EP2226287B1 - Verfahren und Anordnung zur Beeinflussung der aufgenommenen Schüttmenge bei Hebezeugen - Google Patents

Verfahren und Anordnung zur Beeinflussung der aufgenommenen Schüttmenge bei Hebezeugen Download PDF

Info

Publication number: EP2226287B1
Authority: EP; European Patent Office
Prior art keywords: gripper; holding; filling volume; torque; during
Prior art date: 2009-03-04
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.): Not-in-force

Application number

EP10155480A

Other languages

German (de)

English (en)

French (fr)

Other versions

EP2226287A1 (de

Inventor

Olaf Hieronimus

Thorsten Kletzin

Detlef Skerra

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.)

KIROW ARDELT GmbH

Original Assignee

KIROW ARDELT GmbH

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.)

2009-03-04

Filing date

2010-03-04

Publication date

2012-05-23

2010-03-04 Application filed by KIROW ARDELT GmbH filed Critical KIROW ARDELT GmbH

2010-03-04 Priority to PL10155480T priority Critical patent/PL2226287T3/pl

2010-09-08 Publication of EP2226287A1 publication Critical patent/EP2226287A1/de

2012-05-23 Application granted granted Critical

2012-05-23 Publication of EP2226287B1 publication Critical patent/EP2226287B1/de

Status Not-in-force legal-status Critical Current

2030-03-04 Anticipated expiration legal-status Critical

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Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/14—Grabs opened or closed by driving motors thereon
- B66C3/18—Grabs opened or closed by driving motors thereon by electric motors
- 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
- B66C13/16—Applications of indicating, registering, or weighing devices
- 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
- 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
- B66C13/22—Control systems or devices for electric drives
- B66C13/23—Circuits for controlling the lowering of the load
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/12—Grabs actuated by two or more ropes
- B66C3/125—Devices for control

