System and method for crane counterweight positioning
View Patent ↗A system and method for positioning a movable crane counterweight is disclosed. In the method, a boom orientation is determined, a first counterweight position is determined, a first crane capacity at the first counterweight position is determined, a second counterweight position is determined corresponding to a second rearward stability associated with the boom orientation. A second crane capacity at the second counterweight position. A load on the crane is determined and the counterweight is positioned at a third position between the first counterweight position and the second counterweight position dependent on the boom load, and the first crane capacity.
1. A method for positioning a counterweight of a crane, comprising:
determining a boom orientation;
determining a first counterweight position corresponding to a first rearward stability associated with the boom orientation;
determining a first crane capacity at the first counterweight position;
determining a second counterweight position corresponding to a second rearward stability associated with the boom orientation;
determining a second crane capacity at the second counterweight position;
establishing a target capacity percentage;
determining a load of the crane;
positioning, with a crane counterweight movement system, the counterweight at a third position between the first counterweight position and the second counterweight position such that the crane load is the target capacity percentage of a third capacity at the third position;
determining the crane load changing to a new load; and
positioning, with the crane counterweight movement system, the counterweight to a fourth position between the first counterweight position and the second counterweight position such that the new load is the target capacity percentage of a fourth capacity at the fourth position.
2. The method of claim 1 , wherein the load comprises a boom strap tension.
3. The method of claim 1 , wherein the load is a boom hoist tension.
4. The method of claim 1 , wherein the load is a compression of a gantry.
5. The method of claim 1 , wherein the load is a moment between an upperworks and a lower works of the crane.
6. The method of claim 1 , wherein the load is a moment between a crane carbody and a crane crawler.
7. The method of claim 1 , wherein the load is a ground pressure associated with a crane outrigger.
8. A system for controlling the position of a counterweight on a crane, comprising:
an actuator configured to change a horizontal position of a counterweight relative to a crane body;
a sensor configured to measure a crane load; and
a controller in communication with the actuator, the sensor, and the input, the controller configured to perform functions comprising:
determining a boom orientation;
determining a first counterweight position corresponding to a first rearward stability associated with the determined boom orientation;
determining a first crane capacity at the first counterweight position;
determining a second counterweight position corresponding to a second rearward stability associated with the boom orientation;
determining a second crane capacity at the second counterweight position;
establishing a target capacity percentage;
receiving an indication of a crane load from the sensor;
causing the actuator to position the counterweight at a third position between the first counterweight position and the second counterweight position such that the crane load is at the target capacity percentage of a third capacity at the third position;
receiving an indication of a new crane load from the sensor; and
causing the actuator to position the counterweight at a fourth position between the first counterweight position and the second counterweight position such that the crane load is at the target capacity percentage of a fourth capacity at the fourth position.
9. The system of claim 8 , wherein the sensor is a boom strap tension sensor and the load is a boom strap tension.
10. The system of claim 8 , wherein the sensor is a boom hoist tension sensor and the load is a boom hoist tension.
11. The system of claim 8 , wherein the sensor is a gantry compression sensor and the load is a compression of a gantry.
12. The system of claim 8 , wherein the sensor is a moment sensor and the load is a moment between an upperworks and a lower works of the crane.
13. The system of claim 8 , wherein the sensor is a ground pressure sensor and the load is a ground pressure associated with a crane outrigger.