Method for determining a bearing friction
A method of determining a bearing friction is to be applied to an arm system of a crane arm having a first crane arm and a second crane arm. The second crane arm, at least in some regions, is mounted displaceably and/or articulatedly in or on the first crane arm via a bearing point. In a first capturing method step (i), at least one first value is captured. In a drive method step (ii), at least the second crane arm is moved relative to the first crane arm. In a second capturing method step (iii), at least one second value is captured. In an evaluation method step (iv), the bearing friction of the bearing point is characterized by evaluating the at least one first value and the at least one second value.
1 . A method for determining a bearing friction in an arm system of a crane arm having at least one first crane arm and one second crane arm, wherein the second crane arm is mounted displaceably at least in some portions in the first crane arm by means of at least one bearing point and/or the second crane arm is mounted in a hinged manner on the first crane arm by means of at least one bearing point, and the arm system has at least one drive for the at least first and second crane arm, wherein:
in a first acquisition method step (i), at least one first value is acquired, which is characteristic of a bearing friction of the at least one bearing point during a first activation of the at least one drive of the arm system for moving at least the second crane arm relative to the first crane arm,
in a driving method step (ii), a second activation of the at least one drive of the arm system is effected, in which at least the second crane arm is moved relative to the first crane arm,
in a second acquisition method step (iii), during the second activation of the at least one drive at least one second value is acquired, which is a measured value that is characteristic of a bearing friction of the at least one bearing point, and
in an evaluation method step (iv), the bearing friction of the at least one bearing point is characterized through an evaluation of the at least one first value and the at least one second value, which is acquired during the second activation of the drive.
2 . The method according to claim 1 , wherein in the first acquisition method step (i):
a first activation of the at least one drive of the arm system is effected, in which at least the second crane arm is moved relative to the first crane arm, and in the first acquisition method step (i), during the first activation of the drive, the at least one first value is acquired in the form of at least one measured value that is characteristic of a bearing friction of the at least one bearing point, and/or
the at least one first value is acquired in the form of at least one value obtained from a simulation, and/or
the at least one first value is acquired in the form of at least one empirically obtained value, and/or
the at least one first value is acquired in the form of a nominal value.
3 . The method according to claim 1 , wherein in a calculation method step (v) for the evaluation method step (iv) at least one first and one second metric for the bearing friction, preferably at least one first and one second coefficient of friction (μ), is generated from the at least one first and the at least one second value.
4 . The method according to claim 1 , wherein the first value relates to a first configuration of the crane arms of the arm system, and the crane arms of the arm system are in a second configuration during the activation of the drive in the driving method step (ii), and the first and the second configuration are substantially identical or are different.
5 . The method according to claim 1 , wherein the movement of the crane arms of the arm system for a first activation of the at least one drive and the movement of the crane arms of the arm system in the driving method step (ii) are substantially identical, or the movements are different.
6 . The method according to claim 1 , wherein in the first and/or the second acquisition method step (i, iii):
a breakaway force and/or a breakaway torque of the at least one bearing point are acquired and/or
at least one parameter of the at least one drive is acquired and/or
a friction force of the at least one bearing point is acquired and/or
a hydraulic pressure of a hydraulic cylinder of the drive is acquired.
7 . The method according to claim 1 , wherein in a comparison method step (vi), to determine an evolution of the bearing friction in the arm system of the crane arm over time, a time curve is compiled for the evaluation of the at least one first and the at least one second value.
8 . The method according to claim 7 , wherein in a comparison method step (vi) a change over time is determined for the evaluation of the at least one first and the at least one second value.
9 . The method according to claim 8 , wherein a gradient of the change over time is determined for the evaluation of the at least one first and the at least one second value.
10 . The method according to claim 7 , wherein in the comparison method step (vi) the evaluation of the at least one first and the at least one second value is compared with a predetermined or predeterminable threshold value.
11 . A computer program product comprising commands which, when executed by an arithmetic logic unit, cause said arithmetic logic unit to perform a method according to claim 1 from a storage unit that has or can have a data link to the arithmetic logic unit.
12 . A controller having an arithmetic logic unit for a crane having a crane arm, configured for carrying out a method according to claim 1 for determining a bearing friction in the arm system of the crane arm, wherein the controller:
in a driving operating mode, can carry out a first and a second activation of the at least one drive of the arm system, in each of which at least the second crane arm is moved relative to the first crane arm,
in an acquisition operating mode, can carry out an acquisition of at least one first and at least one second value, each of which is characteristic of a bearing friction of the at least one bearing point, during the first and the second activation of the drive, and
in an evaluation operating mode, can carry out a characterization of the bearing friction in the arm system of the crane arm ( 3 ) through an evaluation of the at least one acquired first value and the at least one acquired second value.
13 . The controller having an arithmetic logic unit according to claim 12 , wherein an evaluation in relation to the bearing friction, characterized in the evaluation method step (iv), in the arm system of the crane arm is able to be displayed on a display that communicates with the arithmetic logic unit.
14 . A crane—preferably a cargo crane for a vehicle, particularly preferably a knuckle boom crane—having the controller having the arithmetic logic unit according to claim 12 .