EP1063194A2 - Verfahren zum Absenken und Absetzen einer Kranlast auf einer Unterlage - Google Patents
Verfahren zum Absenken und Absetzen einer Kranlast auf einer Unterlage Download PDFInfo
- Publication number
- EP1063194A2 EP1063194A2 EP00113518A EP00113518A EP1063194A2 EP 1063194 A2 EP1063194 A2 EP 1063194A2 EP 00113518 A EP00113518 A EP 00113518A EP 00113518 A EP00113518 A EP 00113518A EP 1063194 A2 EP1063194 A2 EP 1063194A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- load
- crane
- skew angle
- crane load
- max
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
- B66C13/23—Circuits for controlling the lowering of the load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
Definitions
- the invention relates to a method for lowering and lowering a crane load on a base, such as or the like in container terminals. is used. This must ensured with an economically reasonable expenditure of time be that crane loads, such as containers, are reliable can be picked up and transported, whereby in particular, it must be ensured that the crane loads in exact positioning on containers arranged underneath, Documents or the like can be discontinued. Also at Lowering of crane loads, e.g. Containers, on vehicles or the like. it must be ensured that the crane loads in one certain positioning on a vehicle-side pad be discontinued, for example it must be ensured that the crane load placed on the vehicle at no point protrudes over the edges of the vehicle-side pad.
- the invention has for its object a method for Lowering and placing a crane load on a base for To make available by means of the lowest possible Effort can be ensured that the crane load is within the desired positioning area on the base is discontinued.
- a permissible skew angle range is specified for the point of settling of the crane load on the base, that at a point in time before the point of settling of the crane load on the base those times T entry and T exit are determined in which the crane load enters the permissible skew angle range or exits the permissible skew angle range, and that the lowering process of the crane load is controlled so that the time at which the crane load is set down on the base lies between T entry and the time T exit .
- the method according to the invention ensures that the skew angle of the crane load at the time of setting down within the permitted limit values remains.
- a skew is called in the container crane technology the rotation of the load around the vertical Axis through the center of the load.
- the procedure will be carried out in the phase before the time of withdrawal of the skew angle as a function of time.
- e.g. optical measuring devices be used for the determination of the course of the skew angle in the past and to determine the current skew angle known in the art.
- any Type of measuring device can be used, by means of which the relative position in the direction of rotation of a spreader or load suspension frame can be determined in relation to a rotation-proof hoist is.
- you can too such measuring devices are used by means of which Rotation position of the crane load or container in relation can be determined on the rotationally fixed hoist; it will assumed that the position of the document in Relation to that of the hoist is known.
- the current skew angle and the past skew angle curve are taken into account in order to determine the future skew angle curve and the times T entry and T exit .
- a further improvement in the determination of the future skew angle curve and the times T entry and T exit is achieved if the skew characteristic of a rope guide of the spreader or load-bearing frame is also taken into account.
- the skew characteristic of the rope guide in is advantageous Dependence on the lifting height, the crane load mass and the crane load length extension determined.
- the current one Speed of the spreader or load suspension frame assigned hoist and the current distance between the Bottom of the crane load and the base are taken into account.
- a crane system for lifting, transporting and depositing crane loads has a load suspension frame or spreader, to which the crane load can be attached, a hoist, which is connected to the load suspension frame or spreader via a cable system and by means of which the load suspension frame or spreader can be moved in the vertical direction , a settling control, by means of which the lifting mechanism or its drive can be controlled to carry out a settling process of the crane load on a base, and a measuring device, by means of which horizontal oscillating and oscillating movements of the load-bearing frame or spreader in relation to the lifting mechanism can be detected.
- the skip control is assigned a skew predictor, by means of which, taking into account a current skew angle, a predetermined permissible skew angle range, a crane load mass, a crane load length extension, a skew characteristic a future skew angle curve and the times T entry and T exit can be determined at the rope guidance, a current lifting height and a current speed of the hoist at which the crane load enters or leaves the specified permissible skew angle range permissible skew angle range emerges.
- the lowering control of the crane system according to the invention is expediently designed such that the required speed curve for the hoist can be calculated taking into account the times T entry and T exit , the current speed of the hoist and the current distance between the underside of the crane load and the base.
- a limiter is advantageously provided, which is between a Position controller and the drive of the hoist is arranged and via which the settling controller accesses the speed setpoint of the hoist.
- FIG. 1 shows a crane load 1 in which it is for example, a container or the like. can act.
- This Crane load 1 is in the illustrated embodiment on a Document 2 are discontinued.
- Essential to this weaning process is that the crane load 1 after settling on the Underlay 2 nowhere over the edge of underlay 2 protrudes.
