GB2353515A - Controlling the path of a crane hook - Google Patents

Controlling the path of a crane hook Download PDF

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Publication number
GB2353515A
GB2353515A GB0016458A GB0016458A GB2353515A GB 2353515 A GB2353515 A GB 2353515A GB 0016458 A GB0016458 A GB 0016458A GB 0016458 A GB0016458 A GB 0016458A GB 2353515 A GB2353515 A GB 2353515A
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GB
United Kingdom
Prior art keywords
crane
load hook
load
hook
accordance
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.)
Granted
Application number
GB0016458A
Other versions
GB0016458D0 (en
GB2353515B (en
Inventor
Erwin Morath
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.)
Liebherr Werk Ehingen GmbH
Original Assignee
Liebherr Werk Ehingen GmbH
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 Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of GB0016458D0 publication Critical patent/GB0016458D0/en
Publication of GB2353515A publication Critical patent/GB2353515A/en
Application granted granted Critical
Publication of GB2353515B publication Critical patent/GB2353515B/en
Anticipated expiration legal-status Critical
Expired - Fee Related 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
    • B66C23/06—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 with jibs mounted for jibbing or luffing movements
    • B66C23/08—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 with jibs mounted for jibbing or luffing movements and adapted to move the loads in predetermined paths
    • B66C23/10—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 with jibs mounted for jibbing or luffing movements and adapted to move the loads in predetermined paths the paths being substantially horizontal; Level-luffing jib-cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes

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

Abstract

The invention relates to a method for the changing of the position of a load hook (7) of a crane, with the drive parts provided for the movement of the load hook being controlled in such a way that the load hook (7) is moved along a given path e.g. horizontally. Apparatus for the changing of the position of the load hook (7) of a crane having a first drive part with which the load hook (7) can be moved in a first direction; a second drive part with which the load hook (7) can be moved in a second direction is also provided. The apparatus comprising a control apparatus with which the movements of the first and second drive parts can be coordinated so that the load hook can be moved along a preset path as shown in Fig 2. Preferably, the apparatus comprises one or more angle sensors 4, 4' and a load sensor 5, an automatic control into which the coordinates of the initial load position and/or target position or distance can be set and which controls the hoisting, luffing and/or slewing gear to maintain e.g. a level path. Preferably the crane has a main jib, 1 a fly jib 2 and counterbalance jib 3 with continually adjustable counterweight 6.

