EP0234451B1 - Crane - Google Patents

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Publication number
EP0234451B1
EP0234451B1 EP87102071A EP87102071A EP0234451B1 EP 0234451 B1 EP0234451 B1 EP 0234451B1 EP 87102071 A EP87102071 A EP 87102071A EP 87102071 A EP87102071 A EP 87102071A EP 0234451 B1 EP0234451 B1 EP 0234451B1
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EP
European Patent Office
Prior art keywords
winch
load
force
crane
cable
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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.)
Expired - Lifetime
Application number
EP87102071A
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German (de)
French (fr)
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EP0234451A3 (en
EP0234451A2 (en
Inventor
Walter Dipl.-Ing Länge
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Priority to AT87102071T priority Critical patent/ATE59367T1/en
Publication of EP0234451A2 publication Critical patent/EP0234451A2/en
Publication of EP0234451A3 publication Critical patent/EP0234451A3/en
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Publication of EP0234451B1 publication Critical patent/EP0234451B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S254/00—Implements or apparatus for applying pushing or pulling force
    • Y10S254/90—Cable pulling drum having wave motion responsive actuator for operating drive or rotation retarding means

Definitions

  • the invention relates to a crane with a hoist having a hoist rope and a hoist winch with a slip clutch arranged between the hoist rope winch and the drive.
  • the payload coefficient which is dependent on the lifting speed, the rigidity of the crane and the vertical speed of the load to be lifted relative to the crane, takes into account the dynamic loads on the crane which are caused by the impact of the load moving relative to the crane. Depending on the significant wave height and the average period of the waves, this lifting load coefficient can be between 1.3 and about 4.5. Since a moving load-lifting crane has to be designed and designed taking into account the largest occurring lifting load factor, the crane construction is considerably more expensive.
  • a generic crane is already known from AT-B-310 994, in which the movement of the transport ship is transmitted to the load, the load being able to be moved relative to the ship by the load winch.
  • this known winch device additionally has a tension winch which is provided with a tension winch rope, which in turn is connected to the ship.
  • a hydraulic or pneumatically operated slip clutch is provided for driving the tensioning winch, so that the tensioning winch rope is given an essentially constant tension.
  • the load winch is connected to the tension winch.
  • the up and down movement of the ship causes the supply of a variable control signal in a control device for the hydraulic or pneumatic medium in order to vary the pressure of the actuating medium which is supplied to the coupling.
  • the object of the invention is therefore to further develop a crane of the type specified at the outset in such a way that, despite use, it is of simple construction in the case of considerable vertical relative movements between the latter and the load to be lifted.
  • this object is achieved in a generic crane by the features of the characterizing part of claim 1.
  • the crane according to the invention makes it possible to lift a load which is moved in the vertical direction relative to the crane essentially in the same way as a load which is in the position of rest relative to the crane. Because when the initially slack rope is attached to the load via the crane hook or the like, the rope is initially tightened, which then increases in tractive force and thereby increasingly carries a greater part of the weight of the load. However, the load carries out its relative movements in relation to the crane, but the lifting force transferred from the hoisting rope to the load is constantly increasing. The hoist rope attached to the load is thus in a relative rest position to the load, because the relative movements of the load relative to the crane are compensated for by turning the cable drum driven with a certain torque back and forth. With the crane according to the invention, a moving load is thus basically lifted in the same way as an unmoving load.
  • the load moved in the vertical direction has negative and positive accelerations which alternate with one another depending on the direction of movement of the load. If the cable pulling force is increased in a predetermined time in the crane according to the invention, this reaches a value which corresponds to the weight of the load to be lifted. Of course, the force required to lift the load can increase briefly if the load is subjected to negative acceleration.
  • the load is lifted bumplessly at a point in time when the cable pulling force has reached the weight of the load plus any acceleration force that is currently acting.
  • a lifting load factor need not be taken into account in the crane according to the invention, because there is no slack rope during lifting that the moving load could impact.
  • the slipping clutch or the drive limit the highest rope force to a force which is above the nominal load by a certain safety factor, preferably a safety factor in the range of 1.5.
  • a certain safety factor preferably a safety factor in the range of 1.5.
  • the control initially pretensions the hoisting rope via the drive of the winch or the slip clutch to a predetermined fraction, preferably in the range of 5%, of the nominal load and then continuously pulls the tractive force to that corresponding to the nominal load or to Lifting the load increases the required value.
  • the hoist rope is initially relatively little pretensioned until all loose rope is reeled up and thereby slack rope is avoided before a switching impulse is triggered by a forced switching, that is to say automatically, which increases the rope force continuously until the load is lifted.
  • the circuit can be carried out in such a way that the time of the switching pulse for increasing the tractive force is selected by the crane operator, but in any case the cable is preloaded beforehand.
