EP0458994A1 - Dispositif de contrôle de la tension des câbles d'une benne preneuse d'une machine de transfer des matières en vrac - Google Patents

Dispositif de contrôle de la tension des câbles d'une benne preneuse d'une machine de transfer des matières en vrac Download PDF

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Publication number
EP0458994A1
EP0458994A1 EP90110154A EP90110154A EP0458994A1 EP 0458994 A1 EP0458994 A1 EP 0458994A1 EP 90110154 A EP90110154 A EP 90110154A EP 90110154 A EP90110154 A EP 90110154A EP 0458994 A1 EP0458994 A1 EP 0458994A1
Authority
EP
European Patent Office
Prior art keywords
gripper
tether
rope
closing
tension
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.)
Granted
Application number
EP90110154A
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German (de)
English (en)
Other versions
EP0458994B1 (fr
Inventor
Ludwig Carbon
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.)
Siemens AG
Original Assignee
Siemens AG
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Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to DE59008943T priority Critical patent/DE59008943D1/de
Priority to EP19900110154 priority patent/EP0458994B1/fr
Priority to ES90110154T priority patent/ES2070951T3/es
Publication of EP0458994A1 publication Critical patent/EP0458994A1/fr
Application granted granted Critical
Publication of EP0458994B1 publication Critical patent/EP0458994B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B66C3/12—Grabs actuated by two or more ropes
    • B66C3/125—Devices for 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
    • B66C13/22—Control systems or devices for electric drives
    • B66C13/32—Control systems or devices for electric drives for operating grab bucket hoists by means of one or more electric motors used both for hosting and lowering the loads and for opening and closing the bucket jaws
    • B66C13/38—Systems controlling independent motors

