EP1099859B1 - Method of pressure-balancing hydraulic motors for driving the raise and lower cables of a cable crane - Google Patents

Method of pressure-balancing hydraulic motors for driving the raise and lower cables of a cable crane Download PDF

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Publication number
EP1099859B1
EP1099859B1 EP00250337A EP00250337A EP1099859B1 EP 1099859 B1 EP1099859 B1 EP 1099859B1 EP 00250337 A EP00250337 A EP 00250337A EP 00250337 A EP00250337 A EP 00250337A EP 1099859 B1 EP1099859 B1 EP 1099859B1
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EP
European Patent Office
Prior art keywords
pressure
hydraulic motor
gripper
closing
cables
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.)
Expired - Lifetime
Application number
EP00250337A
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German (de)
French (fr)
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EP1099859A2 (en
EP1099859A3 (en
Inventor
Andreas Dipl.-Ing. Kruschinski
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.)
Demag Cranes and Components GmbH
Original Assignee
Gottwald Port Technology GmbH
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Filing date
Publication date
Application filed by Gottwald Port Technology GmbH filed Critical Gottwald Port Technology GmbH
Publication of EP1099859A2 publication Critical patent/EP1099859A2/en
Publication of EP1099859A3 publication Critical patent/EP1099859A3/en
Application granted granted Critical
Publication of EP1099859B1 publication Critical patent/EP1099859B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • B66D1/42—Control devices non-automatic
    • B66D1/44—Control devices non-automatic pneumatic of hydraulic
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/04—Special measures taken in connection with the properties of the fluid
    • F15B21/047—Preventing foaming, churning or cavitation

Definitions

  • the invention relates to a method for pressure equalization in the Reversible hydraulic motors for driving the lifting and closing cables of a Cable crane with a gripper for receiving bulk material, the preferred two hoisting ropes associated hydraulic motor and the two preferably Lock cables associated hydraulic motor in each case via pressure lines with a common pressure medium source is connected.
  • Such a cable crane is, for example, from US 3,776,513 known.
  • grippers are used in the present case, i. Conveying vessels that penetrate into the conveyed, take it and record and over the discharge point can empty again.
  • the grippers consist of a common Traverse hinged blades, which are opened on the conveyed material become. Due to the weight of the gripper, the blades penetrate when closing the conveyed goods and fill up.
  • different types of grippers Depending on the way how closing the Shoveling is performed, different types of grippers.
  • the present invention is concerned with two Seilgreifem, in which two from each other independent ropes or pairs of cables cause the movement of the blades. If pairs of cables are used, this is also called a four-rope grab.
  • This type of gripper requires a special gripper winch with two drums, the be driven mainly by reversible hydraulic motors.
  • Two- or four-line grapples are operated with the two ropes or rope pairs.
  • a slack closing rope on the material to be gripped; by tightening the closing rope are on the kinematics of the gripper the Shovels closed.
  • the gripper is raised with further tightening the strikers, wherein the tether must be tightened.
  • they are Locking cables very tight due to the closing process. This results in very large Pressure differences in the working groups of the two hydraulic motors used for the hoisting cable or hoisting cable pair and the closing cable or pair of strikers.
  • Object of the present invention is, starting from the described Problems and disadvantages, a method and a device for pressure compensation in the reversible hydraulic motors for driving the lifting and closing cables of a To create cable cranes of the generic type with which by cavitation resulting damage to the hydraulic motors is safely avoided.
  • 1 denotes the controllable pump
  • 2 denotes a control block for pressure-independent proportional control of several consumers
  • 3 is a control over which the hydraulic motors 4 and 5 and the control block 2 can be controlled.
  • the hydraulic motors 4 and 5, of which the hoist rope associated hydraulic motor with HW and the Locking cable associated hydraulic motor 5 is designated SW, are via a pressure equalization line connected to each other, in which the sw / ws valves 8 and 9 used are the pressure equalization with the gripper closed or when lifting and Switch on lowering of general cargo.
  • the inventive detection of the working pressures in the hydraulic motors 4 and 5 takes place via the sensors 6 and 7, which are respectively assigned to the hydraulic motors 4 and 5 are. These sensors 6 and 7 transmit proportional signals to the working pressures the controller 3, then the hydraulic motors 4 and 5 and the control block 2 so controls that at the end of the closing operation of the gripper in the hydraulic motors Set 4 and 5 equal working pressures