Definitions

the invention relates to a method for influencing the Greifer spallvolumens in hoists with Zweimotorengreiferhubtechniken (locking and holding work), a corresponding system for data processing for performing the method and a corresponding computer program or a storage medium on which such a program is stored.
the filling volume of the gripper In the case of lifting equipment for bulk material, it is important for economically optimal operation that the filling volume of the gripper always corresponds to the maximum filling weight, ie avoiding both underloading and overloading.
the factors influencing the degree of filling are, for example, the density of the bulk material and friction-dependent factors (adhesion, cohesion, roughness of the bulk material).
the density of the bulk material even with bulk material of the same kind, for example, is significantly influenced by the granularity or the water content. Tolerances of the bulk density, which lead to a mismatch of the gripper, let the turnover rate decrease by exceeding the allowable load torque and related interruption of the handling process. The reduction or avoidance of these interruptions not only has an impact on the handling capacity, but also on the service life of the crane system. Therefore, various measures have been taken in the past to adapt the gripper to the respective bulk material.
the simplest measure is to adapt the gripper to the respective bulk material by changing the gripper shells, for example in DE 79 10 944 U1 a special gripper has been proposed.
the change requires a lot of effort by additional working time, possibly an additional worker and the storage of several grippers. If only a short-term change in the bulk density is foreseeable, you will completely waive a change and take for the resulting under-utilization of the gripper operation in purchasing.
Economic constraints limit the variety of variants of the gripper because of the high investment costs, so that the bulk density matched gripper meet only to a certain extent the tolerances of the bulk materials occurring in practice. A compromise between the volume of the gripper and the density of the bulk material is therefore always necessary in practice so far.
the opening width is limited by adjustable mechanical limit stops (spread limiters), which, among other things, has the disadvantage that the opening of the gripper is also limited during emptying. All mechanical solutions are also, apart from the amount of work involved in an adjustment, anyway disadvantageous due to the rapid wear occurring the necessary limiting means.
Desirable is a solution that provides a limitation of the filling amount of a designed for full load gripper alone by control measures.
the object of the invention is to provide a method by means of which a handling process that reduces envelope load when using a gripper designed for full load alone can be reduced by control measures in order to ensure configured handling quantities, if necessary also for hoists with discharge-dependent load-bearing curves.
the crane operator specifies a stored value for the respective bulk material for the holding torque and adapts the value if necessary with one or two gripper strokes.
the value for the holding torque during the closing operation of the gripper can be changed by the higher-level control.
it is adapted to the lifting height independently of the operator and, on the other hand, it can be readjusted automatically depending on the current load torque.
the existing lifting height is detected by an existing displacement measuring system and compensated by adaptation of the associated rope length influence.
the higher-level controller adapts the value for the holding torque in accordance with the current load torque, so that a correspondingly lower value for the gripper filling volume is predetermined given a higher crane discharge and thus reduced carrying capacity of the crane.
Activation of the adapted limit occurs automatically on each gripper stroke after falling below an adjustable load comparator threshold of the weight of the gripper in conjunction with the initiation of the closing process.
a data processing system, a computer program or a computer-readable storage medium, which contains a program for carrying out the method, are each set up in such a way that they perform the following measure:
an upper limit of the moment is set for the holding, which is higher than a previously determined moment, which would be necessary only for the taut holding of the tethers.
the torque limits in controlled speed controllers should not be chosen differently due to the approximately equal load distribution.
the method has the advantage that the gripper no mechanical measures to limit or increase the capacity must be made.
the filling quantity is set solely by a control technology intervention in the optimum height. Independently of the operator, the filling quantity is automatically adjusted depending on the lifting height and the load torque.
the solution has the advantage that delicate ship floors or wagon floors are spared, since the gripping curve is already raised during closing and thus scrapes the gripper only with desired residual weight on the ground.
the force of a holding work FH of a Zweimotorengreiferhubwerkes is detected by a load cell 1 and a closing mechanism FS by a load cell 2 in a load detection 3 and evaluated.
the activation of the moment influencing takes place in a data processing system 5 by a load comparator 5a when it falls below an adjustable load threshold as a function of the grab own weight, while the gripper is deposited on the bulk material.
the torque-forming torque is in a corresponding speed controller 6 for a holding motor 8 (three-phase motor or DC motor) during the closing process in a torque limiter 6a of the speed controller. 6 according to the invention reduced until the gripper is closed by a closing mechanism motor 10, which is controlled by a speed controller 7 or the lifting operation is initiated.
the actual gripper load is compared with the maximum possible gripper load in the load comparator 5a and optionally adjusted in the multiplexer 5b, the torque limit of the maximum handling capacity of the hoist.
the path detection for lifting height adaptation and subtraction (gripper closing angle) in the unit for lifting height detection 5c is realized by displacement sensors 9 and 11 and the associated evaluation software.

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Engineering & Computer Science (AREA)
Mechanical Engineering (AREA)
Automation & Control Theory (AREA)
Control And Safety Of Cranes (AREA)

EP10155480A 2009-03-04 2010-03-04 Verfahren und Anordnung zur Beeinflussung der aufgenommenen Schüttmenge bei Hebezeugen Not-in-force EP2226287B1 (de)

Priority Applications (1)

Application Number	Priority Date	Filing Date	Title
PL10155480T PL2226287T3 (pl)	2009-03-04	2010-03-04	Sposób i układ do wpływania na masę nabranego materiału sypkiego w przypadku dźwigów

Applications Claiming Priority (1)

Application Number	Priority Date	Filing Date	Title
DE102009011604A DE102009011604A1 (de)	2009-03-04	2009-03-04	Verfahren und Anordnung zur Beeinflussung des Greiferfüllvolumens bei Hebezeugen mit Zweimotorengreiferhubwerken

Publications (2)

Publication Number	Publication Date
EP2226287A1 EP2226287A1 (de)	2010-09-08
EP2226287B1 true EP2226287B1 (de)	2012-05-23

Family

ID=42224692

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP10155480A Not-in-force EP2226287B1 (de)	2009-03-04	2010-03-04	Verfahren und Anordnung zur Beeinflussung der aufgenommenen Schüttmenge bei Hebezeugen

