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EP3134344B2 - Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile - Google Patents
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EP3134344B2 - Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile - Google Patents

Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile Download PDF

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Publication number
EP3134344B2
EP3134344B2 EP15717490.5A EP15717490A EP3134344B2 EP 3134344 B2 EP3134344 B2 EP 3134344B2 EP 15717490 A EP15717490 A EP 15717490A EP 3134344 B2 EP3134344 B2 EP 3134344B2
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EP
European Patent Office
Prior art keywords
load
boom
maximum permissible
positions
determined
Prior art date
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Active
Application number
EP15717490.5A
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German (de)
English (en)
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EP3134344B1 (fr
EP3134344A1 (fr
Inventor
Matthias Braun
Stefan Maass
Markus Stöhr
Matthias Roth
Heiko Heintz
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Tadano Demag GmbH
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Tadano Demag GmbH
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Publication of EP3134344B1 publication Critical patent/EP3134344B1/fr
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • 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

Definitions

  • the invention relates to mobile cranes, in particular mobile cranes with variable support geometries.
  • the present invention also relates to methods for determining a maximum load capacity, measures for ensuring the stability of the mobile crane and means for displaying safe working positions.
  • Mobile cranes are usually fitted with a support device to improve stability or increase the load-bearing capacity.
  • a support device comprises support beams that protrude from the side of the mobile crane and on which support cylinders are provided.
  • the support cylinders can be used to support a protruding end on a base of the mobile crane, thereby increasing the effective base area.
  • the increased effective base area can improve the load-bearing capacity, i.e. the maximum permissible load of the mobile crane.
  • load tables are provided to determine the load capacity, i.e. the maximum permissible load on the boom, in which the maximum permissible load is specified for the respective configuration of the mobile crane based on possible degrees of freedom.
  • the load tables take into account the length or configuration, as well as, for example, the angle of rotation of the boom (usually 0-360°).
  • the characteristic map-based determination of the maximum permissible load based on the load tables can also be supplemented by function-based models that take other parameters into account, for example, the load capacity of the load rope.
  • the maximum load capacities are usually shown depending on various parameters, in particular the load radius, as well as depending on the respective configuration.
  • a crane operator can thus determine the crane operation in advance, in particular the configuration and possible lifting distances of a load to be lifted.
  • the publication EP1 444 162 B1 A mobile crane is known in which a working field can be graphically represented on a display in an electronic control device based on one of the parameters load and load radius as well as the size of a counterweight and counterweight radius.
  • a mobile crane is known in which individual limit curves or limit values are stored for various parameters of the crane, which may not be exceeded or may only be exceeded by issuing an alarm signal in order to ensure the safety of the crane operation.
  • the mobile crane also has means for ensuring crane safety, which are designed in such a way that they monitor the individual limit curves or limit values of the various parameters for exceedance.
  • One of the limit curves represents the dependency of the boom strength on the geometric degrees of freedom of the boom or is based on this dependency.
  • the publication EP 2 674 384 A1 discloses a method for monitoring the crane safety of a crane with a variable support base and a monitoring unit.
  • Several safety criteria are monitored during crane operation by calculating a permissible specific limit value during crane operation for each criterion that depends on at least one parameter relating to the crane configuration or crane movement during crane operation and monitoring compliance.
  • the publication DE 20 2010 014 309 U1 discloses a crane, in particular a crawler or mobile crane, with at least one monitoring and simulation means, by means of which a state of the crane can be monitored and/or simulated, wherein the monitoring and simulation means has at least one input means and at least one output means and wherein by means of the monitoring and simulation means the state progression, in particular the load curve of the crane, can be displayed at any time, in particular also when the crane and/or the boom of the crane is moving and/or a possible state and/or possible state progression of the crane, in particular the The crane’s load curve can be simulated and/or displayed.
  • EP0539207A1 discloses a safety device for a construction vehicle with a boom to which a load can be attached.
  • a load factor can be determined from the attached load and a nominal load dependent on the boom position.
  • a safety operation is carried out depending on the load factor.
