EP4238926A1 - Krananlage und damit in zusammenhang stehendes verfahren - Google Patents

Krananlage und damit in zusammenhang stehendes verfahren Download PDF

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Publication number
EP4238926A1
EP4238926A1 EP22159457.5A EP22159457A EP4238926A1 EP 4238926 A1 EP4238926 A1 EP 4238926A1 EP 22159457 A EP22159457 A EP 22159457A EP 4238926 A1 EP4238926 A1 EP 4238926A1
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EP
European Patent Office
Prior art keywords
crane
frame assembly
assembly
mechanical stress
stress parameter
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
EP22159457.5A
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English (en)
French (fr)
Inventor
Victor SAENZ DE INESTRILLAS GARCIA
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hiab AB
Original Assignee
Hiab AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hiab AB filed Critical Hiab AB
Priority to EP22159457.5A priority Critical patent/EP4238926A1/de
Publication of EP4238926A1 publication Critical patent/EP4238926A1/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
    • 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 present disclosure relates to a crane assembly, and in particular a crane assembly provided with capabilities of adapting crane movements to mechanical parameters of the frame assembly.
  • the bending moment at a subframe and a truck chassis is traditionally assumed to be similar to the crane moment.
  • this is not always a good enough approximation, in particular for installations where the crane stabilizer system, comprising at least two support legs, are not aligned with the crane slewing axis, i.e. the crane column.
  • This approximation of the bending moment is normally used when dimensioning the subframe for a particular crane installation and the subframes are hence designed assuming that the maximum crane moment is the maximum bending moment that the subframe will hold.
  • the subframe should be dimensioned for any possible situation and is thus over-dimensioned for the most common crane operations. However, if these situations are neglected, they can become risky from a structural point of view.
  • US6170681B1 discloses a crane having a swing member with a boom mounted on the swing member, wherein the swing member is mounted on the lower frame of the crane and four horizontal protrusion outriggers are mounted on the lower frame of the crane. Further, a load limiting condition is measured according to the position of the crane boom and the outriggers. Also, the movement of the crane is restricted if the condition of load limit is satisfied.
  • US4276985A discloses a truck mounted rail crane having a crane and multiple outriggers mounted on a chassis frame. Further, bending or twisting of the chassis frame in accordance to the multiple outriggers is prevented by an interconnection structure of the component to improve the crane boom stability.
  • US20070012641A1 discloses a crane comprising at least four movable outriggers in a frame. A column is pivotally mounted on the frame of the truck. Further, it also discloses the measurement of a load limit condition with respect to the position of the boom and the outriggers. Furthermore, if the lifting load exceeds the limiting load value, then the stop signal is sent to stop the operation of the crane.
  • JP2003252590A1 discloses an aerial work platform mounted on the body of the vehicle and four outriggers present on the vehicle body. It discloses a rotatable table and a boom mounted on the vehicle body. Also, it discloses that the overturning moment of the boom does not exceed the allowable overturning moment, which prevents the tilting of the boom.
  • the object of the present invention is to achieve an improved overload protection capability of a crane assembly, and more particularly to assure structural integrity of the frame assembly of the crane assembly during crane operation.
  • a static stress failure mode of the frame assembly is avoided by calculating a bending moment value for those cases in which the traditional approach fails, and stopping the crane movement before reaching a moment above an admissible value, and hence entering a static stress failure mode of the frame assembly.
  • the calculated bending moment obtained by the above embodiment may further be combined with the torsion moment at the frame assembly, and the crane controller may further be configured monitor the combined stress acting on the frame assembly from both bending and torsion, and stopping the crane before reaching a moment above the admissible value.
  • loader cranes comprising a crane assembly as defined herein are normally mounted on trucks.
  • trucks often are manufactured by a truck manufacturer for a general purpose, i.e. the same truck could be used to carry just a load platform, or other kind of body on it.
  • the main structural component of a truck is normally denoted a chassis.
  • a chassis Conventionally it comprises two longitudinal beams and cross members and it holds all the other truck elements (engine, gearbox, suspension, cabin, etc).
  • a chassis may also be the name of an unfinished truck (without body), as it is supplied from the truck manufacturer factory that cannot carry any load or be used for anything, as it is an incomplete vehicle.
  • truck manufacturers call the main structural component of a truck "frame”.
  • a truck chassis is completed by a "bodybuilder", which is another company, which makes the "body”, so the truck is completed and can transport goods.
  • the structural part of this body is often called "subframe”.
  • the subframe When the truck is equipped with a loader crane, the subframe must be designed in accordance with the instructions in the installation manual of the loader crane manufacturer.
  • the mechanical efforts like forces and moments (mainly bending and torsion moments) generated by the crane are (normally) held by the assembly of the chassis (or the frame) and the subframe. These mechanical efforts produce a stress distribution at the structure (frame + subframe) depending on the mechanical properties of their elements, and the subframe attachment type (i.e. the way the subframe is attached to the chassis/frame).