Description

2353515 A method and an apparatus for the operation of a crane load hook
The present invention relates to an apparatus and a method for the operation of a crane load hook.
Various drive parts are provided to move a crane load hook, for example the hoist mechanism to raise and lower the load, the luffing mechanism to luff a crane jib or the slewing gear to turn the crane. When a load has to be picked up with the load hook, the individual drives are activated separately from one another by the crane operator, that is, for example, a load fixed to the crane hook is first taken up by activating the hoist mechanism. Subsequently, the load is moved to its raised position in orbit around the crane centre by activating the slewing gear. Then the load is set down again, for example by the movement of the luffing mechanism and a subsequent movement of the hoisting mechanism. For this purpose, a plurality of winches and drive parts have to be activated by the crane operator. If a load is to be transported to the crane on a horizontal path, for example, then the crane operator must activate the luffing mechanism so that, for example, the needle-type jib of the crane is travelled to a steeper position, with the hoist mechanism having to be adjusted so that the raising of the load effected by the enlarging of the angle of the needle-type jib can approximately be counter-balanced. Such a procedure requires high concentration on the part of the crane operator who, under certain circumstances, may not be able to observe the construction work going on around him with sufficient attention, which can lead to dangerous situations. If the crane operator's vision is blocked, for example by the side of a building, it is thus almost impossible to move a load taken-up along a horizontal straight line.
It is the object of the invention to provide a method and an apparatus for the changing of the position of the load hook of a crane, by means of which the load hook can be travelled in a simple manner by a crane operator.
This object is solved by a method having the features of claim I and by an apparatus having the features of claim 9. Advantageous embodiments are contained in the dependent claims.
In accordance with the invention, the individual drive parts, preferably at least two, such as different winches, with which the load hook can be moved, are controlled in such a way that the load hook is moved along a given path. A crane operator only determines, for example by means of a control lever, that he wants to travel the load hook in a horizontal direction, with then, for example, the hoist mechanism and luffing mechanism being controlled in such a manner that the height change of the load hook caused by a luffing of the crane jib by the luffing mechanism is counterbalanced by a corresponding control of the hoist mechanism. The hoist mechanism and the luffing mechanism are therefore controlled, e.g. in combination, so that the vertical displacement of the load hook as a result of the luffing of the crane jib by means of the luffing mechanism is seen as a disturbance variable which is readjusted using the corTesponding activation of the hoist mechanism.
Here, for example, it can be computed from the momentary angle of one or more crane jibs how the winch has to be controlled to allow a readjustment of the crane hook so that the crane hook is moved in a horizontal plane.
However, it is also possible to preset any path to be travelled by the load hook such as a continuous gradient or the following of a certain area profile which has been entered, for example, into a crane control. The individual drive parts of the crane load hook are controlled in combination here so that the given path is kept to as exactly as possible. By means of a combined or coordinated control of the hoist mechanism, the luffing mechanism and the slewing gear, it is, for example, possible to direct the load hook in such a way that it is moved past the crane position horizontally on a straight line. Here, a load can also be slung on the load hook, with suitable limit values of the working load of the crane being calculated advantageously during the movement of the load hook.
During the determination or calculation of the respective control signals for the drive parts, the bending of the jib(s), in particular under load, is also advantageously taken into account, in particular calculated in advance, i.e. prior to the performance of the planned movement, so that this disturbance variable can be eliminated. For this purpose, for example, an interpolation between previously saved load conditions of the crane can be performed in order to obtain the bending values of interest for the relevant case.
The hoist mechanism, luffing mechanism and slewing gear of the crane are preferably selected to control the load hook, with only one or two of the above drives also being able to be selected depending on the given path to be travelled. Naturally, further drive parts can also be included in the control of the directing of the load hook.
It is advantageous for the computation of the control signals for the drive parts of the load hook to use the signals of suitable sensors such as rotary encoders, winch incremental encoders and linear encoders or also load sensors, which can be attached to the suitable spots on the crane so that the momentary state of the crane can be determined by means of these sensor signals.
Although it is frequently advantageous for practical use to move a load hook in a horizontal plane, other paths can also be preset which the load hook should travel. Here, the control can be performed, for example, in such a way that a certain drive part such as the luffing mechanism is moved in a desired direction and other drive parts such as the hoist mechanism and the slewing gear are selected in such a way that they automatically travel after or along in order to maintain the movement of the load hook along the preset path in this way.
