EP0885833A2 - Kran, insbesondere Hüttenwerkskran - Google Patents
Kran, insbesondere Hüttenwerkskran Download PDFInfo
- Publication number
- EP0885833A2 EP0885833A2 EP98250192A EP98250192A EP0885833A2 EP 0885833 A2 EP0885833 A2 EP 0885833A2 EP 98250192 A EP98250192 A EP 98250192A EP 98250192 A EP98250192 A EP 98250192A EP 0885833 A2 EP0885833 A2 EP 0885833A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- crane
- trolley
- hoist
- pendulum
- drives
- 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.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
Definitions
- the invention relates to a crane, in particular steel mill crane according to the Preamble of claim 1.
- the stop is controlled manually by the crane operator.
- security-relevant Transport is supported by a guide.
- the instructor is in constant Line of sight with the crane operator and gives this subjectively to the instructor optically recorded actual state of the approach of the load handler to the object on. Only when the guide has reached the stop position subjectively, does he give it to him Crane operator has the green light to lift the load.
- the safety when mounting that is the correct execution of the The striking process is essentially dependent on the attention and qualifications of the Depending on the crane operator or the instructor and the respective visibility.
- the striking process is therefore associated with a high risk (Potential danger) than if there is insufficient attention or insufficient Visibility cannot be ruled out that the pan is only one-sided by one Hook is gripped or carried on the tip of the hook. That has already to um and Pans crashed. Personal injury and extremely high property damage combined with longer downtimes were the consequences.
- One of the main problems in the known stroke method the rapid and severe fatigue of the Crane operator, so that it must be changed several times within a shift.
- the time for the striking process is correspondingly long, since the As a rule, crane operators do not take any unnecessary risk, secure themselves accordingly and if necessary, the starting process is repeated.
- a container crane system is known from EP 0 342 655 A2, which includes is intended to move containers between different locations.
- This The system has a chassis along at least one horizontal axis mobile hoist rope carrier and one suspended on hoist cables of the hoist rope carrier, height-adjustable spreader by means of a rope hoist. On the hoist rope carrier and interacting pendulum damping means are attached to the spreader.
- a sensor with a spreaders or containers is attached to the spreader pulsed directional beam transmitter, a reflection beam receiver and one Runtime measuring device for determining information about at least one Location coordinate of the location limit or the obstacle, this Information to control the hoist, the chassis and / or one Spreader slewing gear is used.
- the directional beam transmitter also serves to detect the Spreader or container vertical distance from the contact surface, the result the vertical dimension is used for direct control of the hoist.
- the Measured and ascertained data are fed to a computer which converts them into a Information about the position of the spreader or container in the horizontal direction provides relative to the profile of the stand limit, which is used to control the Chassis drive is usable.
- the information obtained from the computer is used also for controlling an imaging device at the location of the crane operator.
- the object of the invention is to provide a crane, in particular steel mill crane Transport of mobile defined objects, their position from one with a hat as well Crab trolley equipped with a pendulum-damped Controlled load handler, which can be repeated with the help of sensors if necessary Positioning of the load is indicated, which is a reliable, fully automated operation with high reliability at low cost.
- the spatial coordinate of the load suspension device is measured using a quasi-analog path mapping (QAW).
- QAW quasi-analog path mapping
- the information derived from the recorded values is graphically offered to the crane operator as a starting aid.
- the current lifting height of the load handler is displayed to the crane operator in analog and digital form on a monitor and, when a predetermined position is reached, as plain text, for. B.
- the decisive striking process is visualized by means of several installed cameras, which is a pattern recognition.
- the striking process is additionally carried out by those working independently Security systems d. H. Form and frictional connection monitored. Regarding the Positive locking is referred to the applicant's DE 44 47 393 B1. The Traction monitoring is carried out by continuously weighing the raised Load.
- the acquisition and measurement values are all programmable Control unit fed, which is then data for the graphic displays as well Control signals generated for the drives.
- the critical support is visualized Striking process in such a way that at least two in the supporting frame of the crane preferably six with an image evaluation and image storage device and one Monitor connected cameras are installed in series as well as a spotlight.
- the Beam axes are aligned so that the object to be viewed is fully captured. It is irrelevant whether a camera is in the attack process is covered, for example, by the trolley. It is only essential that that captured image always the edges characterizing the object in the sense of a Includes pattern recognition. It has an advantage for path detection emphasized that on the wheels of the crane and trolley undercarriage and on the Drum of the hoist absolute encoder are installed.