  • the expression frame assembly is defined as the combined structural entity comprising a subframe and a main frame (chassis), where the subframe is attached to the main frame.
  • the main frame is the main structural component of a vehicle and has an elongated extension.
  • a loader crane may be mounted on the subframe.
  • a crane assembly 2 comprising a frame assembly 4 having an elongated extension along a longitudinal axis A, a crane 6 carried by the frame assembly 4, and at least two support legs 8 connected to the frame assembly 4.
  • the respective support leg 8 is maneuverable to an active support position in contact with the ground.
  • the crane assembly is typically arranged at a vehicle as schematically illustrated in figure 1 and may be provided with a cargo platform to/from which loads may be loaded/unloaded by the crane.
  • the crane 6 comprises a column 10, which is rotatable in relation to the frame assembly 4 about an essentially vertical axis; a liftable and lowerable crane boom 12 articulately fastened to the column, and at least one lifting cylinder 14, for lifting and lowering the crane boom 12 in relation to the column 10.
  • Further crane booms such as telescopic booms, may further be mounted to the crane boom, and various crane tools such as hooks, grapples, forks etc. may be mounted to the crane tip.
  • the crane 6 further comprises a crane controller 16.
  • the crane controller 16 is provided with processing, controlling, and calculation capabilities to control and monitor all various functions of the crane, and also communication capabilities required to communicate with control units of e.g. a vehicle where the crane is mounted, and/or remote entities such as crane owners.
  • the crane controller 16 may be embodied as one single unit or by several units.
  • the crane controller 16 is configured to determine whether one or more predetermined load limiting conditions of the crane assembly 2 are fulfilled for a lifting moment associated with a movement of the crane 6.
  • the crane controller is further configured to restrict movements of the crane 6 to movements for which the lifting moment of the crane 6 fulfills the one or more load limiting conditions of the crane assembly 2. This is performed e.g. in order to prevent the crane assembly from tipping during operation.
  • the crane controller 16 is configured to determine and to generate a plurality of control signals to be applied to the crane 6, e.g. to the lifting cylinders 14, which is schematically illustrated in figure 2 by a block arrow.
  • the crane controller 16 may estimate the current lifting moment of the crane by monitoring the force applied by a main actuator for the lifting of the load with the crane.
  • the main actuator is typically responsible for lifting the crane arm including the load relative to the vertical crane column. If a hydraulic main lifting cylinder is used for the crane then the pressure of the corresponding lifting cylinder may be used in the estimations.
  • the crane controller 16 is further configured to determine a mechanical stress parameter value of the frame assembly 4 as an effect of a lifting moment associated with a movement of the crane 6.
  • a mechanical stress parameter value of the frame assembly 4 is determined as an effect of a lifting moment associated with a movement of the crane 6.
  • At least one load limiting condition specific for the frame assembly 4 is provided that comprises the mechanical stress parameter, and wherein the at least one load limiting condition is based on properties of the crane assembly 2.
  • the crane controller is configured to compare the determined mechanical stress parameter value with a predetermined maximum allowable mechanical stress parameter value of the frame assembly 4, which e.g. is determined during installation of the crane assembly.
  • the crane controller is also configured to restrict movements of the crane 6 to movements for which the at least one load limiting condition specific for the frame assembly 4 is fulfilled.
  • One load limiting condition specific for the frame assembly 4 to be fulfilled is that the result of the comparison is that the determined mechanical stress parameter value is lower than the predetermined maximum allowable mechanical stress parameter value.
  • the "load limiting conditions for the crane assembly” addresses the stability during the crane operation, i.e. prevents the crane installation from tipping over during operation, where as the "load limiting condition specific for the frame assembly” addresses the mechanical stress that is put on the frame assembly due to crane operation, and defines a static stress failure mode, being checked when doing a static calculation.
  • this "load limiting condition specific for the frame assembly” defines that the static stress failure mode should be avoided for the frame assembly during crane operation.
  • the mechanical stress parameter is dependent on a calculated bending moment of the frame assembly 4, and the mechanical properties of the frame assembly 4. This embodiment will now be discussed in detail.
  • the support legs carry most of the weight, with only negligible weight laying on the wheels of the vehicle.
  • This approach is hence mainly valid for heavy range cranes of a capacity higher than 50Tm.
  • the left part of figure 3 shows the traditional case where the support legs are aligned with the crane column, and the right part of the figure shows the case for heavy range cranes with stabilizers (support legs) not aligned with the crane column.
  • the "Extra M” may be estimated from the reactions and distances to the stabilizer legs, as illustrated in figure 3
  • subframes are dimensioned/calculated assuming that the maximum crane moment is the maximum bending moment that the subframe/chassis will hold. However, this is not necessarily the case as outlined above.
