EP2527286A1 - Crane with overload protection - Google Patents

Crane with overload protection Download PDF

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Publication number
EP2527286A1
EP2527286A1 EP12003877A EP12003877A EP2527286A1 EP 2527286 A1 EP2527286 A1 EP 2527286A1 EP 12003877 A EP12003877 A EP 12003877A EP 12003877 A EP12003877 A EP 12003877A EP 2527286 A1 EP2527286 A1 EP 2527286A1
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EP
European Patent Office
Prior art keywords
crane
pressure
pressure relief
valve
hydraulic
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Granted
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EP12003877A
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German (de)
French (fr)
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EP2527286B1 (en
Inventor
Wilhelm Ing. Kräutler
Eugen DI Schobesberger
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Liebherr Werk Nenzing GmbH
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Liebherr Werk Nenzing GmbH
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Publication of EP2527286A1 publication Critical patent/EP2527286A1/en
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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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • B66C23/86—Slewing gear hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/94—Safety gear for limiting slewing movements

Definitions

  • the invention relates to a crane, in particular an offshore crane, with a slewing gear and a hydraulic slewing gear drive, wherein the slewing gear is held in its position by a retaining moment applied by the hydraulic slewing gear drive.
  • Crane structures are regularly designed for a certain maximum permissible load torque. Exceeding this allowable load torque can lead to a significant risk to the boom system and other crane components and cause permanent damage to the entire crane design. Therefore, cranes usually have an overload protection that causes a shutdown of the crane operation when exceeding the allowable forces on the crane construction.
  • overload protection only takes into account the vertical movement of the load during crane operation.
  • the load on a ship is moved by the wave motion of the sea possibly in addition to the vertical movement in the horizontal direction, whereby the ship or the load drifts sideways to the crane.
  • a lateral movement can cause a dangerous load torque on the cranes used construction, in particular on the slewing and on the boom.
  • Object of the present invention is therefore to develop an overload protection for a crane, taking into account the above problem.
  • a crane in particular an offshore crane, with a slewing gear and a hydraulic slewing gear drive according to the features of claim 1.
  • the slewing drive brings in a manner known per se, a torque on the crane turning to effect a rotational movement of the crane about a vertically disposed axis of rotation.
  • a holding torque is introduced by the hydraulic slew drive on the slew to hold this in the desired position.
  • the basic idea of the invention is now to regulate the applied holding torque in order to prevent exceeding the maximum permissible load torque on the slewing gear due to the load movement.
  • the determination of the maximum permissible load torque occurs as a function of the projection and / or the position of the crane hook.
  • the crane provides an overload safety device which has at least one detection means for detecting the projection and / or position of the crane hook and at least one pressure relief valve.
  • the overload protection is designed so that at least one pressure relief valve applied to the hydraulic slewing drive system pressure and consequently the resulting holding torque on the slewing drive in response to the projection and / or the position of the crane hook is adjustable.
  • the maximum moment occurring on the slewing can be limited by the rotation, which can prevent potential damage to the boom.
  • a diagonal train of an attached load leads to a rotational movement of the slewing gear, if the maximum torque, that is, the holding torque determined by the crane turning drive, is exceeded.
  • the adjustable holding torque on the slewing gear is reduced as a function of the projection and / or position of the hook.
  • the pressure in the system pressure line can be reduced by at least partially opening the pressure relief valve (s).
  • the one or more pressure relief valves are arranged so as to switch in the open state, a short circuit between high and low pressure line to the slew drive. The degree of opening of the pressure relief valve (s) then determines the flow rate within the short circuit and thus the degree of pressure reduction in the high pressure circuit.
  • the overload protection comprises at least one pressure relief valve, in particular a proportionally controllable pressure relief valve.
  • the output pressure of the pressure relief valve is connected as a control pressure on at least one or preferably all pressure relief valves. Accordingly, the respective degree of opening of the pressure relief valve or valves can be compensated via the pressure limiting valve.
  • the pressure limiting valve is made adjustable and the overload protection or the control unit of the overload protection regulates the output pressure of the pressure relief valve and consequently the applied control pressure to at least one pressure relief valve depending on the detected projection and / or the position of the crane hook.
  • the system pressure or the resulting holding torque on the slewing drive can therefore be regulated via the controllable pressure limiting valve as a function of the detected projection and / or the position of the crane hook.
  • control line is connected at least one or all pressure relief valves via at least one check valve with the system pressure line of the rotary drive.
  • control line is connected via at least one check valve with the supply of the system pressure line to the hydraulic slew drive and via at least one check valve with the return of the system pressure line.
  • the hydraulic slewing drive preferably comprises at least one hydraulic motor for carrying out a rotary movement of the slew drive.
  • the required holding force on the slewing drive is generated by the drive torque of the hydraulic motor.
  • the present invention therefore provides for a corresponding control of the hydraulic motor over the present system pressure in order to regulate the applied holding torque as a function of the projection and / or position of the hook.
  • a hydraulic parking brake may be provided, which in addition to or as an alternative to the hydraulic motor applies a corresponding holding torque on the slewing gear drive.
