetzt werden. Nach dem Stand der Technik war man noch gezwungen, für jede unterschiedliche Berechnungsvorschrift, d.h. beispielsweise jede unterschiedliche gesetzliche Vorschrift, einen neuen kompletten Satz von Traglastkurven zu berechnen und in dem entsprechenden mobilen Kran abzulegen.According to another preferred embodiment of the invention, the crane configuration file also a pre-selection option for calculating the switch-off values entered. These pre-selection options are, for example to a calculation specification for permissible loads according to the national legislation. So the permissible loads differ in the USA, for example, from those in Europe (according to the EN 13000 standard). Because of the inventive method and the storage of the corresponding The calculation rule can modularly result by accessing the respective data stored in the memory are put together. According to the state of the Technology you were still forced to do for each different calculation rule, i.e. for example, every different legal regulation, a new one to calculate complete set of payload curves and in the corresponding to put down mobile crane.

Vorteilhaft werden die im Steuerrechner berechneten Werte in einer Anzeige einer Anzeigevorrichtung wiedergegeben. Bei dem vorliegenden Verfahren kann in dieser Anzeigevorrichtung dabei nicht nur die zulässige Traglast und die entsprechende Grenzkurve, sondern gleichzeitig quasi als "Abfallprodukt" des Simulationsmodells die Ist-Last, die Ausladung, die Kranhöhe etc. Angezeigt werden.The values calculated in the control computer are advantageously displayed on a Played display device. In the present method, this Display device not only the permissible load and the corresponding Limit curve, but at the same time as a "waste product" of the simulation model the actual load, the outreach, the crane height etc. are displayed.

Eine weitere vorteilhafte Ausgestaltung der Erfindung besteht darin, daß die Rüstinformationen dem Geräteführer in der Auswahlvorrichtung auf einer Anzeigevorrichtung wiedergegeben werden. Hier kann er sich also auf dem Bildschirm den Kran mit der Zurüstung zusammenstellen wie er auch in der Realität zusammengebaut ist.Another advantageous embodiment of the invention is that the setup information the operator in the selection device on a display device are reproduced. So here he can see the Assemble the crane with the equipment as it is assembled in reality is.

Weitere Einzelheiten und Vorteile der Erfindung werden anhand eines in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert. Die einzige Figur zeigt ein Blockschema einer Ausführungsvariante der erfindungsgemäßen Überlastsicherung.Further details and advantages of the invention will become apparent from one in the drawing illustrated embodiment explained in more detail. The only figure shows one Block diagram of an embodiment variant of the overload protection according to the invention.

In dem Speicher 10 werden in den Geometriedateien 12 für jeden Bauteiletyp des Kranes, d.h. insbesondere der Bauteiletyp der Zurüstung des Kranes, die Geometriedaten abgelegt. In der Konfigurationsdatei 14 wird dann zum einen die Anleitung über die Art und Weise abgelegt, wie die Kranbauteile miteinander kombiniert werden können. Die Krankonfigurationsdatei 14 enthält im hier dargestellten Ausführungsbeispiel auch Vorwahlmöglichkeiten, die die Berechnung der Abschaltwerte beeinflussen. So kann hier die Berechnungsvorschrift für zulässige Traglasten alternativ für die USA bzw. für Europa eingegeben werden. Bei Auslieferung des entsprechenden Kranes in die USA muß dann nur die entsprechende Berechnungsvorschrift bei der späteren Berechnung abgerufen werden.In the memory 10 in the geometry files 12 for each component type Crane, i.e. in particular the type of component used to equip the crane, the geometry data filed. In the configuration file 14, the instructions are on the one hand about how the crane components are combined can. The crane configuration file 14 contains in the embodiment shown here also pre-selection options, which the calculation of the switch-off values influence. The calculation rule for permissible loads can be used here as an alternative for the USA or for Europe. Upon delivery of the corresponding Cranes to the USA then only have to apply the appropriate calculation rule can be retrieved in the later calculation.

In einer Auswahlvorrichtung 16 werden dann die gewünschten Rüstzustände vom Geräteführer zusammengestellt. Hierzu dient ein hier nicht näher dargestellter Bildschirm, auf dem der Kranführer mit einer entsprechenden Manipulationseinrichtung, die ebenfalls nicht dargestellt ist, den Kran zusammenbauen, wie er der Realität entspricht. In a selection device 16, the desired setup conditions are then from Device operator compiled. A screen, not shown here, serves this purpose, on which the crane operator with an appropriate manipulation device, which is also not shown, assemble the crane as it is the reality corresponds.