  • This embodiment according to the present invention will ensure that the frame assembly is not exposed to higher bending moments than it is designed for. It could both avoid over-dimensioning the subframe (which is normally the way to tackle the present poor estimations of the actual stresses due to e.g. bending that the frame assembly needs to handle during crane operation) as well as improve the safety when working with the crane.
  • the present invention is directed to a crane assembly comprising a frame assembly, a crane carried by the frame assembly and at least two support legs, conventionally four or more (at least for the heavier type of cranes), connected to the frame assembly.
  • the respective support leg is manoeuvrable to an active support position in contact with the ground.
  • the crane assembly may be mounted to a vehicle, such as a truck, and the frame assembly may refer to the subframe for the crane alone, or a combination with a frame of the vehicle.
  • the mechanical stress parameter is dependent on a calculated bending moment of the frame assembly 4, which adds on a further load limiting condition specific for the frame assembly defining that a static stress failure mode should be avoided for the frame assembly during crane operation.
  • the bending moment for a particular slewing angle alpha may then be estimated as illustrated in figure 4 .
  • CUT1 Mc ⁇ cos ⁇ + Ra 1 ⁇ D 1 + Ra r ⁇ D r
  • ⁇ is the current slewing angle of the crane boom
  • Mc is the moment at the position of the crane column
  • Ra(1) and Ra(r) are reaction forces at the ground by left and right support legs from axis A for the respective left and right front support legs
  • D(1) and D(r) are distances along the longitudinal axis A of the respective left and right front support legs.
  • This calculated bending moment considering the placement of the stabilizers mounted behind the truck cab but in front of the crane column (these may be referred to as the main stabilizers) relative to the crane column, is then to be compared to a corresponding maximum bending moment value that the frame assembly has been designed to last. If the estimated bending moment is larger than the corresponding maximum bending moment value then this movement of the crane should not be allowed by the crane controller.
  • the actual load on the support legs may further be considered. This may e.g. be deduced from pressures in the cylinders of the support legs.
  • the mechanical stress parameter is a function of the mechanical efforts (like the moment resulting from the crane installation and operation) and the mechanical properties of the structure it is applied to.
  • the calculation cut is defining where the calculation is made along the structure and the efforts as well as the mechanical properties may vary along the structure (see figure 3 for how the moment is varying along the frame assembly).
  • the mechanical properties may also vary along the frame assembly, e.g. by having a larger thickness of the steel plats where the moment is large.
  • One or more load limiting conditions for the frame assembly may set up addressing one or more positions along the assembly.
  • the bending moment at its maximum, at the cut corresponding to the crane column may be combined with the mechanical properties of another point along the frame assembly. For example, by combining the maximum moment with mechanical properties at a point where the frame assembly is weaker a safety margin may be added in the condition.
  • the mechanical stress parameter is dependent on a combination of calculated bending and torsion moments of the frame assembly 4, and the mechanical properties of the frame assembly 4.
  • the crane assembly according to this embodiment and defined herein would make sure that the limitations set by the properties of the frame assembly, as estimated based on the individual installation and geometry of the crane assembly with the frame assembly, crane and stabilizers, are not exceeded. This increases the safety with lighter and more cost-efficient structures, which would otherwise risk to be damaged in specific use cases.
  • At least one calculation point for the calculations at the frame assembly is needed, which, in the schematic illustration shown in figure 5 , is defined by the calculation cut.
  • the Von Mises Stress which defines the combined stress due to the bending and the torsion in this case, may be used to define a load limiting condition specific for the frame assembly defining that a static stress failure mode should be avoided for the frame assembly during crane operation.
  • the normal, horizontal bending and horizontal and vertical shear stresses may be considered to be negligible.
  • the normal stress due to the vertical bending is here denoted ⁇ and the shear stress due to torsion is denoted T.
  • the von Mises yield criterion can also be formulated in terms of the von Mises stress or equivalent tensile stress. This is a scalar value of stress that can be computed from the Cauchy stress tensor. In this case, a material is said to start yielding when the von Mises stress reaches a value known as yield strength, ⁇ .
  • the von Mises stress is used to predict yielding of materials under complex loading from the results of uniaxial tensile tests.
  • the von Mises stress satisfies the property where two stress states with equal distortion energy have an equal von Mises stress.
  • figure 5 is a schematic diagram of a crane assembly 2 illustrating the calculation cut and the slewing angle ⁇ of the crane.
  • the combined bending and torsion stresses may then be estimated and monitored by the crane controller using the load limiting condition specific for the frame assembly defining that a static stress failure mode should be avoided for the frame assembly during crane operation. Crane movements that would result in an estimation of the combined bending and torsion stress that exceeds the maximum allowable limit, would be stopped by the crane controller as a safety measure.