- the width b is the Crane load 1 less than the width B of the base 2.
- the crane load 1 at some point over the edge the document 2 protrudes which is particularly the case when weaning Crane loads 1, e.g. on vehicles, is indispensable, the relative rotation of the crane load 1 with respect to the base 2 adhere to a certain area.
- This rotation of the crane load 1 around the vertical axis through its center is referred to as a skew.
- the condition applies that the skew angle ⁇ lies within the permissible range specified by the limits ⁇ max + and ⁇ max- .
- a pendulum suspended crane load or the like can, however, due to asymmetrical load distribution and due to diagonally attacking winds. Have skew vibrations with a greater amplitude than ⁇ max + or ⁇ max- .
- the lowering or lowering process of the crane load 1 must be designed so that the skew angle ⁇ at the moment the crane load 1 hits the base 2 within the permitted limits ⁇ max + and ⁇ max - lies.
- a permissible Skew angle range also specified by other parameters can be as the dimensions of the crane load 1 or the base 2, e.g. due to certain acceptance tolerances of bearing elements, through spatial relationships or the like.
- the line V w represents the speed profile of the crane load 1 in the vertical direction in the event that the skew angle ⁇ or the time profile of the skew angle ⁇ (t) does not occur when controlling or regulating the lowering or lowering process is taken into account.
- the crane load 1 is deposited on the base 2 at the time T w , with the result that the point of settling T w of the crane load 1 on the base 2 lies outside the area in which the skew angle ⁇ is within the permissible skew angle range, which is determined by the limits ⁇ max + and ⁇ max- .
- the period between T entry and T exit results for the permissible skew angle range.
- the skew angle ⁇ moves from the inadmissible range into the range that is permitted for the crane load 1 to be deposited on the base 2.
- the skew angle emerges from this permissible skew angle range again.
- the expected future temporal profile of the skew angle ⁇ (t) is determined in a manner to be explained at the time T which lies before the weaning time. After determining this future skew angle curve ⁇ (t), the control of a hoist used for the lowering or lowering process of the crane load 1 is intervened. The speed curve in the vertical lowering of the crane load 1 is changed so that it corresponds to the more clearly drawn line V A.
- the speed is reduced earlier than originally intended until it reaches a lower value. This lower value is then maintained for some time until the crane load 1 is within the skew angle range permitted for the time of setting down. Then, when the crane load 1 is set down, the setting speed is reduced further.
- the point of settling is at time T A , ie within the time period specified by the limit values T entry and T exit , in which the skew angle ⁇ of the crane load 1 is within the permissible skew angle range .
- the forecast of the future described above The course of the skew angle ⁇ (t) at time T is determined using a skew predictor 5.
- this skew predictor 5 shows the skew angle curve ⁇ (t) in the past as well as the current skew angle ⁇ .
- optical Measuring systems available, for example a measuring system at at least on the part of a hoist-side lighting system one provided on a load suspension frame or spreader Reflector is illuminated, which is then at least a reflector to the hoist reflected light that depends from the rotational position of the at least one reflector with respect on the hoist, for example of at least one line camera is detected. So the skew angle can continuously the spreader or load suspension frame and thus the crane load 1 in relation to the hoist or to the hoist itself in one certain position located document 1 can be detected.
- the limit values ⁇ max + and ⁇ max- specified for the settling process to be regulated or controlled are entered into the skew predictor 5, by which the permissible skew angle range at the time the crane load 1 is deposited on the base 2 is specified is.
- the skew predictor 5 the current lift height Z and the current speed V HW input of the hoist.
- the skew predictor of the crane load mass M L, the crane load length dimension L and the skew characteristic ⁇ ⁇ x, which is the typical skew oscillation frequency as a function of the lifting height Z, the crane load mass M L and the crane load length extension L corresponds receives 5 data relating.
- the skew predictor calculates the expected skew angle ⁇ (t) in the future as a function of time, and correspondingly the anticipated times T entry and T exit , from which the skew angle range permissible for the withdrawal time T A is calculated is specified.
- the times T entry and T exit are fed to the settling control 3, which is connected downstream of the skew predictor 5.
- the settling controller 3 also processes the current speed V HW of the hoist and the current distance (Z * -Z ist ) between the underside of the crane load 1 and the base 2.
- the settling controller 3 then calculates the required speed profile V A , see FIG. 2, for the hoist from the data mentioned; Accordingly, the lowering control 3, which commands the driving command to an actual crane control 6 Lower "enters behind a conventional path controller 7 of the drive 4 of the hoist via a limiter 8 to the speed setpoint of the drive 4 of the hoist.
