EP2465807A1 - Procédé et dispositif de positionnement d'une charge de grue suspendue sur une suspension par câble d'une grue dans le sens de rotation autour de son axe vertical - Google Patents

Procédé et dispositif de positionnement d'une charge de grue suspendue sur une suspension par câble d'une grue dans le sens de rotation autour de son axe vertical Download PDF

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Publication number
EP2465807A1
EP2465807A1 EP11008120A EP11008120A EP2465807A1 EP 2465807 A1 EP2465807 A1 EP 2465807A1 EP 11008120 A EP11008120 A EP 11008120A EP 11008120 A EP11008120 A EP 11008120A EP 2465807 A1 EP2465807 A1 EP 2465807A1
Authority
EP
European Patent Office
Prior art keywords
crane
load
rotation
angle
receiving means
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
EP11008120A
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German (de)
English (en)
Other versions
EP2465807B1 (fr
Inventor
Wolfgang Wichner
Ing. Wilharm Heinz Dr.
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.)
Wichner Wolfgang
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Wichner Wolfgang
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Publication date
Application filed by Wichner Wolfgang filed Critical Wichner Wolfgang
Publication of EP2465807A1 publication Critical patent/EP2465807A1/fr
Application granted granted Critical
Publication of EP2465807B1 publication Critical patent/EP2465807B1/fr
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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
    • B66C13/04—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
    • 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
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Definitions