  • the value of is obtained from the bending moment and the mechanical properties of the calculation cut.
  • the bending moment can be obtained from the current crane moment x cos( ⁇ ), or, as explained above in connection with the embodiment where the bending moment is applied (that is more accurate for crane installations where the main support legs are not aligned with the crane column).
  • the value ⁇ is obtained from the frame assembly torsion moment and the mechanical properties of the calculation cut.
  • Figure 6 is a schematic view from above illustrating torsion moments T1, T2, and T3 along the longitudinal axis A of the crane assembly A.
  • torsion moment at the frame assembly may or may not be required compared to what is available in today's cranes.
  • forces are calculated based upon measurement values from pressure sensors of the support legs.
  • inclination sensors are applied which are arranged on the longitudinal axis of the crane assembly, and further on support legs.
  • FIG. 7A-7D The alternative with the inclination sensors is further explained with reference to figures 7A-7D , where figures 7A and 7B focus on a crane installation with an integrated stabilizer system and figures 7C and 7D disclose a crane installation without an integrated stabilizer system.
  • a double arrow directed upwards indicates an inclination sensor adapted to measure transversal inclination
  • a double arrow directed to the right indicates an inclination sensor adapted to measure longitudinal inclination.
  • the inclination sensors will give an estimation of the twisting of the frame assembly from transversal and longitudinal inclination measurements.
  • the longitudinally oriented sensors (1A, 2A, 3A) measure transversal inclination.
  • the measurements from 1A and 1B are combined to have the total inclination of the crane base, of course other more advanced sensor(s) would also be an alternative.
  • tilting sensors The best placements for the tilting sensors would be close to the slewing system of the crane (see figures 7A and 7C , sensors 1A and 1B).
  • the relative transversal angle between crane and auxiliary rear support legs needs further to be measured, especially for cranes with an integrated stabilizer system in the crane base.
  • two tilting sensors are required (see figure 7B , sensors 1A and 2A).
  • the crane controller 16 is configured to determine the torsion moment of the frame assembly 4 by applying measurement values from at least one pressure sensor 18 of the support legs 8 and/or at least one inclination sensor 20 arranged along the longitudinal axis A. This is schematically illustrated in figure 2 .
  • the crane controller 16 is configured to determine the mechanical stress parameter being a combination of bending and torsion moments of the frame assembly 4 by applying Von Mises Stress ( ⁇ VM) calculations, which define the combined stress due to the bending and the torsion to be used to define a load limiting condition specific for the frame assembly defining that a static stress failure mode should be avoided for the frame assembly during crane operation for the frame assembly 4.
  • ⁇ VM Von Mises Stress
  • the crane controller 16 is configured to determine the mechanical stress parameter when at least two of the support legs 8 are in their active support positions.
  • the frame assembly 4 comprises a main frame of a vehicle and a subframe attached to the main frame.
  • the present invention also relates to a method of a crane assembly 2.
  • the crane assembly has been described in detail above and it is herein referred to that description.
  • the method will now be described with references to the flow diagrams shown in figure 8 and figure 9 .
  • the flow diagram in figure 8 comprises an overview illustration of the method, whereas figure 9 is a more detailed illustration of the method according the present invention.
  • the crane assembly 2 comprises a frame assembly 4 having an elongated extension along a longitudinal axis A, a crane 6 carried by the frame assembly 4, and at least two support legs 8 connected to the frame assembly 4.
  • the respective support leg 8 is maneuverable to an active support position in contact with the ground, and the crane 6 comprises a crane controller 16.
  • the method of the crane assembly comprises:
  • This method steps prevent the crane from e.g. enter the static stress failure mode for the frame assembly during a lifting procedure.
  • the method further comprises:
  • the method comprises that the mechanical stress parameter is dependent on a calculated bending moment of the frame assembly 4. It is described in detail above how this calculation may be performed.
  • the method comprises that the mechanical stress parameter is dependent on a combination of calculated bending and torsion moments of the frame assembly 4. It is described in detail above how this calculation may be performed.
  • the method comprises determining the torsion moment of the frame assembly 4 by applying measurement values from at least one pressure sensor 18 of the support legs 8 and/or at least one inclination sensor 20 arranged along the longitudinal axis A.
  • the method comprises determining the mechanical stress parameter being a combination of bending and torsion moments of the frame assembly 4 by applying Von Mises Stress ( ⁇ VM) calculations, which define the combined stress due to the bending and the torsion to be used to define a load limiting condition specific for the frame assembly defining that a static stress failure mode should be avoided for the frame assembly during crane operation.
  • ⁇ VM Von Mises Stress
  • the method comprises determining the mechanical stress parameter when at least two of said support legs 8 are in their active support positions.
  • the frame assembly 4 comprises a main frame of a vehicle and a subframe attached to the main frame.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP22159457.5A 2022-03-01 2022-03-01 Krananlage und damit in zusammenhang stehendes verfahren Pending EP4238926A1 (de)

