EP0849213B2 - Tower crane - Google Patents

Tower crane Download PDF

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Publication number
EP0849213B2
EP0849213B2 EP97118984A EP97118984A EP0849213B2 EP 0849213 B2 EP0849213 B2 EP 0849213B2 EP 97118984 A EP97118984 A EP 97118984A EP 97118984 A EP97118984 A EP 97118984A EP 0849213 B2 EP0849213 B2 EP 0849213B2
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EP
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Prior art keywords
load
crane
extended
curve
limit load
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EP97118984A
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German (de)
French (fr)
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EP0849213B1 (en
EP0849213A1 (en
Inventor
Horst Dipl.-Ing. Zerza
Gerhard . Dipl.-Ing. Katein
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Liebherr Werk Biberach GmbH
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Liebherr Werk Biberach GmbH
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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
    • 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
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B66C13/44—Electrical transmitters
    • 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
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/082—Control of the secondary movements, e.g. travelling, slewing, luffing of the jib, changing of the range
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/08—Electrical assemblies or electrical control devices for cranes, winches, capstans or electrical hoists
    • B66C2700/084—Protection measures

Definitions

  • the invention relates to a tower crane, with a monitoring the maximum load monitoring device that sets the crane out of service when the load reaches or exceeds the limit load resulting from each limit load curve.
  • a limit load curve is defined, which defines the maximum permissible projection depending on the load.
  • parameters and operating states of the crane monitoring sensors are provided, the signals of which are evaluated in an electronic monitoring and control unit that stops the crane and a interrupts further operation if a load that is too high is to be lifted or if a load is moved into the area of an impermissible projection.
  • the length of the trolley cable is measured to monitor the projection.
  • the force acting on the hoist rope is measured.
  • the deformation of the tower tip can be measured, which results from the fact that the boom tensioning cable is attached to the tower top.
  • DIN 15 018 Part 1 shall be taken into account, in which according to the Hubtiveneinannon of cranes Hublastbeiamine are specified, which represent factors with which the actual lifting load is to be multiplied in order to obtain the calculated hoisting load.
  • the hoist load factor depends on the rigidity of the crane and decreases with the elasticity of the structure and is therefore the smaller, the softer the suspension of the hoist.
  • the lifting load coefficient depends on the lifting speed at the beginning of the lifting of the payload and is smaller as the acceleration and deceleration when lifting the load and changes in the lifting movements are smaller.
  • the lifting speed is greater at low load, so that the Hublastbeiwert is smaller at a lower load and at a higher load and correspondingly reduced lifting speed.
  • the object of the invention is to provide a crane of the type specified, whose permissible load is increased without changing the existing construction.
  • the crane according to the invention can be operated in an admissible manner in an extended limit load range, in which the speed of the load movement is monitored and kept within limits, which take into account the associated Hublastbeiwert for each speed.
  • the invention allows the movement of higher peak loads, as it is possible under consideration of the usual limit load curve.
  • the invention is based on that the inherent load capacity of the crane is fully utilized and the permissible load-determining parameters are precisely and in a manner monitored by special control and monitoring devices that even with improper operation, the extended limit load curves can not be exceeded ,
  • a switch is provided by the operation of the crane operation can be switched to the extended limit load curve.
  • a signal can be given shortly before reaching the limit load curve.
  • This switch can be automatically activated manually or by a special electrical circuit if the LM 1 range in the direction of the LM 2 range is exceeded and vice versa.
  • Tower cranes are often automatically switchable between two-strand and four-strand operation. According to a preferred embodiment, it is therefore provided that for the two-strand and the four-strand operation special extended load limits are defined, which are set for the respective crane type, so that insofar simplification of the control results as the marginal load ranges not particularly must be calculated for each speed.
  • the extended limit load range for both two-strand operation and four-strand operation may be limited by constant load curves.
  • the constant load limiting the extended limit load range for the two-strand operation corresponds to the highest possible lifting load on the jib tip for a predetermined reduced speed for load lifting or lowering movement.
  • the extended limit load range for the constant load limiting the four-strand operation can correspond to twice the lifting load which is possible in two-line operation on the jib tip.
  • an additionally even extended limit load range is created by providing an additional movable counterweight on the counterjib.
  • This counterweight can be moved in each case for the corresponding balancing of the boom and the load torque and is particularly useful in luffing boom.
  • Fig. 1 is a diagram can be seen in which on the ordinate the load (t) and on the abscissa the permissible projection of the load (m) are plotted.
  • the usual limit load curve consists of the constant range 10 and the variable load range, which is represented by the curved curve 11.
  • an extended limit load range is defined, which is limited by the extended limit load curve 12. This extended limit load range results from the fact that in this, the payload can only be raised and lowered at a speed that is reduced compared to the load limit curve 11, taking into account the Hublastbeiamine.
  • the electronic calculator the crane control system the maximum permissible speeds with which the payload may be raised and lowered in order to remain within the permissible load range, taking into account the hoist load coefficients.
  • the maximum possible speed of the hoist is limited to a value at which the maximum permissible speeds can not be exceeded.
  • the trolley is also moved at a reduced speed in order to avoid large accelerations.
  • the slewing gear In the extended limit load range, the slewing gear for the tower or for the boom supporting the superstructure is reduced, so that a rotation of the boom is only possible with a correspondingly reduced rotational speed.
  • a Vorwarnkurve 13 is provided at the start of a signal emits an advance warning that the crane operator indicates that he the limit load range anacre and must operate a switch if he wants to run over this.
  • the extended limit load range for two-strand operation is defined by points 1.1, 2 and 1. If the crane operator has moved the increased payload permitted in the extended limit load range from point 2 to point 1.1, he reaches the normal limit load curve in this area and thus enters the area in which he is not subject to any restrictions when lifting and moving the load.
  • the extended limit load range between the points 1, 1.3, 2.2 and 2. applies. It should be noted that after the (automatic) switching from two-line Operation on four-strand operation with the same cable the double load can be lifted. However, since the stroke speed is reduced due to the half stroke speed at the same winding speed of the rope, the extended limit load range limited by the constant load curve section 1.3, 2.2 is increased. The extension of the limit load range for the four-strand operation is made because halved by the Umschervorgang the lifting speed, so that the to be considered Hublastbeiwert reduced accordingly and a crane operation in an extended limit load range is possible.
  • Fig. 4 is an additionally extended limit load range between the curves 11 and 14 defined, which is achieved in that an additional counterweight 15 is moved on the counter-jib 16 from its near-the-tower position 1 in its dashed shown off-tower position 2.
  • the method is carried out, in particular with a pivotable boom, for additional load torque compensation.