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Control And Safety Of Cranes (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

The method involves detecting (6,7) the working pressure in the working circuit of each hydraulic motor (4,5) during the initiation of the closing movement and controlling it via a controller so that the same working pressure exists in both working circuits at the end of the gripper closing process. The arrangement has a sensor in the hydraulic line leading to each sensor. Independent claims are also included for the following: an arrangement for pressure equalization in hydraulic motors for driving the lifting and gripper closing cables of a cable crane.

Description

Die Erfindung betrifft ein Verfahren zum Druckausgleich in den umsteuerbaren Hydraulikmotoren zum Antrieb der Hub- und Schließseile eines Seilkranes mit einem Greifer zum Aufnehmen von Schüttgut, wobei der den vorzugsweise zwei Hubseilen zugeordnete Hydraulikmotor und der den vorzugsweise zwei Schließseilen zugeordnete Hydraulikmotor jeweils über Druckleitungen mit einer gemeinsamen Druckmittelquelle verbunden ist.The invention relates to a method for pressure equalization in the Reversible hydraulic motors for driving the lifting and closing cables of a Cable crane with a gripper for receiving bulk material, the preferred two hoisting ropes associated hydraulic motor and the two preferably Lock cables associated hydraulic motor in each case via pressure lines with a common pressure medium source is connected.

Ein solches Seilkran ist bspw. aus des US 3 776 513 bekannt.Such a cable crane is, for example, from US 3,776,513 known.

Für den Umschlag von Schüttgütern werden vorliegend Greifer verwendet, d.h. Fördergefäße, die in das Fördergut eindringen, es fassen und aufnehmen und über der Abgabestelle wieder entleeren können. Die Greifer bestehen aus an einer gemeinsamen Traverse angelenkten Schaufeln, die geöffnet auf das Fördergut aufgesetzt werden. Durch das Eigengewicht des Greifers dringen die Schaufeln beim Schließen in das Fördergut ein und füllen sich dabei. Je nach der Art, wie das Schließen der Schaufeln durchgeführt wird, unterscheidet man verschiedene Greifertypen.For the handling of bulk goods, grippers are used in the present case, i. Conveying vessels that penetrate into the conveyed, take it and record and over the discharge point can empty again. The grippers consist of a common Traverse hinged blades, which are opened on the conveyed material become. Due to the weight of the gripper, the blades penetrate when closing the conveyed goods and fill up. Depending on the way how closing the Shoveling is performed, different types of grippers.

Die vorliegende Erfindung befaßt sich mit zwei Seilgreifem, bei denen zwei voneinander unabhängige Seile oder Seilpaare die Bewegung der Schaufeln bewirken. Werden Seilpaare zur Anwendung gebracht, spricht man auch von einem Vierseilgreifer. Dieser Greifertyp erfordert eine besondere Greiferwinde mit zwei Trommeln, die vorwiegend mittels umsteuerbaren Hydraulikmotoren angetrieben werden.The present invention is concerned with two Seilgreifem, in which two from each other independent ropes or pairs of cables cause the movement of the blades. If pairs of cables are used, this is also called a four-rope grab. This type of gripper requires a special gripper winch with two drums, the be driven mainly by reversible hydraulic motors.

