Patent ID: 12202711

DETAILED DESCRIPTION OF THE INVENTION

FIG.1ashows a first embodiment of the lifting apparatus2, wherein the lifting apparatus2is in the form of a loading crane or articulated arm crane and is arranged on a vehicle19. As shown the lifting apparatus has a crane column3rotatable about a first vertical axis v1by means of a rotary mechanism18, a main arm4mounted to the crane column3pivotably about a first horizontal pivot axis h1and an articulated arm5mounted to the main arm4pivotably about a second horizontal pivot axis h2, with at least one crane extension arm6. A hydraulic main cylinder15is provided for the pivotal movement of the main arm4relative to the crane column3(articulation angle a1). A hydraulic articulation cylinder16is provided for the pivotal movement of the articulated arm5relative to the main arm4(articulation angle a2).

FIG.1bshows a second embodiment of the lifting apparatus2, wherein the lifting apparatus2shown therein, in addition to the configuration of the embodiment shown inFIG.1a, has an attachment articulated arm7arranged on the crane extension arm6pivotably about a third horizontal pivot axis h3, with a crane arm10and a further crane extension arm11. An articulation cylinder17is provided for pivotal movement of the attachment articulated arm7relative to the articulated arm5(articulation angle a3).

FIG.1cshows a third embodiment of the lifting apparatus2, wherein the lifting apparatus2shown therein, in addition to the configuration of the embodiment shown inFIG.1b, has a further attachment articulated arm12mounted to the articulated extension arm11of the attachment articulated arm7pivotably about a fourth horizontal pivot axis a4. An articulation cylinder20is provided for the pivotal movement of the further attachment articulated arm12relative to the attachment articulated arm7(articulation angle a4).

It will be appreciated that all illustrated embodiments can have a rotary mechanism18.

FIGS.2ato2crespectively show a detail view of a lifting apparatus2of a configuration as shown inFIGS.1ato1c.

FIG.3ashows an embodiment of the lifting apparatus2as shown inFIGS.1aand2arespectively. In addition there is shown a diagrammatic representation of a controller1adapted for carrying out a method of determining a load21which is lifted or is to be lifted by the lifting apparatus2(this is not shown here, see in that respect for exampleFIG.4,5or6). The controller1has a plurality of signal inputs to which signals of the sensor arrangement installed on the lifting apparatus2can be supplied. The control means1further has a storage means9in which for example program data relating to operating modes and calculation models of the control means1and incoming signals can be stored, and a computing unit8with which incoming signals and data stored in the storage means9can be processed. The controller1can also communicate with a display22. The communication of the controller1with the display22can be wired and/or wireless. The sensor for detecting the geometry of the lifting apparatus2, in the structure shown inFIG.3a, includes a rotary angle sensor d1for detecting the respective rotary angle dla, an articulation angle sensor k1for detecting the articulation angle a1of the main arm4relative to the crane column3, an articulation angle sensor k2for detecting the articulation angle a2of the articulated arm5relative to the main arm4and an extension position sensor s1for detecting the extension position of the crane extension arm6. For detecting the forces acting on the lifting apparatus2there are provided a pressure sensor p1for detecting the hydraulic pressure p1ain the main cylinder15and a pressure sensor p2for detecting the hydraulic pressure p2ain the articulation cylinder16.

FIG.3b, similarly toFIG.3a, shows an embodiment of the lifting apparatus2as shown inFIG.1bandFIG.2brespectively. As shown the configuration of the lifting apparatus2includes an attachment articulated arm7arranged on the crane extension arm6of the articulated arm5. Provided as an additional sensor arrangement for detecting parameters characteristic of the loading state of the lifting apparatus there are an articulation angle sensor k3for detecting the articulation angle a3of the attachment articulated arm7relative to the articulated arm5, an extension position sensor s2for detecting the extension position of the further crane extension arm11and a pressure sensor p3for detecting the hydraulic pressure p3bin the articulation cylinder17.

A similar configuration in respect of the arrangement shown inFIGS.3aand3bcomprising a lifting apparatus2as shown inFIG.1corFIG.2crespectively and a controller1is also conceivable.

In a method as described hereinbefore for determining a load21which is lifted or is to be lifted by the lifting apparatus2that sensor arrangement which is additional in relation toFIG.3a, in a design configuration of the lifting apparatus2with an attachment articulated arm7, is however not absolutely necessary as (possibly with a known extension of the attachment articulated arm7) the load21which is lifted or is to be lifted can in principle be determined by determining the moment with respect to the first horizontal pivot axis h1. The additional sensor arrangement and the fact of taking account of the measurement values or parameters supplied thereby, in particular additional determination, which is possible therewith, of the moment with respect to the third horizontal pivot axis h3can however contribute to enhanced accuracy of the determination result (measurement accuracy).