The position of the load hook can preferably be determined using an x-y-z coordinate system, with then, for example, the crane operator entering the x,y and z coordinates of the target point for the load hook in an operating unit and the load hook being automatically travelled on a straight line from the momentary position to the position specified by the entry in dependence on the preset coordinates. Here, for example, building sections and similar which are stored in the crane control can be taken into account so that the load hook can be controlled so that these building sections are travelled around in the selection of the path. For example, a load can be taken up from the ground, transported upwards along the outer wall of a building and moved in a horizontal direction on the top of the building without the crane operator explicitly making the individual movements. In this case, it is sufficient, for example, for the building section to be entered in a preset coordinate system and for the target point of the load hook also being entered in the control by the crane operator.
A certain position of the load hook, can preferably also be stored, for example in the crane control. If, for example, loads are to be moved between two fixed points several times one after the other, then these fixed points can first be travelled to with the load hook by the control of the crane operator, with the momentary position of the load hook then being entered into the control, for example, by a storage button. After such a saving, it is possible for the crane operator simply to travel the load hook to these positions, for example by pressing corresponding buttons for positions fixed in the memory, the travelling being performed automatically by the control.
The ballast element is advantageously adapted to the respective position or load of the load hook. This can be done, for example, by an infinite telescoping of the load element in the horizontal plane. It is also possible to sling the ballast element on a derrick jib which can be infinitely swivelled or telescoped in order to thus effect the ballast adjustment adapted to the respective load case by means of the change in the load lever.
An apparatus to change the position of the load hook of a crane in accordance with the invention has a first drive part with which the load hook can be moved in a first direction such as in a radial direction with regard to the position of the crane, in a vertical direction or in a circle arc around the crane. In addition, a second drive part is provided with which the load hook can be moved in a second direction, with the individual drive parts being able to be operated independently of each other. In addition, a control apparatus is provided with which the movements of the individual drive parts can be coordinated or adjusted to one another in such a way that the load hook can be moved along a preset path. Naturally, additional drive parts can also be provided which can be integrated accordingly in the control.
Sensor elements are advantageously provided with which the configuration of the crane such as the luffing angle of certain jibs or the concrete load state can be determined. These sensor signals with which, for example, the bending of individual crane jibs can also be determined, can be fed to the control apparatus in order to fix the movement of the load hook suitably in dependence on the momentary state of the crane.
Function buttons can advantageously be provided on the control apparatus for certain pre-defined movements of the load hook such as a horizontal movement or a movement along a path fixed in memory. The crane operator then only has to activate the corresponding function button to move the load hook from its momentary position in the desired direction or to a preset position along a specified path.
The invention is explained below by means of two figures in which Fig. 1 shows a crawler-mounted crane; and Fig. 2 shows a schematic view of a crane with a load hook during the performance of the method in accordance with the invention.
Fig. 1 shows a crawler-mounted crane having a main jib 1, a needle-type jib 2 and a derrick jib 3 having a ballast element 6 slung on, with the ballast element 6 being able to be adjusted by a slide unit 9 or the luffing of the derrick jib 3. It is also possible to provide two ballast elements 6 and 6' on the crane, with at least one of them being able to be adjusted infinitely.
To determine the momentary position of the crane, an angle sensor 4 is provided to determine the luffing angle of the needle-type jib 2 as well as angle sensors 4, to determine the position of main jib 1 and derrick jib 3. A load sensor 5 is disposed on the extension of the needle-type jib 2. If, as shown in Fig. 1, a load is to be moved from position A to position B at the top of a building 8, this is problematic for the crane operator as his view of the respective positions A, B is blocked by the building 8. In accordance with the invention, it is possible to first travel to position A with the load hook 7, which can be done, for example, also by instruction by radio from a worker standing on the top of the building 8. If the load hook 7 is at position A, the crane operator only has to enter into the control that after raising the load at position A, the load hook 7 has to be travelled horizontally to position B, with position B also being able to be positioned laterally transposed next to position A. A worker standing on the top of building 8 can, for example, transmit the distance of positions A and B or their coordinates to the crane operator. The control in accordance with the invention then controls, for example, the hoist mechanism, the luffing mechanism and the slewing gear, so that the load hook 7 is moved from position A to position B in a horizontal plane without the crane operator having to be able to see the momentary position of the load hook. The control is performed automatically so that loads can also be conveyed by the crane in a region which cannot be seen fully by the crane operator.
Fig. 2 shows three operating states of the crane schematically, with the load hook 7 hanging down from the extension of the main jib 1. If the main jib I is slowly lowered - positions b) and c) - from its steepest position a), the vertical displacement of the crane hook 7 is kept constant by means of the hoist mechanism, i.e. the hoist mechanism is controlled so that the crane hook 7 moves in a horizontal plane as the luffing angle of the main jib I reduces. Here, the bending of the main jib I can also be taken into account which is either measured directly or calculated by interpolation or extrapolation using load states in memory. Equally, the crane hook 7 can be travelled from position c) to position a), with the hoist mechanism then increasing the length of the rope over the crane hook 7 in the opposite direction to the procedure described above.

