EP2465807B1 - Method and device for positioning a suspended crane load - Google Patents

Method and device for positioning a suspended crane load Download PDF

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Publication number
EP2465807B1
EP2465807B1 EP11008120.5A EP11008120A EP2465807B1 EP 2465807 B1 EP2465807 B1 EP 2465807B1 EP 11008120 A EP11008120 A EP 11008120A EP 2465807 B1 EP2465807 B1 EP 2465807B1
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Prior art keywords
crane
load
loading means
rotation angle
slewing gear
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EP11008120.5A
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German (de)
French (fr)
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EP2465807A1 (en
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Wolfgang Wichner
Heinz Wilharm
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    • 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 the vertical axis according to the preamble of claim 1 and of the patent claim. 5
  • a crane system is known, in the operation of a method is realized in which a rotation angle of the crane load is adjusted by a slewing or a motorization and in which as input for the regulation of the slewing in the adjustment of the angle of rotation of the crane load of the absolute rotation angle of a crane load side Lifting means of the crane system and the angular position of the slewing are used.
  • a rotation speed setpoint can be specified manually.
  • the slewing gear or the motorization is arranged between the crane load and the cable suspension.
  • the absolute angle of rotation of the load-receiving device lower part or the suspension is used as the absolute angle of rotation of the crane load-side lifting device.
  • the present invention seeks to simplify the above-described method for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about the vertical axis and to realize with less effort.
  • the angular position of the slewing gear and the absolute angle of rotation of the load-receiving means upper part are used as input variables for the regulation of the slewing gear in addition to the above-mentioned vertical distance between the crane trolley and the load receiving means upper part.
  • the two last-mentioned variables are, once, the angular position of the slewing gear which is completely independent of any oscillating movements of the crane load and which is defined solely by the adjustment of the load-bearing sub-base with respect to the load-bearing upper part.
  • the absolute rotational angle of the load-receiving means upper part is provided as input, which is due exclusively to rotary pendulum movements of the load-carrying upper part of the cable suspension and does not contain independent of the rotational pendulum motion constant angular components. Due to the detection of the absolute angle of rotation of the load-carrying upper part and the associated arrangement of load-receiving side sensor parts on the load-receiving means upper part results in the extent advantages that the load receiving means side sensor elements for the crane-side sensor elements in each position of the crane load can be clearly detected. No special technical measures are required for this.
  • An operator or a crane operator of the crane system can manually bring about the desired positioning of the crane load.
  • the operator or the crane operator before the slewing a rotational speed setpoint before.
  • the slewing gear stops, free of unwanted torsional jolts on the crane's suspension.
  • 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.
  • control unit of the device according to the invention is advantageously designed so that a predefinable target rotational angle of the crane load is automatically adjustable.
  • an automatic operation can then also be realized.
  • 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. Equipped with a pendulum control device cranes then need 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-receiving means upper part 12a is connected to a slewing gear 11 of the load-receiving means 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, is the slewing gear 11 stopped, and indeed free of unwanted torsional oscillations of the cable suspension 10 of the crane system 5.
  • the crane operator or the operator can set the desired angle for the crane load 2 rotation angle in this way manually.
  • 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 receiving 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.
  • control unit 13 can be an adjustment of the angle of rotation of the crane load 2 and a consequent operation the slewing gear 11 are controlled and regulated so that unwanted rotation 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 can be measured in Kranfahrt- and in Kranatzfahrtraum.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Description

Die Erfindung bezieht sich auf ein Verfahren und eine Vorrichtung zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um deren vertikale Achse nach dem Oberbegriff des Patentanspruchs 1 bzw. des Patentanspruchs 5.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 the vertical axis according to the preamble of claim 1 and of the patent claim. 5

