Automatic erection of a crane

Abstract

Method for automatically telescoping the boom system of a crane (100), in particular a mobile crane (100), with at least one telescoping boom (10), and with rope (1) and winch (2) for pivoting the boom (10), wherein the method comprises the steps: • Measuring an actual value of the boom angle of the boom (10); • automatic operation of the winch (2) depending on the measured boom angle, • Measuring an actual value of the tensioning bracket angle of a tensioning bracket (12); • Determining the intermediate angle of the guy wire (12) and the boom (10) and • In particular, automatic operation of the winch (2) depending on the intermediate angle of the guying block (12) and the boom (10).

Description

[0001] The present invention relates to a method for automatically telescoping the boom system of a crane, in particular a mobile crane, with at least one telescopic boom.

[0002] Cranes with boom systems are known from the prior art. During assembly of such cranes, the boom elements of the boom system are moved or telescoped from an assembly state to a fully assembled state. The assembly state can, for example, be a state in which the boom system is essentially placed on a support or floor surface. In this case, the crane is not able to perform crane work. The fully assembled state is reached after the boom elements have been moved accordingly. The boom system can be essentially removed from the support or floor surface and at least partially angled to the support or floor surface. Parts of the boom system, such as a main boom, can be arranged essentially vertically.

[0003] A method for automatically telescoping the boom system of a crane is already known from DE 10 2011 119 656 A1. Another method for telescoping the main boom is described in DE 10 2010 020 016 A1. There, the lateral deflection of the erected main boom is limited during the telescoping process by means of spatial guying.

[0004] When moving such a boom system, the problem arises that moving a boom system is a complex movement sequence that must be carried out safely to prevent tipping or damage to the crane. This requires experienced operators and a significant amount of time to carry out the movement. The object of the present invention is therefore to simplify the movement of a crane of this type or its boom system and to optimize the movement process.

[0005] This object is achieved according to the invention by a method for automatically telescoping the boom system of a crane, in particular a mobile crane, with at least one telescopic boom, and with a rope and winch for pivoting the boom, the method comprising the steps: • Measuring an actual value of the boom angle of the boom; • In particular, automatic operation of the winch depending on the measured boom angle; • Measuring an actual value of the guy frame angle of a guy frame; • Determine the intermediate angle of the guy frame and the boom; and • in particular automatic operation of the winch depending on the intermediate angle of the guy frame and the boom.

[0006] This advantageously makes it possible to monitor and / or regulate / control the telescoping of the boom system in a simplified manner in such a way that tipping or damage to the crane is prevented.

[0007] In a preferred embodiment, it is conceivable that at least one setpoint value of the boom angle is specified and, when the boom is telescoped out, the winch unwinds at an accelerated rate if the actual value exceeds the setpoint value, and / or, when the boom is telescoped out, the winch unwinds with a delay if the actual value falls below the setpoint value, and / or, when the boom is telescoped in, the winch winds up with a delay if the actual value exceeds the setpoint value, and / or, when the boom is telescoped in, the winch winds up with an accelerated rate if the actual value falls below the setpoint value.

[0008] The boom angle can be the angle between the crane's boom or main boom and the horizontal. Different or identical target values ​​can be specified for each crane setup status. Likewise, different or identical target values ​​can be specified for retraction and extension.

[0009] Recording or measuring the actual value of the boom angle enables monitoring of the crane kinematics specifically tailored to the crane geometry and weight distribution. The boom angle can be determined, for example, from measured values ​​from angle sensors on the boom. The guying, which serves to stabilize the boom system, can be under tension, so that the forces transmitted by the guying can also be used to monitor the crane kinematics.

[0010] According to the invention, a crane can also be telescoped using the method in which the winch is mounted, for example, on a slewing platform of the crane, rather than on a boom element that moves with it, such as the telescopic boom itself. The intermediate angle is now determined as a control parameter, and the winch is operated in such a way that limit values ​​are not exceeded. The intermediate angle refers to the angle spanned between the guy frame and the boom.

[0011] In a further preferred embodiment, it is conceivable that at least one setpoint value of the intermediate angle is specified and that during telescoping the winch winds up if the actual value exceeds the setpoint value, and / or during telescoping the winch winds up if the actual value falls below the setpoint value, and / or that the winch is automatically actuated when the boom is luffed.