Zwei- oder Vierseil-Greifer werden mit den zwei Seilen oder Seilpaaren bedient. Der geöffnete Greifer wird mit schlaffem Schließseil auf das zu greifende Gut aufgesetzt; durch Anziehen des Schließseiles werden über die Kinematik des Greifers die Schaufeln geschlossen. Um den Greifer unter der Wirkung seines Eigengewichtes in das Fördergut eindringen zu lassen, muß das Halteseil während des Schließvorganges oder von vomherein nachgelassen werden, nachdem die Schaufeln geschlossen sind, wird der Greifer bei weiterem Anziehen der Schließseile angehoben, wobei das Halteseil gestrafft werden muß. Daraus ergibt sich das Problem, daß während des Schließens des Greifers im Schüttgut die Halteseile Schlaffseil haben, und zwar mit bei jedem Hub unterschiedlichen Seillängen. Gleichzeitig sind die Schließseile durch den Schließvorgang sehr straff. Daraus ergeben sich sehr große Druckunterschiede in den Arbeitskreisen der beiden verwendeten Hydraulikmotoren für das Hubseil bzw. Hubseilpaar und das Schließseil bzw. Schließseilpaar.Two- or four-line grapples are operated with the two ropes or rope pairs. Of the opened gripper is placed with a slack closing rope on the material to be gripped; by tightening the closing rope are on the kinematics of the gripper the Shovels closed. To the gripper under the effect of its own weight in the conveyed material must penetrate the tether during the closing process or be weaned from the moment after the blades are closed, the gripper is raised with further tightening the strikers, wherein the tether must be tightened. This results in the problem that during the closing of the gripper in the bulk material have the tethers slack rope, with different cable lengths for each stroke. At the same time they are Locking cables very tight due to the closing process. This results in very large Pressure differences in the working groups of the two hydraulic motors used for the hoisting cable or hoisting cable pair and the closing cable or pair of strikers.

Schaltet man zum Umsteuem der Hubmotoren nach dem Schließen der Greiferschaufeln den Druckausgleich ein, so würde der Hydraulikmotor für das Schließseil zuerst in die falsche Richtung durchgezogen und es würde zu Kavitationserscheinungen im Hydraulikmotor kommen, wenn der Druck im Arbeitskreis des für das Schließseil vorgesehenen Hydraulikmotors zum Hydraulikmotor für das Halteseil herübergeschaltet wird. Häufige Kavitationen im System verursachen aber Schäden an den Hydraulikmotoren, die während des Arbeitsbetriebes des Greiferkranes ständig ein- und ausgeschaltet bzw. umgeschaltet werden müssen.Switches to Umsteuem the lifting motors after closing the gripper blades the pressure equalization, so would the hydraulic motor for the closing rope first pulled in the wrong direction and it would cause cavitation come in the hydraulic motor when the pressure in the working circle of the for Lock cable provided hydraulic motor to the hydraulic motor for the tether is switched over. Frequent cavitations in the system cause damage on the hydraulic motors, which constantly during the working operation of the gripper crane must be switched on and off or switched.

Aufgabe der vorliegenden Erfindung ist es, ausgehend von den beschriebenen Problemen und Nachteilen, ein Verfahren und eine Vorrichtung zum Druckausgleich in den umsteuerbaren Hydraulikmotoren zum Antrieb der Hub- und Schließseile eines Seilkranes der gattungsgemäßen Art zu schaffen, mit dem durch Kavitation entstehende Schäden an den Hydraulikmotoren sicher vermieden wird.Object of the present invention is, starting from the described Problems and disadvantages, a method and a device for pressure compensation in the reversible hydraulic motors for driving the lifting and closing cables of a To create cable cranes of the generic type with which by cavitation resulting damage to the hydraulic motors is safely avoided.

Zur Lösung der Aufgabe wird verfahrensgemäß vorgeschlagen, daß während der Einleitung der Schließbewegung des Greifers der Arbeitsdruck im Arbeitskreis jedes Hydraulikmotors erfaßt und über eine Steuerung derart ausgeregelt wird, daß am Ende des Schließvorganges des Greifers an jedem Hydraulikmotor gleiche Arbeitsdrücke anstehen.To solve the problem is according to the procedure proposed that during the Initiation of the closing movement of the gripper the working pressure in the working circle each Hydraulic motor detected and regulated by a controller so that at the end the closing operation of the gripper on each hydraulic motor equal working pressures queue.