Definitions

  • the invention relates to a tension control for the gripper ropes of a bulk material handling device with gripper and electrical, position and speed-controlled cable drives, in particular a bulk material handling device with cable trolley, the gripper having a holding and a closing rope and the tension control at the beginning of a closing process of the
  • the gripper acts in such a way that the tether is hauled in or released until the tether is loaded with a tether whose preselectable initial value is significantly smaller than the nominal tug, e.g. 10% of the nominal train.
  • the regulation described there is not yet optimal insofar as the tether may close when the gripper is closed. sag slack and a high jerk can occur during the subsequent transition to full tensile load. A jerk leads to loads and wear in the tether, bearings for the deflection pulleys and tether winch, as well as endangering people and material due to the tether knocking out during the transition to full tensile load when the gripper is lifted. Furthermore, the tether and tether mechanism must be dimensioned accordingly strong to be able to cope with the jerk.
  • a jerk would also raise the gripper somewhat without the closing rope being able to keep the gripper closed.
  • some bulk material eg 1%, would have flowed out of the gripper again; the handling device would be operated with a reduced filling level of the gripper.
  • the object of the present invention is to avoid the jerk and the associated disadvantages with certainty. In this way, time and quantity-optimized operation of the handling device should be guaranteed.
  • the object is achieved in that the holding train during the closing process from a preselectable degree of closure of the gripper, e.g. 60%, regulated continuously until a preselectable maximum stop pull is increased.
  • a preselectable degree of closure of the gripper e.g. 60%
  • the regulation of the stop train can e.g. in that the speed control of the tether drives acts as a proportional control during the closing process, this speed control is given a speed setpoint value corresponding to the "lifting the gripper" state and the gain factor of the speed control is increased to increase the stop pull.
  • the holding pull when closing the gripper is increased to the nominal pull, which can in particular be equal to the pull in the closing rope of the gripper.
  • the termination of the closing process is determined in a particularly advantageous manner as a function of the load, that is to say the load-related rope elongations are taken into account.
  • a bulk material handling device 1 essentially consists of a mechanically rigid scaffold 2, a trolley, here a cable trolley 3, a gripper 4 and the drives 5, 5 ', 5' 'for cat rope 6, closing rope 6' and tether 6 '' of the gripper 4 with the associated drive control.
  • the drive control is advantageously carried out by an automation unit 7, e.g. a programmable logic controller or a PC.
  • the drives 5, 5 ', 5' ' are advantageously designed as converter-fed three-phase asynchronous motors.
  • Deflection rollers 8 ', 8' 'for the gripper ropes 6', 6 '' are arranged on the cat 3. At the outer end of the handling device 1, a deflection roller 8 for the cat rope 6 is arranged.
  • a degree of closure of 0% means an open, a degree of closure of 100% a closed gripper 4.
  • the gripper 4 essentially consists of 2 gripper shells 41, 41 'which are connected to one another at their pointed end, for example with a plug-in axis 45. Furthermore, the gripper shells 41, 41 'are connected at fastening points 42, 42' via ropes 43, 43 'to a cross bar 44, to which the tether 6''is fastened.
  • the closing rope 6 ' is guided over deflection pulleys 46 which are fastened to the crossbar 44 and the axis 45 and act as a pulley block.
  • the end of the closing line 6 ' can be attached to the cross bar 44 or to the axis 45.
  • the gripper 4 is opened by a corresponding control of the drive before it touches the bulk material 9.
  • the closing rope 6 '- relative to the tether 6' '- is released so that the gripper shells 41, 41' open.
  • the slack rope of the closing rope 6 ' which may be present is automatically taken up when the gripper 4 is closed.
  • the transition from pulling in the slack rope to closing the gripper 4 is not critical, since the required train F s in the closing rope 6 'does not increase abruptly, but continuously. This will be explained in detail in the description of FIG. 3. From a preselectable degree of closure of the gripper 4, for example 60%, the holding pull F h in the tether 6 ′′ is gradually increased in order to ensure a smooth transition to the lifting of the gripper 4.
  • the gradual increase in the tether F h ensures that any slack rope that may be present is caught up, in particular that the sag of the tether 6 '' between the tether drive 5 '' and the deflection roller 8 '' is eliminated before the tether drive 5 '' with the gripper 4 is non-positive via the tether 6 ''.
  • Power peaks in tether 6 '', tether drive 5 '', deflection roller 8 '' etc. are significantly reduced. Furthermore, knocking out of the tether 6 ′′ is avoided.
  • the pull F h in the tether 6 ′′ is continuously regulated up to a preselectable maximum tether F max , which may be, for example, the same as the nominal pull or the pull F s in the closing rope 6 ′ of the gripper 4.
  • FIG. 3 shows the course of the train in the gripper ropes 6 ', 6' 'during a closing operation.
  • the solid line means the course of the traction in the tether 6 ′′ and the dashed line means the course of the traction in the closing rope 6 ′.
  • the open gripper 4 is lowered onto the bulk material 9.
  • the train F s in the closing rope 6 ' is very small.
  • the train F h in the tether 6 ′′ is caused by the weight of the gripper 4.
  • the gripper ropes 6 ', 6'' After placing the gripper 4 on the bulk material 9, that is, after the time t 1, the gripper ropes 6 ', 6''are still reduced until, for example, the trains F h , F s in the gripper ropes 6', 6 '' only Correspond to the dead weight of the gripper ropes 6 ', 6''so that the gripper 4 can sink into the bulk material 9.
  • the gripper 4 is closed.
  • the closing train F s rises steadily.
  • the closing cable F s in the closing cable 6 ' is thereby reinforced via the pulley block formed by the deflection rollers 46, which is preferably designed with 3 to 7-fold reduction, in particular with 4-fold reduction. Without reduction, the gripper 4 would be lifted from the bulk material 9 solely by the closing rope 6 ', before the gripper 4 is completely closed, since the closing pull F s required to close the gripper 4 clearly exceeds the nominal pull.
  • the slack of the tether 6 '' is hauled in with a known slack rope control until the tether 6 '' is acted upon by a tether F min from time t3, which is significantly less than the nominal tension.
  • the holding pull F h in the holding rope 6 '' is continuously regulated up to a maximum holding pull F max , which is, for example, equal to the maximum closing pull .
  • a tension compensation control is advantageously activated when lifting, so that the total tension F h + F s is distributed in a predetermined ratio, preferably 50:50, to the gripper ropes 6 ', 6''.
  • the drives 5 ', 5' 'for the gripper ropes 6', 6 '', the gripper ropes 6 ', 6' 'themselves, the deflection rollers 8', 8 '' and subsequently also the trolley 3, the cat rope 6 and the cat drive 5 can be designed smaller and thus also cheaper.
  • the structure of the gripper rope control is shown in FIG. 4.
  • the structure of the cat rope control is not shown for reasons of clarity. It is designed in the same way as the structure of the rapier control.
  • the control unit 17 supplies the target value for the length h * of the tether 6 ′′ and the target value for the length difference between the closing rope 6 'and the retaining rope 6''. Furthermore, the control unit 17 switches the speed controller 14 ′′ and the compensation controller 12.
  • the control unit 17 delivers a time-dependent tether length h * to the position controller 10 ′′, which forms the difference ⁇ h between the tether length h * and the actual tether length h and forwards it to the ramp generator 11 ′′.
  • the speed controller 14 ′′ compares the actual speed value n h of the tether drive 5 ′′ with the speed command value n h * and supplies the current controller 15 ′′ with a current command value I h * which depends on the operating mode of the speed controller 14 ′′. and possibly also depends on the degree of closure of the gripper or, which is equivalent, on the effective length difference s eff of the gripper ropes 6 ', 6''.
  • the current regulator 15 ′′ regulates the current for the tether drive 5 ′′.
  • the position controller 10 In order to close the gripper 4, the position controller 10 'receives a corresponding setpoint from the control unit 17 given.
  • the speed controller 14 ′′ which is normally operated as a PI controller, is switched by sending the signal m h so that it works as a P controller with weak amplification.
  • the position controller 10 ′′ is given a setpoint h * which corresponds to the “lifting gripper” state.
  • the ramp generator 11 ′′ also sets a speed setpoint n corresponding to the “lifting gripper” state * H given to the speed controller 14 ''.
  • the speed setpoint n * H can also be specified directly by the control unit 17, as indicated by the broken line in FIG. 4.
  • the speed controller 14 ′′ is switched again as a PI controller and the gripper 4 is raised.
  • the lifting command is given by the control unit 17 specifying a corresponding target value h * .
  • the control unit 17 activates the compensation control 12 by the signal m a, which compensates for tension between the tether 6 ′′ and the closing rope 6 ′.
  • Each rope carries only part of the load, e.g. only half Load.
  • the speed controller 14' is, if necessary, acted upon by the compensation controller 12 with an additional speed setpoint ⁇ n s ** .
  • the position controller 10 'and the ramp generator 11' are either overridden or deactivated.
  • the current status data of the handling device can be displayed on a monitor (not shown) in the driver's cab, so that the device operator can intervene if necessary.
  • the entire drive control in the automation unit 7 can be implemented in software, but can also be constructed in hardware.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Ropes Or Cables (AREA)
  • Control And Safety Of Cranes (AREA)
EP19900110154 1990-05-29 1990-05-29 Dispositif de contrôle de la tension des câbles d'une benne preneuse d'une machine de transfer des matières en vrac Expired - Lifetime EP0458994B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE59008943T DE59008943D1 (de) 1990-05-29 1990-05-29 Zugregelung für die Greiferseile eines Schüttgut-Um-schlaggeräts.
EP19900110154 EP0458994B1 (fr) 1990-05-29 1990-05-29 Dispositif de contrôle de la tension des câbles d'une benne preneuse d'une machine de transfer des matières en vrac
ES90110154T ES2070951T3 (es) 1990-05-29 1990-05-29 Regulacion de traccion para los cables de la cuchara de un aparato transbordador de producto a granel.