  • the publication WO2012135882A1 discloses a method for monitoring at least one stability parameter of a loading crane mounted on a vehicle, wherein the vehicle is supported on the ground during crane operation via wheels and via support elements separate from the wheels, characterized in that both contributions of the wheels and contributions of the support elements to a value of the stability parameter are recorded and this value is compared with at least one predetermined limit value.
  • One idea behind the above method is to consider several possible positions of the boom in the specified position range when planning or operating a mobile crane, as independently as possible of the current direction of movement of the boom and the maximum permissible loads applicable to them. This enables safer operation of the mobile crane and better planning of operations with the best possible use of the load-bearing range, i.e. with optimal use of the load-bearing capacity at every load position in the working area, up to the load-bearing limits determined by the maximum permissible loads.
  • the above method enables the recognition of those boom positions in which a local load-bearing limit is reached or exceeded for the currently attached load.
  • the maximum permissible loads for the multiple positions in the specified position range of the boom can be determined using a boom strength table and based on a support geometry of support devices.
  • respective load limits can be determined by the boom strength table, which specifies boom strength-relevant load restrictions, and the support geometry for each of the multiple positions of the boom.
  • the maximum permissible loads can then be determined by determining the minimum of the load limits determined by the boom strength table and the support geometry.
  • the load limits determined by the support geometry for the multiple positions of the boom in the specified position range can be determined using a moment balance around one or more tipping lines determined by the support geometry.
  • the maximum permissible loads for different positions in the specified position range of the boom can be determined using load limits that are determined by one or more map-based or function-based load capacity models, in particular those dependent on one or more other parameters.
  • the several other parameters can represent limiting criteria, such as the maximum load on the support cylinders, the slewing ring, the luffing cylinder and other crane parts located in the force flow of the boom and its displacement on the crane superstructure. From the aforementioned causal relationships, the limiting criteria are derived directly or indirectly from the respective support geometry in a manner known per se.
  • the various positions of the boom in a specific geometrical environment of the current position of the boom can be taken into account in order to determine the maximum permissible To determine load capacities, whereby an adjustment speed of the boom is selected, set and limited depending on a load limit curve determined thereby in the specified position range of the boom.
  • the adjustment speeds of the boom can be set in all directions of movement depending on a distance from the current load position and a load limit.
  • the load limit corresponds to the positions of the load at which the suspended load reaches the maximum permissible load when it is moved in an adjustment direction.
  • the adjustment speed can be set depending on a gradient of the course of the maximum permissible load with respect to the adjustment direction.
  • the maximum permissible load can be shown on a display for the specified position range of the boom as an absolute value or as a relative value that indicates the ratio of the suspended load to the maximum permissible load. This can provide the crane operator with information about the extent to which he can move a specified load from a specified safe starting position in a non-critical direction to at least a second, safe target position.
  • the environmental representation makes it possible to instantly and visually identify a position of the suspended load and a progression of other positions of the load in the vicinity of the position of the suspended load at which the maximum permissible load is or will be exceeded. In this way, a crane operator can be given the opportunity to immediately identify possible remaining degrees of freedom of movement of the boom with the suspended load by looking at the environmental representation on the display and accordingly to place the boom in other positions up to a safe operating limit.
  • the absolute value or the relative value of the maximum permissible loads can be shown on the display in a visually distinguishable manner, in particular by means of a respective assigned color and/or brightness and/or shading.
  • This type of display facilitates the intuitive understanding of the load progression in the entire working area or in the immediate vicinity of the current load position.
  • the load ranges can indicate those positions of the boom or those load positions at which the ratio of the suspended load to the maximum permissible load is within a specified range.
  • the display device can be designed to display the load-bearing areas as visually distinguishable areas, in particular as areas distinguishable by color and/or structure and/or by their brightness
  • FIGS. 1a and 1b schematic views of a mobile crane 1 are shown in a top view and a side view.
  • the mobile crane 1 has a driver's cab 2 and a crane superstructure 3, on which a slewing ring 4 which can rotate in a horizontal plane and has a boom 5 attached thereto is arranged.