Country Status (8)

Country	Link
EP (1)	EP2226287B1 (pl)
DE (1)	DE102009011604A1 (pl)
DK (1)	DK2226287T3 (pl)
EA (1)	EA023337B1 (pl)
ES (1)	ES2387591T3 (pl)
PL (1)	PL2226287T3 (pl)
PT (1)	PT2226287E (pl)
UA (1)	UA104845C2 (pl)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
DE102013019761A1 (de)	2013-11-25	2015-05-28	Liebherr-Werk Nenzing Gmbh	Verfahren zum Beeinflussen des Füllvolumens eines Greifers
DE102014110060A1 (de) *	2014-07-17	2016-01-21	Terex Mhps Gmbh	Füllgradsteuerung für einen Schüttgut-Greifer eines Krans

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
GB1215653A (en) *	1968-08-09	1970-12-16	Ashmore Benson Pease & Company	Hoisting devices for loose material
DE2041393C3 (de)	1970-08-20	1979-10-31	Demag Ag, 4100 Duisburg	Motorgreifer für Schüttgüter
DE7910944U1 (de)	1979-04-14	1979-07-26	Landers-Maschinenfabrik Gmbh, 4230 Wesel	Ein- oder mehrseilgreifer
DD145738A1 (de) *	1979-08-30	1981-01-07	Hans L Grimm	Einrichtung zur begrenzung des schlaffseiles fuer greiferkrane mit zweiwindenhubwerk
DE2945746C2 (de) *	1979-11-13	1983-10-20	Mannesmann AG, 4000 Düsseldorf	An einem Hubwerk hängender Greifer
JPS5939016B2 (ja) *	1981-03-10	1984-09-20	川崎製鉄株式会社	グラブバケツトの掴み量制御方法および装置
DE3527328A1 (de) *	1985-07-31	1987-02-12	Ps Foerder Und Lagertechnik Gm	Multigripp fuer schwimmgreiferanlagen
SU1602848A2 (ru) *	1987-10-09	1990-10-30	Ленинградский Государственный Институт Проектирования На Речном Транспорте	Устройство дл управлени лебедками грейферного крана
DD288138A5 (de)	1989-09-29	1991-03-21	Veb Kranbau Eberswalde,De	Einrichtung zur verhinderung einer greiferueberlastung
DE59008943D1 (de) *	1990-05-29	1995-05-24	Siemens Ag	Zugregelung für die Greiferseile eines Schüttgut-Um-schlaggeräts.
JP4127901B2 (ja) *	1997-07-04	2008-07-30	アグフア−ゲヴエルト，ナームローゼ・フエンノートシヤツプ	放射画像における対称線の決定方法

2009
- 2009-03-04 DE DE102009011604A patent/DE102009011604A1/de not_active Withdrawn
2010
- 2010-03-03 UA UAA201002403A patent/UA104845C2/uk unknown
- 2010-03-03 EA EA201000303A patent/EA023337B1/ru not_active IP Right Cessation
- 2010-03-04 PT PT10155480T patent/PT2226287E/pt unknown
- 2010-03-04 PL PL10155480T patent/PL2226287T3/pl unknown
- 2010-03-04 ES ES10155480T patent/ES2387591T3/es active Active
- 2010-03-04 DK DK10155480.6T patent/DK2226287T3/da active
- 2010-03-04 EP EP10155480A patent/EP2226287B1/de not_active Not-in-force

Also Published As

Publication number	Publication date
UA104845C2 (uk)	2014-03-25
EP2226287A1 (de)	2010-09-08
DK2226287T3 (da)	2012-09-03
PT2226287E (pt)	2012-08-24
EA023337B1 (ru)	2016-05-31
PL2226287T3 (pl)	2012-12-31
ES2387591T3 (es)	2012-09-26
EA201000303A1 (ru)	2010-10-29
DE102009011604A1 (de)	2010-09-16

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