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19900110154 EP0458994B1 (fr) 1990-05-29 1990-05-29 Dispositif de contrôle de la tension des câbles d'une benne preneuse d'une machine de transfer des matières en vrac

Publications (2)

Publication Number Publication Date
EP0458994A1 true EP0458994A1 (fr) 1991-12-04
EP0458994B1 EP0458994B1 (fr) 1995-04-19

Family

ID=8204035

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19900110154 Expired - Lifetime EP0458994B1 (fr) 1990-05-29 1990-05-29 Dispositif de contrôle de la tension des câbles d'une benne preneuse d'une machine de transfer des matières en vrac

Country Status (3)

Country Link
EP (1) EP0458994B1 (fr)
DE (1) DE59008943D1 (fr)
ES (1) ES2070951T3 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2226287A1 (fr) * 2009-03-04 2010-09-08 Kirow Ardelt AG Procédé et agencement destinés à influencer la charge de la benne preneuse pour engins de levage
CN104891342A (zh) * 2015-06-12 2015-09-09 华电重工股份有限公司 起升开闭机构及实现起升开闭机构负载均衡的方法、系统
ES2536583R1 (es) * 2013-11-25 2015-11-12 Liebherr-Werk Nenzing Gmbh Procedimiento para influir en el volumen de llenado de una cuchara
DE102014110060A1 (de) * 2014-07-17 2016-01-21 Terex Mhps Gmbh Füllgradsteuerung für einen Schüttgut-Greifer eines Krans
DE102019122703A1 (de) * 2019-08-23 2021-02-25 Johannes Hübner Fabrik elektrischer Maschinen GmbH Steuereinheit und Verfahren zum Betrieb eines Fördermittels
CN118255251A (zh) * 2024-05-31 2024-06-28 河南卫华重型机械股份有限公司 一种四绳抓斗抓取物料的方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK177006B1 (en) 2010-01-19 2010-11-22 Ah Ind Projects Aps Method for controlling orientation of a load suspended in a carrier wire around the wire as well as a player arrangement