  • the slewing ring 4 allows a 360° swivel of the boom 5 attached thereto.
  • An angle of rotation ⁇ of the boom 5 can be set as desired within the entire range of rotation of the boom 5.
  • a counterweight can be attached to the slewing ring 4 on the crane superstructure 3 (not shown here), which is arranged on a side opposite the boom 5.
  • a hydraulic luffing cylinder 6 is arranged on the slewing ring 4, by means of which it is possible to adjust the boom 5 at a luffing angle ⁇ , i.e. a vertical angle perpendicular to the horizontal.
  • the boom 5 can be provided with boom segments (boom boxes) 51, which can be telescopically moved into one another in order to adjust or specify the length of the boom 5 by retracting or extending the boom boxes 51, depending on the desired boom configuration.
  • boom segments (boom boxes) 51 At the upper end of the boom 5, a circulating roller 52 is provided for a load rope 8, at the end of which a load hook 9 is provided, to which a load can be attached.
  • the support devices 10 are provided in the area of the front and rear corners of the mobile crane 1.
  • the support devices 10 each have an extendable support beam 11, which can be extended and retracted telescopically using several cylinders that can be moved into one another.
  • the support beams 11 can be extended in a plane that is defined by wheel axles (not shown) or that can extend parallel to the support surface S.
  • a support cylinder 12 which can be extended in the direction of a support surface S of the mobile crane 1.
  • a support plate 13 which is placed on the support surface S so that the support device 10 supports the mobile crane 1 there on the ground.
  • boom strength tables which specify a load limit with regard to the boom strength depending on a configuration, i.e. the selected length of the boom 5 and the extended boom segments 51 and depending on the load radius.
  • the boom strength tables therefore define map-based limits for the suspended load, which may not be exceeded or may only be exceeded with the output of a warning signal.
  • the boom strength tables can therefore be used to determine whether the suspended load is smaller, equal to or larger than the maximum permissible load determined by the boom strength.
  • the support beams 11 may not be able to be fully extended. This means that the greatest possible load that would be achieved with the support beams 11 in the maximum extended position cannot be achieved.
  • the maximum permissible load of the mobile crane 1 is therefore regularly determined not only on the basis of the boom strength determined by the boom strength table and restrictions with regard to other parameters, but also largely on the basis of a load limitation that is determined by the support geometry of the support positions defined by the support cylinders 12.
  • one or more additional parameters in particular the maximum permissible cylinder pressure of the luffing cylinder 6 and/or the support cylinder 12, the load capacity of the load rope 8, the load capacity of the slewing ring 4 and the like, can cause or specify respective load limitations as limits for the permissible load to be suspended by means of function-based load calculations. This may require By forming the minimum of the determined load limits, the maximum permissible total load can be limited to a value which can be smaller than the value of the load limit defined only by the boom strength.
  • a significant, reducing influence on the maximum permissible load can arise from outriggers 11 of the outrigger device 10 that are not fully extended.
  • the respective degree of extension of the outriggers 11 defines the four (or possibly only three) support positions of the outrigger cylinders 12, on which the entire weight of the mobile crane 1, including the attached load, usually rests.
  • the connection of the outrigger positions to one another forms a so-called support geometry, which should be defined by tipping lines KL.
  • the tipping lines KL represent the straight connections between two adjacent support positions of the outriggers 10 and thus determine possible axes around which the mobile crane 1 can tip in the event of an overload. The smaller the distance of the center of gravity of the mobile crane 1 from the tipping line KL, the lower the maximum permissible load, which is largely determined by the support geometry.
  • a load limitation i.e. a maximum permissible load for a specific load position, can be determined depending on the tilting lines KL determined by the support geometry and the respective boom position (defined by angle of rotation ⁇ and luffing angle ⁇ ).
  • This calculation can provide for determining a moment balance around the tipping line KL for various load positions.
  • the distance of the load position under consideration which corresponds to a projection of the three-dimensional spatial position of the suspended load onto the essentially horizontal footprint S of the mobile crane 1, to the relevant tipping line KL or the relevant tipping lines KL is determined.