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

Abstract

The maximum load for a rotary tower crane is stored as an extended limiting load curve in a memory module and a monitoring device acts to stop the crane operating when the load that is being carried reaches the extended limiting load curve. A controller is provided which allows only restricted operation of the crane between the limiting load curve and the extended limiting load curve, so that loads can only be moved at reduced speed and with reduced acceleration or deceleration. A switch is preferably provided to switch the crane operation to the extended load curve. One or more load curve limits can be provided in the increased carrying load area and a measuring device can report the position of the crane trolley.

Description

Die Erfindung betrifft einen Turmdrehkran, mit einer die maximale Traglast überwachenden Überwachungseinrichtung, die den Kran außer Betrieb setzt, wenn die Traglast die sich jeweils aus der Grenzlastkurve ergebende Grenzlast erreicht oder überschreitet. Für Turmdrehkrane wird üblicherweise eine Grenzlastkurve definiert, die in Abhängigkeit von der Traglast die höchstzulässige Ausladung festlegt. Um sicher zu stellen, daß der Kran auch bei unsachgemäßer Bedienung nicht in einen seine Stabilität gefährdenden Bereich gerät, sind üblicherweise Parameter und Betriebszustände des Krans überwachende Sensoren vorgesehen, deren Signale in einer elektronischen Überwachungs- und Steuereinheit ausgewertet werden, die den Kran stillsetzt und einen weiteren Betrieb unterbricht, wenn eine zu hohe Last gehoben werden soll oder eine Last in den Bereich einer unzulässigen Ausladung verfahren wird. Dabei wird zur Überwachung der Ausladung beispielsweise die Länge des Katzfahrseils gemessen. Zur Messung der Hubkraft wird die auf das Hubseil wirkende Kraft gemessen. Weiterhin kann zur Ermittlung des von dem Ausleger in den Turm eingeleiteten Moments die Verformung der Turmspitze gemessen werden, die sich daraus ergibt, daß das Auslegerabspannseil an der Turmspitze befestigt ist.The invention relates to a tower crane, with a monitoring the maximum load monitoring device that sets the crane out of service when the load reaches or exceeds the limit load resulting from each limit load curve. For tower cranes usually a limit load curve is defined, which defines the maximum permissible projection depending on the load. In order to ensure that the crane does not get into an area endangering its stability even in the case of improper operation, usually parameters and operating states of the crane monitoring sensors are provided, the signals of which are evaluated in an electronic monitoring and control unit that stops the crane and a interrupts further operation if a load that is too high is to be lifted or if a load is moved into the area of an impermissible projection. In this case, for example, the length of the trolley cable is measured to monitor the projection. To measure the lifting force, the force acting on the hoist rope is measured. Furthermore, to determine the torque introduced by the boom into the tower, the deformation of the tower tip can be measured, which results from the fact that the boom tensioning cable is attached to the tower top.