FIGS.4ato4cshow an implementation of a load pickup (or in the reverse sequence the configuration of a load setdown) by the lifting apparatus2. The position shown inFIG.4aof the lifting apparatus2can in this case correspond to a reference position, wherein a substantially freely selectable position of the lifting apparatus2can serve as the reference position. Of the parameters characteristic of the loading state of the lifting apparatus2, in the illustrated configuration of the load pickup operation only the extension position of the articulated arm5measured by the extension position sensor s1, and the hydraulic pressure in the main cylinder15measured by the pressure sensor p1, are considered. In the reference position, the first extension position xla of the crane extension arm6and the first hydraulic pressure pla are measured and stored in the storage means8of the controller1(not shown). For that purpose the controller1has a first operating mode for the first detection of the forces currently acting on the lifting apparatus2and the current geometry of the lifting apparatus2.

From the reference position, the lifting apparatus is now moved into the intermediate position by a change in geometry, here by extension of the crane extension arm6of the articulated arm5into the second extension positions x1b. The intermediate position is suitable as shown for picking up the load21. In principle, it will be appreciated that it is also possible for the position of the lifting apparatus2that is shown inFIG.4b(before lifting the load21) to serve as the reference position. In the intermediate position the second extension position x1b of the crane extension arm6and the second hydraulic pressure plb are measured and also stored in the storage member8of the controller1(not shown). That can be effected generally for all lifting operations in an intermediate phase in which the controller1is in an operating mode suitable for same. In the intermediate position the load21is now attached to the lifting apparatus2and possibly also lifted. In principle, the lifted load21can now already be determined.

From the intermediate position the lifting apparatus2is moved into the measurement position by a change in geometry, here after lifting the load21, by retraction of the crane extension arm6into the third extension positions x1c. As shown the measurement position is approached to the reference position. In that respect, it can be provided that a change in position or geometry of the lifting apparatus2must be within a tolerance range in order to be able to use the characteristic parameters detected in the reference phase for the forces currently acting on the lifting apparatus2and the current geometry of the lifting apparatus2, for determining the lifted load21. In that respect, the tolerance range can apply for a maximum permissible change in extension position and/or a maximum permissible change in articulation angle (see for exampleFIGS.7aand7b).

InFIG.4cthe lifting apparatus2is in the measurement position after lifting of the load21. In the measurement position the third extension position xlc of the crane extension arm6and the third hydraulic pressure plc are now measured and stored in the storage means8of the controller1(not shown). For that purpose, the controller1has a second operating mode for the second detection of the forces currently acting on the lifting apparatus2and the current geometry of the lifting apparatus2.

In a comparison phase in which the controller1is in a third operating mode, characterization of the lifted load21is now effected by a comparison of the respective detected forces currently acting on the lifting apparatus2and the respective detected current geometry of the lifting apparatus2. Detection of the forces currently acting on the lifting apparatus2and the current geometry of the lifting apparatus is generally advantageously effected in each case with involvement of parameters characteristic of the respective position of the lifting apparatus2and the respective loading state of the lifting apparatus2(for example pressures, extension positions, articulation angles and possible additional data relating to the configuration) and a calculation model stored in the storage member8of the controller1.

FIGS.5ato5cshow a further implementation of a load pickup (or in the reverse sequence the implementation of a load setdown) by the lifting apparatus2. Load pickup of the load21by the lifting apparatus2is effected as shown by a pivotal movement of the articulated arm5relative to the main arm4. Of the parameters characteristic of the loading state of the lifting apparatus2only the articulation angle of the articulated arm5, that is measured by the articulation angle sensor k2, and the hydraulic pressure in the main cylinder15, that is measured by the pressure sensor p1, are considered in the illustrated performance of load pickup.

In the reference position shown inFIG.5athe first articulation angle position a21of the articulated arm5and the first hydraulic pressure pla are measured and stored in the storage means8of the controller1(not shown) (reference phase, controller1in the first operating mode). The lifting apparatus2is moved into the intermediate position shown inFIG.5bby a change in geometry, here a pivotal movement of the articulated arm5. In the intermediate position the second articulation angle position a22of the articulated arm5and the second hydraulic pressure plb are measured and also stored in the storage means8of the controller1(not shown). As previously in this case too the position of the lifting apparatus2shown inFIG.5bcan serve as the reference position. By a further change in geometry, here once again a pivotal movement of the articulated arm5, the lifting apparatus2is moved into the measurement position shown inFIG.5c, whereby lifting of the load21is also effected. In the measurement position, the third articulation angle position a23of the articulated arm5and the third hydraulic pressure plc are now measured and stored in the storage member8of the controller1(not shown) (measurement phase, controller1in the second operating mode). In the subsequent comparison phase (controller1in the third operating mode), the lifted load21can again be characterized by the controller1.