  • the relevant tipping lines are determined by the fact that the suspended load causes an outward-acting moment around the relevant tipping line (with respect to the area enclosed by the tipping lines KL).
  • the distance between the projected load position and the tipping line can be calculated in a known manner using trigonometric functions.
  • a load tipping moment can be determined in a known manner using the suspended load and the distance of the projected load position on the essentially horizontal footprint S to the critical tipping line KL.
  • an amount of a static moment determined by the dead weight of the mobile crane 1 is determined with respect to the tipping lines KL defined by the support positions or calculated in the mobile crane 1.
  • the distance of the center of mass of the mobile crane 1 from the relevant tipping lines KL can also be determined using known functions, for example trigonometric functions, so that the static moment can be determined from a product of the weight of the mobile crane 1 and the distance of the center of mass from the relevant tipping line KL of the support geometry.
  • the difference between the load tipping moment and the static moment determines the stability of the mobile crane 1.
  • the load limitations of the mobile crane 1, which are essentially defined by the boom position and the support geometry, for a specific position (at least defined by the angle of rotation and the luffing angle) of the boom 5, are determined by the difference between the load tipping moment and the static moment being zero for a specific support geometry or corresponding to a specific specified value if a specified tolerance is provided.
  • a course of the load limitation which can be determined by an existing support geometry and by an existing configuration of the mobile crane 1, can be determined for positions of the boom 5 depending on the angle of rotation ⁇ and the luffing angle ⁇ .
  • the maximum permissible load can be determined by minimizing the load limits thus individually determined for the relevant position of the boom 5.
  • monitoring can also be carried out in such a way that a movement of the boom 5 is slowed down or prevented at least in a critical direction (with a reducing maximum permissible load). and/or a warning signal is issued as soon as the load on the boom reaches, exceeds or approaches a critical limit of the maximum permissible load.
  • a control unit 20 is provided on the mobile crane to carry out the monitoring function and the described determination of the maximum permissible loads based on the individually determined load limits.
  • This control unit 20 can be implemented in the general crane control or designed as an independent control unit.
  • control unit 20 is coupled to various sensors (not shown) in order to obtain the actual position of the support cylinders 12 based on the extension length of the support beams 11, the angle of rotation ⁇ of the boom 5, the tilt angle ⁇ of the boom 5 and the weight of the attached load. Based on these details and on geometric specifications, such as the position of the center of gravity of the unloaded mobile crane 1 and the current configuration, in particular the boom configuration, the control unit 20 can carry out the calculations to determine the maximum permissible load.
  • the control unit 20 carries out calculations in calculation cycles of a few milliseconds.
  • the respective maximum permissible loads for positions of the boom 5 in a specified position range are determined cyclically for several positions of the boom 5 according to the above calculation scheme.
  • the resulting load limits (with regard to boom strength, support geometry and with regard to one or more of the other and/or limiting parameters) dependent on the respective position of the boom 5 are determined and linked to one another by forming a minimum in order to obtain the total maximum permissible loads for the respective positions of the boom 5.
  • the monitoring function of the control unit 20 can now be carried out based on the current position of the boom 5 (or the current load position), the attached load and the maximum permissible loads for the positions of the boom 5 in the specified position range.
  • the local course of a load limit corresponds to those positions of the boom 5 or those positions of the load at which the currently attached load is equal to the maximum permissible load.
  • the monitoring can provide for slowing down, limiting, allowing or preventing a desired adjustment movement for the boom 5 depending on whether the load is approaching the load limit or moving away from it.
  • the control unit 20 is preferably coupled to a display device 21 in order to provide a crane operator with visual information about the maximum permissible load or the course of the load limit via a display 22 for operational planning and for operating the mobile crane 1.
  • This visual information can relate to one or more sub-areas of the possible movements or positions of the boom 5.
  • the crane operator can be given the respective maximum permissible load in the range of possible load positions as an absolute value for operational planning with a currently set support geometry and a current crane configuration.
  • the positions of the respective maximum permissible load can be given as a distance from a boom rotation axis.