  • the lifting winch the drive of which is provided with an arm which forms a torque support and which, when a predetermined rope force below the nominal load is reached, actuates a switch or a valve which inevitably increases the drive torque of the winch up to the highest rope force such a torque support provides additional security that the Cable pull does not drop once the lifting process has been initiated.
  • the switch or the valve of the torque support are expediently actuated when the pretensioning force of the lifting cable is reached.
  • a hydraulic motor is expediently provided, the drive torque of which can be controlled by the pressure medium pressure.
  • the slip clutch expediently consists of a multi-plate clutch.
  • the multi-plate clutch can be loaded by pistons preloaded by springs, which can be acted upon by a hydraulic fluid to reduce the slip torque.
  • the crane according to the invention can preferably be a crane with a luffing jib mounted on the platform of an oil rig.
  • the invention can also be implemented in cranes with a rigid boom or without a boom.
  • Fig. 1 is a schematic representation of the hoist with winch and the associated drive and control devices
  • Fig. 2 is a representation corresponding to Fig. 1 with an additional incremental encoder that interrupts the power supply to the solenoid valve S1 as soon as the clutch grinds
  • Fig. 1 is a schematic representation of the hoist with winch and the associated drive and control devices
  • Fig. 2 is a representation corresponding to Fig. 1 with an additional incremental encoder that interrupts the power supply to the solenoid valve S1 as soon as the clutch grinds
  • FIG. 3 shows a representation corresponding to FIGS. 1 and 2, but with a hydraulic cylinder acting on the clutch in a different embodiment.
  • the control lever shown is operated to lift.
  • the switches M1 and M2 are switched.
  • the proportional valve S5 is energized via the power stage and the hoist pump P1 is pivoted out, thereby driving the hydraulic motor MA.
  • the solenoid valve S1 is switched via the then closed switch M3.
  • a pressure can now build up in line 4 which corresponds to the pressure set at the pressure relief valve V5.
  • a multi-plate clutch 1 is installed between the transmission and the shaft of the winch.
  • the slip torque of the slip clutch 1 is set by the piston rod of the cylinder Z1, a compression spring acting on the piston.
  • the hydraulic fluid from line 4 acts on the piston ring, so that the spring is compressed and the multi-plate clutch is relieved (opened) by the pressure in hydraulic line 4.
  • the pressure relief valve V5 is set so that a slipping torque is set on the multi-plate clutch 1, which corresponds to approximately 5% of the nominal cable pull.
  • the gear is rotatably supported on the shaft and is supported on the spring 3.
  • the spring 3 is selected so that when approximately 5% of the nominal cable is reached, the valve V6 is switched and at the same time the switch M3 drops out. As a result, the solenoid valve S1 falls off and the pressure line 4 is relieved via the valve V6.
  • the hydraulic pressure in the cylinder Z1 slowly decreases via the nozzle D1.
  • the time until the pressure drops completely is regulated via the nozzle D1 and is approx. 1 sec. and be longer. Due to the slow pressure drop, the slip torque in the clutch increases continuously until the maximum torque set via the spring in cylinder Z1 is reached.
  • This switching method ensures on the one hand that the multi-plate clutch is opened with each stroke and then slowly closed again. On the other hand, about redundant circuit ensures that the clutch is not opened when the load is suspended.
  • a refinement of the control can be achieved in that, as shown in FIG. 2, an incremental encoder X1 is additionally installed, which interrupts the current supply to the solenoid valve S1 as soon as the clutch grinds. This in turn has the result that the clutch closing process described above is initiated. This means that if any slack rope is reeled, the clutch slips and then the tractive force is continuously increased.
  • Electrical monitoring logic can be installed as additional equipment, which monitors all systems once and at the same time indicates where the fault is in the event of a failure.
  • destiebs can be used instead of the winch drive shown in the example.
  • the maximum torque to be transmitted and thus the tensile force is set via the spring in cylinder Z1 so that the maximum tensile force e.g. does not exceed 1.5 times the nominal load. This effectively protects the crane from overload. If a crane now has a permissible lifting load that varies with the radius, the slip torque, and thus the maximum tractive force, can be changed in that the chamber 1 of the cylinder Z2 is acted on by hydraulic pressure, as shown in FIG. 3. This cylinder is installed in place of ZI in Figs. 1 and 2.
  • the resulting pressure in the pressure line 5 is adjusted via the solenoid valve V3 or through a mechanically adjustable pressure relief valve V4 or both.
  • the mechanical adjustment of the valve V4 can take place via the lever 6, which is driven directly by the boom, for example in the case of luffing cranes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Iron Core Of Rotating Electric Machines (AREA)
  • Control And Safety Of Cranes (AREA)
  • Luminescent Compositions (AREA)

Abstract

A crane is provided which comprises a hoisting mechanism, which comprises a hoisting rope and a hoisting rope winch. A winch drive for the hoisting rope or a torque-limiting coupling connected between said winch drive and said winch is so controlled that in a period of time which preferably exceeds one second to the rope-pulling force exerted on the hoisting rope is increased in steps or continuously to a value which corresponds to the weight of the load or is sufficient to hoist the load, and that the winch is adapted to be rotated in a payout sense by opposing forces which tend to pull the hoisting rope from the winch and which exceed the instantaneous rope-pulling force.