Nach Beendigen der Eingabe der Rüstinformationen wird im Steuerrechner 18 mit Hilfe der physikalischen Werte, die aus den Geometriedateien 12 zur Verfügung gestellt wird und unter Berücksichtigung der Werte der Konfigurationsdatei 14 ein Simulationsmodell des Kranes im Speicher des Steuerrechners aufgebaut. Über die Sensoren des Kranes 20, beispielsweis Winkelsensoren oder Kraftsensoren, wird dann das Simulationsmodell so online, d.h. in Echtzeit, berechnet, daß es mit der aktuellen physikalischen Wirklichkeit des Kranes übereinstimmt. Damit werden sämtliche Koordinaten und Kräfte und insbesondere die Schwerpunktslagen der Bauteile berechnet. Gleichzeitig werden die Ist-Last, Ausladung, Kranhöhe etc. des Kranes mitberechnet und ausgegeben. Wie bei 22 gezeigt, werden aus den berechneten Daten weiterhin die Abschaltwerte der Überlastsicherung berechnet, entsprechend denen der Kran in sonst an sich bekannter Art und Weise gesteuert wird. Das bedeutet, daß der Kran bei Erreichen eines kritischen Wertes, d.h. eines Abschaltwertes, automatisch abgeschaltet wird. Gleichzeitig können aber auch andere wichtige Daten errechnet werden, wie beispielsweise der aktuelle Bodendruck, es kann auch erfaßt werden, ob ein kritischer Festigkeitswert eines der verwendeten Bauteile durch eine spezifisch aufgenommene Last oder ein vorübergehend auftretendes Lastmoment überschritten würde. Bei Überschreiten eines derartigen Wertes kann durch eine entsprechend vorgesehende Steuerung der Kran automatisch in eine sichere Position zurückgeführt werden.After completion of the input of the setup information is in the control computer 18 Help the physical values that are available from the geometry files 12 is set and taking into account the values of the configuration file 14 Simulation model of the crane built in the memory of the control computer. About the Sensors of the crane 20, for example angle sensors or force sensors then the simulation model online, i.e. in real time, calculates that it is with the current physical reality of the crane matches. With that all coordinates and forces and especially the center of gravity of the Components calculated. At the same time, the actual load, radius, crane height etc. of the Cranes included and output. As shown at 22, calculated from the Data continues to calculate the cut-off values of the overload protection, accordingly which the crane controlled in a manner known per se becomes. This means that when the crane reaches a critical value, i.e. one Switch-off value, is switched off automatically. At the same time, others can important data are calculated, such as the current ground pressure, it can also be detected whether a critical strength value is one of those used Components by a specifically accepted load or a temporary occurring load torque would be exceeded. If one of these is exceeded The crane can automatically add value by means of a correspondingly provided control be returned to a safe position.

Insgesamt sind die Einsatzmöglichkeiten des mobilen Krans wesentlich verbessert und es wird bei der Kipplastberechnung nicht mehr mit interpolierten Werten gearbeitet. Der aktuell berechnete Abschaltwert entspricht zu jederzeit den in den Vorschriften festgelegten Methoden. Gleichzeitig sinkt der Aufwand bei der Änderung der Kranzurüstung beträchtlich, da in den meisten Fällen sich nur die geometrischen Eigenschaften oder das Gewicht der Kranbauteile ändert. Das heißt, daß entsprechend der erfindungsgemäßen Verfahrensweise nur eine Geometriedatei ausgetauscht werden muß und alle Rüstkonfigurationen des Krans, bei dem das geänderte Bauteil eingesetzt werden soll, sofort wieder richtig berechnet werden. Darüber hinaus können aufgrund der erfindunggemäßen Verfahrensführung gleiche Bauteile, die bei verschiedenen Krantypen eingesetzt werden, nur einmal in der Konfigurationsdatei beschrieben werden. Diese Daten können dann auch auf einen anderen Krantypen übernommen werden. Dies kommt häufig bei Raupenkränen vor.Overall, the possible uses of the mobile crane have been significantly improved and the tipping load calculation no longer works with interpolated values. The currently calculated switch-off value corresponds at all times to that in the regulations established methods. At the same time, the effort involved in making the change is reduced of the crane armament considerable, since in most cases only the geometrical Properties or the weight of the crane components changes. It means that only one geometry file in accordance with the procedure according to the invention must be exchanged and all the configurations of the crane, in which the modified component is to be used, be calculated correctly again immediately. In addition, due to the inventive procedure, the same Components that are used with different types of cranes, only once in the Configuration file. This data can then also be saved on a other crane types. This often happens with crawler cranes in front.