Claims (13)

Claims
1. A method for the changing of the position of a load hook (7) of a crane, with the drive parts provided for the movement of the load hook (7) being controlled in such a way that the load hook (7) is moved along a preset path.
2. A method in accordance with claim 1, wherein the bending of crane elements is taken into account for the control of the drive parts.
3. A method in accordance with either of claims I or 2, wherein the hoist mechanism, luffing mechanism and/or slewing gear of the crane are controlled.
4. A method in accordance with any of the preceding claims, wherein signals from sensor elements (4, 5) on the crane are taken into account to control the drive parts.
S. A method in accordance with any of the preceding claims, wherein the preset path is in a horizontal plane.
6. A method in accordance with any of the preceding claims, wherein the preset path is specified by an x,y,z coordinate system.
7. A method in accordance with any of the preceding claims, wherein certain positions of the preset path are fixed by travelling to and storing the positions.
8. A method in accordance with any of the preceding claims, wherein the ballasting of the crane is performed in dependence on the momentary position and/or load situation of the load hook (7) and/or the total load of the crane.
9. An apparatus for the changing of the position of the load hook (7) having:
a) a first drive part with which the load hook (7) can be moved in a first direction; b) a second drive part with which the load hook (7) can be moved in a second direction; and C) a control apparatus with which the movements of the first and second drive parts can be coordinated so that the load hook can be moved along a preset path.
10. An apparatus in accordance with claim 9, wherein at least one sensor element (4, 5) is provided on the crane and coupled with the control apparatus.
11. An apparatus in accordance with either of claims 9 or 10, wherein at least one function button is provided for the control apparatus, by means of which a preset movement of the load hook (7) can be set.
12. A method for changing the position of a load hook substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.
13. An apparatus for changing the position of a load hook substantially as hereinbefore described with reference to and as illustrated in the accompanying drawings.
GB0016458A 1999-07-07 2000-07-04 A method and an apparatus for the operation of a crane load hook Expired - Fee Related GB2353515B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE1999131301 DE19931301B4 (en) 1999-07-07 1999-07-07 Method and device for guiding a crane load hook

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GB0016458D0 GB0016458D0 (en) 2000-08-23
GB2353515A true GB2353515A (en) 2001-02-28
GB2353515B GB2353515B (en) 2003-09-10

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DE (1) DE19931301B4 (en)
FR (1) FR2796058B1 (en)
GB (1) GB2353515B (en)

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EP2189574A1 (en) * 2008-11-19 2010-05-26 Geosea NV Jack-up offshore platform and its use for assembling and servicing a structure at sea
CN102862921A (en) * 2006-10-27 2013-01-09 马尼托瓦克起重机有限责任公司 Mobile lift crane with variable position counterweight
CN103575248A (en) * 2013-11-01 2014-02-12 中联重科股份有限公司 Cantilever crane target position detection equipment, method and system, hoisting equipment, method and engineering machinery
US8827092B2 (en) 2006-10-27 2014-09-09 Manitowoc Crane Companies, Llc Mobile lift crane with variable position counterweight
US9278834B2 (en) 2009-08-06 2016-03-08 Manitowoc Crane Group, LLC Lift crane with moveable counterweight
US9440824B2 (en) 2012-03-30 2016-09-13 Manitowoc Crane Group France Sas Vehicle crane with decouplable counterweight assembly
EP3099618B1 (en) 2014-01-31 2017-12-06 Palfinger AG Crane controller
US10179722B2 (en) 2014-01-27 2019-01-15 Manitowoc Crane Companies, Llc Lift crane with improved movable counterweight
US10183848B2 (en) 2014-01-27 2019-01-22 Manitowoc Crane Companies, Llc Height adjustment mechanism for an auxiliary member on a crane
EP3553015A1 (en) * 2018-04-13 2019-10-16 HMF Group A/S Crane and method for operating a crane
US10526141B2 (en) 2010-12-03 2020-01-07 Konecranes Global Corporation Method for positioning load and fetching positioned load or stacking loads with crane
CN111689395A (en) * 2020-05-14 2020-09-22 河北雷萨重型工程机械有限责任公司 Crane, control system and method for vertical and horizontal movement of lifting hook of crane and vehicle
US10942526B2 (en) 2016-03-31 2021-03-09 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. System for navigation of an autonomously navigating submersible body during entry into a docking station, method

