EP3532425B1 - Dispositif de compensation de traction oblique dans des grues - Google Patents

Dispositif de compensation de traction oblique dans des grues Download PDF

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Publication number
EP3532425B1
EP3532425B1 EP17803779.2A EP17803779A EP3532425B1 EP 3532425 B1 EP3532425 B1 EP 3532425B1 EP 17803779 A EP17803779 A EP 17803779A EP 3532425 B1 EP3532425 B1 EP 3532425B1
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EP
European Patent Office
Prior art keywords
tower crane
boom
sensor
load
crane
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.)
Active
Application number
EP17803779.2A
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German (de)
English (en)
Other versions
EP3532425A1 (fr
Inventor
Alexander STRÄHLE
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.)
Liebherr Werk Biberach GmbH
Original Assignee
Liebherr Werk Biberach 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.)
Filing date
Publication date
Application filed by Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Priority to EP21162860.7A priority Critical patent/EP3858781A1/fr
Publication of EP3532425A1 publication Critical patent/EP3532425A1/fr
Application granted granted Critical
Publication of EP3532425B1 publication Critical patent/EP3532425B1/fr
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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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • 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
    • 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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable

Definitions

  • the invention relates to a device for compensating diagonal pull in tower cranes with at least one boom, a boom drive for adjusting an angle and / or a length of the boom and / or for moving a trolley, and a control / regulating device for controlling / regulating the boom drive.
  • the WO 2016/128119 A discloses a tower crane with a boom, a boom drive for adjusting an angle of the boom, a sensor for detecting the angle and a control /
  • Control device for controlling the boom drive. If the load is now lifted from the ground or at the moment when the load hardly touches the ground or no longer touches the ground at all, a pendulum movement of the now freely suspended or raised load occurs due to the inclined pull of the rope. Likewise, when weaning a load, a relaxation of the steel structure or the tower crane lead to the fact that the tower crane springs back and thus again causes a diagonal pull of the rope. This goes hand in hand with possible dangers, such as the occurrence of a swaying load, which can lead to property damage or personal injury, such as crushing, especially in confined spaces. Furthermore, the horizontal movement of the load can lead to the tower crane's permissible load torque being exceeded.
  • the object of the invention is to provide a device by means of which the compensation of the diagonal pull in tower cranes can be improved or simplified.
  • a device for compensating diagonal pull in tower cranes with the features of claim 1.
  • Advantageous designs are the subject of the subclaims. Accordingly, a device with at least one boom, a boom drive for adjusting an angle and / or a length of the boom and / or for moving a Trolley, a sensor for detecting the angle of the boom and / or the deformation of at least part of the tower crane and a control / regulating device for controlling the boom drive is provided, the sensor value detected by means of the controller when a load is lifted and / or set down by the tower crane - / control device and the boom drive is kept constant.
  • the boom drive can be, for example, a motor winch for changing the bracing of the tower crane or the position of the trolley and / or a hydraulic cylinder piston device by means of which the boom can be pivoted.
  • the device according to the invention can also be applied to or coupled to a mobile tower crane and used accordingly to reduce or prevent diagonal pull in mobile cranes.
  • the sensed sensor value can mean an angle of the boom that is spanned by the boom and the horizontal.
  • the sensor value can be a value that is proportional to a deformation of the tower crane and, for example, corresponds to a tension in the crane structure.
  • the open-loop and closed-loop control device detects a first actual value by means of the sensor and, in the event of a subsequent change in the first measured actual value, controls / regulates the boom drive so that the error or the change or deviation is minimized between an actual value measured initially and a deviating value measured afterwards.
  • the deformation of the tower crane can be, for example, the bending of the tower or the boom of the tower crane. In this way, according to the invention, diagonal pull compensation can advantageously be carried out using sensors provided in known tower cranes.
  • the boom drive is a pull-in winch or a guy winch.
  • the corresponding winch can be controlled or regulated via the control / regulating device for moving the boom so that the sensor value or parameter detected by the sensor is constant or a deviation between a sensor value measured first and a value measured during further operation of the tower crane is reduced or . is minimized.
  • the pull-in winch or the guy winch is used to change the length of the boom of the tower crane by extending or retracting the boom accordingly. As a result, the diagonal pull can also be reduced, but not fully compensated, since the deflection of the tower or the boom is not compensated.
  • the boom drive is designed as a cylinder piston device and is coupled to the boom for pivoting the boom.
  • the at least one sensor is an inclination sensor, an optical sensor, a length transmitter for measuring deformations, a GPS sensor and / or a cable sensor in or on a bracing of the tower crane. Accordingly, it is possible to use more than one sensor for recording the respective crane parameters or the geometric design or deformation of the tower crane. In particular, it is possible to use more than one sensor in combination for detecting the alignment or deformation of the tower crane.
  • control / regulating device controls the boom drive on the basis of a reference value calculated from a plurality of sensor values.
  • the calculated reference value can be, for example, the load moment, which can be derived from the weight of the load lifted by the tower crane and the corresponding outreach or from the supporting forces acting on the tower crane and the outreach.
  • the ratio of the sensor value and / or reference value to the cantilever displacement due to the deformation of the tower crane is scaled or determined and / or calculated with a test weight.
  • the rigidity and the crane structure or the geometry of the tower crane can be used for the computational determination of the relationship between the sensor value or the reference value and the projection displacement.
  • the invention is also directed to a tower crane having a device according to any one of claims 1 to 7.
  • Figure 1a shows a tower crane 1 known from the prior art with a boom 2 which does not have a device according to the invention for compensating diagonal pull.