Bei der Ermittlung der Grenzlastkurve ist die DIN 15 018 Teil 1 zu berücksichtigen, in der entsprechend der Hubklasseneinteilung von Kranen Hublastbeiwerte angegeben sind, die Faktoren darstellen, mit denen die tatsächliche Hublast zu multiplizieren ist, um die rechnerisch vorgeschriebene Hublast zu erhalten. Der Hublastbeiwert hängt einmal von der Steifigkeit des Krans ab und verringert sich mit der Elastizität des Tragwerks und ist also umso kleiner, je weicher die Federung des Hubwerks ist. Hierbei handelt es sich um Werte, die kranabhängig sind und zu einer Einteilung der Krane in Hubklassen führen.When determining the limit load curve, DIN 15 018 Part 1 shall be taken into account, in which according to the Hubklasseneinteilung of cranes Hublastbeiwerte are specified, which represent factors with which the actual lifting load is to be multiplied in order to obtain the calculated hoisting load. The hoist load factor depends on the rigidity of the crane and decreases with the elasticity of the structure and is therefore the smaller, the softer the suspension of the hoist. These are values that are crane-dependent and lead to a classification of the cranes into lifting classes.

Der Hublastbeiwert hängt von der Hubgeschwindigkeit zu Beginn des Anhebens der Nutzlast ab und ist in dem Maße kleiner, in dem die Beschleunigungen und Verzögerungen beim Anheben der Last und bei Änderungen der Hubbewegungen geringer sind.The lifting load coefficient depends on the lifting speed at the beginning of the lifting of the payload and is smaller as the acceleration and deceleration when lifting the load and changes in the lifting movements are smaller.

Üblicherweise ist die Hubgeschwindigkeit bei kleiner Last größer, so daß auch der Hublastbeiwert bei kleiner Last und bei größerer Last und entsprechend verringerter Hubgeschwindigkeit kleiner ist.Usually, the lifting speed is greater at low load, so that the Hublastbeiwert is smaller at a lower load and at a higher load and correspondingly reduced lifting speed.

Aufgrund der Grenzlastkurven ist die Tragkraft eines Krans festgelegt.Due to the limit load curves, the load capacity of a crane is fixed.

Aufgabe der Erfindung ist es, einen Kran der eingangs angegebenen Art zu schaffen, dessen zulässige Traglast ohne Änderung der vorhandenen Konstruktion erhöht ist.The object of the invention is to provide a crane of the type specified, whose permissible load is increased without changing the existing construction.

Erfindungsgemäß wird diese Aufgabe durch einen Turmdrehkran gemäß Anspruch 1 gelöst.According to the invention this object is achieved by a tower crane according to claim 1.

Der erfindungsgemäße Kran läßt sich in zulässiger Weise in einem erweiterten Grenzlastbereich betreiben, in dem die Geschwindigkeit der Lastenbewegung überwacht und in Grenzen gehalten wird, die für jede Geschwindigkeit den zugehörigen Hublastbeiwert berücksichtigen. Damit ermöglicht die Erfindung die Bewegung höherer Spitzenlasten, als sie unter Beachtung der üblichen Grenzlastkurve möglich ist.The crane according to the invention can be operated in an admissible manner in an extended limit load range, in which the speed of the load movement is monitored and kept within limits, which take into account the associated Hublastbeiwert for each speed. Thus, the invention allows the movement of higher peak loads, as it is possible under consideration of the usual limit load curve.

Grundsätzlich ist es nach der Erfindung möglich, für jede verringerte Beschleunigung und Verzögerung eine entsprechend erweiterte Grenzlastkurve, die die zulässigen Traglasten erweitert, zu bestimmen. Da dies jedoch mit einem großen Rechenaufwand verbunden ist, ist es zweckmäßig, vorbestimmte Hubgeschwindigkeiten und Beschleunigungen und Verzögerungen zu definieren, denen die erweiterten Grenzlastkurven Rechnung tragen.In principle, it is possible according to the invention to determine for each reduced acceleration and deceleration a correspondingly extended limit load curve which extends the permissible load capacities. However, since this is associated with a large computational effort, it is expedient to define predetermined lifting speeds and accelerations and decelerations, which take into account the extended limit load curves.