[0012] This advantageously prevents the angle between the guy frame and the boom from becoming too small or too large, which could reduce the stability of the crane. Additionally or alternatively, operating the winch when luffing the boom can ensure that the rope or guying follows the luffing movement of the boom and does not counteract it, or that correct guying can be ensured despite the luffing movement.

[0013] In a further preferred embodiment, it is conceivable that the hook height relative to the ground, and / or the luffing tip angle relative to the ground or relative to the boom, and / or the force borne by a guy and / or support are measured as additional control parameters. In a particularly preferred embodiment, it is conceivable that the boom system is controlled during movement such that the at least one control parameter and / or the actual value(s) lie within certain intervals or within a certain interval, at least temporarily during the movement.

[0014] The crane or individual crane drives can then be automatically controlled to ensure that the corresponding control parameters are maintained within specific intervals. This means that the hook height can be automatically maintained at a certain height during telescoping and / or the luffing jib can also automatically maintain a constant angle relative to the ground or the horizontal during telescoping. Similarly, the force borne by the guying and / or outriggers can also be automatically kept constant by appropriately controlling the crane drives or a crane drive. This makes it easier for the operating personnel to operate the crane during assembly and minimizes the risk of incorrect assembly, which could cause the crane to tip over or be otherwise damaged.

[0015] Further advantages and details of the process are illustrated in the figures. Fig.1 - 2: Telescopic and lattice boom crane according to the state of the art; Fig. 3 - 4: Schematic representation of a telescoping process; Fig. 5 - 6: Representations of a telescopic crane according to the present invention; and Fig. 7: Illustration of possible control parameters of a crane.

[0016] Fig. 1 shows a telescopic crane 100 according to the prior art, which can be designed as a mobile crane 100. Here, a telescopic boom or main boom 10 is pivotably connected to a rotating platform 13. The boom 10 is adjusted by means of one or more hydraulic cylinders 11, thus changing the outreach.

[0017] Fig.Figure 2 shows a lattice boom crane 100 in which the boom 10 is held by guying via the guy frame 12. In the simplest case, the guying comprises a cable 1. Between the guy frame 12 and the rear end of the slewing platform 13 is an adjustment mechanism 14, which can be designed as a pulley block. The adjustment mechanism 14 makes it possible to change the boom angle and thus the radius. The boom angle can be an angle between the boom 10 and the horizontal, in particular an angle in the luffing plane of the boom 10.

[0018] In order to operate a telescopic boom 10 with guying, that is in the broadest sense a combination of the two cranes 100 from the Fig. 1 and Fig. 2, the system of Fig. 1 and Fig.2. With a telescopic boom 10, the guying must lengthen or shorten under load, since the boom length changes during telescoping.

[0019] Fig. 3 and Fig. 4 shows a schematic representation of a corresponding telescoping process, in which a cable 1 is provided between the guy frame 12 and the boom 10. The boom is coupled to the rotating platform 13 via the cable 1 and the guy frame 12. In Fig. 4, the boom 10 is at least partially telescoped and thus extended. To prevent damage to the cable 1 or the boom 10, the length of the cable 1 must be adjusted using the winch 2 (not shown here) for telescoping.

[0020] The length change of the rope 1 must be synchronized with the telescoping process in order to keep the boom 10 in position. If the guy wire is extended or shortened too slowly or too quickly during telescoping, the boom angle changes and the following problems arise: If the boom angle approaches the 90° position or the vertical position, there is a risk that the boom 10 will tilt backwards or into the Fig. 3 and Fig. 4 counterclockwise, i.e., to the left. If the boom angle becomes too small, the friction between the individual telescopic sections increases, which in extreme cases can lead to overloading of the telescopic cylinder.

[0021] In order to allow the required change in length of the guy wire or rope 1, the guy wire can be adjusted as shown in Fig.5, comprise a rope 1, a winch 2, and a pulley 3. When extending, winch 2 must unwind rope 1 to lengthen the guy wire or rope 1. When retracting, winch 2 must wind rope 1 accordingly to shorten the guy wire. A sensor 4 determines the boom angle and compares it with a specified target value. If there is a deviation between the target and actual values, the winch must react as follows: When telescoping: Setpoint is exceeded (actual > setpoint): Winch must unwind faster Setpoint is undershot (actual < setpoint): Winch must unwind more slowly When telescoping: Setpoint is exceeded (actual > setpoint): Winch must wind up more slowly Setpoint is undershot (actual < setpoint): Winch must wind up faster