Mit der Erfindung wird eine Lösung angeboten, die große Druckunterschiede an den beiden den unterschiedlichen Seilen zugeordneten Hydraulikmotoren von vornherein verhindert, so daß es in den Motoren nicht zu den nachteiligen Kavitationserscheinungen kommen kann. Vielmehr wird bereits während des Schließvorganges des Greifers der im Arbeitskreis jedes Hydraulikmotors erfaßte Arbeitsdruck dazu verwendet, über eine Steuerung einen Druckausgleich herbeizuführen, so daß am Ende des Schließvorganges ein Ausgleich der Arbeitsdrücke stattgefunden hat. Wenn dann die Hydraulikmotoren umgesteuert werden, um nach erfolgtem Schließvorgang nunmehr den Greifer anzuheben, so ist ein weiterer Druckausgleich nicht mehr erforderlich.With the invention, a solution is offered, the large pressure differences to the Both of the different ropes associated hydraulic motors from the outset prevents it in the engines not to the adverse cavitation phenomena can come. Rather, already during the closing of the Gripper used in the working group of each hydraulic motor working pressure to to bring about a control pressure equalization, so that in the end the closing process, a balancing of the working pressures has taken place. If then the hydraulic motors are reversed to after completion of closing now raise the gripper, so is no further pressure compensation required.

Ein Ausführungsbeispiel der Erfindung ist in der Zeichnung dargestellt und wird nachfolgend beschrieben:An embodiment of the invention is shown in the drawing and will described below:

In der einzigen Zeichnungsfigur ist das Schaltschema eines erfindungsgemäßen Hydraulikkreislaufes vereinfacht dargestellt. Mit 1 ist die regelbare Pumpe bezeichnet, 2 bezeichnet einen Steuerblock zur druckunabhängigen proportionalen Steuerung von mehreren Verbrauchern und mit 3 ist eine Steuerung beziffert, über die die Hydraulikmotoren 4 und 5 sowie der Steuerblock 2 ansteuerbar ist. Die Hydraulikmotoren 4 und 5, von denen der dem Hubseil zugeordnete Hydraulikmotor mit HW und der dem Schließseil zugeordnete Hydraulikmotor 5 mit SW bezeichnet ist, sind über eine Druckausgleichleitung miteinander verbunden, in die die sw/ws-Ventile 8 und 9 eingesetzt sind, die den Druckausgleich bei geschlossenem Greifer oder beim Heben und Senken von Stückgut einschalten.In the single drawing figure is the circuit diagram of an inventive Hydraulic circuit simplified. 1 denotes the controllable pump, 2 denotes a control block for pressure-independent proportional control of several consumers and 3 is a control over which the hydraulic motors 4 and 5 and the control block 2 can be controlled. The hydraulic motors 4 and 5, of which the hoist rope associated hydraulic motor with HW and the Locking cable associated hydraulic motor 5 is designated SW, are via a pressure equalization line connected to each other, in which the sw / ws valves 8 and 9 used are the pressure equalization with the gripper closed or when lifting and Switch on lowering of general cargo.