Die Erfindung beruht darauf, daß die an sich gegebene Tragkraft des Krans vollständiger ausgenutzt wird und die die zulässige Traglast bestimmenden Parameter genau und in einer Weise durch besondere Steuer- und Überwachungseinrichtungen überwacht werden, daß auch bei einer unsachgemäßen Bedienung die erweiterten Grenzlastkurven nicht überschritten werden können.The invention is based on that the inherent load capacity of the crane is fully utilized and the permissible load-determining parameters are precisely and in a manner monitored by special control and monitoring devices that even with improper operation, the extended limit load curves can not be exceeded ,

Erfindungsgemäß ist ein Schalter vorgesehen, durch dessen Betätigung der Kranbetrieb auf die erweiterte Grenzlastkurve umschaltbar ist. Um dem Kranführer anzuzeigen, daß er die Grenzlastkurve anfährt, die nur durch Betätigung des Schalters überbrückt werden kann, kann kurz vor Erreichen der Grenzlastkurve ein Signal gegeben werden. Dieser Schalter kann manuell oder durch eine besondere elektrische Schaltung automatisch aktiviert werden, wenn der LM1-Bereich in Richtung des LM2 Bereichs überschritten wird und umgekehrt.According to the invention, a switch is provided by the operation of the crane operation can be switched to the extended limit load curve. In order to indicate to the crane operator that he anfährt the limit load curve, which can be bridged only by pressing the switch, a signal can be given shortly before reaching the limit load curve. This switch can be automatically activated manually or by a special electrical circuit if the LM 1 range in the direction of the LM 2 range is exceeded and vice versa.

Turmdrehkräne sind häufig zwischen einem Zwei-Strang- und Vier-Strang-Betrieb automatisch umschaltbar. Nach einer bevorzugten Ausführungsform ist daher vorgesehen, daß für den Zwei-Strang- und den Vier-Strang-Betrieb besondere erweiterte Grenzlastbereiche definiert sind, die für den jeweiligen Krantyp festgelegt sind, so daß sich insofern eine Vereinfachung der Steuerung ergibt als die Grenzlastbereiche nicht besonders für jede Geschwindigkeit berechnet werden müssen.Tower cranes are often automatically switchable between two-strand and four-strand operation. According to a preferred embodiment, it is therefore provided that for the two-strand and the four-strand operation special extended load limits are defined, which are set for the respective crane type, so that insofar simplification of the control results as the marginal load ranges not particularly must be calculated for each speed.

Der erweiterte Grenzlastbereich sowohl für den Zwei-Strang-Betrieb als auch für den Vier-Strang-Betrieb kann durch Konstantlastkurven begrenzt sein.The extended limit load range for both two-strand operation and four-strand operation may be limited by constant load curves.

Mit diesen Konstantlastkurven im Bereich der Auslegerspitze können die herkömmlichen Krane, welche in der Regel mit einer einfachen mechanischen Überlastsicherung ausgerüstet sind, und bei denen die meist gelenkige Auslegerbefestigung am Kranturm bzw. an der Drehbühne in einem gewissen Abstand zur Krandrehachse liegt, die Traglasten im vorderen Auslegerbereich besonders stark angehoben werden (ohne daß ein Kranbauteil verstärkt werden muß und meist ohne zusätzlichen Ballast zur Einhaltung der geforderten Standsicherheit).With these constant load curves in the area of Jib tip can be the conventional cranes, which are usually equipped with a simple mechanical overload protection, and where the most articulated boom attachment to the crane tower or on the revolving platform at a certain distance to the crane rotation axis, the loads in the front boom area are particularly strong ( without a crane component must be strengthened and usually without additional ballast to comply with the required stability).

Zweckmäßigerweise entspricht die den erweiterten Grenzlastbereich für den Zwei-Strang-Betrieb begrenzende Konstantlast der höchst möglichen Hublast an der Auslegerspitze für eine vorbestimmte verringerte Geschwindigkeit zur Lasthub- bzw. Senkbewegung.Conveniently, the constant load limiting the extended limit load range for the two-strand operation corresponds to the highest possible lifting load on the jib tip for a predetermined reduced speed for load lifting or lowering movement.

Der erweiterte Grenzlastbereich für die den Vier-Strang-Betrieb begrenzende Konstantlast kann der doppelten Hublast, welche im Zweistrangbetrieb an der Auslegerspitze möglich ist entsprechen.The extended limit load range for the constant load limiting the four-strand operation can correspond to twice the lifting load which is possible in two-line operation on the jib tip.