  • Figure 2 shows the value of the maximum permissible load for different positions of the suspended load around the boom axis of rotation in different colors, brightness or shading. This allows you to recognize the load capacity for each position of a load, ie the maximum permissible load, based on the graphically displayed color, brightness or shading, so that a crane operator can immediately plan operations in accordance with his lifting plan.
  • Figure 3 shows a segment view of the surrounding area around a current load position P as a further display option based on the current load position.
  • an angle range of ⁇ 30° of the angle of rotation ⁇ (other angle ranges are also possible) and the entire radius range can be displayed in a segment display.
  • the radius range is determined by the effective boom length based on the actual boom length and the possible luffing angles (luffing angle between the minimum and maximum possible luffing angle).
  • luffing angles luffing angle between the minimum and maximum possible luffing angle
  • Other radius ranges are also conceivable.
  • These should preferably include the current load position and the course of the load limit, which is determined by reaching or exceeding the maximum permissible load by the currently attached load.
  • the first load range A can, for example, be colored green to indicate the range of load positions in which the currently attached load is below a specified proportion of the maximum permissible load, such as 90% of the maximum permissible load.
  • a second (critical) load range B can, for example, be colored yellow to indicate a critical range of load positions in which the attached load almost reaches the maximum permissible load (e.g. between 90% and 100% of the maximum permissible load).
  • a subsequent third (impermissible) load range C can, for example, be colored red to indicate the range of load positions in which the currently attached load would exceed the maximum permissible load or the stability of the crane is no longer guaranteed due to its own weight (e.g. rear stability).
  • the boundary between the second load range B and the third load range C represents the load limit.
  • the control unit 20 calculates the corresponding maximum permissible loads for the respective current load position and for the positions of the boom 5 that correspond to the possible load positions that surround the current load position, and determines the corresponding share that the currently attached load has in this. This share is shown in the segment display in a suitable manner depending on the position by a flat optical design in color, etc.
  • any control of the boom 5 that would move the load further in the direction of a load position at which the maximum permissible load would be reduced can be implemented by the control unit 20 at a slower adjustment speed and/or prevented when the load limit is reached.
  • controls in adjustment directions of the boom 5 that would bring the load back into the first (non-critical) range of the boom positions can be carried out unchanged by the control unit 20.
  • the control unit 20 can therefore set an adjustment speed of the boom depending on the course of the load limit, which indicates the positions of a suspended load at which the maximum permissible load of the mobile crane 1 is exceeded by the suspended load, in the specified position range of the boom 5.
  • the adjustment speed of the boom 5 can be set depending on the suspended load and depending on a distance between a load position of the suspended load and a position at which the suspended load reaches the maximum permissible load.
  • the adjustment speed can be set depending on a gradient of the course of the maximum permissible load with respect to the adjustment direction.
  • the adjustment speed can be reduced depending on the ratio of the load to the maximum permissible load at the current load position.
  • the adjustment speed can be reduced compared to the user's wishes or the adjustment speed desired by the user can be limited if the gradient of the course of the maximum permissible load in the direction of the desired adjustment movement is relatively large (e.g. greater than a predetermined threshold value) and a minimum distance to the load limit is not reached.
  • Setting the adjustment speed depending on the gradient of the course of the maximum permissible load in the direction of the desired adjustment movement has the advantage that the load limit is approached so slowly that an overshoot of the boom 5 or the attached load beyond the load limit can be avoided.
  • FIG. 4 a flow chart is shown to illustrate a method for operating the mobile crane 1.
  • step S1 a current position of the boom 5 and the current load position are determined. Based on the current load position, further positions of the boom 5 are defined, which define a surrounding area of possible load positions around the current load position.
  • step S2 a respective load limit is determined for the current position of the boom 5 and the other positions of the boom 5, which depends on the support geometry.
  • a load limit specified by the boom load capacity is determined based on the boom strength table, and in step S4, the one or more function-based load limits are determined based on the other parameters and, if applicable, with respect to other limiting parameters.
