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EP1081089B1 - Method for limiting automatically the range of access platforms - Google Patents

Method for limiting automatically the range of access platforms Download PDF

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Publication number
EP1081089B1
EP1081089B1 EP00117840A EP00117840A EP1081089B1 EP 1081089 B1 EP1081089 B1 EP 1081089B1 EP 00117840 A EP00117840 A EP 00117840A EP 00117840 A EP00117840 A EP 00117840A EP 1081089 B1 EP1081089 B1 EP 1081089B1
Authority
EP
European Patent Office
Prior art keywords
access platform
moment
determined
data
access
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.)
Expired - Lifetime
Application number
EP00117840A
Other languages
German (de)
French (fr)
Other versions
EP1081089A1 (en
Inventor
Helfried Sterzel
Uwe Richter
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.)
Palfinger Europe GmbH
Original Assignee
Bison Stematec Maschinenbau und Hubarbeitsbuehnen Produktionsgesellschaft mbH
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
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Application filed by Bison Stematec Maschinenbau und Hubarbeitsbuehnen Produktionsgesellschaft mbH filed Critical Bison Stematec Maschinenbau und Hubarbeitsbuehnen Produktionsgesellschaft mbH
Publication of EP1081089A1 publication Critical patent/EP1081089A1/en
Application granted granted Critical
Publication of EP1081089B1 publication Critical patent/EP1081089B1/en
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/006—Safety devices, e.g. for limiting or indicating lifting force for working platforms

Definitions

  • the present invention relates to a method for automatic Range limitation for aerial work platforms, especially for mobile ones Aerial work platforms.
  • Previously known methods for determining the reach of aerial work platforms include the calculation of so-called work maps in advance Hubbühenmontage. The individual map points are marked with the Completed aerial work platform approached and the corresponding values determined and stored in a data processing system.
  • DE 38 07 966 C2 describes an aerial work platform with processor control known that an automatic restriction of the movements of the Access platform for stroke-reducing movements on the boom when approaching a value of the overturning moment to the value of the standing moment.
  • This Known aerial work platform works in a predetermined and numbered manner limited limit load curves. There is no separate data collection.
  • the detection of the maximum possible lifting cylinder force takes place according to the invention by means of at least one sensor arranged on the aerial work platform, especially a load pin.
  • the support position of the aerial work platform will continuously determined using four redundant cable length meters.
  • the through the Sensor or the sensors and cable length meter determined values are processed under computer control, so that the respective standing and tilting moments for corresponding column positions and boom positions continuously and simultaneously can be calculated.
  • the movements of the aerial work platform take place computer-controlled.
  • the method according to the invention eliminates all map predictions and generation.
  • the automatic, load-dependent range determination method an optimal use of the Automatically determined work maps.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Testing Of Balance (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

The coverage limiting process involves transmitting data on the individual masses and centers of gravity of the platform and its chassis, inputting and storing this data in a data processor, continuously calculating the standing torque in different positions of the turret, and automatically limiting the movements of the platform as the tilting moment approaches the standing torque.

Description

Die vorliegende Erfindung betrifft ein Verfahren zur automatischen Reichweitenbegrenzung bei Hubarbeitsbühnen, insbesondere bei fahrbaren Hubarbeitsbühnen.The present invention relates to a method for automatic Range limitation for aerial work platforms, especially for mobile ones Aerial work platforms.

Bisher bekannte Verfahren zur Reichweitenbestimmung von Hubarbeitsbühnen beinhalten die Errechnung sogenannter Arbeitskennfelder im Vorfeld zur Hubbühnenmontage. Dabei werden die einzelnen Kennfeldpunkte mit der fertiggestellten Hubarbeitsbühne angefahren und die entsprechenden Werte ermittelt und in einer Datenverarbeitungsanlage abgespeichert.Previously known methods for determining the reach of aerial work platforms include the calculation of so-called work maps in advance Hubbühnenmontage. The individual map points are marked with the Completed aerial work platform approached and the corresponding values determined and stored in a data processing system.