Bei der Entladung, Verladung sowie beim Transport von Kranlasten mittels der Krananlage ist es aufgrund räumlicher Verhältnisse etc. vergleichsweise häufig erforderlich, die an der Seilaufhängung der Krananlage hängende Kranlast in Rotationsrichtung um deren vertikale Achse in eine bestimmte Drehstellung bzw. in einen bestimmten Drehwinkel zu verbringen. Um eine solche Verstellung des Drehwinkels der Kranlast zu bewerkstelligen, sind z.B. in der DE 100 29 579 A1 Verfahren zur Positionierung der Kranlast vorgeschlagen worden, bei denen die an der Seilaufhängung aufgehängte Kranlast um einen bestimmten absoluten Drehwinkel mit einem Drehwerk, das zwischen der Seilaufhängung und der Kranlast vorgesehen ist, gedreht wird. Zur Unterdrückung von Torsions- bzw. Drehpendelschwingungen der Kranlast werden als Eingangsgrößen die absolute Drehwinkelgeschwindigkeit der Kranlast und die Winkelposition des Drehwerks eingesetzt.When unloading, loading and during the transport of crane loads by means of the crane system, it is comparatively often necessary because of spatial conditions, etc., to spend the crane suspension hanging on the cable suspension crane load in the direction of rotation about its vertical axis in a specific rotational position or in a certain angle of rotation , To accomplish such an adjustment of the angle of rotation of the crane load, for example, in DE 100 29 579 A1 Method for positioning the crane load has been proposed, in which the crane load suspended on the cable suspension is rotated by a certain absolute angle of rotation with a slewing mechanism provided between the cable suspension and the crane load. For suppression of torsional or torsional pendulum vibrations The crane load uses the absolute angular velocity of the crane load and the angular position of the slewing gear as input variables.

Aus der DE 690 00 566 T2 ist eine Krananlage bekannt, bei deren Betrieb ein Verfahren verwirklicht wird, bei dem ein Drehwinkel der Kranlast durch ein Drehwerk bzw. eine Motorisierung verstellt wird und bei dem als Eingangsgröße für die Regelung des Drehwerks bei der Verstellung des Drehwinkels der Kranlast der absolute Drehwinkel eines kranlastseitigen Lastaufnahmemittels der Krananlage und die Winkelposition des Drehwerks eingesetzt werden. Für die Verstellung des Drehwinkels der Kranlast kann ein Drehgeschwindigkeitssollwert manuell vorgegeben werden. Das Drehwerk bzw. die Motorisierung ist zwischen der Kranlast und der Seilaufhängung angeordnet. Mittels des Drehwerks bzw. der Motorisierung wird der Drehwinkel eines Lastaufnahmemittel-Unterteils bzw. einer Aufhängung in Bezug auf ein Lastaufnahmemittel-Oberteil bzw. ein Flaschenzuggehäuse verstellt.From the DE 690 00 566 T2 a crane system is known, in the operation of a method is realized in which a rotation angle of the crane load is adjusted by a slewing or a motorization and in which as input for the regulation of the slewing in the adjustment of the angle of rotation of the crane load of the absolute rotation angle of a crane load side Lifting means of the crane system and the angular position of the slewing are used. For the adjustment of the angle of rotation of the crane load a rotation speed setpoint can be specified manually. The slewing gear or the motorization is arranged between the crane load and the cable suspension. By means of the slewing gear or the motorization of the rotation angle of a load-receiving means lower part or a suspension with respect to a load-receiving means upper part or a pulley housing is adjusted.

Als absoluter Drehwinkel des kranlastseitigen Lastaufnahmemittels wird im Falle des bekannten Verfahrens der absolute Drehwinkel des Lastaufnahmemittel-Unterteils bzw. der Aufhängung eingesetzt.In the case of the known method, the absolute angle of rotation of the load-receiving device lower part or the suspension is used as the absolute angle of rotation of the crane load-side lifting device.

Ausgehend von dem vorstehend geschilderten Stand der Technik liegt der Erfindung die Aufgabe zugrunde, das vorstehend geschilderte Verfahren zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um deren vertikale Achse zu vereinfachen und mit einem geringeren Aufwand zu verwirklichen.Based on the above-described prior art, the present invention seeks to simplify the above-described method for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about the vertical axis and to realize with less effort.