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EP2189575B1 (en) * 2008-11-19 2021-06-30 DEME Offshore BE N.V. Jack-up offshore platform and a method thereof
DE102009007776A1 (en) * 2009-02-04 2010-08-12 Terex Demag Gmbh Control for an adjustable boom extension of a mobile crane
DE102012004739A1 (en) 2012-03-08 2013-09-12 Liebherr-Werk Nenzing Gmbh Crane and crane control method
CN104071712A (en) * 2014-07-10 2014-10-01 太原重工股份有限公司 Large-tonnage crawler crane

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US10336589B2 (en) 2006-10-27 2019-07-02 Manitowoc Crane Companies, Llc Mobile lift crane with variable position counterweight
CN102862921A (en) * 2006-10-27 2013-01-09 马尼托瓦克起重机有限责任公司 Mobile lift crane with variable position counterweight
US11884522B2 (en) 2006-10-27 2024-01-30 Grove U.S. L.L.C. Mobile lift crane with variable position counterweight
US8827092B2 (en) 2006-10-27 2014-09-09 Manitowoc Crane Companies, Llc Mobile lift crane with variable position counterweight
US8985353B2 (en) 2006-10-27 2015-03-24 Manitowoc Crane Companies, Llc Mobile lift crane with variable position counterweight
EP2189574A1 (en) * 2008-11-19 2010-05-26 Geosea NV Jack-up offshore platform and its use for assembling and servicing a structure at sea
US9278834B2 (en) 2009-08-06 2016-03-08 Manitowoc Crane Group, LLC Lift crane with moveable counterweight
US11261064B2 (en) 2009-08-06 2022-03-01 Manitowoc Cranes, Llc Lift crane with moveable counterweight
US10457530B2 (en) 2009-08-06 2019-10-29 Manitowoc Cranes, Llc Lift crane with moveable counterweight
US10526141B2 (en) 2010-12-03 2020-01-07 Konecranes Global Corporation Method for positioning load and fetching positioned load or stacking loads with crane
US9440824B2 (en) 2012-03-30 2016-09-13 Manitowoc Crane Group France Sas Vehicle crane with decouplable counterweight assembly
CN103575248B (en) * 2013-11-01 2016-02-03 中联重科股份有限公司 Cantilever crane target position detection equipment, method and system, hoisting equipment, method and engineering machinery
CN103575248A (en) * 2013-11-01 2014-02-12 中联重科股份有限公司 Cantilever crane target position detection equipment, method and system, hoisting equipment, method and engineering machinery
US10183848B2 (en) 2014-01-27 2019-01-22 Manitowoc Crane Companies, Llc Height adjustment mechanism for an auxiliary member on a crane
US10179722B2 (en) 2014-01-27 2019-01-15 Manitowoc Crane Companies, Llc Lift crane with improved movable counterweight
US11208303B2 (en) 2014-01-27 2021-12-28 Manitowoc Crane Companies, Llc Lift crane with improved movable counterweight
US10173866B2 (en) 2014-01-31 2019-01-08 Palfinger Ag Crane controller
EP3099618B1 (en) 2014-01-31 2017-12-06 Palfinger AG Crane controller
US10942526B2 (en) 2016-03-31 2021-03-09 Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. System for navigation of an autonomously navigating submersible body during entry into a docking station, method
EP3553015A1 (en) * 2018-04-13 2019-10-16 HMF Group A/S Crane and method for operating a crane
CN111689395A (en) * 2020-05-14 2020-09-22 河北雷萨重型工程机械有限责任公司 Crane, control system and method for vertical and horizontal movement of lifting hook of crane and vehicle

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GB0016458D0 (en) 2000-08-23
DE19931301B4 (en) 2005-08-18
FR2796058A1 (en) 2001-01-12
FR2796058B1 (en) 2002-11-29
DE19931301A1 (en) 2001-01-18
GB2353515B (en) 2003-09-10

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