EP2289834A2 - Grue - Google Patents

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Publication number
EP2289834A2
EP2289834A2 EP10007740A EP10007740A EP2289834A2 EP 2289834 A2 EP2289834 A2 EP 2289834A2 EP 10007740 A EP10007740 A EP 10007740A EP 10007740 A EP10007740 A EP 10007740A EP 2289834 A2 EP2289834 A2 EP 2289834A2
Authority
EP
European Patent Office
Prior art keywords
crane
ballast
heavy
transport device
crane according
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
EP10007740A
Other languages
German (de)
English (en)
Other versions
EP2289834B1 (fr
EP2289834A3 (fr
Inventor
Hans-Dieter Willim
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.)
Liebherr Werk Ehingen GmbH
Original Assignee
Liebherr Werk Ehingen GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of EP2289834A2 publication Critical patent/EP2289834A2/fr
Publication of EP2289834A3 publication Critical patent/EP2289834A3/fr
Application granted granted Critical
Publication of EP2289834B1 publication Critical patent/EP2289834B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/74—Counterweights or supports for balancing lifting couples separate from jib

Definitions

  • the invention relates to a crane with a movable undercarriage, a rotatably mounted on this superstructure with arranged on this luffing boom and derrick, and a connectable via a coupling element with the superstructure ballast car.
  • Cranes of this type are usually designed as crawler cranes and known per se.
  • the ballast wagon is used here to be able to move the crane with the derrick ballast when the crane is unloaded or to be able to turn the crane at partial load.
  • the derrick ballast hangs in each case on the head piece of the derrick boom.
  • ballast wagons in the so-called crawler cranes have been designed as a special component of the entire crane with a few large wheels.
  • these ballast wagons have the disadvantage that they are only suitable for use on the crane and thereby substantially increase the investment for the entire crane.
  • ballast car A simple omission of the ballast car is not possible in particular in designs of large cranes, as they are increasingly needed, for example, for the construction of nuclear power plants.
  • Object of the present invention is therefore to develop a generic crane such that it manages even when designed as a large crane as possible without additional adapted to the respective large crane and custom built ballast.
  • a crane is provided with a movable undercarriage, a rotatably mounted on this superstructure with arranged on this luffing jib and derrick and a connectable via a coupling element with the superstructure ballast wagon in which the ballast wagon is a standard heavy load transport device with its own drive and its own drive control, wherein this drive control can be influenced as a result of the movement of the crane.
  • a standard heavy duty transport vehicle is used, as is already used by the users of the cranes in large numbers for moving heavy loads, such as bridge elements or parts of rigs is used.
  • Such heavy-duty transport vehicles have their own drive and their own drive control. Now that the driving forces of a heavy load transport device or a heavy load transport vehicle are relatively high, a high lateral force can be introduced to the crane when turning the crane. This high lateral force is transmitted to the derrick boom, at whose head the derrick ballast is suspended. However, as a derrick boom is basically a push rod, it is extremely sensitive to lateral forces. According to the present invention, therefore, the drive control of the heavy-duty transporting device is designed such that it can be influenced as a result of the movement of the crane.
  • the drive control of the heavy-load transport device can be designed such that it automatically determines the corresponding steering center when turning the crane and automatically steers, accelerates or decelerates behind the crane during towing.
  • the drive control of the ballast wagon has not been upgraded so far that they can perform the aforementioned controls automatically, it is ensured due to the provided according to the present teaching influenceability of the drive control by the crane movement that the own drive the heavy load transport device for the case in that a steering error of the heavy-load transport device leads to an undesired introduction of force into the coupling element between the superstructure and ballast wagon, the entire system, that is, both the crane and the heavy-load transport device, are stopped so that, for example, by manual control of the ballast wagon by means of its own drive can be moved back to the desired position. Then the crane can be operated again.
  • the coupling element between the superstructure and the ballast can be made variable in its length and have a length sensor.
  • the coupling element can advantageously consist of two joint rods, which are coupled via a hydraulic cylinder acting as a length encoder.
  • the length of the hydraulic cylinder is now monitored by a corresponding sensor. Any change in the stroke of the hydraulic cylinder is detected and converted into a drive signal that can be used to correct the steering error or shutdown.
  • the ballast truck can be accelerated, braked or stopped, depending on the deflection of the piston in the hydraulic cylinder.