Description

Die Erfindung betrifft einen Kran mit einem ein Hubseil und eine Hubseilwinde aufweisenden Hubwerk mit einer zwischen der Hubseilwinde und dem Antrieb angeordneten Rutschkupplung.The invention relates to a crane with a hoist having a hoist rope and a hoist winch with a slip clutch arranged between the hoist rope winch and the drive.

Besondere probleme beim Heben einer Last mit einem Kran treten dann auf, wenn die Last relativ zu dem Kran vertikale Bewegungen ausführt. Sollen beispielsweise mit einem auf der Plattform einer Bohrinsel stationär angeordneten Kran Lasten von einem Schiff gehoben werden, führen diese entsprechend der Roll- und Stampfbewegungen des Schiffes, die von den Amplituden und den Perioden der Wellen abhängen, mit dem Schiff Vertikalbewegungen relativ zu dem auf der plattform stehenden Kran aus. Diese Bewegungen können entsprechend den Windund Wetterbedingungen beträchtliche Größen annehmen. Werden von einem derart bewegten Schiff Lasten gehoben, können diese auf das Hubseil und damit die Krankonstruktion beträchtliche dynamische Stoßbeanspruchungen übertragen. Diesen Stoßbeanspruchungen wird durch den Nutzlastbeiwert Cb Rechnung getragen, der sich aus folgender Gleichung errechnet:

  • Figure imgb0001
    In der vorstehenden Gleichung bedeuten: Cb = Nutzlastbeiwert, also der Faktor, mit dem die Größe der Nennlast bei der Berechnung und Auslegung des Krans zu multiplizieren ist,
  • vh = Hakengeschwindigkeit des Krans, vw = vertikale Bemessungsgeschwindigkeit, des Ladungsdecks eines Versorgungsschiffes,
  • K = Federkonstante des Kranes, bezogen auf
  • den Vetikalweg des Lasthakens, g = Gravitationskonstante,
  • L = Kraftwirkung der Nutzlast.
Particular problems when lifting a load with a crane occur when the load makes vertical movements relative to the crane. For example, if loads are to be lifted from a ship using a crane that is stationarily arranged on the platform of an oil rig, these will cause the ship to perform vertical movements relative to that on the ship in accordance with the roll and tamping movements of the ship, which depend on the amplitudes and periods of the waves platform crane. These movements can be of considerable magnitude depending on wind and weather conditions. If loads are lifted from a ship moved in this way, they can transfer considerable dynamic impact loads to the hoist rope and thus the crane construction. These impact loads are taken into account by the payload coefficient Cb, which is calculated from the following equation:
  • Figure imgb0001
     In the above equation: Cb = payload coefficient, i.e. the factor by which the size of the nominal load is to be multiplied when calculating and designing the crane,
  • vh = hook speed of the crane, vw = vertical design speed, of the cargo deck of a supply ship,
  • K = spring constant of the crane, related to
  • the vetical path of the load hook, g = gravitational constant,
  • L = force effect of the payload.

Der Nutzlastbeiwert, der also von der Hubgeschwindigkeit, der Steifigkeit des Kranes und der Vertikalgeschwindigkeit der zu hebenden Last relativ zu dem Kran abhängt, berücksichtigt die dynamischen Beanspruchungen des Kranes, die durch Stoßwirkungen der relativ zu dem Kran bewegten Last hervorgerufen werden. Je nach der signifikanten Wellenhöhe und er mittleren Periode der Wellen kann dieser Hublastbeiwert zwischen 1,3 und etwa 4,5 liegen. Da ein bewegte Lasten hebender Kran unter Berücksichtigung des größten auftretenden Hublastbeiwertes konstruiert und ausgelegt werden muß, wird die Krankonstruktion beträchtlich verteuert.The payload coefficient, which is dependent on the lifting speed, the rigidity of the crane and the vertical speed of the load to be lifted relative to the crane, takes into account the dynamic loads on the crane which are caused by the impact of the load moving relative to the crane. Depending on the significant wave height and the average period of the waves, this lifting load coefficient can be between 1.3 and about 4.5. Since a moving load-lifting crane has to be designed and designed taking into account the largest occurring lifting load factor, the crane construction is considerably more expensive.

Bereits aus der AT-B-310 994 ist ein gattungsgemäßer Kran bekannt, bei dem die Bewegung des Transportschiffes auf die Last übertragen wird, wobei die Last relativ zum Schiff durch die Lastwinde bewegt werden kann. Diese vorbekannte Windeneinrichtung weist allerdings neben der Lastwinde zusätzlich eine Spannwinde auf, welche mit einem Spannwindenseil versehen ist, das wiederum mit dem Schiff verbunden ist. Zum Antrieb der Spannwinde ist eigens eine hydraulische oder pneumatisch betätigte Schlupfkupplung vorgesehen, so daß dem Spannwindenseil eine im wesentliche konstante Spannung erteilt wird. Die Lastwinde ist mit der Spannwinde verbunden. Die Auf- und Abbewegung des Schiffes bewirkt die Zufuhr eines variablen Steuersignals in einer Steuereinrichtung für das hydraulische bzw. pneumatische Medium, um den Druck des Betätigungsmediums, das der Kupplung zugeführt wird, zu variieren. Eine solche Konstruktion ist aufwendig, da mehrere Winden vorzusehen sind.A generic crane is already known from AT-B-310 994, in which the movement of the transport ship is transmitted to the load, the load being able to be moved relative to the ship by the load winch. However, in addition to the load winch, this known winch device additionally has a tension winch which is provided with a tension winch rope, which in turn is connected to the ship. A hydraulic or pneumatically operated slip clutch is provided for driving the tensioning winch, so that the tensioning winch rope is given an essentially constant tension. The load winch is connected to the tension winch. The up and down movement of the ship causes the supply of a variable control signal in a control device for the hydraulic or pneumatic medium in order to vary the pressure of the actuating medium which is supplied to the coupling. Such a construction is complex because several winches have to be provided.