- the measured values of the Absolute encoders are processed in the control unit and as control signals controlled drives for the hoist as well as for the crane and trolley forwarded.
- a Hall probe is used for swing-free starting and stopping arranged, which is preferably arranged at the fixed rope point of the main hoist.
- the accuracy of the control also depends largely on the sensitivity of the Control of the drives. For this reason, all drives are with one in itself known frequency converter connected.
- the advantage of the invention is the fact that the crane operator is relieved and the time required for the transport process is optimized. Furthermore it is suitable for full automation, so that in the future on a crane driver at least the instructor can be dispensed with.
- FIG. 1 shows a top view of an application example of an area in a steel mill where liquid pig iron is emptied from pans and poured into pig iron mixer.
- two pig iron mixers 1, 2 are arranged in a hall complex indicated here, each having two filling openings 3, 3 '; 4.4 '.
- a train with several ladle wagons 8 coupled to each other can be positioned on two parallel tracks 5, 6.
- the respective pig iron ladle 7 is transported from the ladle wagon 8 to the emptying position by means of a steelworks crane 9.
- the crane 9 is moved with respect to its crane undercarriage 10 into the crane travel pick-up position. This is the central axis of the pig iron pan located on the pan carriage 8.
- the grid dimension for crane travel is indicated by arrows 13, 14 pointing to the right.
- the recording position for the cat shows the dash-dotted line 15, 16, which in this case is congruent with the longitudinal axis of the carriage column.
- the load receiving means 17,17 '( Figure 2) in the pins 18,18' has (Figure 2) of the Pfannenge vons 27, 27 '( Figure 2) are threaded.
- the cat 11 is moved to the threading position. This is also characterized by a dash-dotted line 19, 20, which is parallel to the recording position 15, 16.
- the crane 9 After receiving the respective pan 7 by the crane 9, the crane 9 is in the Move empty position. This is here by arrows 21 pointing to the right featured.
- the emptying position for the trolley travel is again one dash-dotted line 22 marked. What is not shown here is that so-called Z position, d. H. the lifting height of the load handling device 17, 17 '.
- FIG. 2 shows a perspective view of the installation according to the invention an optically supported traction help.
- a stylized support frame 23 are for the optical starting aid according to the invention, a plurality of cameras 24 in series and one Headlights 25 arranged.
- the beam axes of the cameras 24 are aligned that the respective camera field 26 the object, in this case the pig iron pan 7 recorded.
- the headlight 25 illuminates this area, so that in the cameras 24 sharply contoured image is created.
- Typical cast iron pan 7 Edges, e.g. B. the pan hangers 18, 18 'or the pouring spout 28 are for the pattern recognition is used. In comparison with a stored sample picture the true object position can be recognized with it.
- the sample image and the The momentary image is sent to the crane operator so that he waives of an instructor can see exactly where the load suspension means 17, 17 'with respect to the pig iron pan 7 are.
- This visual starting aid is in addition to the path detection of the crane trolley, the trolley trolley and the lifting gear.
- FIG. 3 shows the basic linkage of all recorded data in a flow chart shown.
- the already mentioned sensors 31 - 33 for the crane undercarriage, the The trolley and the hoist record the path and give this as Value in a programmed control unit (PLC) 34.
- PLC programmed control unit
- the Images of the six cameras 24 and a mixer camera 35 in an image evaluation and Image storage device (Videomat) 36 processed and the aforementioned Programmable logic controller 34 supplied.
- the position of the control lever 37 in the crane driver's cabin and the values of the sway control 38 flow into the Regulation with a.
- the sway control 38 receives its values from a Hall probe 39.
- the measured values 40 become part of the continuous weighing raised load as well as the positive connection 41 of the load suspension means 17, 17 ' processed.
- the measured values in the programmable logic controller 34 are implemented in data 42, in control signals for the speed 43 and for the position to be controlled 44.
- the drives 45 where for the sake of simplicity only one is shown are connected to a frequency converter 46.
- the drive 45 tapped speed is detected by an encoder 47 and both programmable logic controller 34 as well as the sway control 38 fed.
- the crane operator is informed of the recorded data or Images shown as a starting aid.
- weighing and fault messages are graphically in analog and digital form, with plain text also shown as a further help can be.
- the second monitor 49 shown below shows the images of installed cameras 24, 35.
- FIG. 1 An example of a pattern identifier is shown in FIG.
- the one on track 6 is stored in the field of vision of the cameras 24 ( Figure 2) ladle 8 is a filled or emptied pig iron pan 7.