  • the ballast is placed on a pallet, which is placed on the heavy load transport device and connectable to this.
  • a pallet which is placed on the heavy load transport device and connectable to this.
  • a rigid guide frame between the superstructure and a pivot point on the ballast receiving and deductible on the ballast pallet is created as a coupling element, wherein the guide frame relative to the articulation point in the articulation is mounted so displaceable that a longitudinal relative movement with a deviation from a neutral position can be detected and can be converted into a drive signal for the drive control of the heavy-load transport device.
  • This provided as a coupling element guide frame has such a great stability that it initiates all the lateral forces acting on it from the driving and turning of the entire system of crane and heavy load transport device in the superstructure and there in particular in the revolving platform frame.
  • the slewing gear of the crane when driving or turning is switched to concentricity, to prevent overloading of the guide frame.
  • the guide frame can also be dimensioned so that when the brake is closed, which is used to brake the rotational movement of the upper carriage to the undercarriage, the brakes slipping before the guide frame is overloaded overall.
  • the longitudinal relative movement is realized by a longitudinal guide with a pivot such that both a longitudinal movement as well as a Rotary movement is permitted while in the transverse direction no movement is allowed.
  • the restriction of movement in the transverse direction prevents unwanted side forces from being transmitted to the derrick boom.
  • the range hangs from rods pendulum, which are hinged at its upper end to the rigid guide frame and at its lower end to the pallet directly or indirectly via spherical bearings.
  • the pendulum movement can be limited by correspondingly provided emergency stops.
  • the oscillating movement can be detected via measuring devices, preferably angle encoders, in such a way that control signals for the drive control can be generated on the basis of the detected measured variables.
  • the coupling element of the superstructure and / or ballast can be separable, so as to move crane and heavy load transport device independently.
  • FIG. 1 is a crane 10 with a movable by means of a crawler undercarriage 12 undercarriage 14 and a rotatably mounted on this superstructure 16 shown in the usual - not shown here - way a boom and a derrick, and one via a coupling element 18 to the superstructure has connectable ballast 20. Both on the superstructure 16 as well as on the ballast 20 ballast plates 22 are stored. This is in particular also from the perspective view of FIG. 2 refer to.
  • the ballast truck 20 consists of a known per se from the prior art and available to the users of the cranes heavy load transport device 24, such as in FIG. 3 is shown.
  • the heavy-load transport devices In contrast to the previously known ballast wagons, which were specially designed for large cranes and delivered together with these, the heavy-load transport devices have a large number of small wheels 26. These are, as is clear from the FIGS. 1 and 3 results, arranged quite evenly below the heavy load transport device.
  • Such heavy load handling devices can accommodate large loads and are used by crane users, for example, to move bridge elements or parts of rigs or other solid parts.
  • the uppercarriage 16 of the crane 10 is now connected to the heavy-duty transport vehicle 20 with a stable guide consisting of the coupling element 18. This consisting of the coupling element 18 guide must be strongly dimensioned that all occurring lateral forces can be absorbed by this guide.
  • the articulation points for the suspension on the derrick boom are in the FIGS. 1 and 2 denoted by 28. Since now the derrick boom of the crane, at the head of the ballast wagon, can absorb any lateral forces, all forces, for example, from steering errors or from different drives of the slewing 30 between crane undercarriage 14 and crane superstructure 16 on the one hand and the heavy load transport device 24 on the other hand, by this guide will be included.
  • the slewing drive 30 of the crane 10 is advantageously designed so that wet-running brakes are present, so that when a congestion, which can follow, for example, in consequence to high driving forces of the heavy load transport vehicle, the slewing gear brakes can slip.
  • the heavy load transport device 24 has its own drive and its own drive control.
  • This drive control can be influenced as a result of the movement of the crane.
  • the control coupling is dependent on the movement of the crane as shown below.
  • the basic movements of the crane consist on the one hand in the turning of the superstructure and on the other hand in the towing, that is to say the journey in which the ballast wagon follows the crane.
  • the radius can be changed in fixed steps. According to a variant, the radius can also be designed variable by the installation of an additional hydraulic cylinder in the coupling element 18.
  • the coupling element 18 consists essentially of two joint rods 34 and 36 which are mutually pivotable about a pivot point 38.
  • the hinge rods 34 and 36 which in the embodiment according to the FIGS. 1 and 2 are not realized as rods themselves, but as structurally designed components are connected to each other via a hydraulic cylinder 40.
