EP2331446B1 - Grue à portique - Google Patents

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Publication number
EP2331446B1
EP2331446B1 EP09740248A EP09740248A EP2331446B1 EP 2331446 B1 EP2331446 B1 EP 2331446B1 EP 09740248 A EP09740248 A EP 09740248A EP 09740248 A EP09740248 A EP 09740248A EP 2331446 B1 EP2331446 B1 EP 2331446B1
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EP
European Patent Office
Prior art keywords
travelling
gantry crane
rail
wheels
vertical axis
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
EP09740248A
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German (de)
English (en)
Other versions
EP2331446A1 (fr
Inventor
Peter Lerchenmüller
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.)
Hanz Kuenz GmbH
Original Assignee
Hans Kuenz GmbH
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Filing date
Publication date
Application filed by Hans Kuenz GmbH filed Critical Hans Kuenz GmbH
Priority to PL09740248T priority Critical patent/PL2331446T3/pl
Publication of EP2331446A1 publication Critical patent/EP2331446A1/fr
Application granted granted Critical
Publication of EP2331446B1 publication Critical patent/EP2331446B1/fr
Active legal-status Critical Current
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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
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/16—Travelling gear incorporated in or fitted to trolleys or cranes with means for maintaining alignment between wheels and track

Definitions

  • the invention relates to a gantry crane, which has a serving for moving the gantry crane along a rectilinear, formed by parallel rails roadway comprising a plurality of chassis groups, each having at least two spaced apart in the longitudinal direction of the respective rail rotatably mounted on a subframe wheels and of which at least two, preferably all, are rotatably connected to a head support of the gantry about a vertical axis, wherein for at least one of the associated head carrier about the vertical axis rotatably connected chassis group, preferably for all with the respectively associated head support to the respective vertical Axle rotatably connected chassis groups, at least one measuring device is present, from which the tracking of at least one of the wheels of the chassis group with respect to the rail on which it rolls, can be detected and a respective track position corresponding tracking position is dispensable.
  • Trolleys of rail cranes movable on rails comprise landing gear groups for a respective leg of the gantry crane.
  • the chassis groups have wheels for moving the crane, some or all of which are equipped with drive motors.
  • the individual chassis groups are connected to a head support of the steel structure of the crane with only one degree of freedom, namely a pivotability about a horizontal axis transverse to the rails.
  • this results in more or less large inclinations of the axes with respect to their exact alignments perpendicular to the longitudinal extent of the rail, due to tolerances and deformations of the components.
  • the resulting horizontal forces and their unfavorable distribution to the individual wheels lead to suspension restrictions and thus to increased wear of the wheel flanges of the wheels and also the wheel treads and the rails.
  • the chassis group drives a sinusoidal curve, whereby the wheel flanges of the wheels start alternately with relatively low forces on both rail flanks.
  • inclinations of the wheels due to deviations of the axles of the wheels of a chassis group from their exactly parallel orientations to each other, which are referred to as "inclinations of the wheels", to horizontal forces acting in the sense of a rotation of the chassis group about the vertical axis.
  • non-generic corner bogies which serve to move a crane along a roadway which has at least one bend.
  • a synchronization device In chassis of overhead cranes a synchronization device is known in which a leading wheel is scanned and the two rails associated drives are controlled so that the desired orientation of the crane chassis is achieved to the rails. Such a synchronization device is made possible by the usually rigid design of overhead cranes.
  • the object of the invention is to achieve a substantial cost reduction over the service life of the gantry crane. According to the invention, this is achieved by a gantry crane having the features of claim 1.
  • an actuator is provided for at least one of the associated head carrier rotatably connected to the vertical axis group, of which the chassis group with a torque which is determined by the control of the actuator by means of a control device to the vertical Axis can be acted upon. It is therefore a force-controlled actuator, which causes a torque about the vertical axis about which the chassis group is rotatable, according to its force generated by it. Preferably acts on each of the chassis groups, which are rotatable about a vertical axis relative to the associated head carrier, at least one force-controlled actuator.
  • a tracking value To control the actuator by the control device of the control device is supplied by a measuring device, a tracking value.
  • Tracking value the tracking of the front wheel for the respective direction of travel is detected by the measuring device.
  • the wheel flanges of the wheels can be kept at a distance from the rail flanks, completely or at least substantially (for example over more than 90% of the driving distance).
  • a significant reduction in wear is achieved, in a very simple manner without carrying out a rotational position of a chassis group with respect to the vertical axis compulsorily adjusting forced control.
  • the torque application of a respective chassis group is effected by a control, wherein the actual value of the tracking of the detected by the measuring device for the present direction of travel wheel is used as a controlled variable.
  • the force exerted by the actuator on the Fahrververksrios torque from the control device to the Value 0 is set, ie no torque is applied to the chassis group by the actuator exerted or the landing gear group is released with respect to a rotation about the vertical axis. If, during the process of the gantry crane, the track position of the wheel comes to lie on one side outside this middle range, a torque is exerted on the chassis group by the actuator.
  • the amount of torque applied is a constant value, regardless of how far the track position of the wheel is outside this middle range.
  • the direction of the force exerted by the actuator is reversed, ie, the direction of rotation of the torque is reversed.