- the current picture of this Pfannenwagens 8 in relation to the position of the iron and steel crane 9 is on the previously mentioned monitor 49 is displayed.
- a previously filed one Sample image 50 which shows only the essential edges that characterize the object displays on the monitor.
- the crane operator can now without further ado Aids can be recognized by the crosshairs 51 that are also shown, to what extent its current position deviates from the position of the sample image (TARGET).
- the deviation is through the distance in the X direction 52 and in the Y direction 53 is identified and is shown digitally and analogously on the monitor 48 in accordance with FIG. 3.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
Description
- Figur 1
- in einer Draufsicht die Anfahr- und Einfädelposition eines Hüttenwerkskranes
- Figur 2
- in einer halbperspektivischen Darstellung die erfindungsgemäße Installation einer optisch unterstützten Anfahrhilfe
- Figur 3
- Fließbild einer erfindungsgemäß ausgebildeten Steuerung und Regelung eines Kranes.
- Figur 4
- Beispiel einer Mustererkennung
Claims (8)
- Kran, insbesondere Hüttenwerkskran (9), welcher dazu bestimmt ist, mobile Objekte von einer nicht eindeutig deklarierten Position zu einer eindeutig festgelegten Position hin- und herzutransportieren, insbesondere auf einem Pfannenwagen (8) abgestellte Pfannen (7) einerseits aufzunehmen und andererseits zur Einfüllöffnung eines Roheisenmischers (1,2) zu transportieren und nach Entleerung zum Pfannenwagen zurückzutransportieren, bestehend aus einem Tragrahmen (23), an dem ein Lastaufnahmemittel (17,17') aufweisendes Hubwerk, sowie ein Kran- (10) und Katzfahrwerk (11) angeordnet sind, sowie Geber zur Erfassung der Position des Lastseiles des Hubwerkes, der Position des Kran- (10) und Katzfahrwerkes (11), ein Meßsystem für die Pendeldämpfung und einer Steuereinheit, die mit dem Steuerhebel (37) in der Kranfahrerkabine einerseits und mit den geregelten Antrieben für Hubwerk, Kran- (10) und Katzfahrwerk (11) andererseits verknüpft ist und mit mindestens einem mit einem Monitor (49) verbundenen Sensor (24) zur Ermittlung einer Information über mindestens eine Ortskoordinate des zu transportierenden Objektes,
dadurch gekennzeichnet,
daß am Tragrahmen (23) mindestens zwei mit einem Bildauswerte- und Bildspeichergerät (36) verbundene Kameras (24) und ein Scheinwerfer (25) angeordnet sind, deren Strahlachsen so ausgerichtet sind, daß das zu betrachtende Objekt voll erfaßbar und ausreichend ausgeleuchtet ist und mittels im Lastaufnahmemittel (17,17') angebrachter Drucksensoren eine Formschlußüberwachung und beim angehobenen Objekt durch dessen ständige Wägung eine Kraftschlußüberwachung erfolgt. - Kran nach Anspruch 1,
dadurch gekennzeichnet,
daß die Pendeldämpfung aus dem Pendelwinkel und der Pendelgeschwindigkeit berechnet wird und die gewonnenen Daten der Regelung der Antriebe überlagert werden. - Kran nach Anspruch 2,
dadurch gekennzeichnet,
daß bei Ausfall des Erfassungssystems für Pendelwinkel und/oder Pendelgeschwindigkeit die Anordnung der Regelung nach einem hinterlegten Rechenmodell abhängig von der Lastseillänge des Lastaufnahmemittels erfolgt. - Kran nach einem der Ansprüche 1 - 3,
dadurch gekennzeichnet,
daß alle Erfassungs- und Meßwerte einer mit einem Monitor (48) verbundenen speicherprogrammierbaren Steuereinheit (34) zugeführt werden, die daraus Daten für die graphische Anzeige sowie Steuersignale für die Antriebe (45) erzeugt. - Kran nach Anspruch 1,
dadurch gekennzeichnet,
daß sechs Kameras (24) in Reihe angeordnet sind. - Kran nach Anspruch 1,
dadurch gekennzeichnet,
daß an Rädern des Kran- (10) und Katzfahrwerkes (11) sowie an der Trommel des Hubwerkes Absolutwertgeber (31-33) angeordnet sind. - Kran nach Anspruch 1,