Aus der DE 38 07 966 C2 ist eine Hubarbeitsbühne mit Prozessorsteuerung bekannt, die eine automatische Beschränkung der Bewegungen der Hubarbeitsbühne auf hubreduzierende Bewegungen am Ausleger bei Annäherung eines Wertes des Kippmoments an den Wert des Standmoments ausführt. Diese bekannte Hubarbeitsbühne arbeitet fest vorgegebenen und anzahlmäßig beschränkten Grenzlastkurven. Eine gesonderte Datenermittlung erfolgt nicht.DE 38 07 966 C2 describes an aerial work platform with processor control known that an automatic restriction of the movements of the Access platform for stroke-reducing movements on the boom when approaching a value of the overturning moment to the value of the standing moment. This Known aerial work platform works in a predetermined and numbered manner limited limit load curves. There is no separate data collection.

Diese bekannte Verfahrensweise weist jedoch verschiedenartige Nachteile auf. So erfolgt die Berechnung der Kennfelddaten vor der eigentlichen Fertigstellung der Hubarbeitsbühne und kann somit immer nur eine Annäherung an den tatsächlichen Zustand darstellen. Des weiteren müssen die Kennfelder dargestellt werden und dann zeitaufwendig angefahren werden, um die benötigten Daten zur Reichweitenbestimmung erhalten zu können. Da die gemessenen Werte aber immer in Abhängigkeit zu den vorab theoretisch berechneten Kennfelddaten stehen, werden die eigentlich erreichbaren Reichweiten nicht optimal ausgenutzt.However, this known procedure has various disadvantages. So the map data is calculated before the actual completion of the Aerial work platform and can therefore only ever come close to the actual one Represent state. Furthermore, the maps must be shown and then time-consuming to get to the required data for range determination to be able to receive. Since the measured values are always in Are dependent on the map data theoretically calculated beforehand reachable ranges actually not optimally used.

Es ist daher Aufgabe der vorliegenden Erfindung, ein Verfahren zur automatischen Reichweitenbegrenzung bei Hubarbeitsbühnen zu schaffen, bei dem eine optimale Ausnutzung der möglichen Reichweiten der Hubarbeitsbühne gewährleistet ist.It is therefore an object of the present invention to provide a method for automatic To limit the range of aerial work platforms to create an optimal Utilization of the possible ranges of the aerial work platform is guaranteed.

Gelöst wird diese Aufgabe durch ein Verfahren mit den Merkmalen des Hauptanspruches 1.This task is solved by a method with the characteristics of Main claim 1.

Vorteilhafte Ausgestaltungen sind in den Unteransprüchen beschrieben.Advantageous refinements are described in the subclaims.

Ein erfindungsgemäßes Verfahren zur automatischen Reichweitenbegrenzung bei Hubarbeitsbühnen weist folgende Schritte auf:

  • a) Ermittlung von Daten bezüglich der Einzelmassen und der entsprechenden Schwerpunkte von Einzelelementen der Hubarbeitsbühne und eines Fahrgestells der Hubarbeitsbühne,
  • b) Eingabe und Speicherung der ermittelten Daten in mindestens einer Datenverarbeitungsanlage,
  • c) Kontinuierliche Berechnung des auftretenden Standmoments in unterschiedlichen Stellungen eines Drehturms der Hubarbeitsbühne unter Verwendung der im Verfahrensschritt a) ermittelten Daten und Vergleich dieses Standmoments mit bei jeder Stellung eines Auslegers der Hubarbeitsbühne entstehenden Kippmoments, wobei das Kippmoment durch die Erfassung einer maximal möglichen Hubzylinderkraft in Abhängigkeit von einer Stützenstellung der Hubarbeitsbühne ermittelt wird,
  • d) automatische Beschränkung der Bewegungen der Hubarbeitsbühne auf hubreduzierende Bewegungen aus Ausleger bei Annäherung des Wertes des Kippmoments an den Wert des Standmoments.
    • A method according to the invention for automatic range limitation on aerial work platforms has the following steps:
  • a) determination of data relating to the individual masses and the corresponding focal points of individual elements of the aerial work platform and of a chassis of the aerial work platform,
  • b) input and storage of the determined data in at least one data processing system,
  • c) Continuous calculation of the standing torque occurring in different positions of a rotating tower of the aerial work platform using the data determined in method step a) and comparison of this stationary torque with each tilting moment of a boom of the aerial working platform, the tilting moment depending on the detection of a maximum possible lifting cylinder force is determined from a support position of the aerial work platform,
  • d) automatic limitation of the movements of the aerial work platform to stroke-reducing movements from the boom when the value of the tilting moment approaches the value of the standing moment.