  • the amount of applied torque may be the same as or different than the left and right deviations from the middle range. In this way, a very simple control can be achieved.
  • the gantry crane is movable on a straight roadway, which is formed by two mutually spaced, parallel rails 1.
  • the gantry crane has four legs 2, 3,4, 5 in the illustrated embodiment. Also constructions with three legs are known. Furthermore, two supports can be provided.
  • the legs 2-5 and supports support the cross member 6 or 7, along which a trolley 8 is movable or which are provided with another type of movable or fixed lifting device. In the case of training with two or more cross members 6, 7 run between these connection carrier. 9
  • a connecting this head carrier 10 is attached at the lower ends of the arranged on a respective side of the portal legs 2, 3; 4, 5, a connecting this head carrier 10 is attached.
  • a head carrier 10 is also referred to as a "chassis carrier” or "moving beam”.
  • the head carrier 10 serve to connect the steel structure of the crane with the individual chassis groups 11 of the crane chassis.
  • the crane chassis is a straight-ahead chassis for moving along the rectilinear rails 1.
  • a landing gear group 1 is arranged directly below each of the legs 2-5. It would also be conceivable and possible, for example, to provide a separate head carrier 10 for each leg 2-5.
  • Pro rail 1 are preferably at least two spaced apart in the longitudinal direction of the rail 1 chassis groups 11 are present. An arrangement below a respective leg 2 - 5 is preferred.
  • All wheels 12 of a respective chassis group 11 are arranged one behind the other on a straight line formed by the rail 1.
  • the axes 13 of the wheels 12 are aligned approximately at right angles to the rails 1 (the deviation in all possible rotational positions of the chassis group 11 with respect to the below explained vertical axis 23, for example, less than 3 °, which value depends on the geometry of the chassis group, deviations the axial positions of the wheels 12 of a chassis group 11 with respect to their orientations parallel to each other are preferably less than 0.05 °).
  • a respective chassis group 11 has eight wheels 12 which are spaced apart from one another in the longitudinal direction of the rail 1.
  • the two rockers 17 are connected to a common rocker 19, wherein they are each pivotable relative to the rocker 19 about a horizontal, parallel to the axes 13 of the wheels 12 axis 20.
  • drive motors 21 which drive the respective wheels 12.
  • more or fewer such drive motors 21 may be present.
  • the respective head carrier 10 is connected to the respective chassis group 11 in such a manner that the chassis group 11 is pivotable relative to the head carrier 10 about a horizontal, perpendicular to the respective rail 1 axis 24 and about a vertical axis 23 is rotatable.
  • a connecting device 25 is provided, which can be designed according to the aforementioned prior art.
  • an education as shown in the EP 1 911 716 A2 is known, wherein a central, preferably designed in the form of a ball joint, joint 22 is present and further between the respective head carrier 10 and the respective chassis group 11 two links 29, 30 are arranged, seen in the direction perpendicular to the rail 1 on both sides of the central joint 22 lie.
  • Each of the two links 29, 30 is hinged to both the head carrier 10 and the rocker 19.
  • These superimposed joints 31, 32 of the links 29, 30 are in this case designed such that both pressure and tensile forces between the respective head support 10 and the respective chassis group 11 can be transmitted via the links 29, 30.
  • these joints 31, 32 each have a degree of freedom for pivoting the respective link 29, 30 relative to the head carrier 10 or against the rocker 19th about a plane parallel to the axes 13 of the wheels 12 axis 33 and a degree of freedom for pivoting the respective link 29, 30 relative to the head support 10 and with respect to the chassis group 11 about a perpendicular to the axes 13 of the wheels 12 standing horizontal axis 34.
  • the central joint 22 is formed in the vertical direction as a floating bearing, ie has in this direction in the assembled state on a game.
  • a chassis group 11 of a gantry crane constructed in accordance with the invention may also comprise more or fewer than eight wheels 12 spaced apart in the direction of travel, at least two wheels 12 spaced apart from one another in the longitudinal direction of the respective rail 1 being rotatably mounted on a common subframe 16.
  • the connecting device 25 may be arranged directly between this subframe 16 and the head carrier 10.
  • two wheels can be rotatably mounted on a respective subframe 16 and the subframe 16 about horizontal parallel to the axes 13 of the wheels 12 axes pivotally connected to a rocker 17.
  • the connecting device 25 could be arranged directly between the head carrier 10 and this rocker 17 in this case.
  • the wheels 12 are rigid within the chassis groups 11 with respect to rotations about vertical axes, i. apart from the rotatability of the chassis group 11 as a whole about the vertical axis 23, there are no rotations about vertical axes, e.g. of individual wheels 12, given.
  • the intermediate wheels 12 may be equipped with flanges 14, 15. Instead, trackless wheels could be used for the intermediate wheels 12.
  • a derailment protection (which may be formed by stops arranged on the subframe which cooperate with the rail flanks, as is known) is advantageously provided, whereby cost savings can be achieved in comparison to wheels with flanges.
  • trackless wheels with derailment protection could also be used for the foremost wheels in relation to the two directions of travel, but here wheels with flanged wheels are preferred for safety reasons are.
  • wheels 12 with flanges 14, 15 and wheels 12 could be used with tracking rollers, which are also known.
  • tracking rollers which are also known.
  • chassis groups 11 For each of the rotatable about the vertical axes 23 chassis groups 11 two measuring devices 26 are available. Of these, the positions of the front wheels 12 with respect to the two directions of travel are detected with respect to their orientations in the direction perpendicular to the rail 1.
  • the orientation of a wheel 11 with respect to the rail 1 with respect to its position perpendicular to the longitudinal extent of the rail 1 is referred to as tracking in the context of this document.
  • the tracking value a indicates the offset of the wheel from the central orientation on the rail 1.