Diese Aufgabe wird erfindungsgemäß durch die Merkmale im kennzeichnenden Teil des Patentanspruchs 1 bzw. 5 gelöst.This object is achieved by the features in the characterizing part of claim 1 and 5 respectively.

Im Falle des erfindungsgemäßen Verfahrens bzw. der erfindungsgemäßen Vorrichtung werden als Eingangsgrößen für die Regelung des Drehwerks neben dem vorstehend angegebenen vertikalen Abstand zwischen der Krankatze und dem Lastaufnahmemittel-Oberteil die Winkelposition des Drehwerks und der absolute Drehwinkel des Lastaufnahmemittel-Oberteils eingesetzt. Bei den beiden letztgenannten Größen handelt es sich einmal um die von irgendwelchen Pendelbewegungen der Kranlast völlig unabhängige Winkelposition des Drehwerks, die allein durch die Verstellung des Lastaufnahmemittel-Unterteils in Bezug auf das Lastaufnahmemittel-Oberteil definiert ist. Zum anderen ist als Eingangsgröße der absolute Drehwinkel des Lastaufnahmemittel-Oberteils vorgesehen, der ausschließlich auf Drehpendelbewegungen des Lastaufnahmemittel-Oberteils an der Seilaufhängung zurückzuführen ist und der keine von der Drehpendelbewegung unabhängige konstante Winkelanteile enthält. Aufgrund der Erfassung des absoluten Drehwinkels des Lastaufnahmemittel-Oberteils und der damit einhergehenden Anordnung lastaufnahmemittelseitiger Sensorteile am Lastaufnahmemittel-Oberteil ergeben sich insoweit Vorteile, dass die lastaufnahmemittelseitigen Sensorelemente für die krananlagenseitigen Sensorelemente in jeder Position der Kranlast deutlich erfassbar sind. Hierzu sind keine besonderen technischen Maßnahmen erforderlich. Im Falle der Anordnung der lastaufnahmemittelseitigen Sensorelemente am in Bezug auf das Lastaufnahmemittel-Oberteil mittels des Drehwerks verstellbaren Lastaufnahmemittel-Unterteil müsste durch möglicherweise aufwändige Maßnahmen sichergestellt werden, dass die lastaufnahmemittelseitigen Sensorelemente bzw. deren Position von den krananlagenseitigen Sensorelementen stets erfassbar ist.In the case of the method according to the invention or the device according to the invention, the angular position of the slewing gear and the absolute angle of rotation of the load-receiving means upper part are used as input variables for the regulation of the slewing gear in addition to the above-mentioned vertical distance between the crane trolley and the load receiving means upper part. The two last-mentioned variables are, once, the angular position of the slewing gear which is completely independent of any oscillating movements of the crane load and which is defined solely by the adjustment of the load-bearing sub-base with respect to the load-bearing upper part. On the other hand, the absolute rotational angle of the load-receiving means upper part is provided as input, which is due exclusively to rotary pendulum movements of the load-carrying upper part of the cable suspension and does not contain independent of the rotational pendulum motion constant angular components. Due to the detection of the absolute angle of rotation of the load-carrying upper part and the associated arrangement of load-receiving side sensor parts on the load-receiving means upper part results in the extent advantages that the load receiving means side sensor elements for the crane-side sensor elements in each position of the crane load can be clearly detected. No special technical measures are required for this. In the case of the arrangement of the load-receiving-device-side sensor elements with respect to the load-receiving means upper part by means of the slewing adjustable load-carrying base would have to be ensured by possibly complex measures that the load-receiving means side Sensor elements or their position from the crane-side sensor elements is always detected.