  • the hydraulic cylinder 40 is switched to run-flat during operation. That is, there is a hydraulic balance between the annular surface and the piston surface (not shown here).
  • the length of the hydraulic cylinder itself is monitored by a sensor that can absorb changes in length (not shown here).
  • the kink of the two hinge rods 34 and 36, that is, their mutual pivoting about the pivot point 38 is carried out so that the hydraulic cylinder is approximately at 50% of its maximum stroke, if the Derrickpalette 32 is on the adjusted radius.
  • the distance between the center of rotation of the crane and the center of the mounted on the heavy load transport Derrickpalette 32 is monitored by the length sensor on the hydraulic cylinder 40, whether these steering errors and the associated deviation from the turning radius are still tolerable. If a certain limit is exceeded, an alert is given. If a further limit value is exceeded, a shutdown of the entire system is initiated. With a reduction in the radius due to a steering error, the stroke of the hydraulic cylinder 40 decreases, which is detected by the length sensor. If the steering radius now leads to an increase in the radius of rotation, then the stroke of the hydraulic cylinder is correspondingly increased, which is also detected by the length sensor and further processed as a drive control signal.
  • the stroke of the hydraulic cylinder may be 50%. If the radius is now exceeded by 0.8 m, an advance warning is issued in the crane cab. A shutdown of the slewing takes place when the radius has increased by, for example, 1 m.
  • the steering center is continuously calculated in accordance with the angle between the line of symmetry of the crawler chassis 12 of the crane and the line of symmetry of the line of rotation or the guide of the heavy load transport device. At this time, the coordinates of the steering center with respect to the center of the heavy-duty transporting device 24 are calculated.
  • the speed of the heavy load transport device is automatically controlled via the stroke of the cylinder 40 on the coupling element as follows. When the crawler undercarriage begins to travel forward while the heavy load transport device is initially stationary, the hydraulic cylinder is pulled out and results in a greater lift of approximately 60%. Starting from 60% stroke, the heavy goods vehicle is accelerated forward with increasing speed, of course, the stroke of the cylinder is reduced again. As a result, the speed of the heavy-load transport device can be reduced again.
  • the normal Derrickballastpalette which is commonly used in suspended ballast operation, simply mounted on the heavy load transport device 20 and mechanically connected to this.
  • FIGS. 5 to 9 A further embodiment of the invention results from the FIGS. 5 to 9 ,
  • a sturdy guide frame 50 is provided to avoid lateral forces on the derrick boom, not shown here, as a coupling element, which, as shown in FIG. 6 apparently consists of a lattice structure.
  • this guide frame can span as a coupling element a distance of about 20 m.
  • coupling elements and thus corresponding guide frame 50 can be used in a length of 50 and more meters.
  • these guide frame 50 can be made modular from multiple grid elements, so that different lengths arise.
  • partial areas or complete areas can be bridged by Ausschubzylinder as a stable guide element. With a corresponding Ausschiebemechanik would thus a continuous length adjustment of the distance between the superstructure 16 of the crane 10 and the heavy load transport device 24 is possible.
  • the guide frame 50 then directs the entire lateral forces resulting from driving or turning in the superstructure 16 a.
  • the slewing gear of the crane 10 is switched to run while driving or turning.
  • the guide frame can also be dimensioned here so that even with the brake (for braking the rotational movement of the upper carriage and the undercarriage), the brakes slippage before the guide frame is overloaded.
  • a coupling element or plate 52 (FIG. FIG. 7 ), in which a longitudinal guide 54 is provided.
  • This longitudinal guide runs on a pivot pin 56, on which a sliding block 58 is seated.
  • the sliding block 58 abuts against the longitudinal guide 54, so that the system is rigid in the transverse direction.
  • the sliding block itself is connected to a fixed frame 60 fixedly connected to the ballast pallet 32.
  • ballast stack 64 is against shear forces with corresponding lashing 66 (see. FIG. 5b ) diagonally lashed a frame 60, which is thus firmly connected to the ballast pallet 32.
  • connection tabs are provided.
  • a plurality of consoles 70 (cf. FIG. 6 ), which can rest on height-adjustable supports 72.
  • load distribution mattresses 74 To support the supports 72 on the ground are usually additionally load distribution mattresses 74, as in FIG. 6 are shown necessary.
  • the ballast pallet 32 depends according to the embodiment according to FIG. 5 on two pendulums 80, which consist of simple rods 82 (cf. FIG. 5 ) or triangular rod assemblies 82 '(cf. FIG. 6 ) consist. These pendulums 80 are at the top and bottom of a joint bearing or universal joint 84, 86 (see. FIG. 5a ) On the one hand with the ballast pallet 32 and on the other hand connected to the guide frame 50, so that they are movable in all transverse directions.