  • the overload protection according to the invention adopts a corresponding regulation of the control pressure in order to apply the desired holding torque via the slewing gear drive.
  • a user-defined maximum limit holding torque flows into the activation of at least one pressure relief valve.
  • a limit is particularly preferably taken into account in the control of the proportional pressure limiting valve.
  • the pressure relief valve can basically be designed and arranged differently. It can be provided that the discharge side of the pressure relief valve is connected to a tank of the system.
  • the one or more pressure relief valves may themselves have different configurations.
  • at least one pressure relief valve may be formed as a valve cartridge or so-called cartridge valve.
  • the overload protection of the crane in development of the invention may include a switching valve that activates the overload protection function only in the energized state. For example, in the non-energized state, the pressure relief valve is locked by the pressure line between the pressure relief and pressure relief valve is locked.
  • the switching valve may be associated with a position sensing device, in particular a switching position monitoring, which monitors the switching position of the switching valve and thus enables error detection.
  • the complete overload protection of the crane is not limited to the regulation of the holding torque on the slewing, however, for reasons of simplicity, only this function has been referred to.
  • the overload protection can basically measure other moments and forces on the crane system, monitor and optionally control the individual crane drives suitable, such as a controlled control of Huboper drive to omit the hoist rope in case of overload.
  • Drawn crane 10 is rotatably supported by means of a slewing gear 30 about a vertical axis A on an offshore platform 20. It has a cantilevered about a horizontal rocking axis boom 40, on the top of a hoist rope 50 runs, which serves to receive the mounted on the ship 90 load 100.
  • the hoist rope 50 can be lowered and overtaken by means of a hoist winch.
  • the illustrated crane 10 is equipped with an overload protection, which should avoid a threat to the boom 40 of the crane 10 and to protect the entire crane structure against damage when changing the load torque.
  • the overload protection comprises a control device which is connected to a load hook position detection device, which on the one hand detects the respective load acting on the crane 10 and on the other hand the respective position of the load hook or the attached load 100.
  • the overload protection comprises a Ausladungssensor, the unloading of the crane 10, d. H. detected the horizontal distance of the running of the tip of the boom 40 hoist rope 50 from the vertical axis of rotation A of the crane 10 and the control unit of the overload protection notifies.
  • the torque on the slewing gear 30 should be limited in order to prevent potential damage to the boom 40.
  • the vessel 90 diagonal pull of the hoisting rope 50 lead to an inadmissible load torque on the crane structure, in particular on the slewing gear 30.
  • a relief of the crane structure is now to be achieved according to the invention by a situation-dependent adjustment of the applied torque applied by the slewing drive to grant a rotational movement of the crane 10 about the vertical axis of rotation A in case of overload.
  • the maximum permissible torque on the slewing gear 30 is dependent on the design or the position of the crane hook on the hoist rope 50.
  • FIG. 2 shows a schematic representation of the circuit for driving the slewing 30.
  • the hydraulic circuit comprises the hydraulic motor 110, which is acted upon by the supply and return of the system pressure lines 120, 120 'with the desired pressure to to cause a corresponding rotational movement of the crane 10 about the axis of rotation A.
  • the flow direction determines the direction of rotation of the hydraulic motor 110.
  • a definable holding torque is set via the system pressure lines 120, 120 ', with which the hydraulic motor 110 keeps the slewing gear 30 in position during crane work.
  • the pressure level in the system pressure lines 120, 120 ' is usually a in the FIG. 2 not shown hydraulic pump determined.
  • the flow side 120 of the control pressure line of the hydraulic motor 110 is connected to a pressure relief valve 130, which in the illustrated embodiment is a so-called cartridge pressure valve and the input side is connected to the Spese für für 120 'of the hydraulic motor 110.
  • a pressure relief valve 130 which is connected on the input side to the system pressure line 120 and on the output side to the system pressure line 120' of the hydraulic motor 110.
  • the opening of the pressure relief valves 130, 130 ' is controlled hydraulically via a proportional pressure relief valve 140 which is connected on the input side to the hydraulic tank 160 and whose variable output pressure determines the applied control pressure at the two pressure relief valves 130, 130'.
  • the proportional pressure limiting valve 140 is actuated by the control device of the overload protection function of the discharge of the crane 10 detected by the Ausladungssensor and the determined by the load hook position detecting device position of the crane hook, so that the opening of the two pressure relief valves 130, 130 'and thus the on the Speisyaktechnischen 120, 120 'applied system pressure in dependence on the crane outreach and the crane hook position or the thus each allowed limit torque is determined on the slewing.
  • the proportional pressure limiting valve 140 can be regulated by a controller 141.
  • the proportional valve 140 is automatically regulated in such a way that the holding torque measured by the slew drive corresponds to the approved crane load.
  • FIG. 2 a 2/2-way valve 150, which is incorporated in the control pressure line between the proportional pressure relief valve 140 and the two pressure relief valves 130, 130 '.
  • This directional control valve 150 is designed such that it must be energized for a switched flow.
  • the switching valve 150 includes a position sensor or switch 151, which indicates the position of the switch 150 and is controlled by the system, so that an error monitoring is possible.
  • the overload protection can be deactivated, for example, if the load hook is located above the platform 20. On the other hand, the overload protection can then be activated and the holding torque on the slewing gear 30 is reduced depending on the projection and position of the hook when the load hook is below or outside the platform 20 in a position that increases the risk potential for the boom system or the crane could mean 10.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