  • the invention relates to a method and a device for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about its vertical axis.
  • the present invention seeks to provide a method and apparatus for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about its vertical axis available, in which or with a considerably reduced technical constructive and regulatory effort reliable positioning of the crane load in the direction of rotation about the vertical axis is possible, with rotary pendulum should be avoided.
  • a rotation angle of the crane load is adjusted by manual specification of a rotational speed setpoint for a between the crane load bearing load-carrying base and a hanging on the cable suspension of the crane lifting device upper part rotating mechanism and that as input for the regulation of the slewing gear during the adjustment of the angle of rotation of the crane load of the angle of rotation of the load-receiving means upper part relative to a crane trolley and the angular position of the load-receiving means lower part relative to the load receiving means upper part are used.
  • the operator or the crane operator before the slewing a rotational speed setpoint before. If he sets this speed setpoint to zero, the slewing stops, and free of unwanted swings of the rope suspension of the crane system.
  • angle of rotation of the upper part of the crane load handling device is detected by means of a rotary and pendulum angle sensor, which additionally measures a pendulum angle of the crane load in Kranfahrt- and in Kratz travel direction, can be used to detect the angle of rotation of the crane load in crane systems with a pendulum control anyway existing component.
  • the method according to the invention for rotationally pendulum-free adjustment of the angle of rotation of a crane load can advantageously be used in addition to a pendulum control method of the crane system.
  • An inventive device for positioning a crane load, which depends on a cable suspension of a crane system, in the direction of rotation about the vertical axis has a slewing gear, which is arranged between the hanging on the load-receiving means lower part crane load and hanging on the cable suspension of the crane lifting device upper part and by means of the crane load is rotatable with respect to the cable suspension of the crane system about the vertical axis of the crane load, and a control unit, by means of which the slewing gear is controllable.
  • an input device by means of a rotational speed setpoint is entered into the control unit of the rotating mechanism
  • a sensor device by means of an angular position of the rotating mechanism, a rotation angle of the load-receiving means upper part relative to the trolley and the vertical distance between the trolley and the load-receiving means upper part detectable and are forwarded to the control unit of the slewing as Eingansteiln for an adjustment of the angle of rotation of the crane load.
  • the control unit is advantageously designed so that a predefinable setpoint rotation angle of the crane load is automatically adjustable. As an alternative to manual operation of the slewing mechanism, an automatic operation can then also be realized.
  • the sensor device has a rotation angle sensor, by means of which the rotational position or the angle of rotation of the crane trolley apart from a yielding of stranding non-rotatable load-carrying means upper part of a crane load lifting device of the crane system relative to the crane can be detected. Since a relative rotation between the load-receiving means upper part of the crane load-side lifting device and the lower part of the load-carrying means is also measured, the absolute angle of rotation of a wide variety of crane loads relative to the vertical axis can be detected reliably.
  • the rotation angle sensor is part of a pendulum and rotation angle sensor, by means of which additionally a pendulum angle of the crane load in Kranfahrt- and in Kranatzfahrtraum can be measured.
  • a pendulum control device Equipped cranes then require, apart from the rotation angle detection of the slewing between load-carrying upper part and load-carrying lower part no additional sensor units to be equipped with the inventive device for positioning a crane load.
  • the device according to the invention is integrated into a pendulum control device of the crane system, by means of which pendulum vibrations of the crane load in crane drive and / or in crane travel direction are prevented or suppressed.
  • a device 1 shown in the single figure is used to position a crane load 2 in the direction of rotation about its vertical axis 3, while the crane load 2 is arranged on a load-receiving means 4 of a crane system 5.
  • the crane installation 5 has a crane trolley 6, which can be moved along a cat track 7.
  • the cat track 7 of the crane system 5 extends between two beams 8, 9 and is movable along these beams 8, 9.
  • a load-receiving means upper part 12a of the load receiving means 4 is arranged on the crane load side.
  • the load-carrying means upper part 12a is connected to a slewing gear 11 of the lifting device 4.
  • a load-receiving means lower part 12b and with this the crane load 2 arranged on the load receiving means 4 can be rotated or rotated with respect to the load receiving means upper part 12a or about the vertical axis 3.
  • the rotary mechanism 11 is associated with a control unit 13, by means of which the operation of the slewing gear 11 is controlled or regulated.
  • the control unit 13 is connected to an input device 14, by means of an operator or a crane operator manually a rotational speed setpoint for an adjustment of the angle of rotation of the crane load 2 in relation to the vertical axis 3 can be entered.
  • the slewing gear 11 is operated to rotate the crane load 2 with respect to the vertical axis 3 at the predetermined rotational speed. If the operator or the crane operator sets the rotational speed setpoint to zero, the slewing gear 11 is stopped, free from unwanted torsional oscillations of the cable suspension 10 of the crane system 5. The crane operator or the operator can manually the desired for the crane load 2 rotation angle in this way to adjust.
  • the control unit 13 can also be configured such that a setpoint rotation angle for the crane load 2 can be entered, this predetermined setpoint rotation angle then being set automatically by means of the slewing gear 11, likewise free of unwanted rotational oscillations of the cable suspension 10 and with this, the crane load 2.
  • the respective angular position of the slewing gear 11 and the absolute angle of rotation of the load-carrying means upper part 12a are taken into account as adjustment parameters of the angle of rotation of the crane load 2, as well as those detected by a further sensor 17 Length of the rope suspension 10.
  • an angular position sensor 15 is provided, by means of which the angular position of the slewing gear 11, i. the angle of rotation between the load receiving means upper part 12a and load receiving means lower part 12b, detectable and can be forwarded to the control unit 13. Furthermore, a rotation angle sensor 16 is provided, by means of which the absolute angle of rotation of the load-receiving means upper part 12a can be determined about its vertical axis 3 and also forwarded to the control unit 13.
  • the control unit 13 By means of the control unit 13, an adjustment of the angle of rotation of the crane load 2 and a consequent operation of the slewing gear 11 can be controlled and regulated so that unwanted rotational oscillations are avoided.
  • the angle of rotation of the load-receiving means upper part 12a of the crane load-side lifting device 4 is detected by means of the rotation angle sensor 16.
  • This load receiving means upper part 12a of the load receiving means 4 is not rotatable with respect to the trolley 6 - apart from a possible yielding of the stranding.
  • the sensor 17 for detecting the length of the cable suspension 10 is used to adapt the control to different lifting heights.
  • the rotation angle sensor 16 may be part of a pendulum and rotation angle sensor, by means of which a pendulum angle of the Crane load 2 in Kranfahrt- and in Kranatzfahrtraum can be measured.
  • the above-described rotary pendulum control can then be integrated into an existing swing control of the crane system.
  • the rotation angle sensor 16 may additionally be able to determine the vertical distance between crane trolley 6 and load receiving means upper part 12a and thus to replace or redundantly supplement the separate sensor 17 for detecting the length of the cable suspension 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP11008120.5A 2010-12-14 2011-10-07 Procédé et dispositif de positionnement d'une charge de grue suspendue Active EP2465807B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201010054502 DE102010054502A1 (de) 2010-12-14 2010-12-14 Verfahren und Vorrichtung zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um deren vertikale Achse

Publications (2)

Publication Number Publication Date
EP2465807A1 true EP2465807A1 (fr) 2012-06-20
EP2465807B1 EP2465807B1 (fr) 2016-05-25

Family

ID=44799512

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11008120.5A Active EP2465807B1 (fr) 2010-12-14 2011-10-07 Procédé et dispositif de positionnement d'une charge de grue suspendue

Country Status (3)

Country Link
EP (1) EP2465807B1 (fr)
DE (1) DE102010054502A1 (fr)
ES (1) ES2586202T3 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104671090A (zh) * 2013-11-28 2015-06-03 西门子公司 用于影响起重机上所吊挂重物的运动的方法
CN105947897A (zh) * 2016-06-21 2016-09-21 辽宁科技大学 一种异形建筑的无脚手架建筑机构
GB2544513A (en) * 2015-11-19 2017-05-24 Sapphire Balustrades Ltd Controller and method of controlling a load
CN110435206A (zh) * 2018-05-04 2019-11-12 沃尔夫冈·威奇纳 用于压制工具的运输起重机的工具夹钳