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE406584C (de) * 1923-11-01 1924-12-03 Siemens Schuckertwerke G M B H Vorrichtung zur Verhuetung des unerwuenschten OEffnens von Zweiseilgreifern
DE1120660B (de) * 1959-04-15 1961-12-28 Demag Ag Einrichtung zur Vermeidung von Schlappseil und Stoessen bei elektromotorisch betriebenen Mehrseilgreiferhubwerken
DE1169100B (de) * 1961-10-21 1964-04-30 Bbc Brown Boveri & Cie Schaltungsanordnung zur Greifersteuerung eines Verladekranes
DE1231399B (de) * 1964-02-25 1966-12-29 Demag Zug Gmbh Steuerung fuer einen Mehrseilgreifer mit getrennten Greiferwinden mit Schliessmotor und Haltemotor
US4231698A (en) * 1978-01-09 1980-11-04 Pettibone Corporation System for one-hand control of two winches during hoisting of closed clamshell, with differentiation
JPS6318983A (ja) * 1986-07-09 1988-01-26 Mitsubishi Electric Corp 電動機駆動制御装置
JPS6416284A (en) * 1987-07-09 1989-01-19 Matsushita Electric Ind Co Ltd Servomotor controller
JPS6489983A (en) * 1987-09-30 1989-04-05 Toshiba Corp Speed controller for motor

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE406584C (de) * 1923-11-01 1924-12-03 Siemens Schuckertwerke G M B H Vorrichtung zur Verhuetung des unerwuenschten OEffnens von Zweiseilgreifern
DE1120660B (de) * 1959-04-15 1961-12-28 Demag Ag Einrichtung zur Vermeidung von Schlappseil und Stoessen bei elektromotorisch betriebenen Mehrseilgreiferhubwerken
DE1169100B (de) * 1961-10-21 1964-04-30 Bbc Brown Boveri & Cie Schaltungsanordnung zur Greifersteuerung eines Verladekranes
DE1231399B (de) * 1964-02-25 1966-12-29 Demag Zug Gmbh Steuerung fuer einen Mehrseilgreifer mit getrennten Greiferwinden mit Schliessmotor und Haltemotor
US4231698A (en) * 1978-01-09 1980-11-04 Pettibone Corporation System for one-hand control of two winches during hoisting of closed clamshell, with differentiation
JPS6318983A (ja) * 1986-07-09 1988-01-26 Mitsubishi Electric Corp 電動機駆動制御装置
JPS6416284A (en) * 1987-07-09 1989-01-19 Matsushita Electric Ind Co Ltd Servomotor controller
JPS6489983A (en) * 1987-09-30 1989-04-05 Toshiba Corp Speed controller for motor

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 012, no. 225 (E - 626)<3072> 25 June 1988 (1988-06-25) *
PATENT ABSTRACTS OF JAPAN vol. 013, no. 195 (E - 754)<3543> 10 May 1989 (1989-05-10) *
PATENT ABSTRACTS OF JAPAN vol. 013, no. 323 (E - 791)<3671> 21 July 1989 (1989-07-21) *

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2226287A1 (fr) * 2009-03-04 2010-09-08 Kirow Ardelt AG Procédé et agencement destinés à influencer la charge de la benne preneuse pour engins de levage
ES2536583R1 (es) * 2013-11-25 2015-11-12 Liebherr-Werk Nenzing Gmbh Procedimiento para influir en el volumen de llenado de una cuchara
DE102014110060A1 (de) * 2014-07-17 2016-01-21 Terex Mhps Gmbh Füllgradsteuerung für einen Schüttgut-Greifer eines Krans
CN106604885A (zh) * 2014-07-17 2017-04-26 特雷克斯有限公司 用于起重机散装物料抓具的填装度控制方法
EP3169618B1 (fr) 2014-07-17 2018-06-06 Konecranes Global Corporation Commande du degré de remplissage d'une benne preneuse d'un produit en vrac d'une grue
CN106604885B (zh) * 2014-07-17 2019-08-06 科尼起重机全球公司 用于散装物料抓具的填装度控制方法以及包括该抓具的起重机
US10611606B2 (en) 2014-07-17 2020-04-07 Konecranes Global Corporation Fill degree control for a bulk material gripper of a crane
CN104891342A (zh) * 2015-06-12 2015-09-09 华电重工股份有限公司 起升开闭机构及实现起升开闭机构负载均衡的方法、系统
CN104891342B (zh) * 2015-06-12 2017-07-25 华电重工股份有限公司 起升开闭机构及实现起升开闭机构负载均衡的方法、系统
DE102019122703A1 (de) * 2019-08-23 2021-02-25 Johannes Hübner Fabrik elektrischer Maschinen GmbH Steuereinheit und Verfahren zum Betrieb eines Fördermittels
CN118255251A (zh) * 2024-05-31 2024-06-28 河南卫华重型机械股份有限公司 一种四绳抓斗抓取物料的方法

Also Published As

Publication number Publication date
DE59008943D1 (de) 1995-05-24
EP0458994B1 (fr) 1995-04-19
ES2070951T3 (es) 1995-06-16

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