The crane (10) has a rotating mechanism that is held in a position by applying the holding-torque of hydraulic slewing drive unit. A detection unit of an overload safety device detects the radius and/or position of the crane hook. The overload safety device is provided with a pressure relief valve. The pressure relief valve is controlled by the hydraulic slewing drive unit based on the radius and/or position of the crane hook.

Description

Die Erfindung betrifft einen Kran, insbesondere Offshore-Kran, mit einem Drehwerk und einem hydraulischen Drehwerksantrieb, wobei das Drehwerk über ein durch den hydraulischen Drehwerksantrieb aufgebrachtes Haltemoment in seiner Position gehalten wird.The invention relates to a crane, in particular an offshore crane, with a slewing gear and a hydraulic slewing gear drive, wherein the slewing gear is held in its position by a retaining moment applied by the hydraulic slewing gear drive.

Krankonstruktionen sind regelmäßig für ein bestimmtes maximal zulässiges Lastmoment ausgelegt. Ein Überschreiten dieses zulässigen Lastmomentes kann zu einer erheblichen Gefährdung für das Auslegersystem sowie sonstiger Kranbestandteile führen und dauerhafte Schäden an der gesamten Krankonstruktion hervorrufen. Daher besitzen Krane üblicherweise eine Überlastsicherung, die bei einem Überschreiten der zulässigen Kräfte auf die Krankonstruktion ein Abschalten des Kranbetriebs bewirkt.Crane structures are regularly designed for a certain maximum permissible load torque. Exceeding this allowable load torque can lead to a significant risk to the boom system and other crane components and cause permanent damage to the entire crane design. Therefore, cranes usually have an overload protection that causes a shutdown of the crane operation when exceeding the allowable forces on the crane construction.