    • Dadurch ist gewährleistet, daß das Arbeitskennfeld in Abhängigkeit der tatsächlich auftretenden Stand- und Kippmomente optimal ausgenutzt wird, so daß der maximal mögliche Arbeitsbereich beziehungsweise die maximal mögliche Reichweite der Hubarbeitsbühne ausgenutzt werden kann.This ensures that the working map is actually dependent on the occurring standstill and tilting moments is optimally used so that the maximum possible work area or the maximum possible range of the Aerial work platform can be used.

    Die automatische Beschränkung der Bewegungen der Hubarbeitsbühne auf hubreduzierende Bewegungen am Ausleger kann dabei zeitverzögert ausgeführt werden, so daß vor der eigentlichen Beschränkung ein Warnsignal gegeben werden kann. Des weiteren ist eine lastabhängige Reichweitenbestimmung in Abhängigkeit der Abstützungsart gewährleistet. Hierdurch ergibt sich eine Optimierung des tatsächlich nutzbaren Arbeitskennfeldes entsprechend den Gegebenheiten am Einsatzort der Hubarbeitsbühne und in Abhängigkeit der Stellung der Stützenausschübe. Auch der Einsatz einer variablen Abstützung ist erfindungsgemäß möglich, da über jede beliebige Abstützkante die zulässige Reichweite aus dem Standmoment errechnet wird.The automatic limitation of the movements of the aerial platform Stroke-reducing movements on the boom can be delayed be so that a warning signal is given before the actual restriction can. Furthermore, a load-dependent range determination is dependent on the Support type guaranteed. This actually results in an optimization of the usable working map according to the conditions at the location of the Aerial work platform and depending on the position of the column extensions. Also the The use of a variable support is possible according to the invention, since each Any support edge calculates the permissible range from the stationary moment becomes.

    Die Erfassung der maximal möglichen Hubzylinderkraft erfolgt dabei erfindungsgemäß mittels mindestens einem an der Hubarbeitsbühne angeordneten Sensor, insbesondere einem Lastmessbolzen. Die Stützenstellung der Hubarbeitsbühne wird mittels vier redundanter Seilzuglängenmesser stufenlos ermittelt. Die durch den Sensor beziehungsweise die Sensoren und Seilzuglängenmesser ermittelten Werte werden rechnergesteuert verarbeitet, so daß jeweilige Stand- und Kippmomente für entsprechende Stützenstellungen und Auslegerpositionen kontinuierlich und zeitgleich errechnet werden können. Die Bewegungen der Hubarbeitsbühne erfolgen dabei rechnergesteuert.The detection of the maximum possible lifting cylinder force takes place according to the invention by means of at least one sensor arranged on the aerial work platform, especially a load pin. The support position of the aerial work platform will continuously determined using four redundant cable length meters. The through the Sensor or the sensors and cable length meter determined values are processed under computer control, so that the respective standing and tilting moments for corresponding column positions and boom positions continuously and simultaneously can be calculated. The movements of the aerial work platform take place computer-controlled.

    Durch das erfindungsgemäße Verfahren entfallen alle Kennfeldvorausberechnungen und -erzeugungen. Zudem ermöglicht das erfindungsgemäße automatische, lastabhängige Reichweitenbestimmungsverfahren eine optimale Ausnutzung der automatisiert ermittelten Arbeitskennfelder.The method according to the invention eliminates all map predictions and generation. In addition, the automatic, load-dependent range determination method an optimal use of the Automatically determined work maps.

    In einer weiteren vorteilhaften Ausgestaltung des erfindungsgemäßen Verfahrens werden die in den Verfahrensschritten a) bis c) ermittelten und gerechneten Daten in zwei getrennten Datenverarbeitungsanlagen der Hubarbeitsbühne verarbeitet, wobei über einen BUS ein kontinuierlicher Vergleich von Zwischen- und Endergebnissen erfolgt und bei Nichtübereinstimmung der Werte eine automatische Abschaltung zumindest der lastmomentvergrößernden Funktionen erfolgt.In a further advantageous embodiment of the method according to the invention the data determined and calculated in process steps a) to c) in processed two separate data processing systems of the aerial work platform, whereby A continuous comparison of intermediate and final results via a BUS automatic shutdown if the values do not match at least the functions that increase the load torque take place.

