EP2313336B1 - Frühzeitige überlasterkennung für eine lasthubvorrichtung - Google Patents

Frühzeitige überlasterkennung für eine lasthubvorrichtung Download PDF

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Publication number
EP2313336B1
EP2313336B1 EP09777882.3A EP09777882A EP2313336B1 EP 2313336 B1 EP2313336 B1 EP 2313336B1 EP 09777882 A EP09777882 A EP 09777882A EP 2313336 B1 EP2313336 B1 EP 2313336B1
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EP
European Patent Office
Prior art keywords
load
signal
threshold
overload
spreader
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.)
Active
Application number
EP09777882.3A
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German (de)
English (en)
French (fr)
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EP2313336A1 (de
Inventor
Frank Mussgnug
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.)
Physik-Instrumente Dr Bernd Brosa Firma GmbH
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Physik-Instrumente Dr Bernd Brosa Firma GmbH
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Publication of EP2313336A1 publication Critical patent/EP2313336A1/de
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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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning 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
    • B66C13/16—Applications of indicating, registering, or weighing devices

Definitions

  • a container spreader is an example in the WO 02/10056 A1 described.
  • the document US 2006/102578 A1 shows a container crane with a load-dependent control system. These two applications are hereby expressly referred to, as far as the general structure of a spreader or a container crane is concerned.
  • Another container crane is exemplary in the DE 102 33 875 A1 described.
  • the nominal overload threshold is mostly statically defined, i.e., the overload threshold is not adapted to a prevailing situation.
  • the overload threshold is not adapted to a prevailing situation.
  • either the crane or the ship may be severely damaged, since it takes a relatively long time for the overload threshold to be reached and a shutdown to be initiated.
  • the base value for defining the dynamic jump threshold represents an average, so that the jump threshold is not determined based on extreme values during the transient process.
  • a lifting mechanism of the load lifting device in particular a cable winch, is actuated during a signal rise.
  • the load handling means is operated at a speed of up to 300 m / min and the response time of detection is preferably less than or equal to 5 ms.
  • the dynamic jump threshold is redetermined during each lifting operation.
  • the calculations associated with the determination of the dynamic jump threshold can be performed permanently. This increases security.
  • the present invention may be implemented by software and / or hardware.
  • the inventors have come to the realization that emergency shutdowns when lifting loads or when moving loads compared to conventional emergency shutdowns that work with static overload thresholds, can be performed faster and better by defining a dynamic overload threshold.
  • a "dynamic" overload threshold is understood below to mean a variable value, beyond which an emergency shutdown is initiated. This can happen regardless of whether the value is determined by the system or if the value comes from a foreign source. This value is adapted to the prevailing situation. It makes no difference whether a spreader alone, i. without load, or whether a spreader is moved with the load attached. It can be clearly distinguished between raising the spreader when a load has just been attached and the spreader is to be lifted, and pulling up the spreader when the load is already attached to the spreader.
  • Force sensors are used to determine the loads hanging on the crane.
  • a force sensor usually consists of a force transducer and a cooperating electrical measuring system, which converts the weight force into an electrical signal.
  • measuring axes, measuring tabs, measuring boxes, etc. can be used as force sensors.
  • strain gauges strain gauges
  • the strain gauges can either be glued to the force transducer or applied with "sputtering" technology.
  • a load / time diagram for a lift is shown.
  • the spreader is connected to the container.
  • the container rests meanwhile on a base (floor / further container).
  • a lifting operation is initiated by means of a lifting mechanism of the crane.
  • the measurement signal rises from zero to a first (limited) maximum value, which represents a first measure of the weight of the container.
  • a first (limited) maximum value which represents a first measure of the weight of the container.
  • a transient begins, which manifests itself by an oscillation of the signal to an average load value, which in the Fig. 1 indicated by means of a horizontal auxiliary line. After a while, the transient process stops.
  • the measuring signal is then almost constant.
  • the container can be moved and later dropped off. When the container is lowered, the measurement signal drops to zero.
  • the duration of the lift-up operation can either be entered manually for each lift operation depending on the size of the load to be lifted in a control device according to the present invention.
  • the duration of the lifting operation can also be predefined in the form of a parameter which is stored in a memory device of the control device. There are a variety of different parameters can be stored in order to adapt to different loads.
  • the time window for the lifting operation is triggered.
  • This trigger time corresponds in particular to the time at which the measurement signal is greater than zero.
  • the measuring signal is recorded over the duration of the lifting process.
  • an average is formed, which corresponds to the average load.
  • the average load is also in the right part of the Fig. 1 illustrated by means of a horizontal auxiliary line.
  • a dynamic jump threshold which is described in US Pat Fig. 1 with "dynamic snag load threshold” is defined.
  • the jump threshold may be, for example, 30% above the average load.
  • the load is monitored on the basis of the overload thresholds of the corner points as well as the load rising edges.
  • the Fig. 1 shown a "snag-load” state.
  • the container on the spreader for example, during another lifting operation (container is lifted after lifting further) on another container that is still stored in the ship, get caught. Therefore, the trace rises again leaps and bounds.
  • the dynamic threshold is much lower than the overall overload threshold
  • the "snag-load” state can be detected much earlier than the conventional approach. In any case, the "snag-load” state is already detected before the overall overload threshold is reached and the lift is aborted by generating an emergency stop signal. In this case, there is no harmful load on the crane or the ship.
  • FIG. 2 the method according to the invention is shown by way of example in the form of a flow chart.
  • a step S1 it is queried whether there is basically a signal increase. This query does not distinguish whether the spreader is raised alone or with a load. If there is no load increase, the process returns to step S1. If there is a load increase, a query is made in a step S2 whether a predetermined time has expired. The predetermined period of time can either be entered manually or specified by querying a parameter database. If it is determined in the query of step S2 that the predetermined period of time has not yet elapsed, the system returns to step S2. With this query, the in the Fig. 1 transient phenomena are included.
  • step S3 If the overload threshold has not been exceeded during step S3 (measurement signal is within the window), an average load (spreader / spreader plus container) is determined, from which in turn the "dynamic" jump threshold is determined. This is all done in a step S5.
  • this jump threshold is defined as a "new" overload threshold. If there was already a jump threshold, the new value is defined as a "new" overload threshold.
  • a query S7 is checked whether the lifting process is completed. When finished, the overload monitoring according to the present invention is terminated. If the lifting operation has not been completed yet, the process returns to step S1.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)
EP09777882.3A 2008-08-20 2009-08-14 Frühzeitige überlasterkennung für eine lasthubvorrichtung Active EP2313336B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200810045330 DE102008045330B4 (de) 2008-08-20 2008-08-20 Frühzeitige Überlasterkennung für eine Lasthubvorrichtung
PCT/EP2009/005907 WO2010020378A1 (de) 2008-08-20 2009-08-14 Frühzeitige überlasterkennung für eine lasthubvorrichtung