  • the distance between one of the wheel flanges 14, 15 with respect to the adjacent rail flank 27 could also be used as the track position value a.
  • the tracking of the front wheel 12 in relation to the respective direction of travel of a group of hammers 11 is largely determinative of the positions of the wheels 12 of the chassis group 11 with respect to the rails and for the forces with which wheel flanges of the wheels 12 start at the rail flanks.
  • the measuring device could in principle also detect the tracking position of another of the wheels lying in front of the vertical axis 23 about which the chassis group 11 is rotatable. Which are relative to the respective direction of travel in front of the vertical axis 23 about which the chassis group 11 is rotatable, lying wheels are the respective "leading" wheels.
  • FIGS. 5 and 6 An example of a possible embodiment of a measuring device 26 is in particular from the FIGS. 5 and 6 seen.
  • a yoke 35 slidably bears with sliding linings 36 on the two rail flanks 27.
  • the yoke 35 is pivotally mounted on first and second pivot arms 37, 38 about horizontal axes perpendicular to the axes 13 of the wheels 12, 39, 40.
  • the pivot arms 37, 38 are further pivotally mounted above the axes 39, 40 about horizontal, perpendicular to the axes 13 of the wheels 12 stationary axes 41, 42 which are fixedly mounted on the subframe 16, preferably in the region of the end of the subframe sixteenth
  • the distance of the yoke 35 from the axis 13 of the front wheel 12 with respect to the direction of travel in question is relatively small, preferably smaller than the diameter of this wheel 12.
  • the first pivot arm 37 has an extension arm 43 which projects upwards relative to the axle 41 a two-armed lever is formed.
  • the pivoting position of the extension arm 43 is detected by, for example, inductive measuring sensors 44, 45.
  • inductive measuring sensors 44, 45 In the simplest case, it would be conceivable and possible to design the two measuring sensors 44, 45 as switches which can be actuated mechanically by the extension arm 43.
  • an actuator 28 acts, which is formed, for example, as shown in the form of a piston-cylinder unit. This is arranged between a connection bracket 46 attached to the head carrier 10 and a connection tab 47 attached to the rocker 19. By a force exerted by the actuator 28, a force acting around the vertical axis 23 torque m is exerted on the chassis group 11.
  • the actuator 28 is controlled by a control device 48, 49 in response to the output by the measuring device 26 tracking position value.
  • a force variable is set as the controlled variable on the actuator 28.
  • An embodiment for the entire control loop is in Fig. 8 shown schematically.
  • the control device has a control unit 48, which is supplied to the tracking position value detected by the measuring device 26, and an actuator drive device 49.
  • the actuator drive means 49 is formed in the illustrated embodiment of hydraulic elements.
  • a feed pump 50 in this case conveys hydraulic oil from a reservoir 51.
  • a pressure relief valve 52 By means of a pressure relief valve 52, the maximum, prevailing in the hydraulic line 53 pressure is set.
  • a 4/3-way valve 54 is controlled by the control unit 48.
  • a force is exerted in one or the other direction, ie on the chassis group 11, a force acting in one or the other direction of rotation torque m is exercised.
  • This torque m represents the manipulated variable of the control loop.
  • the controlled system becomes, as in Fig. 8 shown schematically formed by the running on the rail 1 chassis group 11.
  • the manipulated variable can take only three values, namely, a torque 0, a torque acting in the one direction of rotation with an amount m x or in the other direction of rotation acting torque with the amount m y exerted.
  • the amount m x or m y of the torque is preset here, in the illustrated embodiment by adjusting the pressure value of the pressure relief valve 52.
  • the default can be done after the gantry crane is completed, according to the horizontal forces caused by the deviations of the axles 13 of the wheels 12 of a chassis group 11 with respect to their mutually parallel orientations.
  • the torque value 0 is set by means of the control device, ie in the embodiment shown by setting the corresponding position of the 4/3-way valve 54 by the control unit 48.
  • This middle region corresponds to a tracking value a which is between a value a , and a 2 lies.
  • the flanges 14, 15 are spaced from the rail flanks 27.
  • the distances of the flanges 14, 15 of the rail flanks are each 20mm, so the distance of the flange 14 of the rail flange 27 in tracking position a, eg 5mm and when tracking value a 2, for example 35mm.
  • the control unit 48 In order to determine whether the tracking position value a corresponding to the current track position lies within the range a, to a 2 or above or below this range, the control unit 48 has a comparator part. For controlling the 4/3-way valve 54, the control unit 48 has a control part.
  • the front wheel 12 of the chassis group 11 which is the front wheel in relation to the direction of travel, has, for example, the mean track position a 0 at the beginning of the method of the gantry crane.
  • the mean track position a 0 at the beginning of the method of the gantry crane.
  • Factors for the horizontal force that occurs are, in particular, the altogether non-compensating deviations of the axial positions of the wheels 12 of a respective chassis group 11 with respect to their orientations parallel to one another, and occurring wind loads.
  • the chassis group 11 is acted upon by the torque m x .
  • the distance a from the rail edge 27 thereby increases again. If an intended tracking value a is reached, for example, when the center position a 0 is reached again, the Fahrwerscade 11 is again unlocked. The described control process is repeated in the sequence.
  • a pressure relief valve 52 instead of adjusting the size of the torque exerted by a pressure relief valve 52 could for this purpose, for example, a feed pump 50 are used, the delivery pressure is adjustable.
  • hydraulically acting actuators 28 and other actuators could be used, for example, mechanically or electromechanically acting actuators.
  • this could be controlled directly by the control part of the control unit 48.
  • the measuring device 26 could also be designed in another way as shown.
  • a cooperating only with a rail edge 27, rotatably mounted relative to the subframe 16 part could be present.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)