[0022] If the rope 1, as in Fig.6, guided over the guy frame 12, with the winch 2 located in or on the rotating platform 13, the winch 2 must react or be actuated not only during telescoping but also during luffing of the boom 10. In this case, a second sensor 5 is required. Using sensors 4 and 5, the angle between the guy frame 12 and the boom 10 can be determined and compared with a specified target value. If there is a deviation between the target and actual values, the winch 2 must react as follows: Setpoint is exceeded (actual > setpoint): Winch must spool up rope Setpoint is undershot (actual < setpoint): Winch must unwind rope

[0023] If the winch 2 is located within the guy triangle consisting of boom 10, guy frame 12 and guy wire or rope 1, or if the winch 2 is provided, for example, on the boom 10 or the guy frame 12, as in Fig. 5, the winch 2 only needs to react or be operated when telescoping.

[0024] Fig.7 shows a representation of various possible control parameters of a crane 100. It can be provided that, for example, the hook height H, ie the height of a hook of the crane above the ground, is determined or measured, and that a hoist cable winch is controlled accordingly during telescoping so that the hook height H remains constant.

[0025] It is also possible to measure the luffing tip angle β and to keep it constant or within a desired or specific range during the telescoping process by controlling the actuators of the luffing tip accordingly. For better clarification, Fig. 7 also shows the cantilever angle α, which was referred to previously.

[0026] The method according to the invention is suitable for moving boom systems with at least one telescopic boom in a crane 100, in particular in a mobile crane 100. The crane 100 can consist of an undercarriage and a superstructure or a rotating platform 13. The main boom 10 can be luffably hinged to the superstructure. Drives can be provided for the possible movements, such as luffing movements or telescoping movements. Spatial guying can be provided on the boom 10.

[0027] The crane operator can set the crane control to "automated telescoping." In this situation, the crane operator operates the control lever to telescope the boom 10; the winch 2 is then automatically operated depending on the measured angle or angles.

[0028] The telescoping of the main boom 10 and, if necessary, the repositioning of the fly jib or the hook can thus be largely automated. Telescoping in and out can be performed in reverse order. During the telescoping process, the luffing jib or the fly jib can be held within a specific angle window or at a specific angle. Control can be achieved using the angle sensors on the main boom and accessories, e.g., on the fly jib at the luffing jib or on the guy frame.

Claims

[1] Method for automatically telescoping the boom system of a crane (100), in particular a mobile crane (100), with at least one telescopic boom (10), and with a rope (1) and winch (2) for pivoting the boom (10), the method comprising the steps of: • Measuring an actual value of the boom angle of the boom (10); • automatic operation of the winch (2) depending on the measured boom angle, • Measuring an actual value of the guy frame angle of a guy frame (12); • Determine the intermediate angle of the guy frame (12) and the boom (10) and • In particular, automatic operation of the winch (2) depending on the intermediate angle of the guy frame (12) and the boom (10). [2] Method according to claim 1, characterized bythat at least one target value of the boom angle is specified and when the boom (10) is telescoped out, the winch (2) unwinds at an accelerated rate if the actual value exceeds the target value, and / or when the boom (10) is telescoped out, the winch (2) unwinds at a delayed rate if the actual value falls below the target value, and / or when the boom (10) is telescoped in, the winch (2) winds up at a delayed rate if the actual value exceeds the target value, and / or when the boom (10) is telescoped in, the winch (2) winds up at an accelerated rate if the actual value falls below the target value. [3] Method according to claim 1 or 2, characterized by that at least one setpoint value of the intermediate angle is specified and, during telescoping, the winch (2) winds up if the actual value exceeds the setpoint value, and / or during telescoping, the winch (2) unwinds if the actual value falls below the setpoint value, and / or that the winch (2) is automatically actuated when the boom (10) is luffed. [4] Method according to one of the preceding claims, characterized by that as additional control parameters the hook height relative to the ground, and / or the luffing tip angle relative to the ground or relative to the boom (10), and / or the force carried by a guy and / or support is measured. [5] Method according to claim 4, characterized by that the boom system is controlled during movement in such a way that the at least one control parameter and / or the actual value or values ​​are at least temporarily within certain intervals or within a certain interval during the movement.

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