Aufgabe der Erfindung ist es daher, einen Kran der eingangs angegebenen Art derart weiterzubilden, daß er trotz Einsatzes bei erheblichen vertikalen Relativbewegungen zwischen diesem und der zu hebenden Last konstruktiv einfach aufgebaut ist.The object of the invention is therefore to further develop a crane of the type specified at the outset in such a way that, despite use, it is of simple construction in the case of considerable vertical relative movements between the latter and the load to be lifted.

Erfindungsgemäß wird diese Aufgabe bei einem gattungsgemäßen Kran durch die Merkmale des kennzeichnenden Teils des Anspruchs 1 gelöst.According to the invention, this object is achieved in a generic crane by the features of the characterizing part of claim 1.

Der erfindungsgemäße Kran gestattet es, eine relativ zu dem Kran in vertikaler Richtung bewegte Last im wesentlichen ebenso zu heben, wie eine Last, die sich in relativer Ruhelage zu dem Kran befindet. Denn wenn das zunächst schlaffe Seil über den Kranhaken oder dergleichen an die Last angehängt wird, erfolgt zunächst eine Straffung des Seils, das dann zunehmend an Zugkraft zunimmt und dadurch zunehmend einen größeren Teil des Gewichts der Last trägt. Die Last führt aber dennoch ihre Relativbewegungen in Bezug auf den Kran aus, wobei sich aber die von dem Hubseil auf die Last übertragene Hebekraft ständig steigert. Das an die Last angehängte Hubseil befindet sich somit in relativer Ruhelage zu der Last, weil die Relativbewegungen der Last relativ zu dem Kran durch Vorwärts- und Rückwärtsdrehen der mit einem bestimmten Drehmoment angetriebenen Seiltrommel ausgeglichen werden. Durch den erfindungsgemäßen Kran wird somit eine bewegte Last grundsätzlich in der gleichen Weise gehoben wie eine unbewegte Last.The crane according to the invention makes it possible to lift a load which is moved in the vertical direction relative to the crane essentially in the same way as a load which is in the position of rest relative to the crane. Because when the initially slack rope is attached to the load via the crane hook or the like, the rope is initially tightened, which then increases in tractive force and thereby increasingly carries a greater part of the weight of the load. However, the load carries out its relative movements in relation to the crane, but the lifting force transferred from the hoisting rope to the load is constantly increasing. The hoist rope attached to the load is thus in a relative rest position to the load, because the relative movements of the load relative to the crane are compensated for by turning the cable drum driven with a certain torque back and forth. With the crane according to the invention, a moving load is thus basically lifted in the same way as an unmoving load.

Gegenüber einer unbewegten Last wirken jedoch auf die in vertikaler Richtung bewegte Last negative und positive Beschleunigungen, die je nach Bewegungsrichtung der Last miteinander abwechseln. Wird also bei dem erfindungsgemäßen Kran die Seilzugkraft in vorbestimmter Zeit gesteigert, erreicht diese einen Wert, der dem Gewicht der zu hebenden Last entspricht. Dabei kann sich natürlich die benötigte Kraft zum Heben der Last kurzfristig erhöhen, wenn auf die Last eine negative Beschleunigung wirkt.Compared to an unmoved load, however, the load moved in the vertical direction has negative and positive accelerations which alternate with one another depending on the direction of movement of the load. If the cable pulling force is increased in a predetermined time in the crane according to the invention, this reaches a value which corresponds to the weight of the load to be lifted. Of course, the force required to lift the load can increase briefly if the load is subjected to negative acceleration.

Durch den erfindungsgemäßen Kran wird also die Last stoßfrei in einem Zeitpunkt abgehoben, in dem die Seilzugkraft das Gewicht der Last zuzüglich einer etwaigen gerade wirkenden Beschleunigungskraft erreicht hat.With the crane according to the invention, the load is lifted bumplessly at a point in time when the cable pulling force has reached the weight of the load plus any acceleration force that is currently acting.

Bei dem erfindungsgemäßen Kran braucht ein Hublastbeiwert nicht berücksichtigt zu werden, weil während des Hebens kein schlaffes Seil vorhanden istauf das die bewegte Last Stöße ausüben könnte.A lifting load factor need not be taken into account in the crane according to the invention, because there is no slack rope during lifting that the moving load could impact.