Als Ergänzung zum erweiterten Grenzlastbereich über eine Konstantlastkurve, können auch mehrere Konstantlastkurven im erweiterten Grenzlastbereich angeordnet werden, welche zusätzlich über eine Laufkatzpositionsüberwachung auf einen bestimmten Ausladungsbereich begrenzt werden können. Dadurch ergeben sich dann stufenförmige Lastkurvenbegrenzungen (siehe Fig. 3).As a supplement to the extended limit load range over a constant load curve, it is also possible to arrange a plurality of constant load curves in the extended limit load range, which can additionally be limited to a specific range of outreach via a trolley position monitoring. This then results in step-shaped load curve limitations (see Fig. 3 ).

In weiterer Ausgestaltung der Erfindung ist vorgesehen, daß ein zusätzlich noch weiter erweiterter Grenzlastbereich dadurch geschaffen wird, daß ein auf dem Gegenausleger zusätzliches verfahrbares Gegengewicht vorgesehen ist. Dieses Gegengewicht kann jeweils zur entsprechenden Ausbalancierung des Auslegers und des Lastmoments verfahren werden und ist insbesondere bei wippbarem Ausleger zweckmäßig.In a further embodiment of the invention, it is provided that an additionally even extended limit load range is created by providing an additional movable counterweight on the counterjib. This counterweight can be moved in each case for the corresponding balancing of the boom and the load torque and is particularly useful in luffing boom.

Ausführungsbeispiele der Erfindung werden nachstehend anhand der Zeichnung näher erläutert. In dieser zeigt

Fig. 1
ein Diagramm mit einer üblichen und einer erweiterten Grenzlastkurve für einen Turmdrehkran,
Fig. 2
ein der Fig. 1 entsprechendes Diagramm, bei dem der erweiterte Grenzlastbereich sowohl für den Zwei-Strang-Betrieb als auch für den Vier-Strang-Betrieb durch Konstantlastkurven begrenzt ist, und
Fig. 3
ein der Fig. 1 entsprechendes Diagramm, bei dem der erweiterte Grenzlastbetrieb durch mehrere stufenförmige Lastkurvenbegrenzungen gebildet wird, und
Fig. 4
ein Diagramm, das einen zusätzlich weiter erweiterten Grenzlastbereich aufgrund eines zusätzlichen verfahrbaren Gegengewichts zeigt.
Embodiments of the invention are explained below with reference to the drawing. In this shows
Fig. 1
a diagram with a conventional and an extended limit load curve for a tower crane,
Fig. 2
one of the Fig. 1 corresponding diagram in which the extended limit load range for both the two-strand operation as well as for the four-strand operation is limited by constant load curves, and
Fig. 3
one of the Fig. 1 corresponding diagram in which the extended limit load operation is formed by a plurality of stepped load cam limits, and
Fig. 4
a diagram showing an additionally extended limit load range due to an additional movable counterweight.

Aus Fig. 1 ist ein Diagramm ersichtlich, bei dem auf der Ordinate die Traglast (t) und auf der Abszisse die zulässige Ausladung der Traglast (m) aufgetragen sind. Die übliche Grenzlastkurve besteht aus dem Konstantbereich 10 und dem variablen Lastbereich, der durch die gekrümmte Kurve 11 dargestellt ist. Zusätzlich ist ein erweiterter Grenzlastbereich definiert, der durch die erweiterte Grenzlastkurve 12 begrenzt ist. Dieser erweiterte Grenzlastbereich ergibt sich daraus, daß in diesem die Nutzlast nur mit einer Geschwindigkeit gehoben und abgesenkt werden kann, die gegenüber der Grenzlastkurve 11 unter Berücksichtigung der Hublastbeiwerte verringert ist. Um den Kran in dem Grenzlastbereich zwischen der Grenzlastkurve 11 und der erweiterten Grenzlastkurve 12 betreiben zu können, werden über die vorhandenen Sensoren die zu hebende Nutzlast und das von dieser über den Ausleger auf den Turm übertragene Moment überwacht und aus den entsprechenden Parametern berechnet das elektronische Rechenwerk der Kransteuerung die höchst zulässigen Geschwindigkeiten, mit denen die Nutzlast gehoben und abgesenkt werden darf, um unter Berücksichtigung der Hublastbeiwerte in dem zulässigen Lastbereich zu bleiben.Out Fig. 1 is a diagram can be seen in which on the ordinate the load (t) and on the abscissa the permissible projection of the load (m) are plotted. The usual limit load curve consists of the constant range 10 and the variable load range, which is represented by the curved curve 11. In addition, an extended limit load range is defined, which is limited by the extended limit load curve 12. This extended limit load range results from the fact that in this, the payload can only be raised and lowered at a speed that is reduced compared to the load limit curve 11, taking into account the Hublastbeiwerte. In order to operate the crane in the limit load range between the limit load curve 11 and the extended limit load curve 12, the payload to be lifted and transmitted by this over the boom on the tower moment monitored by the existing sensors and calculated from the corresponding parameters, the electronic calculator the crane control system the maximum permissible speeds with which the payload may be raised and lowered in order to remain within the permissible load range, taking into account the hoist load coefficients.