FIGS.6aand6bshow a further implementation of a load pic up (or in the reverse sequence the implementation of a load setdown) by the lifting apparatus2, wherein the lifting apparatus2has an additional working device14arranged on the articulated arm5, in the form of a cable winch. Pickup of the load21by the lifting apparatus2is effected by means of the working device14in the form of a cable winch. Of the parameters characteristic of the loading state of the lifting apparatus2only the hydraulic pressure in the main cylinder15, measured by the pressure sensor p1, and the hydraulic pressure in the articulation cylinder17, that is measured by the pressure sensor p3, are considered in the illustrated implementation of load pickup. InFIG.6athe lifting apparatus2is in the reference position which is already suitable for load pickup. InFIG.6bthe lifting apparatus2, after the load has been picked up, is in the measurement position, that in the illustrated situation substantially corresponding to the reference position. By a comparison of the pressures p1a, p3arecorded in the reference phase and the pressures p1b, p3brecorded in the measurement phase it is possible (with an adequately determined geometry) to arrive at a conclusion about the change in loading of the lifting apparatus2, and thus the lifted load21can be characterized.

In principle by means of the above-described method it is possible to determine a load which is lifted or is to be lifted by the lifting apparatus2in any combination of changes in geometry—in particular in any combination of the changes in geometry shown in the Figures described—.

InFIGS.4,5and6it is respectively self-evident that, for the illustrated positions of the lifting apparatus2, detection of the current geometry—therefore specifically detection of the characteristic parameters relevant to the current geometry (for example rotary angle, articulation angle and extension positions) is respectively effected. In the configurations of the lifting apparatus2having an attachment articulated arm7(frequently referred to as the jib) the characteristic parameters detected for that attachment articulated arm7can also be incorporated for determining the load21which is lifted or is to be lifted.

FIGS.7aand7beach show a diagrammatic configuration of a lifting apparatus2with manually actuable, static fly jibs13arranged thereon.

In the structure shown inFIG.7athe fly jibs13are arranged on the articulated arm5. In that case the fly jibs13can be arranged pivotably on the articulated arm5, wherein the articulation angle of the fly jibs13can be detected by means of an articulation angle sensor k3. Information relating to the additional displacement of the fly jibs13can be stored in the storage means8of the controller1and incorporated into the operation of determining a load21which is lifted or is to be lifted. In additionFIG.7aindicates in broken lines the respective tolerance range for the change in extension position of the articulated arm5and the change in articulation angle of the fly jibs13.

In the structure shown inFIG.7bthe fly jibs13are arranged on an attachment articulated arm7disposed on the articulated arm5. In that case the fly jibs13can be arranged pivotably on the attachment articulated arm7, wherein the articulation angle of the fly jibs13can be detected by means of an articulation angle sensor k4.FIG.7balso indicates in broken lines the respective tolerance range for the change in extension position of the articulated arm5, the attachment articulated arm7and the change in articulation angle of the fly jibs13.

In a particularly advantageous configuration of the lifting apparatus2the tolerance range can substantially embrace the entire range of movement of the lifting apparatus2.

FIGS.8aand8bshow an embodiment of the lifting apparatus2that is similar toFIGS.7aand7b, but therein the fly jibs13are mounted to the articulated arm5and the attachment articulated arm7respectively at a predetermined, invariable articulation angle.

FIGS.9aand9beach shown an embodiment of the lifting apparatus2with a working device14arranged thereon, for example in the form of a gripping means or grab. InFIG.9athe working device14is arranged on the articulated arm5while inFIG.9bthe working device14is arranged on the attachment articulated arm7. Optionally an angular position of the working device14related to the crane arm carrying same can be detected and also taken into consideration when determining a lifted load21. As, in the case of the above-described method, in the reference phase and in the measurement phase, the loading of the lifting apparatus2that is caused by the working device14is detected, that can be incorporated in the calculation model.

FIGS.10aand10beach shown an embodiment of the lifting apparatus2with a working device14arranged thereon, here in the form of a cable winch, and a load21lifted by the lifting apparatus2. InFIG.10athe working device14is arranged on the articulated arm5while inFIG.10bthe working device14is arranged on the main arm4. As in the above-described method in the reference phase and in the measurement phase the loading of the lifting apparatus2caused by the working device14is detected, substantially independently of the position thereof on the lifting apparatus2, that can be incorporated in the calculation.

The functionality of determining a load21which is lifted or is to be lifted by the lifting apparatus2is therefore not limited by the layout or configuration of the lifting apparatus2.

LIST OF REFERENCES

1controller2lifting apparatus3crane column4main arma1, a2, a3, a4articulation angle5articulated arm6crane extension arm7attachment articulated arms1, s2extension position sensorx1a, x2b,x3cextension positionsp1, p2, p3pressure sensorsp1a, p1b, p1cpressuresp3a,p3bpressures8storage means9computing unitk1, k2, k3, k4articulation angle sensord1rotary angle sensora21, a22, a23articulation angled1arotary angle10crane arm11crane extension arm12attachment extension arm13fly jib14working device15main cylinder16,17,20articulation cylinder18rotary mechanism19vehicle22display deviceh1, h2, h3horizontal pivot axisv1vertical pivot axis21load