Die erfindungsgemäße Erfassung der Arbeitsdrücke in den Hydraulikmotoren 4 und 5 erfolgt über die Sensoren 6 und 7, die jeweils den Hydraulikmotoren 4 und 5 zugeordnet sind. Diese Sensoren 6 und 7 leiten den Arbeitsdrücken proportionale Signale in die Steuerung 3, die dann die Hydraulikmotoren 4 und 5 sowie den Steuerblock 2 so ansteuert, daß sich zum Ende des Schließvorganges des Greifers in den Hydraulikmotoren 4 und 5 gleiche Arbeitsdrücke einstellenThe inventive detection of the working pressures in the hydraulic motors 4 and 5 takes place via the sensors 6 and 7, which are respectively assigned to the hydraulic motors 4 and 5 are. These sensors 6 and 7 transmit proportional signals to the working pressures the controller 3, then the hydraulic motors 4 and 5 and the control block 2 so controls that at the end of the closing operation of the gripper in the hydraulic motors Set 4 and 5 equal working pressures

Claims (2)

  1. Method for balancing the pressure in the reversible hydraulic motors (4, 5) for driving the hoisting cables and closing cables of a cable crane having a gripper for receiving bulk material, wherein the hydraulic motor (4) allocated to the preferably two hoisting cables and the hydraulic motor (5) allocated to the preferably two closing cables are each connected to a common pressure medium source (1) via pressure lines,
    characterised in that
    when the gripper begins its closing movement, the operating pressure in the operating circuit of each hydraulic motor (4, 5) is detected and adjusted by a controller (3) in such a manner that when the gripper completes its closing movement there are equal operating pressures at each hydraulic motor (4, 5).
  2. Method as claimed in Claim 1,
    characterised in that
    a sensor (6, 7) is inserted into each pressure line leading to the respective hydraulic motor (4, 5) for detecting the operating pressure prevailing at that location, in that in order to process the signals representative of the detected operating pressure the sensors (6, 7) are connected to a control unit (3) which is in turn connected to a control block (2) via which the operating pressures in the pressure lines leading to the respective hydraulic motor (4, 5) can be balanced.
EP00250337A 1999-11-11 2000-10-17 Method of pressure-balancing hydraulic motors for driving the raise and lower cables of a cable crane Expired - Lifetime EP1099859B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19955750 1999-11-11
DE19955750A DE19955750B4 (en) 1999-11-11 1999-11-11 Process for pressure compensation in hydraulic motors for driving the lifting and closing cables of a cable crane

Publications (3)

Publication Number Publication Date
EP1099859A2 EP1099859A2 (en) 2001-05-16
EP1099859A3 EP1099859A3 (en) 2003-11-12
EP1099859B1 true EP1099859B1 (en) 2005-05-18

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Application Number Title Priority Date Filing Date
EP00250337A Expired - Lifetime EP1099859B1 (en) 1999-11-11 2000-10-17 Method of pressure-balancing hydraulic motors for driving the raise and lower cables of a cable crane

Country Status (7)

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US (1) US6619626B1 (en)
EP (1) EP1099859B1 (en)
AT (1) ATE295943T1 (en)
DE (2) DE19955750B4 (en)
DK (1) DK1099859T3 (en)
ES (1) ES2243198T3 (en)
PT (1) PT1099859E (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102011054316B4 (en) 2011-10-07 2021-04-01 Te Connectivity Germany Gmbh Two-part crimp contact element
CN104214150B (en) * 2014-06-04 2016-03-23 上海中联重科桩工机械有限公司 Double-winch hydraulic control system and engineering machinery with same
DE102014110060A1 (en) 2014-07-17 2016-01-21 Terex Mhps Gmbh Filling degree control for a bulk grapple of a crane
DE102022123785A1 (en) 2022-09-16 2024-03-21 Liebherr-Werk Nenzing Gmbh Working device with a mechanical diaphragm wall grab and method for carrying out a working step of such

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Also Published As

Publication number Publication date
EP1099859A2 (en) 2001-05-16
ATE295943T1 (en) 2005-06-15
DE50010342D1 (en) 2005-06-23
PT1099859E (en) 2005-09-30
DE19955750A1 (en) 2001-05-31
EP1099859A3 (en) 2003-11-12
DE19955750B4 (en) 2004-05-27
DK1099859T3 (en) 2005-09-19
US6619626B1 (en) 2003-09-16
ES2243198T3 (en) 2005-12-01

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