Insbesondere bei Offshore-Kranen können aufgrund des Bewegungsprofils der zu hebenden Last schlagartige Änderungen des anliegenden Lastmomentes auftreten, die eine besondere Ausgestaltung der Überlastsicherung verlangen, da ein bloßes Abschalten der Kranantriebe speziell bei den im Offshore-Betrieb auftretenden Lastfälle zu einer Zerstörung der Krankonstruktion führt. Besonders gefährlich ist hier das Be- und Entladen eines Schiffs, das nicht bei ruhigem Wasser im Hafen, sondern bei höherem Seegang durchgeführt wird. Verhängt der Lasthaken eines auf einer Offshore-Plattform stehenden Krans am Versorgungsschiff, kommt es zu einer Überbelastung des Krans, wenn das Versorgungsschiff in ein Wellental absinkt. Die auftretenden Lasten würden zu einer Zerstörung des Krans führen, wenn die Überlastsicherung lediglich die Stellantriebe des Krans außer Betrieb setzt. Um einen Zerstörung des Krans in solchen Fällen zu verhindern, muß das Hubseil nachgelassen werden.Particularly in the case of offshore cranes, abrupt changes in the applied load moment can occur due to the movement profile of the load to be lifted, which require a special embodiment of the overload protection, since a mere shutdown of the crane drives occurs especially in offshore operation Load cases leads to a destruction of the crane construction. Particularly dangerous here is the loading and unloading of a ship, which is not carried out in calm water in the harbor, but at higher sea state. If the load hook of a crane standing on an offshore platform strikes the supply ship, the crane will be overloaded if the supply ship sinks into a wave trough. The occurring loads would lead to destruction of the crane when the overload protection only puts the actuators of the crane out of service. In order to prevent destruction of the crane in such cases, the hoist rope must be reduced.

Derartige Überlastsicherungen berücksichtigen allerdings nur die vertikale Bewegung der Last während des Kranbetriebs. So wird beispielsweise die auf einem Schiff liegende Last durch die Wellenbewegung des Meeres gegebenenfalls zusätzlich zur vertikalen Bewegung auch in horizontaler Richtung bewegt, wodurch das Schiff bzw. die Last seitlich zum Kran driftet. Auch eine seitliche Bewegung kann ein gefährliches Lastmoment auf die verwendete Krankonstruktion, insbesondere auf das Drehwerk und auf den Ausleger bewirken.However, such overload protection only takes into account the vertical movement of the load during crane operation. Thus, for example, the load on a ship is moved by the wave motion of the sea possibly in addition to the vertical movement in the horizontal direction, whereby the ship or the load drifts sideways to the crane. A lateral movement can cause a dangerous load torque on the cranes used construction, in particular on the slewing and on the boom.

Aufgabe der vorliegenden Erfindung ist es daher, eine Überlastsicherung für einen Kran unter Berücksichtigung der voranstehenden Problematik weiterzubilden.Object of the present invention is therefore to develop an overload protection for a crane, taking into account the above problem.

Diese Aufgabe wird durch einen Kran, insbesondere Offshore-Kran, mit einem Drehwerk und einem hydraulischen Drehwerksantrieb gemäß den Merkmalen des Anspruchs 1 gelöst. Der Drehwerksantrieb bringt in an sich bekannter Art und Weise ein Drehmoment auf das Krandrehwerk auf, um eine Drehbewegung des Krans um eine vertikal stehende Drehachse zu bewirken. Üblicherweise wird durch den hydraulischen Drehwerksantrieb ein Haltemoment auf das Drehwerk eingebracht, um dieses in der gewünschten Position festzuhalten.This object is achieved by a crane, in particular an offshore crane, with a slewing gear and a hydraulic slewing gear drive according to the features of claim 1. The slewing drive brings in a manner known per se, a torque on the crane turning to effect a rotational movement of the crane about a vertically disposed axis of rotation. Usually, a holding torque is introduced by the hydraulic slew drive on the slew to hold this in the desired position.