Entsprechend den errechneten reduzierten Werten wird die höchstmögliche Drehzahl des Hubwerks auf einen Wert begrenzt, bei dem die höchst zulässigen Geschwindigkeiten nicht überschritten werden können.According to the calculated reduced values, the maximum possible speed of the hoist is limited to a value at which the maximum permissible speeds can not be exceeded.

Wird der Kran in dem erweiterten Grenzlastbereich betrieben, wird auch die Laufkatze mit verringerter Geschwindigkeit verfahren, um große Beschleunigungen zu vermeiden.If the crane is operated in the extended limit load range, the trolley is also moved at a reduced speed in order to avoid large accelerations.

Entsprechendes gilt auch für das Drehwerk. In dem erweiterten Grenzlastbereich wird das Drehwerk für den Turm bzw. für den den Ausleger tragenden Oberwagen reduziert, so daß ein Drehen des Auslegers auch nur mit entsprechend verringerter Drehgeschwindigkeit möglich ist.The same applies to the slewing gear. In the extended limit load range, the slewing gear for the tower or for the boom supporting the superstructure is reduced, so that a rotation of the boom is only possible with a correspondingly reduced rotational speed.

Schließlich können zusätzliche Belastungen auch durch Windkräfte entstehen. Zweckmäßigerweise ist daher eine Messung der Windgeschwindigkeiten vorgesehen, die ein Arbeiten in dem erweiterten Grenzbereich ausschließt, wenn die Windgeschwindigkeiten eine gefährliche Größe annehmen.Finally, additional loads can also be caused by wind forces. Conveniently, therefore, a measurement of the wind speeds is provided, which excludes working in the extended border area when the wind speeds assume a dangerous size.

In dem erweiterten Grenzbereich zwischen den Grenzlastkurven 11 und 12 betriebene Krane weisen zweckmäßigerweise Hubwerke und Katzfahrantriebe auf, die durch Frequenzumrichter steuerbar sind, weil diese Antriebe gegenüber Kurzschlußläuferantrieben im wesentlichen stoßfreier und in schwingungsreduzierter Weise arbeiten. Dadurch lassen sich die Belastungen aus Massenbeschleunigungen auf die Stahlkonstruktion wesentlich reduzieren.Operated in the extended border area between the limit load curves 11 and 12 cranes conveniently have hoists and Katzfahrantriebe that are controlled by frequency converter, because these drives compared to squirrel cage actuators operate substantially bumpless and reduced in vibration. As a result, the loads from mass acceleration on the steel construction can be significantly reduced.

Da der Kranführer die übliche Grenzlastkurve 11 durch Betätigung eines Schalters zu überbrücken hat, wenn er den Kran in dem erweiterten Grenzlastbereich betreiben will, ist eine Vorwarnkurve 13 vorgesehen, bei deren Anfahren ein Signal eine Vorwarnung abgibt, die dem Kranführer anzeigt, daß er den Grenzlastbereich anfährt und einen Schalter betätigen muß, wenn er diesen überfahren will.Since the crane operator has to bridge the usual limit load curve 11 by operating a switch when he wants to operate the crane in the extended limit load range, a Vorwarnkurve 13 is provided at the start of a signal emits an advance warning that the crane operator indicates that he the limit load range anfährt and must operate a switch if he wants to run over this.

Aus Fig. 2 sind besonders definierte erweiterte Grenzlastkurven für den Zwei-Strang-Betrieb und für den Vier-Strang-Betrieb ersichtlich.Out Fig. 2 Specially defined extended limit load curves for two-line operation and for four-line operation can be seen.

Nach Fig. 2 ist der erweiterte Grenzlastbereich für den Zwei-Strang-Betrieb durch die Punkte 1.1, 2 und 1 definiert. Hat der Kranführer die erhöhte im erweiterten Grenzlastbereich zulässige Nutzlast von dem Punkt 2 zu dem Punkt 1.1 verfahren, erreicht er in diesem die Normale Grenzlastkurve und tritt damit in den Bereich ein, in dem er bei dem Heben und Verfahren der Last keinen Beschränkungen unterliegt.To Fig. 2 the extended limit load range for two-strand operation is defined by points 1.1, 2 and 1. If the crane operator has moved the increased payload permitted in the extended limit load range from point 2 to point 1.1, he reaches the normal limit load curve in this area and thus enters the area in which he is not subject to any restrictions when lifting and moving the load.