    Claims (6)

    1. Method for automatic range limitation in access platforms, especially in movable access platforms, the method comprising the steps of:
      a) determining data with respect to the individual masses and the corresponding centers of gravity of individual elements of the access platform and a chassis of the access platform,
      b) inputting and storing the determined data in at least one data processing system,
      c) continuously calculating the occurring upright moment in different positions of a rotating turret of the access platform using the data determined in method step a), and comparing this upright moment with a tilting moment arising in each position of a cantilever of the access platform, the tilting moment being determined by detecting a maximum possible lifting cylinder force depending on a support position of the access platform, and
      d) automatically limiting the movements of the access platform to lift-reducing movements at the cantilever upon approaching the value of the tilting moment to the value of the upright moment.
    2. Method according to claim 1,
      characterized in that
      the detection of the maximum possible lifting cylinder force is effected by means of at least one sensor disposed at the access platform.
    3. Method according to claim 2,
      characterized in that
      the sensor is a load measuring bolt.
    4. Method according to any one of the preceding claims,
      characterized in that
      the support position of the access platform is continuously determined by means of four redundant rope traction length meters.
    5. Method according to any one of the preceding claims,
      characterized in that
      the movements of the access platform are effected computer-controlled.
    6. Method according to any one of the preceding claims,
      characterized in that
      the data determined and calculated in method steps a) to c) are processed in two separate data processing systems, wherein a continuous comparison of intermediate and final results is effected, and upon mismatch of the values, automatically shutting-off at least the load moment increasing functions is effected.
    EP00117840A 1999-08-20 2000-08-18 Method for limiting automatically the range of access platforms Expired - Lifetime EP1081089B1 (en)

    Applications Claiming Priority (2)

    Application Number Priority Date Filing Date Title
    DE19939496A DE19939496C2 (en) 1999-08-20 1999-08-20 Automatic range limitation procedure for aerial work platforms
    DE19939496 1999-08-20

    Publications (2)

    Publication Number Publication Date
    EP1081089A1 EP1081089A1 (en) 2001-03-07
    EP1081089B1 true EP1081089B1 (en) 2003-07-23

    Family

    ID=7919010

    Family Applications (1)

    Application Number Title Priority Date Filing Date
    EP00117840A Expired - Lifetime EP1081089B1 (en) 1999-08-20 2000-08-18 Method for limiting automatically the range of access platforms

    Country Status (4)

    Country Link
    EP (1) EP1081089B1 (en)
    AT (1) ATE245599T1 (en)
    DE (2) DE19939496C2 (en)
    DK (1) DK1081089T3 (en)

    Families Citing this family (2)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    DE10144501A1 (en) * 2001-09-11 2003-04-03 Teupen Maschbau Gmbh Aerial work platform with hydraulic control
    DE102011080805B4 (en) * 2011-08-11 2020-03-26 Robert Bosch Gmbh Method and device for operating a lifting device

    Family Cites Families (5)

    * Cited by examiner, † Cited by third party
    Publication number Priority date Publication date Assignee Title
    US2858070A (en) * 1955-11-17 1958-10-28 Scharff Leon Moment computing and indicating systems
    DE2343941A1 (en) * 1973-08-31 1975-03-13 Rheinstahl Ag Hanomag Baumasch Mobile hydraulic excavator - lifting mechanism with overload warning and cut off switches
    DE2616951A1 (en) * 1976-04-17 1977-10-27 Richard Schill Jib crane tipping moment limitation device - uses stretching or compression load in supporting surface to compute value
    IT1204913B (en) * 1987-03-06 1989-03-10 3B6 Sistemi Elettro Idraulici Reach and / or time limiting device for lifting platforms
    DE3807966A1 (en) * 1988-03-10 1989-09-21 Ruthmann Anton Gmbh & Co Lifting platform with processor control

    Also Published As

    Publication number Publication date
    EP1081089A1 (en) 2001-03-07
    DE19939496C2 (en) 2003-02-13
    DE50002970D1 (en) 2003-08-28
    DE19939496A1 (en) 2001-03-15
    ATE245599T1 (en) 2003-08-15
    DK1081089T3 (en) 2003-10-27

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