  • the obliquely projecting rods 87 or the otherwise inclined rods 82 'of the triangular construction according to serve FIG. 6 as an emergency stop 88.
  • the two pendulums 80 can rotate freely around the point 84. If the heavy-load transport device 32, that is the ballast car lift at high overload of the crane, it is ensured by the emergency stops that the ballast plate can tilt through the high center of gravity only a limited angle forward and backward. This in turn ensures that the ballast plates 20 can not fall from the ballast pallet 32, as this would of course immediately lead to failure of the entire crane.
  • the steering angle of the wheels 26 of the heavy load transport device 24 does not coincide with the theoretical steering angle, causing the steering center moves from the center of the crane 10.
  • the heavy-load transport device can now deviate from its theoretical path, for example +/- 500 mm, without significant additional forces being produced on the derrick boom (not shown in detail here) or the crane 10.
  • a shut-off of the rotary motion is effected by corresponding control signals, for example via an angle transmitter (not shown in detail here) arranged on the pendulums 80.
  • Another possibility is to use the respective deviations of the pendulums from the vertical to make corrections to the steering of the heavy-load transport device 24, thereby achieving a return to the theoretical track.
  • the pendulum 80 is deflected backwards, which reduces the travel speed.
  • the crane 10 In towing mode, the crane 10 is now moved accordingly with the heavy-load transport device 24.
  • the heavy-load transport device 24 Here can be done via the inclination of the pendulum 80 is a speed control of the heavy load transport device 24.
  • the crawler undercarriage 12 begins to move forward, with the pendulums 80 tilting forward and driving the chassis drives of the heavy load transporting device in proportion to their deflection. If the heavy-load transport device is too fast, the pendulum will be deflected backwards, reducing the driving speed. It should be noted that both the crawler track 12 and the wheels 26 are driven. When driving straight ahead, the heavy load transport device may follow the crane in the manner previously described. When turning the undercarriage 14 in place the uppercarriage 16 remains largely unmoved, the undercarriage is moved about the axis of rotation of the upper carriage.
  • the heavy load transport device 24 is aligned together with the guide frame and the superstructure about the axis of rotation in the new direction of travel.
  • the individual wheelsets on the heavy load transport device are converted by the rotational movement in the direction of straight ahead.
  • the construction shown ensures that the weight of the guide frame 50 and the plate 52 does not hang on the derrick boom even when the crane is unloaded.
  • the force is from the ballast 20, that is the heavy load transport device 24 to record.
  • the plate 52 can be mounted vertically variable in a slot or the pendulum 80 are sufficiently strong and safe executed against buckling.
  • the axis of symmetry of the heavy-load transport device 24 is no longer perpendicular to the axis of symmetry of the guide frame 50, this will lead to different angular positions of both pendulum 80. By comparing these angles, both a steering correction and an end stop can occur if there are too large deviations.
  • the ballast pallet 32 can also be operated without heavy-load transport device 24.
  • wedges 90 cf. FIG. 5a ) on both sides right and left. The function of these wedges can theoretically be taken over in another embodiment not shown here in detail via bolt connections or the like.
  • the pendulum 80 are fixed on both sides in its vertical position, which ensures that the attachment point 84 of the guide is located above the pivot point of the entire ballast and thus tilting of the ballast is excluded.
  • the ballast 20, that is, the heavy load transport device 24 can be moved separately to the other crane 10 together with the ballast pallet.
  • the guide frame 50 is disassembled and the guy rods 62 to the derrick boom not shown here are solved.
  • the loosening and separate transporting of the guide frame 50 is necessary, otherwise the very heavy guide frame would have to be additionally held by the derrick boom.
  • the derrick itself is supported only by the rear locking on the superstructure. Thus, not only would a very large force on the derrick boom, but it would also act extremely unfavorable lifting conditions.
  • the guide frame 50 assembled the process would require a large amount of space in a variety of job sites not available. After reaching the place of use of the ballast wagon is connected to the crane again, so that it is ready for further use.
  • FIG. 4 is essentially the same construction as in the previously discussed FIGS. 5 to 9 shown.
  • guide rods are provided on the frame 60, which are enclosed by means of a coupling member.
  • ballast carriage shown in two positions, wherein the ballast carriage 20, 20 'in each case via a shorter support frame 50 and a longer support frame 50' to the superstructure 14 of the crane 10 is connected.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP20100007740 2009-08-26 2010-07-26 Grue Active EP2289834B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200920011577 DE202009011577U1 (de) 2009-08-26 2009-08-26 Kran