Eine Bedienungsperson bzw. ein Kranführer der Krananlage kann manuell die gewünschte Positionierung der Kranlast herbeiführen. Hierzu gibt die Bedienungsperson bzw. der Kranführer dem Drehwerk einen Drehgeschwindigkeitssollwert vor. Wenn er diesen Drehgeschwindigkeitssollwert zu Null setzt, hält das Drehwerk an, und zwar frei von unerwünschten Drehpendelungen der Seilaufhängung der Krananlage.An operator or a crane operator of the crane system can manually bring about the desired positioning of the crane load. For this purpose, the operator or the crane operator before the slewing a rotational speed setpoint before. When it sets this speed reference to zero, the slewing gear stops, free of unwanted torsional jolts on the crane's suspension.

Selbstverständlich kann bei dem erfindungsgemäßen Verfahren gemäß einer Weiterbildung vorgesehen sein, einen Solldrehwinkel der Kranlast wahlweise auch automatisch einzustellen.Of course, it can be provided in the method according to the invention according to a development, optionally set a target rotation angle of the crane load automatically.

Wenn der Drehwinkel des Oberteils des kranlastseitigen Lastaufnahmemittels mittels eines Dreh- und Pendelwinkelsensors erfasst wird, der zusätzlich einen Pendelwinkel der Kranlast in Kranfahrt- und in Krankatzfahrtrichtung misst, kann zur Erfassung des Drehwinkels der Kranlast ein bei Krananlagen mit einer Pendelregelung ohnehin vorhandenes Bauteil eingesetzt werden.If the 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.

Das erfindungsgemäße Verfahren zur drehpendelungsfreien Verstellung des Drehwinkels einer Kranlast kann vorteilhaft in Ergänzung zu einem Pendelregelungsverfahren der Krananlage eingesetzt werden.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.

Da im Falle der erfindungsgemäßen Vorrichtung eine relative Verdrehung zwischen dem Lastaufnahmemittel-Oberteil des kranlastseitigen Lastaufnahmemittels und dem Lastaufnahmemittel-Unterteil ebenfalls gemessen wird, kann der absolute Drehwinkel unterschiedlichster Kranlasten gegenüber der Vertikalachse zuverlässig erfasst werden.Since, in the case of the device according to the invention, 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 different crane loads relative to the vertical axis are reliably detected.

Die Steuereinheit der erfindungsgemäßen Vorrichtung ist vorteilhaft so ausgebildet, dass ein vorgebbarer Solldrehwinkel der Kranlast automatisch einstellbar ist. Alternativ zum manuellen Betrieb des Drehwerks kann dann auch ein automatischer Betrieb realisiert werden.The control unit of the device according to the invention is advantageously designed so that a predefinable target rotational 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.

Vorteilhaft ist der Drehwinkelsensor Bestandteil eines Pendel- und Drehwinkelsensors, mittels dem zusätzlich ein Pendelwinkel der Kranlast in Kranfahrt- und in Krankatzfahrtrichtung messbar ist. Mit einer Pendelregelungsvorrichtung ausgerüstete Krananlagen benötigen dann abgesehen von der Drehwinkelerfassung des Drehwerks zwischen Lastaufnahmemittel-Oberteil und Lastaufnahmemittel-Unterteil keine zusätzlichen Sensoreinheiten, um auch mit der erfindungsgemäßen Vorrichtung zur Positionierung einer Kranlast ausgerüstet zu werden.Advantageously, 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 Kranatzfahrtrichtung can be measured. Equipped with a pendulum control device cranes then need 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.

Vorteilhaft ist die erfindungsgemäße Vorrichtung in eine Pendelregelungsvorrichtung der Krananlage integriert, mittels der Pendelschwingungen der Kranlast in Kranfahrt- und/oder in Krankatzfahrtrichtung verhindert bzw. unterdrückt werden.Advantageously, 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.

Im Folgenden wird die Erfindung anhand einer Ausführungsform unter Bezugnahme auf die Zeichnung näher erläutert, in deren einziger Figur eine erfindungsgemäße Vorrichtung zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um ihre vertikale Achse prinzipiell dargestellt ist.In the following the invention with reference to an embodiment is explained in more detail in the single figure of an inventive device for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about its vertical axis is shown in principle.