Ist eine Last vorhanden, die in dem vorderen Spitzenbereich 1, 1.1, 2 liegt, so wird nach Durchfahren der üblichen Grenzlastkurve LM1 automatisch auf die vorgegebene kleinere Hub- und Senkgeschwindigkeit umgeschaltet. Sobald sich also die Nutzlast in dem Bereich 1, 1.1 und 2 befindet, ist aufgrund der umgeschalteten Kransteuerung sicher gestellt, daß nur mit der vorgegebenen zulässigen Hub- und Senkgeschwindigeit die Last bewegt werden kann, so daß die höhere Nutzlast zulässig ist.If there is a load that lies in the front tip region 1, 1.1, 2, then, after passing through the usual limit load curve LM 1, it is automatically switched over to the predetermined smaller lifting and lowering speed. So as soon as the payload is in the range 1, 1.1 and 2, it is ensured due to the switched crane control that only with the predetermined allowable lifting and lowering speed, the load can be moved, so that the higher payload is allowed.

Wird der Kran von dem Zwei-Strang-Betrieb auf den Vier-Strang-Betrieb umgeschaltet, gilt der erweiterte Grenzlastbereich zwischen den Punkten 1, 1.3, 2.2 und 2. Hierbei ist zu berücksichtigen, daß nach der (automatischen) Umschaltung von Zwei-Strang-Betrieb auf Vier-Strang-Betrieb bei gleichem Seilzug die doppelte Last gehoben werden kann. Da jedoch aufgrund der halben Hubgeschwindigkeit bei gleicher Aufwickelgeschwindigkeit des Seils die Hubgeschwindigkeit verringert ist, ist der durch den Konstantlast-Kurvenabschnitt 1.3, 2.2 begrenzte erweiterte Grenzlastbereich angehoben. Die Erweiterung des Grenzlastbereichs für den Vier-Strang-Betrieb wird vorgenommen, da sich durch den Umschervorgang die Hubgeschwindigkeit halbiert, so daß der zu berücksichtigende Hublastbeiwert entsprechend verringert und ein Kranbetrieb in einem erweiterten Grenzlastbereich möglich wird.If the crane is switched from the two-line mode to the four-line mode, the extended limit load range between the points 1, 1.3, 2.2 and 2. applies. It should be noted that after the (automatic) switching from two-line Operation on four-strand operation with the same cable the double load can be lifted. However, since the stroke speed is reduced due to the half stroke speed at the same winding speed of the rope, the extended limit load range limited by the constant load curve section 1.3, 2.2 is increased. The extension of the limit load range for the four-strand operation is made because halved by the Umschervorgang the lifting speed, so that the to be considered Hublastbeiwert reduced accordingly and a crane operation in an extended limit load range is possible.

Wird der erweiterte Grenzlastbereich 1, 2, 1.3, 2.2 durch Überfahren der Grenzlastkurve LM1 verlassen, wird ein keinen Beschränkungen unterliegender Kranbetrieb erreicht.If the extended limit load range 1, 2, 1.3, 2.2 is left by driving over the limit load curve LM1, unrestricted crane operation is achieved.

Nach Fig. 4 ist ein zusätzlich erweiterter Grenzlastbereich zwischen den Kurven 11 und 14 definiert, der dadurch erreicht wird, daß ein zusätzliches Gegengewicht 15 auf dem Gegenausleger 16 aus seiner turmnahen Position 1 in seine gestrichelt dargestellte turmferne Position 2 verfahren wird. Das Verfahren erfolgt, insbesondere bei einem verschwenkbaren Ausleger, zum zusätzlichen Lastmomentenausgleich.To Fig. 4 is an additionally extended limit load range between the curves 11 and 14 defined, which is achieved in that an additional counterweight 15 is moved on the counter-jib 16 from its near-the-tower position 1 in its dashed shown off-tower position 2. The method is carried out, in particular with a pivotable boom, for additional load torque compensation.