Claims (9)

  1. Portique qui présente un mécanisme de translation servant à déplacer le portique le long d'une voie de roulement rectiligne formée par des rails parallèles (1), lequel mécanisme de translation comporte plusieurs groupes de translation (11) présentant chacun au moins deux roues (12) à distance l'une de l'autre dans le sens longitudinal du rail correspondant (1) et pouvant pivoter sur un chariot (16) et dont au moins deux, de préférence toutes, sont reliées à un sommier (10) du portique de façon à pivoter autour d'un axe vertical (23), pour au moins un groupe de translation (11) relié au sommier correspondant (10) de façon à pouvoir pivoter autour de l'axe vertical (23), de préférence pour tous les groupes de translation (11) reliés au sommier correspondant (10) de façon à pouvoir pivoter autour de l'axe vertical (23), au moins un dispositif de mesure (26) est présent, par lequel la trajectoire d'au moins l'une des roues (12) du groupe de translation (11) par rapport au rail (1) sur laquelle elle roule est détectée, et donne une valeur de trajectoire (a) correspondant à la trajectoire concernée, caractérisé en ce que, entre le groupe de translation (11) et le sommier correspondant (10), se trouve un actionneur (28) commandé par un dispositif de réglage (48, 49) vers lequel la valeur de trajectoire (a) émise par le dispositif de mesure (26) est acheminée, et qui applique au groupe de translation (11) un couple de rotation (m) , déterminé par cette commande, autour de l'axe vertical (23).
  2. Portique selon la revendication 1, caractérisé en ce qu'il existe, pour chacune des deux directions de déplacement du portique, au moins un dispositif de mesure (26) prévu pour détecter la trajectoire d'une roue (12) du groupe de translation (11) se trouvant, par rapport au sens de déplacement du portique, avant l'axe vertical (23) autour duquel le groupe de translation (11) peut pivoter.
  3. Portique selon la revendication 1 ou la revendication 2, caractérisé en ce que, pour une zone centrale (a1-a2) de la trajectoire de la roue (12) détectée par le dispositif de mesure (26), le dispositif de réglage (48, 49) règle le couple de rotation (m) exercé par l'actionneur (28) sur le groupe de translation (11) sur 0.
  4. Portique selon la revendication 3, caractérisé en ce que, pour une trajectoire de la roue (12) se trouvant sur un côté à l'extérieur de la zone centrale (a1-a2), le couple de rotation (m) exercé par l'actionneur (28) sur le groupe de translation (11) est réglé sur une valeur (mx, my) pré-ajustable constante, le sens de rotation du couple de rotation (m) étant différent selon le côté où se trouve la trajectoire de la roue (12) à l'extérieur de la zone centrale (a1-a2).
  5. Portique selon l'une quelconque des revendications 1 à 4, caractérisé en ce que l'actionneur (28) est un ensemble piston-cylindre agissant entre le groupe de translation (11) et le sommier (10) correspondant.
  6. Portique selon l'une quelconque des revendications 1 à 5, caractérisé en ce que le dispositif de mesure (26) présente une pièce (35) pouvant pivoter sur le chariot (16) sur lequel la roue (12) qu'il s'agit de détecter peut pivoter, laquelle pièce coopère au moins avec un flanc de rail (27).
  7. Portique selon la revendication 6, caractérisé en ce que le dispositif de mesure présente une travée (35) qui coopère avec les deux flancs de rail (27) et est disposée de façon à pouvoir pivoter sur des bras pivotants (37, 38) positionnés sur le chariot (16) de façon à pouvoir pivoter.
  8. Portique selon l'une quelconque des revendications 1 à 7, caractérisé en ce que chaque groupe de translation (11) présente deux chariots (16) ou plus comportant chacun au moins deux roues (12) à distance l'une de l'autre dans le sens longitudinal du rail (1) respectif et pouvant pivoter sur le chariot (16) et le groupe de translation (11) concerné est relié en tant que tout au sommier (10) de façon à pouvoir pivoter autour d'un axe vertical (23).
  9. Portique selon l'une quelconque des revendications 1 à 8, caractérisé en ce que les groupes de translation (11) sont disposés chacun directement sous une jambe (2 à 5) du portique.
EP09740248A 2008-10-09 2009-09-08 Grue à portique Active EP2331446B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL09740248T PL2331446T3 (pl) 2008-10-09 2009-09-08 Suwnica bramowa