  • step S5 a maximum permissible load capacity is determined for the current position of the boom 5 and the other positions of the boom 5 by minimizing the load limits.
  • step S6 those positions of the boom 5 are determined from the positions of the boom 5 specified above at which the suspended load reaches or exceeds the maximum permissible load. These positions of the boom 5 define the load limit.
  • step S7 the load positions that correspond to the specified positions of the boom 5 are assigned to load ranges and graphically displayed as described above.
  • the graphical display can include the display of the absolute values of the maximum permissible load for the entire load range and/or the segment display to display the area around the load position with respect to the load limit.
  • the load ranges are differentiated from one another by different optical designs so that a user can intuitively recognize permissible crane movements for the attached load.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Claims (12)

  1. Procédé d'exploitation d'une grue mobile (1) comportant une flèche (5), le procédé comprenant les étapes suivantes :
    - déterminer les charges admissibles maximales pour plusieurs positions dans une plage de positions prédéfinies de la flèche (5) ;
    - déterminer une allure locale d'une limite de charge et/ou une ou plusieurs plages de charge sur la base d'une charge suspendue et des charges admissibles maximales pour les plusieurs positions de la plage de positions prédéfinie de la flèche (5), l'allure locale de la limite de charge correspondant aux positions de la flèche ou aux positions de la charge, auxquelles la charge actuellement suspendue est égale à la charge admissible maximale, les plages de charge indiquant les positions de la flèche ou les positions de charge, auxquelles un rapport de la charge suspendue à la charge admissible maximale se trouve dans une plage prédéfinie ; et
    - exploiter la grue mobile (1) en fonction de l'allure locale déterminée de la limite de charge et/ou de la ou des plusieurs plages de charge déterminées.
  2. Procédé selon la revendication 1, dans lequel les charges admissibles maximales pour la plage de positions prédéfinie de la flèche (5) sont déterminées à l'aide d'un tableau de résistance de flèche ainsi que sur a base d'une géométrie de support de dispositifs de support (10), dans lequel des limitations de charge respectives sont notamment déterminées par le tableau de résistance de flèche et la géométrie de support pour chacune des plusieurs positions de la flèche (5), dans lequel les charges admissibles maximales sont déterminées grâce à la détermination du minimum des limites de charge déterminées par le tableau de résistance de flèche et par la géométrie de support.
  3. Procédé selon la revendication 2, dans lequel les limitations de charge déterminées par la géométrie de support pour les plusieurs positions de la flèche (5) dans la plage de positions prédéfinie sont déterminées à l'aide d'un bilan des couples autour d'une ou plusieurs lignes de basculement (KL) déterminées par la géométrie de support.
  4. Procédé selon la revendication 2 ou 3, dans lequel les charges admissibles maximales pour les positions dans la plage de positions prédéfinie de la flèche (5) sont déterminées à l'aide de limitations de charge qui sont déterminées par un ou plusieurs modèles de capacité de charge basés sur des diagrammes caractéristiques, basés sur des fonctions ou dépendants d'un ou plusieurs autres paramètres ou par un ou plusieurs paramètres limitatifs.
  5. Procédé selon l'une des revendications 1 à 4, dans lequel, pour l'exploitation de la grue mobile (1), les plusieurs positions de la flèche (5) dans la plage de positions prédéfinie sont prises en compte dans un environnement géométrique déterminé pour la position momentanée de la flèche (5), afin de déterminer les charges admissibles maximales correspondantes, dans lequel une vitesse de déplacement de la flèche (5) est sélectionnée en fonction d'une allure ainsi déterminée d'une limite de charge dans la plage de positions prédéfinie de la flèche (5).
  6. Procédé selon la revendication 5, dans lequel la vitesse de déplacement de la flèche (5) est réglée en fonction d'une charge suspendue et en fonction d'une distance entre une position de la charge suspendue et la limite de charge, dans lequel la limite de charge correspond aux positions de la charge auxquelles la charge suspendue atteint la charge admissible maximale lorsque celle-ci est déplacée dans une direction de déplacement, dans lequel la vitesse de déplacement est en particulier réglée en fonction d'un gradient de l'allure de la charge admissible maximale relative à la direction de déplacement.