Bei dem erfindungsgemäßen Kran ist lediglich ein Sicherheitsbeiwert zu berücksichtigen, der aber nur einen Bruchteil der Nennlast zu betragen braucht, weil Stoßbelastungen nicht auftreten können. In weiterer Ausgestaltung der Erfindung ist daher vorgesehen, daß die Rutschkupplung oder der Antrieb die höchste Seilkraft auf eine Kraft begrenzen, die um einen bestimmten Sicherheitsfaktor, vorzugsweise einen Sicherheitsfaktor im Bereich von 1,5, über der Nennlast liegt. Mit höheren Beanspruchungen kann die Krankonstruktion nicht belastet werden, weil dann der Antrieb oder die Rutschkupplung durchrutscht und die benätigte Länge Hubseil von der Hubseilwinde abgezogen wird.In the crane according to the invention, only a safety factor has to be taken into account, which, however, only needs to be a fraction of the nominal load, because shock loads cannot occur. In a further embodiment of the invention it is therefore provided that the slipping clutch or the drive limit the highest rope force to a force which is above the nominal load by a certain safety factor, preferably a safety factor in the range of 1.5. The crane construction cannot be subjected to higher loads, because then the drive or the slipping clutch slips and the required length of the lifting cable is pulled off the lifting cable winch.

Nach einer vorteilhaften Ausgestaltung ist vorgesehen, daß die Steuerung das Hubseil über den Antrieb der Winde oder die Rutschkupplung zunächst auf einen vorgegebenen Bruchteil, vorzugsweise im Bereich von 5%, der Nennlast vorspannt und anschließend die Zugkraft kontinuierlich auf den der Nennlast entsprechenden bzw. den zum Heben der Last erforderlichen Wert steigert. Nach dieser Ausgestaltung wird also das Hubseil zunächst verhältnismäßig gering vorgespannt, bis alles lose Seil aufgetrommelt ist und dadurch Schlappseil vermieden wird, bevor dann durch eine Zwangsschaltung, also automatisch, ein Schaltimpuls ausgelöst wird, der die Seilkraft bis zum Anheben der Last kontinuierlich ansteigen läßt.According to an advantageous embodiment, it is provided that the control initially pretensions the hoisting rope via the drive of the winch or the slip clutch to a predetermined fraction, preferably in the range of 5%, of the nominal load and then continuously pulls the tractive force to that corresponding to the nominal load or to Lifting the load increases the required value. According to this embodiment, the hoist rope is initially relatively little pretensioned until all loose rope is reeled up and thereby slack rope is avoided before a switching impulse is triggered by a forced switching, that is to say automatically, which increases the rope force continuously until the load is lifted.

In weiterer Ausgestaltung kann die Schaltung so ausgeführt werden, daß der Zeitpunkt des Schaltimpulses zum Ansteigen der Zugkraft durch den Kranführer gewählt wird, daß aber auf jeden Fall das Seil vorher vorgespannt wird.In a further embodiment, the circuit can be carried out in such a way that the time of the switching pulse for increasing the tractive force is selected by the crane operator, but in any case the cable is preloaded beforehand.

In weiterer Ausgestaltung der Erfindung ist vorgesehen, daß die Hubwindebzw. deren Antrieb mit einem eine Drehmomentabstützung bildenden Arm versehen ist, der bei Erreichen einer vorbestimmten, unter der Nennlast liegenden Seilkraft einen Schalter oder ein Ventil betätigt, die zwangsweise das Antriebsdrehmoment der Winde bis zu der höchsten Seilkraft steigernEine derartige Drehmomentabstützung schafft eine zusätzliche Sicherheit, daß die Seilzugkraft nicht absinkt, wenn einmal der Hebevorgang eingeleitet worden ist. Der Schalter oder das Ventil der Drehmomentabstützung werden zweckmäßigerweise bei Erreichen der Vorspannkraft des Hubseils betätigt.In a further embodiment of the invention it is provided that the lifting winch. the drive of which is provided with an arm which forms a torque support and which, when a predetermined rope force below the nominal load is reached, actuates a switch or a valve which inevitably increases the drive torque of the winch up to the highest rope force such a torque support provides additional security that the Cable pull does not drop once the lifting process has been initiated. The switch or the valve of the torque support are expediently actuated when the pretensioning force of the lifting cable is reached.

Wird die Winde nur über einen Motor angetrieben, wird zweckmäßigerweise ein Hydromotor vorgesehen, dessen Antriebsmoment durch den Druckmitteldruck gesteuert werden kann.If the winch is only driven by a motor, a hydraulic motor is expediently provided, the drive torque of which can be controlled by the pressure medium pressure.

Die Rutschkupplung besteht zweckmäßigerweise aus einer Lamellenkupplung. Die Lamellenkupplung kann durch von Federn vorgespannte Kolben belastet sein, die zur Verringerung des Rutschmoments mit einer hydraulischen Flüssigkeit beaufschlagbar sind.The slip clutch expediently consists of a multi-plate clutch. The multi-plate clutch can be loaded by pistons preloaded by springs, which can be acted upon by a hydraulic fluid to reduce the slip torque.