Eine in der einzigen Figur gezeigte Vorrichtung 1 dient der Positionierung einer Kranlast 2 in Rotationsrichtung um deren vertikale Achse 3, während die Kranlast 2 an einem Lastaufnahmemittel 4 einer Krananlage 5 angeordnet ist.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.

In der gezeigten Ausführungsform hat die Krananlage 5 eine Krankatze 6, die längs einer Katzenlaufbahn 7 verfahrbar ist. Die Katzenlaufbahn 7 der Krananlage 5 verläuft zwischen zwei Trägern 8, 9 und ist längs dieser Träger 8, 9 verfahrbar.In the embodiment shown, 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.

An einer Seilaufhängung 10 der Krananlage 5 ist kranlastseitig ein Lastaufnahmemittel-Oberteil 12a des Lastaufnahmemittels 4 angeordnet. Das Lastaufnahmemittel-Oberteil 12a ist mit einem Drehwerk 11 des Lastaufnahmemittels 4 verbunden. Mittels des Drehwerks 11 kann ein Lastaufnahmemittel-Unterteil 12b und mit diesem die am Lastaufnahmemittel 4 angeordnete Kranlast 2 in Bezug auf das Lastaufnahmemittel-Oberteil 12a bzw. um die vertikale Achse 3 gedreht bzw. rotiert werden.On a cable suspension 10 of the crane installation 5, a load-receiving means upper part 12a of the load receiving means 4 is arranged on the crane load side. The load-receiving means upper part 12a is connected to a slewing gear 11 of the load-receiving means 4. By means of the slewing gear 11, 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.

Dem Drehwerk 11 ist eine Steuereinheit 13 zugeordnet, mittels der der Betrieb des Drehwerks 11 steuer- bzw. regelbar ist. Die Steuereinheit 13 ist an eine Eingabevorrichtung 14 angeschlossen, mittels der durch eine Bedienungsperson bzw. einen Kranführer manuell ein Drehgeschwindigkeitssollwert für eine Verstellung des Drehwinkels der Kranlast 2 in Bezug auf die vertikale Achse 3 eingebbar ist. Entsprechend dem von der Regelung errechneten Drehgeschwindigkeitssollwert wird das Drehwerk 11 in Betrieb gesetzt, um die Kranlast 2 in Bezug auf die vertikale Achse 3 mit der vorgegebenen Drehgeschwindigkeit zu drehen. Wenn die Bedienungsperson bzw. der Kranführer den Drehgeschwindigkeitssollwert auf Null setzt, wird das Drehwerk 11 angehalten, und zwar frei von unerwünschten Drehpendelungen der Seilaufhängung 10 der Krananlage 5. Der Kranführer bzw. die Bedienungsperson kann den für die Kranlast 2 gewünschten Drehwinkel auf diese Weise manuell einstellen.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. In accordance with the rotational speed command value calculated by the control, 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, is the slewing gear 11 stopped, and indeed free of unwanted torsional oscillations of the cable suspension 10 of the crane system 5. The crane operator or the operator can set the desired angle for the crane load 2 rotation angle in this way manually.

Die Steuereinheit 13 kann auch so ausgestaltet sein, dass in sie ein Solldrehwinkel für die Kranlast 2 eingebbar ist, wobei dieser vorgegebene Solldrehwinkel mittels des Drehwerks 11 dann automatisch eingestellt wird, ebenfalls frei von unerwünschten Drehpendelungen der Seilaufhängung 10 und mit dieser, der Kranlast 2.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.

Um unerwünschte Drehpendelungen der Seilaufhängung 10 bzw. der Kranlast 2 zu vermeiden, werden bei der Verstellung des Drehwinkels der Kranlast 2 als Regelparameter die jeweilige Winkelposition des Drehwerks 11 und der absolute Drehwinkel des Lastaufnahmemittel-Oberteils 12a berücksichtigt, sowie die von einem weiteren Sensor 17 erfasste Länge der Seilaufhängung 10.In order to avoid unwanted torsional oscillations of the cable suspension 10 or the crane load 2, the respective angular position of the slewing gear 11 and the absolute angle of rotation of the load receiving 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.