- the drop control 3 can, if necessary, lift the hoist by deleting its binary output signal or the driving command Lowering "also temporarily stop completely to ensure that the point of settling T A of the crane load 1 on the base 2 lies within the skew angle range permissible for the skew angle ⁇ .
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
Description
- FIG 1
- eine prinzipielle Darstellung einer auf einer Unterlage abzusetzenden Kranlast in Draufsicht;
- FIG 2
- den Verlauf eines Skew-Winkels einer Kranlast in Abhängigkeit von der Zeit; und
- FIG 3
- eine prinzipielle Darstellung des erfindungsgemäßen Verfahrens zum Absenken und Absetzen einer Kranlast.
Claims (10)
- Verfahren zum Absenken und Absetzen einer Kranlast (1) auf einer Unterlage (2), dadurch gekennzeichnet, daß für den Absetzzeitpunkt (TA) der Kranlast (1) auf der Unterlage (2) ein zulässiger Skew-Winkel-Bereich (ρmax+) bis (ρmax-) vorgegeben wird, daß in einem Zeitpunkt (T) vor dem Absetzzeitpunkt (TA) der Kranlast (1) auf der Unterlage (2) diejenigen Zeitpunkte (T Eintritt) und (T Austritt) ermittelt werden, in denen die Kranlast (1) in den zulässigen Skew-Winkel-Bereich (ρmax+) bis (ρmax-) eintritt bzw. aus diesem zulässigen Skew-Winkel-Bereich (ρmax+) bis (ρmax-) austritt, und daß der Absenkvorgang der Kranlast (1) so gesteuert wird, daß der Absetzzeitpunkt (TA) der Kranlast (1) auf der Unterlage (2) zwischen dem Zeitpunkt (T Eintritt) und dem Zeitpunkt (T Austritt) liegt.
- Verfahren nach Anspruch 1, bei dem in der Phase vor dem Absetzzeitpunkt (TA) der Verlauf des Skew-Winkels als Funktion der Zeit ermittelt wird.
- Verfahren nach Anspruch 1 oder 2, bei dem zur Ermittlung des zukünftigen Skew-Winkel-Verlaufs (ρ(t)) und der Zeitpunkte (T Eintritt) und (T Austritt) der aktuelle Skew-Winkel (ρ) und der vergangene Skew-Winkel-Verlauf (ρ(t)) berücksichtigt werden.
- Verfahren nach einem der Ansprüche 1 bis 3, bei dem zur Ermittlung des zukünftigen Skew-Winkel-Verlaufs und der Zeitpunkte (T Eintritt) und (T Austritt) die Skew-Charakteristik einer Seilführung eines Spreaders bzw. Lastaufnahmerahmens berücksichtigt wird.
- Verfahren nach Anspruch 4, bei dem die Skew-Charakteristik der Seilführung in Abhängigkeit von der Hubhöhe (Zist), der Kranlastmasse (ML) und der Kranlastlängenausdehnung (L) ermittelt wird.
- Verfahren nach einem der Ansprüche 1 bis 5, bei dem bei der Steuerung des Absenkvorgangs der Kranlast (1) die aktuelle Geschwindigkeit (VHW) eines dem Spreader bzw. Lastaufnahmerahmen zugeordneten Hubwerks und der aktuelle Abstand (Z-Zist) zwischen der Unterseite der Kranlast (1) und der Unterlage (2) berücksichtigt werden.
- Verfahren nach einem der Ansprüche 1 bis 6, bei dem bei der Steuerung des Absenkvorgangs der Kranlast (1) die aktuelle Beschleunigung (AHW) des Hubwerks berücksichtigt wird.
- Krananlage zum Aufnehmen, Transportieren und Absetzen von Kranlasten (1), mit einem Lastaufnahmerahmen bzw. Spreader, an dem die Kranlast (1) anbringbar ist, einem Hubwerk, das über eine Seilanlage mit dem Lastaufnahmerahmen bzw. Spreader verbunden ist und mittels dem der Lastaufnahmerahmen bzw. Spreader in Vertikalrichtung verfahrbar ist, einer Absetzsteuerung (3), mittels der das Hubwerk bzw. dessen Antrieb (4) zur Durchführung eines Absetzvorgangs der Kranlast (1) auf einer Unterlage (2) steuerbar ist, und einer Meßeinrichtung, mittels der horizontale und um die vertikale Raumachse rotatorische Schwing- und Pendelbewegungen des Lastaufnahmerahmens bzw. Spreaders in bezug auf das Hubwerk erfaßbar sind, dadurch gekennzeichnet, daß der Absetzsteuerung (3) ein Skew-Prädiktor (5) zugeordnet ist, mittels dem unter Berücksichtigung eines aktuellen Skew-Winkels (ρ), eines vorgegebenen zulässigen Skew-Winkel-Bereichs (ρmax+) bis (ρmax-), einer Kranlastmasse (ML), einer Kranlastlängenausdehnung (L), einer Skew-Charakteri-stik (ρ·) der Seilführung, einer aktuellen Hubhöhe (Zist) und einer aktuellen Geschwindigkeit (VHW) des Hubwerks ein zukünftiger Skew-Winkel-Verlauf (ρ(t)) und die Zeitpunkte (T Eintritt) und (T Austritt) ermittelbar sind, zu denen die Kranlast (1) in den vorgegebenen zulässigen Skew-Winkel-Bereich (ρmax+) bis (ρmax-) ein- bzw. aus dem vorgegebenen zulässigen Skew-Winkel-Bereich (ρmax+) bis (ρmax-) austritt.