Bei dem erfindungsgemäßen Kran kann es sich vorzugsweise um einen auf der Plattform einer Bohrinsel montierten Kran mit wippbarem Ausleger handeln. Die Erfindung läßt sich auch bei Kränen mit starrem Ausleger oder ohne Ausleger verwirklichen.The crane according to the invention can preferably be a crane with a luffing jib mounted on the platform of an oil rig. The invention can also be implemented in cranes with a rigid boom or without a boom.

Ein Ausführungsbeispiel der Erfindung wird nachstehend anhand der Zeichnung näher erläutert. In dieser zeigtAn embodiment of the invention is explained below with reference to the drawing. In this shows

Fig. 1 eine schematische Darstellung des Hubwerks mit Winde und den zugehörigen Antriebs-und Steuereinrichtungen, Fig. 2 eine der Fig. 1 entsprechende Darstellung mit zusätzlichem Inkrementalgeber, der die Stromzuführung zum Magnetventil S1 unterbricht, sobald die Kupplung schleift, undFig. 1 is a schematic representation of the hoist with winch and the associated drive and control devices, Fig. 2 is a representation corresponding to Fig. 1 with an additional incremental encoder that interrupts the power supply to the solenoid valve S1 as soon as the clutch grinds, and

Fig. 3 eine den Fig. 1 und 2 entsprechende Darstellung, jedoch mit einem die Kupplung beaufschlagenden Hydraulikzylinder in abweichender Ausführungsform.3 shows a representation corresponding to FIGS. 1 and 2, but with a hydraulic cylinder acting on the clutch in a different embodiment.

Zum Heben wird der dargestellte Steuerhebel betätigt. Dabei werden die Schalter M1 und M2 geschaltet. Uber die Leistungsstufe wird das Proportionalventil S5 erregt und die Hubwerkspumpe P1 ausgeschwenkt und dadurch der Hydraulikmotor MA angetrieben. Gleichzeitig wird, wenn keine Last L vorhanden ist, über den dann geschlossenen Schalter M3 das Magnetventil S1 geschaltet. Jetzt kann sich in der Leitung 4 ein Druck aufbauen, der dem am Uberdruckventil V5 eingestellten Druck entspricht. Wie aus Fig. 1 ersichtlich ist, ist zwischen dem Getriebe und der Welle der Winde eine Lamellenkupplung 1 eingebaut. Das Rutschmoment der Rutschkupplung 1 wird durch die Kolbenstange des Zylinders Z1 eingestellt, wobei auf.den Kolben eine Druckfeder wirkt. Auf der gegenüberliegenden Seite der Druckfeder wird der Kolbenring von der Hydraulikflüssigkeit aus der Leitung 4 beaufschlagt, so daß die Feder zusammengedrückt und damit die Lamellenkupplung durch den Druck in der Hydraulikleitung 4 entlastet (geöffnet) wird.The control lever shown is operated to lift. The switches M1 and M2 are switched. The proportional valve S5 is energized via the power stage and the hoist pump P1 is pivoted out, thereby driving the hydraulic motor MA. At the same time, if there is no load L, the solenoid valve S1 is switched via the then closed switch M3. A pressure can now build up in line 4 which corresponds to the pressure set at the pressure relief valve V5. As can be seen from Fig. 1, a multi-plate clutch 1 is installed between the transmission and the shaft of the winch. The slip torque of the slip clutch 1 is set by the piston rod of the cylinder Z1, a compression spring acting on the piston. On the opposite side of the compression spring, the hydraulic fluid from line 4 acts on the piston ring, so that the spring is compressed and the multi-plate clutch is relieved (opened) by the pressure in hydraulic line 4.

Das Uberdruckventil V5 ist so eingestellt, daß sich an der Lamellenkupplung 1 ein Rutschmoment einstellt, das etwa 5% des Nennseilzuges entspricht.The pressure relief valve V5 is set so that a slipping torque is set on the multi-plate clutch 1, which corresponds to approximately 5% of the nominal cable pull.

Das Getriebe ist auf der Welle drehbar gelagert und stützt sich auf der Feder 3 ab. Die Feder 3 wird so gewählt, daß beim Erreichen von ca. 5% des Nennseilzuges, das Ventil V6 geschaltet und gleichzeitig der Schalter M3 abfällt. Hierdurch fällt einerseits das Magnetventil S1 ab und es wird andererseits die Druckleitung 4 über das Ventil V6 entlastet.The gear is rotatably supported on the shaft and is supported on the spring 3. The spring 3 is selected so that when approximately 5% of the nominal cable is reached, the valve V6 is switched and at the same time the switch M3 drops out. As a result, the solenoid valve S1 falls off and the pressure line 4 is relieved via the valve V6.