Hierzu ist ein Winkelpositionssensor 15 vorgesehen, mittels dem die Winkelposition des Drehwerks 11, d.h. der Drehwinkel zwischen Lastaufnahmemittel-Oberteil 12a und Lastaufnahmemittel-Unterteil 12b, erfassbar und an die Steuereinheit 13 weiterleitbar ist. Des Weiteren ist ein Drehwinkelsensor 16 vorgesehen, mittels dem der absolute Drehwinkel des Lastaufnahmemittel-Oberteils 12a um dessen vertikale Achse 3 feststellbar und ebenfalls an die Steuereinheit 13 weiterleitbar ist.For this purpose, 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.

Mittels der Steuereinheit 13 kann eine Verstellung des Drehwinkels der Kranlast 2 und ein sich daraus ergebender Betrieb des Drehwerks 11 so gesteuert und geregelt werden, dass unerwünschte Drehpendelungen hierbei vermieden werden. In der gezeigten Ausführungsform wird mittels des Drehwinkelsensors 16 der Drehwinkel des Lastaufnahmemittel-Oberteils 12a des kranlastseitigen Lastaufnahmemittels 4 erfasst. Dieses Lastaufnahmemittel-Oberteil 12a des Lastaufnahmemittels 4 ist in Bezug auf die Krankatze 6 - abgesehen von einem etwaigen Nachgeben der Verseilung - nicht drehbar. Der Sensor 17 zur Erfassung der Länge der Seilaufhängung 10 dient der Adaption der Regelung an verschiedene Hubhöhen.By means of the control unit 13 can be an adjustment of the angle of rotation of the crane load 2 and a consequent operation the slewing gear 11 are controlled and regulated so that unwanted rotation oscillations are avoided. In the embodiment shown, 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.

Der Drehwinkelsensor 16 kann Bestandteil eines Pendel- und Drehwinkelsensors sein, mittels dem auch ein Pendelwinkel der Kranlast 2 in Kranfahrt- und in Krankatzfahrtrichtung gemessen werden kann. Die vorstehend geschilderte Drehpendelregelung kann dann in eine bestehende Pendelregelung der Krananlage integriert sein.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 can be measured in Kranfahrt- and in Kranatzfahrtrichtung. The above-described rotary pendulum control can then be integrated into an existing swing control of the crane system.

Vorteilhaft kann der Drehwinkelsensor 16 zusätzlich in der Lage sein, den vertikalen Abstand zwischen Krankatze 6 und Lastaufnahmemittel-Oberteil 12a zu ermitteln und somit den separaten Sensor 17 zur Erfassung der Länge der Seilaufhängung 10 zu ersetzen oder redundant zu ergänzen.Advantageously, 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.

Claims (8)