  • the tower crane 1 comprises a boom drive 3 which can adjust the boom 2 and / or move the trolley 7.
  • the tower crane 1 is at least not loaded by the load 6 and therefore also has no deformations caused by the load 6.
  • boom drive 3 can mean a drive for moving the boom 2 or any other drive provided on the tower crane, such as a pull-in winch 8 or guy winch 9, by means of which further or other crane components can be moved.
  • the tower crane 1 When the load 6 is lifted from the ground, the tower crane 1 is correspondingly loaded, even while the load initially remains on the ground or touches the ground. This leads, among other things, to a horizontal movement of the
  • the Indian Figure 2a The tower crane 1 shown with the device according to the invention for compensating the diagonal pull initially hardly differs from that in FIG Figure 1a shown, known from the prior art tower crane 1, wherein in Figures 1a and 2a each tower cranes are shown in an unloaded state.
  • the tower crane 1 according to the invention begins according to FIG Figure 2b To lift the load 6 while it is still on the ground or still touching the ground, according to the invention the overhang of the tower crane 1 can be automatically reduced, whereby the diagonal pull is correspondingly reduced and a pendulum movement is prevented when the load 6 is raised further. If the tower crane 1 lifts as in Figure 2c If the load is shown from the ground, according to the invention there is no diagonal pull at that moment and no load oscillation occurs. As in Figure 2b the trolley 7 is shown moving and / or the boom 2 is pivoted so that the rope has no diagonal pull or is arranged vertically.
  • the sensor 5 shown for example, the inclination of the boom 2, the deformation based on a detected change in length of the boom 2 and / or the tension in the bracing of the tower crane 1 can be detected.
  • At least one corresponding sensor 5 can be provided, for example, on the boom 2 or, alternatively or in addition, on other components such as the tower of the tower crane.
  • the control / regulating device 4 can detect the values detected by the sensor 5 or by the sensors 5 and on the basis of this, determine how the boom drive 3 is to be controlled so that there is as little diagonal pull as possible.
  • a known test weight can be lifted by means of the tower crane 1, whereby the detected sensor values can be stored accordingly. This can be carried out with different boom angles or projections of the tower crane 1.
  • a correspondingly created table of values with the recorded sensor values, the test weight and / or the corresponding boom angles or projections can be used to compensate for the diagonal pull when the crane 1 is in operation.
  • Figure 3 shows a schematic representation of the active structure when using a tower crane 1 with a device according to the invention.
  • one or more reference variables are initially determined that are clearly related to the deformation of the tower crane 1 or the steel structure of the tower crane 1.
  • an in particular computational variable can be generated or recorded.
  • the following sensors can be used in any combination and number: load torque sensors, inclination sensors in the tower and / or boom 2 of the tower crane 1, force sensors or a measuring axis or a tensile force sensor in the hoist rope line, extension sensors, force sensors in the bracing, in the guy rope, in the neck rope and / or in the pull-in rope, GPS sensors, optical sensors such as a camera, force sensors and / or strain sensors and / or length sensors in the steel structure of the crane 1, force sensors and / or hydrostatic pressure sensors in the support of the tower crane 1, pressure sensors in an adjusting cylinder of the Tower crane 1 and / or absolute encoder on a cable drum or winch.
  • a transfer function can be used from the determined reference value or from the determined reference values generated or determined the deformation of the tower crane 1 become.
  • the transfer function can be mapped, for example, with a computational relationship or a map.
  • the deformation can correspond, for example, to a shift in the projection and / or to a change in the angle of the tower and / or boom 2.
  • different crane configurations or tower / boom configurations or hoisting rope reeving can be taken into account.
  • the deformation of the tower crane 1 can be measured, for example, using a payload sensor and an outreach sensor.
  • the corresponding sensors 5 for measuring the payload and the outreach can be installed in the tower crane 1.
  • the load torque which in this case represents the reference variable, is computationally determined in the crane control from these two sensors 5. It is also conceivable that in addition to Load moment the radius is a second reference value. This essentially depends on the crane structure and the resulting static relationships.
  • Figures 4a-4c make this connection clear.
  • Figure 4a shows a tower crane with a load placed on the ground, the crane not being loaded by the load.
  • Figure 4b shows a tower crane in which the load to be lifted by it is still on the ground, but has already applied part of its weight to the tower crane. In this state, a horizontal movement of the tower crane 1 or the overhead crane is effected.
  • Figure 4c shows the tower crane from Figure 4b at the moment the load is lifted from the ground, the measured cantilever magnification ⁇ s in the Figures 4b and 4c is shown.
  • the crane operator can activate the automatic correction of the diagonal pull on a display in order to compensate for an undesired diagonal pull.
  • the payload and the outreach become the, especially online Load torque calculated.
  • the outreach with the trolley 7 is automatically corrected by the correspondingly determined outreach shift.
  • the invention is used in connection with a mobile tower crane with an adjustable boom, another operating principle is also possible. So it is conceivable that the deformation of the steel structure is measured by inclination sensors in the boom and absolute encoder of the guy winch 9. In this situation, the diagonal pull can be determined by means of a transfer function that can be permanently stored in the controller. The diagonal pull is then compensated for using appropriate correction commands.
  • the boom inclination is adjusted with the guy winch 9, which is designed with an absolute encoder.
  • the guy winch 9 which is designed with an absolute encoder.
  • the inclination of the boom changes due to the deformation of the steel structure of the tower and boom and the stretching of the guy rope, while the absolute encoder of the guy winch remains constant. This changes the relationship between the boom angle and the absolute encoder. More on this is the Figure 7 removable.
  • the deflection of the tower can also be compensated for.
  • the boom angle must be set steeper than originally when there is a load. More on this is Figure 9 removable.
  • the crane operator is shown the diagonal pull visually on a display, possibly with an acoustic signal. With a button or an input on the touch display, he can then trigger the correction movement or a correction command to adjust the boom.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (7)