Publications (2)

Publication Number Publication Date
EP2313336A1 EP2313336A1 (de) 2011-04-27
EP2313336B1 true EP2313336B1 (de) 2015-04-01

Family

ID=41137665

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09777882.3A Active EP2313336B1 (de) 2008-08-20 2009-08-14 Frühzeitige überlasterkennung für eine lasthubvorrichtung

Country Status (5)

Country Link
EP (1) EP2313336B1 (ko)
KR (1) KR101625248B1 (ko)
CN (1) CN102123935B (ko)
DE (1) DE102008045330B4 (ko)
WO (1) WO2010020378A1 (ko)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105293279A (zh) * 2015-11-18 2016-02-03 德马科起重机械有限公司 一种起重机电动小车及使用该小车的起重机
DE102018126964A1 (de) 2018-10-29 2020-05-14 Pintsch Bubenzer Gmbh Bremsanordnung zur sicherung einer fördereinrichtung, fördereinrichtung und krananlage

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014110060A1 (de) 2014-07-17 2016-01-21 Terex Mhps Gmbh Füllgradsteuerung für einen Schüttgut-Greifer eines Krans
DE102017126182B4 (de) 2017-11-09 2023-01-19 Brosa Ag Kraftmessvorrichtung mit Dynamikkompensation
CN109732628A (zh) * 2018-12-26 2019-05-10 南京熊猫电子股份有限公司 机器人末端智能抓取控制装置及其智能抓取方法
DE102022120407A1 (de) 2022-08-12 2024-02-15 Arburg Gmbh + Co Kg Verfahren zur Fehlererkennung, Fehlererkennungsvorrichtung und Computerprogrammprodukt

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001081231A1 (en) * 2000-04-24 2001-11-01 Natsteel Engineering Pte Ltd. A spreader
EP1445231A2 (de) * 2003-02-06 2004-08-11 EKO Stahl GmbH Verfahren und Einrichtung zur Überlasterkennung an Brückenkranen

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5189605A (en) 1989-10-10 1993-02-23 The Manitowoc Company, Inc. Control and hydraulic system for a liftcrane
US5597080A (en) * 1994-08-02 1997-01-28 Kranco Crane Services, Inc. Snag load protection system for a crane
DE19645812C1 (de) * 1996-11-07 1998-02-26 Stahl R Foerdertech Gmbh Steuerungsanordnung mit Erkennung des Gewichts der Last
AU2001283965A1 (en) 2000-07-27 2002-02-13 Hermann Kruse Container-spreader and pertaining container
DE10233875B4 (de) * 2002-07-25 2008-08-14 Siemens Ag Krananlage, insbesondere Containerkran
US7353959B2 (en) * 2004-08-03 2008-04-08 Mi-Jack Products, Inc. Variable-speed load-dependent drive and hoist system

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001081231A1 (en) * 2000-04-24 2001-11-01 Natsteel Engineering Pte Ltd. A spreader
EP1445231A2 (de) * 2003-02-06 2004-08-11 EKO Stahl GmbH Verfahren und Einrichtung zur Überlasterkennung an Brückenkranen

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
JAFARIPANAH, M.: "Load cell response correction using analog adaptive techniques", CIRCUITS AND SYSTEMS, 2003. ISCAS '03. PROCEEDINGS OF THE 2003 INTERNATIONAL SYMPOSIUM ON, vol. 4, 25 May 2003 (2003-05-25) - 28 May 2003 (2003-05-28), DOI: 10.1109/ISCAS.2003.1206283 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105293279A (zh) * 2015-11-18 2016-02-03 德马科起重机械有限公司 一种起重机电动小车及使用该小车的起重机
DE102018126964A1 (de) 2018-10-29 2020-05-14 Pintsch Bubenzer Gmbh Bremsanordnung zur sicherung einer fördereinrichtung, fördereinrichtung und krananlage

Also Published As

Publication number Publication date
CN102123935A (zh) 2011-07-13
WO2010020378A1 (de) 2010-02-25
DE102008045330B4 (de) 2013-03-21
CN102123935B (zh) 2013-10-09
EP2313336A1 (de) 2011-04-27
KR20110044268A (ko) 2011-04-28
DE102008045330A1 (de) 2010-04-22
KR101625248B1 (ko) 2016-05-27

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