  7. Procédé selon l'une des revendications 1 à 6, dans lequel, pour la plage de positions prédéfinie de la flèche (5), les charges admissibles maximales sont représentées dans la plage de positions prédéfinie sur un affichage (22) en tant que valeur absolue ou relative qui indiquent le rapport de la charge suspendue à la charge admissible maximale présente dans la plage de positions prédéfinie pour une position visée de la flèche (5).
  8. Procédé selon la revendication 7, dans lequel la valeur absolue ou relative de la charge admissible maximale est représentée sur l'affichage afin d'être distinguée visuellement, en particulier par une coloration, une luminosité ou une nuance respectivement associée.
  9. Unité de commande (20) pour exploiter une grue mobile (1) comportant une flèche (5), dans laquelle l'unité de commande (20) est conçue pour effectuer des calculs afin de
    - déterminer des charges admissibles maximales pour plusieurs positions dans une plage de positions prédéfinie de la flèche (5) ;
    - déterminer une allure locale de la limite de charge et/ou une ou plusieurs plages de charge sur la base d'une charge suspendue et des charges admissibles maximales pour les plusieurs positions de la plage de positions prédéfinie de la flèche (5), l'allure locale de la limite de charge correspondant aux positions de la flèche ou aux positions de la charge auxquelles la charge actuellement suspendue est égale à la charge admissible maximale, les plages de charge indiquant les positions du cantilever ou les positions de charge auxquelles un rapport de la charge suspendue à la charge admissible maximale se trouve dans une plage prédéfinie ; et
    - exploiter la grue mobile (1) en fonction de l'allure locale de la limite de charge déterminée et/ou de la ou des plages de charge déterminées.
  10. Système de grue mobile (1) comprenant
    - une unité de commande (20) selon la revendication 9 ; et
    - un dispositif d'affichage (21) pour la représentation visuelle d'un affichage (22) afin de représenter, dans la plage de positions prédéfinie de la flèche (5), des charges admissibles maximales en tant que valeurs absolues ou relatives, qui indiquent le rapport de la charge suspendue à la charge admissible maximale présente dans une position de la flèche (5), pour des positions de la flèche (5) dans une plage de positions prédéfinie.
  11. Système de grue mobile (1) comprenant
    - une unité de commande (20) selon la revendication 9 ; et
    - un dispositif d'affichage (21) pour la représentation visuelle d'un affichage (22) afin de représenter, pour la plage de positions prédéfinie, la plage de charge autour d'une position de charge momentanée correspondant à une position momentanée de la flèche.
  12. Système selon la revendication 11, dans lequel le dispositif d'affichage (21) est conçu pour représenter les plages de charge en deux dimensions en tant que plages pouvant être distinguées les unes des autres visuellement, en particulier en tant que plages pouvant être distinguées par leurs couleurs et/ou par leurs luminosités.
EP15717490.5A 2014-04-22 2015-04-20 Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile Active EP3134344B2 (fr)

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DE102014105618.3A DE102014105618A1 (de) 2014-04-22 2014-04-22 Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran
PCT/EP2015/058525 WO2015162096A1 (fr) 2014-04-22 2015-04-20 Procédé et dispositif pour faire fonctionner une grue mobile et grue mobile

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EP3134344B2 true EP3134344B2 (fr) 2024-04-17

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EP (1) EP3134344B2 (fr)
JP (1) JP2017513784A (fr)
CN (1) CN106715317B (fr)
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WO (1) WO2015162096A1 (fr)

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CN106715317B (zh) 2019-10-18
US20170036894A1 (en) 2017-02-09
DE102014105618A1 (de) 2015-10-22
EP3134344B1 (fr) 2018-09-12
JP2017513784A (ja) 2017-06-01
US10144621B2 (en) 2018-12-04
EP3134344A1 (fr) 2017-03-01
WO2015162096A1 (fr) 2015-10-29
CN106715317A (zh) 2017-05-24

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