  1. Grue à tour (1) avec un dispositif pour la compensation de traction oblique dans une grue à tour (1) avec au moins une flèche (2), au moins un entraînement de flèche (3) pour ajuster un angle et/ou une longueur de la flèche (2) et/ou pour déplacer un chariot roulant (7), avec au moins un capteur (5) pour détecter l'angle de la flèche (2) et/ou la déformation d'au moins une partie de la grue à tour (1) et avec au moins un dispositif de commande/de régulation (4) pour commander l'entraînement de flèche (3), dans lequel lors du soulèvement et/ou de l'abaissement d'une charge (6) par la grue à tour (1), la valeur de capteur détectée est maintenue constante au moyen du dispositif de commande/régulation (4) et de l'entraînement de flèche (3).
  2. Grue à tour (1) selon la revendication 1, caractérisée en ce que l'entraînement de flèche (3) est au moins un treuil de rétraction (8) ou un treuil de mise en tension (9).
  3. Grue à tour (1) selon la revendication 1, caractérisée en ce que l'entraînement de flèche (3) est un dispositif à piston-cylindre hydraulique.
  4. Grue à tour (1) selon l'une quelconque des revendications précédentes, caractérisée en ce que le capteur (5) est un capteur d'inclinaison, un capteur optique, une sonde de longueurs pour mesurer des déformations, un capteur GPS et/ou un capteur de traction de câble dans ou sur un haubanage de la grue à tour (1).
  5. Grue à tour (1) selon l'une quelconque des revendications précédentes, caractérisée en ce que le dispositif de commande/régulation (4) pilote l'entraînement de flèche (3) sur la base d'une valeur de référence calculée à partir de plusieurs valeurs de capteur.
  6. Grue à tour (1) selon la revendication 5, caractérisée en ce que la valeur de référence est le couple de charge calculé à partir de la portée de la grue à tour (1) et du poids de la charge (6) ou des forces de soutien.
  7. Grue à tour (1) au moins selon la revendication 5, caractérisée en ce que le rapport de la valeur de capteur et/ou la valeur de référence par rapport au décalage de portée est mis à l'échelle ou défini et/ou déterminé par calcul avec un poids de contrôle en raison de la déformation de la grue à tour (1).
EP17803779.2A 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues Active EP3532425B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21162860.7A EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016013320 2016-11-09
DE102017125715.2A DE102017125715A1 (de) 2016-11-09 2017-11-03 Vorrichtung zur Kompensation von Schrägzug bei Kranen
PCT/EP2017/001305 WO2018086740A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP21162860.7A Division EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues
EP21162860.7A Division-Into EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues