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0157708A AT507333B1 (de) 2008-10-09 2008-10-09 Portalkran
PCT/AT2009/000352 WO2010040157A1 (fr) 2008-10-09 2009-09-08 Grue à portique

Publications (2)

Publication Number Publication Date
EP2331446A1 EP2331446A1 (fr) 2011-06-15
EP2331446B1 true EP2331446B1 (fr) 2013-04-03

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Family Applications (1)

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EP09740248A Active EP2331446B1 (fr) 2008-10-09 2009-09-08 Grue à portique

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US (1) US20110180506A1 (fr)
EP (1) EP2331446B1 (fr)
AT (1) AT507333B1 (fr)
PL (1) PL2331446T3 (fr)
WO (1) WO2010040157A1 (fr)

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RU2502665C1 (ru) * 2012-04-18 2013-12-27 Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Брянский государственный технический университет" Способ ограничения перекоса мостового крана
EP2824058A1 (fr) * 2013-07-12 2015-01-14 HF Holding S.A. Rail pour charnière de flèche de grue
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CN113786939A (zh) * 2021-10-09 2021-12-14 山东天益环保测控有限公司 一种用于仪表控制柜的喷漆设备

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Also Published As

Publication number Publication date
US20110180506A1 (en) 2011-07-28
EP2331446A1 (fr) 2011-06-15
AT507333B1 (de) 2011-09-15
AT507333A1 (de) 2010-04-15
PL2331446T3 (pl) 2013-09-30
WO2010040157A1 (fr) 2010-04-15

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