Claims (5)

Verfahren zur Überlastsicherung eines mobilen Kranes, insbesondere Raupenkranes, gekennzeichnet durch folgende Schritte: Ablegen von bauteilebezogenen Geometriedaten in einem Speicher (10); Auswählen des gewünschten Rüstzustandes in einer Auswahlvorrichtung (16); Zusammenstellung eines physikalischen Simulationsmodells aus den ausgewählten Daten in einem Steuerrechner (18); Eingabe von realen Meßdaten von kranseitigen Kraft- und Positionssensoren (20); Berechnung zunächst der geometrischen Daten, Schwerpunktsdaten und Kräfte und anschließend der Abschaltwerte; ggf. Abschalten des Kranes bei Erreichen der Abschaltwerte. Method for overload protection of a mobile crane, in particular crawler crane, characterized by the following steps: Storing component-related geometry data in a memory (10); Selecting the desired set-up state in a selection device (16); Compilation of a physical simulation model from the selected data in a control computer (18); Input of real measurement data from crane-side force and position sensors (20); Calculation first of all of the geometric data, center of gravity data and forces and then the switch-off values; if necessary, switch off the crane when the switch-off values are reached. Verfahren nach Anspruch 1, dadurch gekennzeichnet, daß im Speicher (10) die bauteilebezogenen Geometriedaten für jeden Bauteiltyp der Kranbauteile in zugeordneten Geometriedateien (12) abgelegt werden und daß die Anleitung über die Art und Weise der Kombination der einzelnen Kranbauteile miteinander in einer Krankonfigurationsdatei (14) abgelegt werden.Method according to Claim 1, characterized in that the component-related geometry data for each component type of the crane components are stored in assigned geometry files (12) in the memory (10) and that the instructions on the manner in which the individual crane components are combined with one another are stored in a crane configuration file (14 ) are filed. Verfahren nach Anspruch 2, dadurch gekennzeichnet, daß in der Krankonfigurationsdatei (14) Vorwahlmöglichkeiten für die Berechnung der Abschaltwerte eingegeben werden.Method according to claim 2, characterized in that preselection options for the calculation of the switch-off values are entered in the crane configuration file (14). Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß die im Steuerrechner (18) berechneten Werte in einer Anzeige einer Anzeigevorrichtung (24) wiedergegeben werden.Method according to one of claims 1 to 3, characterized in that the values calculated in the control computer (18) are reproduced in a display of a display device (24). Verfahren nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß die Rüstinformationen in der Auswahlvorrichtung (16) auf einer Anzeigevorrichtung wiedergegeben werden.Method according to one of claims 1 to 4, characterized in that the setup information is displayed in the selection device (16) on a display device.
EP01110674A 2000-05-12 2001-05-02 Method for protecting a mobile crane against an overload Expired - Lifetime EP1153876B1 (en)

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DE10023418 2000-05-12
DE10023418A DE10023418A1 (en) 2000-05-12 2000-05-12 Procedure for overload protection of a mobile crane

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EP1153876A2 true EP1153876A2 (en) 2001-11-14
EP1153876A3 EP1153876A3 (en) 2005-03-23
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ES (1) ES2275580T3 (en)

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Publication number Publication date
JP2002003176A (en) 2002-01-09
ATE345308T1 (en) 2006-12-15
DE10023418A1 (en) 2001-11-15
EP1153876B1 (en) 2006-11-15
JP5049430B2 (en) 2012-10-17
EP1153876A3 (en) 2005-03-23
DE50111435D1 (en) 2006-12-28
US6587795B2 (en) 2003-07-01
US20020013666A1 (en) 2002-01-31
ES2275580T3 (en) 2007-06-16

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