Publications (2)

Publication Number Publication Date
EP3532425A1 EP3532425A1 (fr) 2019-09-04
EP3532425B1 true EP3532425B1 (fr) 2021-04-21

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Family Applications (2)

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EP21162860.7A Pending EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues
EP17803779.2A Active EP3532425B1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues

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Application Number Title Priority Date Filing Date
EP21162860.7A Pending EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues

Country Status (7)

Country Link
US (1) US11174134B2 (fr)
EP (2) EP3858781A1 (fr)
CN (1) CN110167865A (fr)
DE (1) DE102017125715A1 (fr)
DK (1) DK3532425T3 (fr)
ES (1) ES2877702T3 (fr)
WO (1) WO2018086740A1 (fr)

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DK180746B1 (en) * 2020-08-18 2022-02-10 Hmf Group As Control system for cantilever crane and method for controlling a cantilever crane
EP4015436A1 (fr) 2020-12-15 2022-06-22 Schneider Electric Industries SAS Méthode d'optimisation d'une fonction anti-balancement

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WO2016128119A1 (fr) * 2015-02-09 2016-08-18 Liebherr-Werk Biberach Gmbh Grue et procédé pour surveiller la sécurité de surcharge d'une telle grue

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WO2018086740A1 (fr) 2018-05-17
CN110167865A (zh) 2019-08-23
US11174134B2 (en) 2021-11-16
DK3532425T3 (da) 2021-06-28
ES2877702T3 (es) 2021-11-17
EP3532425A1 (fr) 2019-09-04
DE102017125715A1 (de) 2018-05-09
US20200180917A1 (en) 2020-06-11
EP3858781A1 (fr) 2021-08-04

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