Priority Applications (1)

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EP22159457.5A EP4238926A1 (de) 2022-03-01 2022-03-01 Krananlage und damit in zusammenhang stehendes verfahren

Applications Claiming Priority (1)

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EP22159457.5A EP4238926A1 (de) 2022-03-01 2022-03-01 Krananlage und damit in zusammenhang stehendes verfahren

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EP4238926A1 true EP4238926A1 (de) 2023-09-06

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4276985A (en) 1979-09-03 1981-07-07 Newman Timothy L Truck mounted railroad crane
JPH04256691A (ja) * 1991-02-12 1992-09-11 Kobe Steel Ltd 建設機械の安全装置
US6138845A (en) * 1996-08-02 2000-10-31 Compact Truck Ag Crane vehicle
US6170681B1 (en) 1998-07-21 2001-01-09 Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) Steel Swing type machine and method for setting a safe work area and a rated load in same
US6202013B1 (en) * 1998-01-15 2001-03-13 Schwing America, Inc. Articulated boom monitoring system
JP2003252590A (ja) 2002-03-01 2003-09-10 Aichi Corp 高所作業車の転倒防止装置
US20070012641A1 (en) 2003-04-10 2007-01-18 Furukawa Co., Ltd. Safety device against overturning crane

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4276985A (en) 1979-09-03 1981-07-07 Newman Timothy L Truck mounted railroad crane
JPH04256691A (ja) * 1991-02-12 1992-09-11 Kobe Steel Ltd 建設機械の安全装置
US6138845A (en) * 1996-08-02 2000-10-31 Compact Truck Ag Crane vehicle
US6202013B1 (en) * 1998-01-15 2001-03-13 Schwing America, Inc. Articulated boom monitoring system
US6170681B1 (en) 1998-07-21 2001-01-09 Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.) Steel Swing type machine and method for setting a safe work area and a rated load in same
JP2003252590A (ja) 2002-03-01 2003-09-10 Aichi Corp 高所作業車の転倒防止装置
US20070012641A1 (en) 2003-04-10 2007-01-18 Furukawa Co., Ltd. Safety device against overturning crane

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