Der vorhandene Hydraulikdruck im Zylinder Z1 baut sich über die Düse D1 langsam ab. Die Zeit bis zum vollständigen Druckabfall wird über die Düse D1 reguliert und wird ca. 1 Sec. und länger sein. Durch den langsamen Druckabfall steigt das Rutschmoment in der Kuplung kontinuierlich an, bis das maximale, über die Feder im Zylinder Z1, eingestellte Moment erreicht wird.The hydraulic pressure in the cylinder Z1 slowly decreases via the nozzle D1. The time until the pressure drops completely is regulated via the nozzle D1 and is approx. 1 sec. and be longer. Due to the slow pressure drop, the slip torque in the clutch increases continuously until the maximum torque set via the spring in cylinder Z1 is reached.

Durch diese Schaltungsweise wird einerseits sichergestellt daß bei jedem Hub die Lamellenkupplung geöffnet und anschließend wieder langsam geschlossen wird. Andererseits wird über redundante Schaltung sichergestellt, daß bei schwebender Last die Kupplung nicht geöffnet wird.This switching method ensures on the one hand that the multi-plate clutch is opened with each stroke and then slowly closed again. On the other hand, about redundant circuit ensures that the clutch is not opened when the load is suspended.

Eine Verfeinerung der Steuerung kann dadurch erreicht werden, daß wie in Figur 2 dargestellt, zusätzlich ein Inkrementalgeber X1 eingebaut wird, welcher die Stromzuführung zum Magnetventil S1 unterbricht, sobald die Kupplung schleift. Dieses widerum hat zur Folge, daß der oben beschriebene Schließvorgang der Kupplung eingeleitet wird. Dieses bedeutet, daß wenn eventuelles Schlappseil aufgetrommelt ist, die Kupplung durchrutscht und dann die Zugkraft kontinuierlich gesteigert wird.A refinement of the control can be achieved in that, as shown in FIG. 2, an incremental encoder X1 is additionally installed, which interrupts the current supply to the solenoid valve S1 as soon as the clutch grinds. This in turn has the result that the clutch closing process described above is initiated. This means that if any slack rope is reeled, the clutch slips and then the tractive force is continuously increased.

Weitere Verfeinerungen sind dadurch denkbar, daß der Druckabbau im Zylinder Z1 nicht primär über Düse D1 erreicht wird, sondern daß der Druckabbau elektronisch gesteuert wird und die Düse D1 die Funktion als redundantes System übernimmt.Further refinements are conceivable in that the pressure reduction in cylinder Z1 is not primarily achieved via nozzle D1, but rather that the pressure reduction is controlled electronically and nozzle D1 takes over the function as a redundant system.

Als zusätzliche Ausrüstung kann eine elektrische Uberwachungslogik eingebaut werden, die einmal alle Systeme überwacht und gleichzeitig bei etwaigen Ausfällen anzeigt, wo die Störung liegt.Electrical monitoring logic can be installed as additional equipment, which monitors all systems once and at the same time indicates where the fault is in the event of a failure.

Selbstverständlich kann anstelle des im Beispiel angeführten Windenantriebes auch eine andere Art destiebs eingesetzt werden.Of course, another type of destiebs can be used instead of the winch drive shown in the example.

Das maximal zu übertragende Moment und damit die Zugkraft wird über die Feder im Zylinder Z1 so eingestellt, daß die maximale Zugkraft z.B. das 1,5-fache der Nennlast nicht übersteigt. Damit wird der Kran vor Uberlastung wirkungsvoll geschützt. Hat nun ein Kran eine mit der Ausladung veränderliche zulässige Hublast, kann das Rutschmoment, und damit die maximale Zugkraft dadurch verändert werden, daß die Kammer 1 des Zylinders Z2 wie in Fig. 3 dargestellt durch hydraulischen Druck beaufschlagt wird. Dieser Zylinder wird anstelle von ZI in Fig. 1 und 2 eingebaut.The maximum torque to be transmitted and thus the tensile force is set via the spring in cylinder Z1 so that the maximum tensile force e.g. does not exceed 1.5 times the nominal load. This effectively protects the crane from overload. If a crane now has a permissible lifting load that varies with the radius, the slip torque, and thus the maximum tractive force, can be changed in that the chamber 1 of the cylinder Z2 is acted on by hydraulic pressure, as shown in FIG. 3. This cylinder is installed in place of ZI in Figs. 1 and 2.

Der entstehende Druck in der Druckleitung 5 wird über das Magnetventil V3 oder durch ein mechanisch verstellbares Uberdruckventil V4 oder beide eingestellt. Dabei kann die mechanische Verstellung des Ventils V4 über den Hebel 6 geschehen, welcher beispielsweise bei Wippkranen direkt vom Ausleger angetrieben wird.The resulting pressure in the pressure line 5 is adjusted via the solenoid valve V3 or through a mechanically adjustable pressure relief valve V4 or both. The mechanical adjustment of the valve V4 can take place via the lever 6, which is driven directly by the boom, for example in the case of luffing cranes.