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT520008B1 (de) 2017-05-29 2020-02-15 B & R Ind Automation Gmbh Verfahren zum Dämpfen von Drehschwingungen eines Lastaufnahmeelements einer Hebeeinrichtung
CN108382995B (zh) * 2018-03-01 2022-11-18 安徽火炎焱文化传媒有限公司 一种舞台用可调节平衡吊杆的操作方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1087269A (ja) * 1996-09-19 1998-04-07 Mitsui Eng & Shipbuild Co Ltd 吊り荷旋回方法および装置
DE19826695A1 (de) * 1998-06-16 1999-12-23 Siemens Ag Verfahren und Vorrichtung zur Ausregelung eines Verdrehwinkels einer Last
DE10029579A1 (de) 2000-06-15 2002-01-03 Hofer Eberhard Verfahren zur Orientierung der Last in Krananlagen
EP1334945A2 (fr) * 2002-02-08 2003-08-13 Mitsubishi Heavy Industries, Ltd. Dispositif et procédé pour controler la rotation d'un conteneur
JP2005008288A (ja) * 2003-06-16 2005-01-13 Mitsubishi Heavy Ind Ltd 吊荷旋回制御装置および吊荷旋回制御方法
WO2006024701A1 (fr) * 2004-09-01 2006-03-09 Kalmar Industries Oy Ab Arret du mouvement d'inclinaison d'un conteneur
DE102007041692A1 (de) * 2007-09-03 2009-03-05 Siemens Ag Regelungseinrichtung zur Dämpfung von Pendelbewegungen einer seilgeführten Last

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2649966B1 (fr) * 1989-07-18 1991-09-27 Potain Sa Dispositif motorise de rotation de charge, auto-alimente en energie, pour appareils de levage a cable
JP2955492B2 (ja) * 1995-05-23 1999-10-04 日立機電工業株式会社 クレーンの吊荷の旋回姿勢制御方法
DE29921246U1 (de) * 1999-12-02 2000-02-24 Siemens Ag Steuervorrichtung zur Überwachung und Regelung von Schwingungsbewegungen von Kranlasten
JP2001322796A (ja) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd 吊荷の制振装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1087269A (ja) * 1996-09-19 1998-04-07 Mitsui Eng & Shipbuild Co Ltd 吊り荷旋回方法および装置
DE19826695A1 (de) * 1998-06-16 1999-12-23 Siemens Ag Verfahren und Vorrichtung zur Ausregelung eines Verdrehwinkels einer Last
DE10029579A1 (de) 2000-06-15 2002-01-03 Hofer Eberhard Verfahren zur Orientierung der Last in Krananlagen
EP1334945A2 (fr) * 2002-02-08 2003-08-13 Mitsubishi Heavy Industries, Ltd. Dispositif et procédé pour controler la rotation d'un conteneur
JP2005008288A (ja) * 2003-06-16 2005-01-13 Mitsubishi Heavy Ind Ltd 吊荷旋回制御装置および吊荷旋回制御方法
WO2006024701A1 (fr) * 2004-09-01 2006-03-09 Kalmar Industries Oy Ab Arret du mouvement d'inclinaison d'un conteneur
DE102007041692A1 (de) * 2007-09-03 2009-03-05 Siemens Ag Regelungseinrichtung zur Dämpfung von Pendelbewegungen einer seilgeführten Last

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104671090A (zh) * 2013-11-28 2015-06-03 西门子公司 用于影响起重机上所吊挂重物的运动的方法
CN104671090B (zh) * 2013-11-28 2017-04-12 西门子公司 用于影响起重机上所吊挂重物的运动的方法
GB2544513A (en) * 2015-11-19 2017-05-24 Sapphire Balustrades Ltd Controller and method of controlling a load
GB2544513B (en) * 2015-11-19 2021-07-14 Sapphire Balconies Ltd Controller and method of controlling a load
CN105947897A (zh) * 2016-06-21 2016-09-21 辽宁科技大学 一种异形建筑的无脚手架建筑机构
CN110435206A (zh) * 2018-05-04 2019-11-12 沃尔夫冈·威奇纳 用于压制工具的运输起重机的工具夹钳
EP3566999A1 (fr) * 2018-05-04 2019-11-13 Wolfgang Wichner Pince de préhension d'outil d'une grue de transport pour outils de presse

Also Published As

Publication number Publication date
DE102010054502A1 (de) 2012-06-14
ES2586202T3 (es) 2016-10-13
EP2465807B1 (fr) 2016-05-25

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