  1. A method for positioning a crane load (2) hanging on a cable suspension (10) of a crane facility (5) in the direction of rotation about the vertical axis (3) thereof, in which a rotation angle of the crane load (2) is adjusted by a slewing gear (11), in which the absolute rotation angle of a crane-load-side loading means (4) of the crane facility (5) and the angular position of the slewing gear (11) are used as input variables for the regulation of the slewing gear (11) for the adjustment of the rotation angle of the crane load (2), in which a rotation angle of the crane load (2) is adjusted by means of manual specification of a rotational-speed desired value for the slewing gear arranged between the crane load (2) and the cable suspension (10) is adjusted, and in which the rotation angle of a loading means lower part (12b), which cannot be twisted with respect to the crane load (2), is adjusted by means of the slewing gear (11), with respect to a loading means upper part (12a) of the loading means (4) hanging on the cable suspension (10) of the crane facility (5), which loading means upper part is arranged on the cable suspension (10) of the crane facility (5) on the crane load side and connected to the slewing gear (11) of the loading means (4), characterised in that the vertical distance between a crane trolley (6) of the crane facility (5) and the loading means upper part (12a) of the crane load (2) and the absolute rotation angle of the loading means upper part (12a) are used as further input variables for the regulation of the slewing gear (11) in the adjustment of the rotation angle of the crane load (2).
  2. The method according to Claim 1, in which a desired rotation angle of the crane load (2) is also optionally set automatically.
  3. The method according to Claim 1 or 2, in which the rotation angle of the loading means upper part (12a) of the crane-load side loading means (4) is detected by means of a rotation- and swing-angle sensor, which additionally measures a swing angle of the crane load (2) in the crane-travel and in the crane-trolley-travel direction and the vertical distance between the crane trolley (6) and the loading means upper part (12a).
  4. The method according to Claim 3, which is used as an supplement to a swing regulation method of the crane facility (5).
  5. A device for positioning a crane load (2), which hangs on a cable suspension (10) of a crane facility (5), in the direction of rotation about the vertical axis (3) thereof, having a slewing gear (11), by means of which the crane load (2) can be rotated about its vertical axis (3); a control unit (13), by means of which the slewing gear (11) can be controlled; a sensor device (15, 16, 17), by means of which a rotation angle of a loading means (4) of the crane facility (5) and an angular position of the slewing gear (11) can be detected and forwarded to the control unit (13) as input variables for the control of the slewing gear (11) during the adjustment of the rotation angle of the crane load (2), wherein the slewing gear (11) is arranged between the crane load (2) and the cable suspension (10) of the crane facility (5), the crane load (2) can be rotated in relation to the cable suspension (10) of the crane facility (5) by means of the slewing gear (11), and the device has an input device (14), by means of which a rotational-speed desired value can be entered into the control unit (13) of the slewing gear (11), wherein the sensor device (15, 16, 17) has a rotation-angle sensor (15), by means of which the rotational position or the rotation angle of a loading means lower part (12b) of the loading means (4) of the crane facility (5) on the crane load side, which loading means lower part cannot be twisted with respect to the crane load (2), with respect to the loading means upper part (12a) can be detected, characterised in that the vertical distance between a crane trolley (6) of the crane facility and a loading means upper part (12a) of the loading means (4) arranged on the crane load side on the cable suspension (10) of the crane facility and connected to the slewing gear (11) of the loading means (4) can be detected by means of the sensor device (15, 16, 17), in that a rotation angle of the loading means upper part (12a) can be detected as rotation angle of the loading means (4) of the crane facility (5) by means of the sensor device (15, 16, 17), in that the vertical distance between the crane trolley (6) and the loading means upper part (12a) and the rotation angle of the loading means upper part (12a) can be forwarded by means of the sensor device (15, 16, 17) to the control unit (13) as input variables for an adjustment of the rotation angle of the crane load (2).
  6. The device according to Claim 5, the control unit (13) of which is constructed in such a manner that a predeterminable desired rotation angle of the crane load (2) can be set automatically.
  7. The device according to Claim 6, in which the rotation-angle sensor (16) is a constituent of a swing- and rotation-angle sensor, by means of which a swing angle of the crane load (2) in the crane-travel direction and in the crane-trolley-travel direction and the vertical distance between the crane trolley (6) and the loading means upper part (12a) can additionally be measured.
  8. The device according to Claim 7, which is integrated into a swing regulation device of the crane facility (5).
EP11008120.5A 2010-12-14 2011-10-07 Method and device for positioning a suspended crane load Active EP2465807B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201010054502 DE102010054502A1 (en) 2010-12-14 2010-12-14 Method and device for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about its vertical axis

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EP2465807A1 EP2465807A1 (en) 2012-06-20
EP2465807B1 true EP2465807B1 (en) 2016-05-25

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AT520008B1 (en) 2017-05-29 2020-02-15 B & R Ind Automation Gmbh Method for damping torsional vibrations of a load-bearing element of a lifting device
CN108382995B (en) * 2018-03-01 2022-11-18 安徽火炎焱文化传媒有限公司 Operation method of adjustable balance suspender for stage
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ES2586202T3 (en) 2016-10-13
DE102010054502A1 (en) 2012-06-14

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