Claims (7)

1. Crane with a lifting mechanism having a lifting cable and a lifting cable winch with a slip clutch between the lifting cable winch and a drive, characterized in that the latter are controlled in such a way that the tensile force of the lifting cable is increased gradually or continuously over a period which is preferably greater than a second to the force corresponding to the weight of the load or required to lift it, and in that the winch can be turned back by the counterforces, exceeding the respective cable force, with the lifting cable being pulled off said winch.
2. Crane according to Claim 1, characterized in that the slip clutch or the drive limit the maximum cable force to a force which lies above the nominal load by a specific safety factor, preferably a safety factor in the region of 1.5.
3. Crane according to Claim 1 or 2, characterized in that the control prestresses the lifting cable via the drive of the winch or the slip clutch initially to a predetermined fraction, preferably in the region of 5%, of the nominal load and then increases the tensile force continuously to the value corresponding to the nominal load or required to lift the load.
4. Crane according to one of Claims 1 to 3, characterized in that the lifting winch or its drive is provided with an arm, forming a torque support, which, on reaching a predetermined cable force lying below the nominal load activates a switch or a valve which positively increase the drive torque of the winch up to the maximum cable force.
5. Crane according to Claim 4, characterized in that the switch or the valve are activated by the arm when the prestress force of the lifting cable is reached.
6. Crane according to one of Claims 1 to 5, characterized in that the slip clutch consists of a multiple-disc clutch.
7. Crane according to Claim 6, characterized in that the multiple-disc clutch is loaded by pistons which are prestressed by springs and which can be stressed with hydraulic liquid for the purpose of reducing the slip moment.
EP87102071A 1986-02-19 1987-02-13 Crane Expired - Lifetime EP0234451B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT87102071T ATE59367T1 (en) 1986-02-19 1987-02-13 CRANE.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3605324 1986-02-19
DE3605324 1986-02-19

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EP0234451A2 EP0234451A2 (en) 1987-09-02
EP0234451A3 EP0234451A3 (en) 1988-06-01
EP0234451B1 true EP0234451B1 (en) 1990-12-27

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EP87102071A Expired - Lifetime EP0234451B1 (en) 1986-02-19 1987-02-13 Crane

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US (1) US4782961A (en)
EP (1) EP0234451B1 (en)
AT (1) ATE59367T1 (en)
CA (1) CA1309384C (en)
DE (1) DE3766976D1 (en)
DK (1) DK164032C (en)
FI (1) FI870699A (en)
NO (1) NO171718C (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5716166A (en) * 1995-07-20 1998-02-10 Continental Emsco Co. Offshore retrofit of barge bumper systems
DE102005034677A1 (en) * 2005-07-25 2007-02-01 Liebherr-Werk Nenzing Gmbh, Nenzing crane
US8608004B2 (en) * 2006-04-26 2013-12-17 Chapin Manufacturing, Inc. Sprayer tank cap with incorporated pressure relief valve

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3128861A (en) * 1964-04-14 trondsen
DE1556786B2 (en) * 1968-03-05 1972-05-10 Peterson, Earl August, Long Beach, Calif. (V.StA.) WINCH WITH CABLE REEL AND FRICTION COUPLING FIXED ON A SHAFT
US3648858A (en) * 1970-05-07 1972-03-14 Byron Jackson Inc Stabilized load hoist apparatus
US3799505A (en) * 1971-11-23 1974-03-26 Rucker Co Crane aiding mechanism
DE2340428A1 (en) * 1973-08-09 1975-02-20 Hans Tax SWIVEL DRIVE FOR A ROTATING CRANE
GB1397880A (en) * 1973-10-09 1975-06-18 Brown Brothers & Co Ltd Heave compensating device for marine
GB1505645A (en) * 1974-07-30 1978-03-30 Stothert & Pitt Ltd Apparatus for use in raising or lowering a load in a condition of relative motion
GB1569595A (en) * 1976-09-01 1980-06-18 Secretary Industry Brit Cranes
US4304337A (en) * 1980-05-29 1981-12-08 Bucyrus-Erie Company Marine crane lifting control
DE3418026A1 (en) * 1984-05-15 1985-11-21 Mannesmann Rexroth GmbH, 8770 Lohr Winch for picking up floating loads, especially in a swell
NL8403587A (en) * 1984-11-26 1986-06-16 Rietschoten & Houwens Tech Han Deck load hoisting and lowering device - has controller keeping rope taut and is disengaged automatically by mechanism with excessive load detector

Also Published As

Publication number Publication date
EP0234451A3 (en) 1988-06-01
NO870645D0 (en) 1987-02-18
DK164032B (en) 1992-05-04
US4782961A (en) 1988-11-08
DK83087A (en) 1987-08-20
FI870699A0 (en) 1987-02-19
DE3766976D1 (en) 1991-02-07
EP0234451A2 (en) 1987-09-02
NO870645L (en) 1987-08-20
CA1309384C (en) 1992-10-27
NO171718B (en) 1993-01-18
ATE59367T1 (en) 1991-01-15
NO171718C (en) 1993-04-28
DK83087D0 (en) 1987-02-18
DK164032C (en) 1992-09-21
FI870699A (en) 1987-08-20

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