- Krananlage nach Anspruch 8, bei der in der Absetzsteuerung (3) unter Berücksichtigung der Zeitpunkte (T Eintritt) und (T Austritt), der aktuellen Geschwindigkeit (VHW) des Hubwerks sowie des aktuellen Abstands (Z*-Zist) zwischen der Unterseite der Kranlast (1) und der Unterlage (2) der erforderliche Geschwindigkeitsverlauf für das Hubwerk errechenbar ist.
- Krananlage nach Anspruch 8 oder 9, mit einem Begrenzer (8), der zwischen einem Wegregler (7) und dem Antrieb (4) des Hubwerks angeordnet ist und über den die Absetzsteuerung (3) Zugriff auf den Hubwerksgeschwindigkeitssollwert hat.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19929227 | 1999-06-25 | ||
DE19929227 | 1999-06-25 |
Publications (3)
Publication Number | Publication Date |
---|---|
EP1063194A2 true EP1063194A2 (de) | 2000-12-27 |
EP1063194A3 EP1063194A3 (de) | 2003-08-06 |
EP1063194B1 EP1063194B1 (de) | 2005-02-23 |
Family
ID=7912576
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP00113518A Expired - Lifetime EP1063194B1 (de) | 1999-06-25 | 2000-06-26 | Verfahren zum Absenken und Absetzen einer Kranlast auf einer Unterlage |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP1063194B1 (de) |
AT (1) | ATE289567T1 (de) |
DE (1) | DE50009573D1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1334945A2 (de) * | 2002-02-08 | 2003-08-13 | Mitsubishi Heavy Industries, Ltd. | Vorrichtung und Verfahren zur Steuerung der Drehbewegung eines Containers |
CN114684733A (zh) * | 2020-12-28 | 2022-07-01 | 株式会社日立产机系统 | 卷扬机 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3944272A (en) * | 1974-08-12 | 1976-03-16 | Midland-Ross Corporation | Cargo container spreader with articulated structure for skewing and tilting |
DE19918449A1 (de) * | 1999-04-23 | 2000-11-02 | Noell Stahl Und Maschinenbau G | Verfahren und Lasthebesystem zur Feinpositionierung und aktiven Pendeldämpfung von Lasten |
-
2000
- 2000-06-26 AT AT00113518T patent/ATE289567T1/de not_active IP Right Cessation
- 2000-06-26 DE DE50009573T patent/DE50009573D1/de not_active Expired - Lifetime
- 2000-06-26 EP EP00113518A patent/EP1063194B1/de not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3944272A (en) * | 1974-08-12 | 1976-03-16 | Midland-Ross Corporation | Cargo container spreader with articulated structure for skewing and tilting |
DE19918449A1 (de) * | 1999-04-23 | 2000-11-02 | Noell Stahl Und Maschinenbau G | Verfahren und Lasthebesystem zur Feinpositionierung und aktiven Pendeldämpfung von Lasten |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1334945A2 (de) * | 2002-02-08 | 2003-08-13 | Mitsubishi Heavy Industries, Ltd. | Vorrichtung und Verfahren zur Steuerung der Drehbewegung eines Containers |
EP1334945A3 (de) * | 2002-02-08 | 2004-01-02 | Mitsubishi Heavy Industries, Ltd. | Vorrichtung und Verfahren zur Steuerung der Drehbewegung eines Containers |
CN114684733A (zh) * | 2020-12-28 | 2022-07-01 | 株式会社日立产机系统 | 卷扬机 |
CN114684733B (zh) * | 2020-12-28 | 2024-01-02 | 株式会社日立产机系统 | 卷扬机 |
Also Published As
Publication number | Publication date |
---|---|
EP1063194A3 (de) | 2003-08-06 |
ATE289567T1 (de) | 2005-03-15 |
DE50009573D1 (de) | 2005-03-31 |
EP1063194B1 (de) | 2005-02-23 |
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