dadurch gekennzeichnet,
daß am Seilfestpunkt des Haupthubwerkes eine Hall-Sonde angeordnet ist. - Kran nach Anspruch 1,
dadurch gekennzeichnet,
daß alle Antriebe (45) des Kranes mit je einem Frequenzumrichter (46) verbunden sind.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE1997125315 DE19725315C2 (de) | 1997-06-09 | 1997-06-09 | Kran, insbesondere Hüttenwerkskran |
DE19725315 | 1997-06-09 |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0885833A2 true EP0885833A2 (de) | 1998-12-23 |
EP0885833A3 EP0885833A3 (de) | 1999-08-25 |
Family
ID=7832568
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98250192A Withdrawn EP0885833A3 (de) | 1997-06-09 | 1998-06-03 | Kran, insbesondere Hüttenwerkskran |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0885833A3 (de) |
DE (1) | DE19725315C2 (de) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102452611A (zh) * | 2010-10-21 | 2012-05-16 | 上海振华重工(集团)股份有限公司 | 集装箱起重机的吊具空间姿态的检测方法和装置 |
US8477987B2 (en) | 2005-06-22 | 2013-07-02 | Sime Oy | Method for repositioning a numerically controlled device |
CN110127523A (zh) * | 2018-02-02 | 2019-08-16 | 盟立自动化股份有限公司 | 自动光学辨识物料的悬吊运输装置及*** |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE202012012116U1 (de) | 2012-12-17 | 2014-03-19 | Liebherr-Components Biberach Gmbh | Turmdrehkran |
DE202019102393U1 (de) | 2019-03-08 | 2020-06-09 | Liebherr-Werk Biberach Gmbh | Kran sowie Vorrichtung zu dessen Steuerung |
DE102021130785A1 (de) | 2021-11-24 | 2023-05-25 | Liebherr-Werk Biberach Gmbh | Kran |
DE102022103283A1 (de) | 2022-02-11 | 2023-08-17 | Liebherr-Werk Biberach Gmbh | Kran |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT192857B (de) * | 1955-12-31 | 1957-11-11 | Voest Ag | Kontrolleinrichtung für Hubvorrichtungen, insbesondere Zangenbalken |
US5048703A (en) * | 1988-05-18 | 1991-09-17 | Tax Ingenieurgesellschaft Mbh | Container crane installation |
GB2295596A (en) * | 1994-11-30 | 1996-06-05 | Mitsubishi Heavy Ind Ltd | Detecting deflection of a suspended load |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4753357A (en) * | 1985-12-27 | 1988-06-28 | Ishikawajima-Harima Heavy Industries Co., Ltd. | Container crane |
DE4447393C1 (de) * | 1994-12-23 | 1996-06-13 | Mannesmann Ag | Verfahren und Vorrichtung zur Aufnahme einer Last durch einen Lasthaken eines Kranes |
DE19538264C2 (de) * | 1995-10-13 | 1999-02-18 | Pietzsch Automatisierungstech | Verfahren und interaktive Bedienkonsole zur Vorbereitung und Einrichtung eines mobilen Arbeitsgerätes |
-
1997
- 1997-06-09 DE DE1997125315 patent/DE19725315C2/de not_active Expired - Fee Related
-
1998
- 1998-06-03 EP EP98250192A patent/EP0885833A3/de not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT192857B (de) * | 1955-12-31 | 1957-11-11 | Voest Ag | Kontrolleinrichtung für Hubvorrichtungen, insbesondere Zangenbalken |
US5048703A (en) * | 1988-05-18 | 1991-09-17 | Tax Ingenieurgesellschaft Mbh | Container crane installation |
GB2295596A (en) * | 1994-11-30 | 1996-06-05 | Mitsubishi Heavy Ind Ltd | Detecting deflection of a suspended load |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8477987B2 (en) | 2005-06-22 | 2013-07-02 | Sime Oy | Method for repositioning a numerically controlled device |
CN102452611A (zh) * | 2010-10-21 | 2012-05-16 | 上海振华重工(集团)股份有限公司 | 集装箱起重机的吊具空间姿态的检测方法和装置 |
CN102452611B (zh) * | 2010-10-21 | 2014-01-15 | 上海振华重工(集团)股份有限公司 | 集装箱起重机的吊具空间姿态的检测方法和装置 |
CN110127523A (zh) * | 2018-02-02 | 2019-08-16 | 盟立自动化股份有限公司 | 自动光学辨识物料的悬吊运输装置及*** |
Also Published As
Publication number | Publication date |
---|---|
DE19725315C2 (de) | 2001-03-22 |
EP0885833A3 (de) | 1999-08-25 |
DE19725315A1 (de) | 1998-12-10 |
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