Publications (3)

Publication Number Publication Date
EP2289834A2 true EP2289834A2 (fr) 2011-03-02
EP2289834A3 EP2289834A3 (fr) 2013-03-06
EP2289834B1 EP2289834B1 (fr) 2014-03-05

Family

ID=43127246

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20100007740 Active EP2289834B1 (fr) 2009-08-26 2010-07-26 Grue

Country Status (4)

Country Link
US (1) US8939298B2 (fr)
EP (1) EP2289834B1 (fr)
CN (1) CN102001593B (fr)
DE (1) DE202009011577U1 (fr)

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US9102507B2 (en) * 2011-06-29 2015-08-11 Liebherr-Werk Ehingen Gmbh Method of operating a crane and crane
JP5909996B2 (ja) 2011-11-01 2016-04-27 コベルコクレーン株式会社 カウンタウエイト台車制御装置
DE102012001377B4 (de) * 2011-12-01 2023-12-28 Liebherr-Werk Ehingen Gmbh Ballastwagen für einen Derrickkran
NO2694106T3 (fr) * 2012-09-12 2018-05-12
US9238945B2 (en) 2013-02-15 2016-01-19 Black Hawk Energy Services, Inc. Base beam and self-propelled derrick rig assembly
US9341028B2 (en) * 2013-02-15 2016-05-17 Black Hawk Energy Services Ltd. Counterweight assembly for a self-propelled derrick rig assembly
DE102015006992B4 (de) * 2014-06-10 2021-04-15 Liebherr-Werk Ehingen Gmbh Verfahren und System zur Berechnung von Daten für den Betrieb eines Krans
JP6492606B2 (ja) * 2014-12-11 2019-04-03 コベルコ建機株式会社 クレーンのカウンタウェイト装置
DE102015200358A1 (de) * 2015-01-13 2016-07-14 Terex Cranes Germany Gmbh Kran sowie Stützeinheit für einen derartigen Kran
JP6252555B2 (ja) * 2015-07-14 2017-12-27 コベルコ建機株式会社 移動式クレーン
DE202016004687U1 (de) * 2016-07-29 2017-11-02 Liebherr-Werk Nenzing Gmbh Mobile Arbeitsmaschine
DE102016010365B4 (de) * 2016-08-26 2019-05-16 Liebherr-Werk Ehingen Gmbh Kran und Gegenballastträgerplatte
JP6853128B2 (ja) * 2017-06-28 2021-03-31 株式会社神戸製鋼所 車輪式カウンターウエイト
JP7031299B2 (ja) * 2017-12-27 2022-03-08 コベルコ建機株式会社 位置調整装置、これを備えたクレーン及びウェイト結合方法
JP7189489B2 (ja) * 2018-07-12 2022-12-14 コベルコ建機株式会社 移動式クレーン及びクレーンシステム
JP7189490B2 (ja) * 2018-07-12 2022-12-14 コベルコ建機株式会社 位置調節補助装置及び移動式クレーン
CN109292654A (zh) * 2018-08-24 2019-02-01 艾陌极智能装备（深圳）有限公司 一种智能配重块安全保护装置
CN113012401A (zh) * 2021-01-28 2021-06-22 艾陌极智能装备（深圳）有限公司 一种智能配重块安全保护装置

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Also Published As

Publication number Publication date
US8939298B2 (en) 2015-01-27
CN102001593A (zh) 2011-04-06
EP2289834B1 (fr) 2014-03-05
DE202009011577U1 (de) 2011-01-05
EP2289834A3 (fr) 2013-03-06
CN102001593B (zh) 2014-10-29
US20110049075A1 (en) 2011-03-03

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