Claims (8)

  1. Tower crane with a device monitoring the maximum load which stops the crane when the load reaches or exceeds the limit load resulting from the limit load curve, characterised in that an extended limit load curve is keyed in a memory module and the monitoring device only stops the crane when the load reaches or exceeds the extended limit load curve, that a control device is provided which only enables the crane to operate in a restricted manner within the zone between the limit load curve and the extended limit load curve, in the case a trolley movement and a load movement are only possible subject to a predetermined, reduced speed and/or reduced acceleration/deceleration, and that a switch is provided which enables the crane operation to be switched over to the extended limit load curve.
  2. Crane according to claim 1, characterised in that, thanks to the possibility of switching over to an extended load curve, particularly by a constant load curve in the forward zone of the jib, the load reserves of the steel construction of the crane, in addition to the gains from a reduced lifting load coefficient, can be used to better advantage.
  3. Crane according to one of claims 1 to 2, characterised in that one or several step-shaped load curve limitations in the higher load zone can be produced by constant load switches for different loads, as well as a measuring device for the position of the travelling crab.
  4. Crane according to one of claims 1 to 3, characterised in that special extended limit load zones are defined for the two-strand and four-strand operation.
  5. Crane according to claim 4, characterised in that the extended limit load zones for the two-strand and four-strand operation are limited by constant load curves.
  6. Crane according to claim 5, characterised in that the constant load limiting the extended limit load operation for the two-strand operation corresponds to the maximum possible lifting load at the tip of the jib for a predetermined reduced speed of the load lifting and lowering movement.
  7. Crane according to claim 5, characterised in that the constant load limiting the extended limit load operation for the two-strand operation corresponds to about twice the lifting load which the crane bears at the tip of the jib during two-strand operation.
  8. Crane according to claims 1 to 7, characterised in that a movable counterweight is provided at the counter-jib which is in addition a function of the load moment.
EP97118984A 1996-12-20 1997-10-30 Tower crane Expired - Lifetime EP0849213B2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19653579 1996-12-20
DE19653579.4A DE19653579B4 (en) 1996-12-20 1996-12-20 Tower Crane

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EP0849213A1 EP0849213A1 (en) 1998-06-24
EP0849213B1 EP0849213B1 (en) 2001-01-03
EP0849213B2 true EP0849213B2 (en) 2010-06-23

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KR (1) KR19980063702A (en)
AT (1) ATE198460T1 (en)
DE (2) DE19653579B4 (en)
ES (1) ES2155648T5 (en)

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DE10023418A1 (en) * 2000-05-12 2001-11-15 Liebherr Werk Nenzing Procedure for overload protection of a mobile crane
DE10115312A1 (en) * 2001-03-28 2002-10-02 Man Wolffkran Controlling crane movements, involves limiting speed and/or acceleration of crane movement by maximum movement depending on deviation of load moment from maximum load moment
DE102005035729A1 (en) * 2005-07-29 2007-02-01 Liebherr-Werk Ehingen Gmbh Method for operating a crane
DE102006043492A1 (en) * 2006-09-12 2008-03-27 Stahl Cranesystems Gmbh Hoist with extended load range
DE102011102025A1 (en) * 2011-05-19 2012-11-22 Liebherr-Werk Nenzing Gmbh crane control
DE102013005936A1 (en) 2013-04-05 2014-10-09 Liebherr-Werk Biberach Gmbh crane
DE202013003375U1 (en) 2013-04-11 2013-05-22 Hermann Paus Maschinenfabrik Gmbh Mobile trailer crane
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FR3037681B1 (en) * 2015-06-18 2017-11-24 Manitowoc Crane Group France METHOD OF DEFINING AN OPTIMIZED LOAD CURVE FOR CRANE, METHOD AND CONTROL DEVICE FOR CONTROLLING THE SUSPENDED LOAD TO A CRANE FROM THE OPTIMIZED LOAD CURVE
FR3071240B1 (en) 2017-09-21 2019-09-06 Manitowoc Crane Group France DYNAMIC OPTIMIZATION OF A CRANE LOAD CURVE
CN108383008A (en) * 2018-03-07 2018-08-10 徐州建机工程机械有限公司 Tower crane setting-up control method and system
KR101994770B1 (en) 2018-04-03 2019-07-01 최덕진 Float-switching device of a water pump
CN110240066A (en) * 2019-06-26 2019-09-17 北京起重运输机械设计研究院有限公司 A kind of hoisting machinery online monitoring system
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DE59702853D1 (en) 2001-02-08
DE19653579B4 (en) 2017-03-09
KR19980063702A (en) 1998-10-07
DE19653579A1 (en) 1998-06-25
ES2155648T3 (en) 2001-05-16
ATE198460T1 (en) 2001-01-15
EP0849213B1 (en) 2001-01-03
EP0849213A1 (en) 1998-06-24
ES2155648T5 (en) 2010-11-29

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