Der grundlegende Gedanke der Erfindung besteht nun darin, daß aufgebrachte Haltemoment zu regulieren, um ein Überschreiten des maximal zulässigen Lastmomentes am Drehwerk aufgrund der Lastbewegung zu verhindern. Übersteigt das durch die Last bewirkte Moment am Drehwerk das eingestellte Haltemoment, so führt dies zu einer Drehbewegung des Auslegersystems und einer Entlastung der gesamten Kranstruktur. Die Bestimmung des maximal zulässigen Lastmomentes erfolgt in Abhängigkeit der Ausladung und/oder der Position des Kranhakens.The basic idea of the invention is now to regulate the applied holding torque in order to prevent exceeding the maximum permissible load torque on the slewing gear due to the load movement. Exceeds that Moment caused by the load on the slewing gear, the set holding torque, this leads to a rotational movement of the boom system and a relief of the entire crane structure. The determination of the maximum permissible load torque occurs as a function of the projection and / or the position of the crane hook.

Der Kran sieht hierzu eine Überlastsicherung vor, die wenigstens ein Erfassungsmittel zur Erfassung der Ausladung und/oder Position des Kranhakens und wenigstens ein Druckentlastungsventil aufweist. Erfindungsgemäß ist die Überlastsicherung derart ausgeführt, so daß über wenigstens ein Druckentlastungsventil der am hydraulischen Drehwerksantrieb anliegende Systemdruck und folglich das resultierende Haltemoment am Drehwerksantrieb in Abhängigkeit von der Ausladung und/oder der Position des Kranhakens regulierbar ist.For this purpose, the crane provides an overload safety device which has at least one detection means for detecting the projection and / or position of the crane hook and at least one pressure relief valve. According to the invention, the overload protection is designed so that at least one pressure relief valve applied to the hydraulic slewing drive system pressure and consequently the resulting holding torque on the slewing drive in response to the projection and / or the position of the crane hook is adjustable.

Das maximal auftretende Moment am Drehwerk kann durch die Drehbewegung begrenzt werden, wodurch sich potentielle Schäden am Ausleger verhindern lassen. Beispielsweise führt ein Schrägzug einer angehängten Last zu einer Drehbewegung des Drehwerks, falls das Maximalmoment, also das durch den Krandrehwerkantrieb bestimmte Haltemoment, überschritten wird. Insbesondere wird das regulierbare Haltemoment am Drehwerk in Abhängigkeit von der Ausladung und/oder Position des Hakens reduziert.The maximum moment occurring on the slewing can be limited by the rotation, which can prevent potential damage to the boom. For example, a diagonal train of an attached load leads to a rotational movement of the slewing gear, if the maximum torque, that is, the holding torque determined by the crane turning drive, is exceeded. In particular, the adjustable holding torque on the slewing gear is reduced as a function of the projection and / or position of the hook.

Beispielsweise kann es vorgesehen sein, daß im nicht geöffneten Zustand des oder der Druckentlastungsventile das Haltemoment über die Druckeinstellung einer mit der Systemdruckleitung verbundenen Hydraulikpumpe definiert ist. Ist eine Reduzierung des Haltemomentes am Drehwerksantrieb aufgrund der Ausladung und/oder Position des Hakens beabsichtigt, so läßt sich durch zumindest teilweises Öffnen des oder der Druckentlastungsventile der Druck in der Systemdruckleitung reduzieren. Vorzugsweise sind das oder die Druckentlastungsventile derart angeordnet, um im geöffneten Zustand einen Kurzschluss zwischen Hoch- und Niederdruckleitung zum Drehwerksantrieb zu schalten. Der Öffnungsgrad des oder der Druckentlastungsventile bestimmt sodann die Durchflußmenge innerhalb des Kurzschlusses und folglich den Grad der Druckreduzierung im Hochdruckkreislauf.For example, it may be provided that in the non-open state of the pressure relief valves or the holding torque is defined via the pressure setting of a connected to the system pressure line hydraulic pump. If it is intended to reduce the holding torque on the slew drive due to the projection and / or position of the hook, the pressure in the system pressure line can be reduced by at least partially opening the pressure relief valve (s). Preferably, the one or more pressure relief valves are arranged so as to switch in the open state, a short circuit between high and low pressure line to the slew drive. The degree of opening of the pressure relief valve (s) then determines the flow rate within the short circuit and thus the degree of pressure reduction in the high pressure circuit.

In einer besonders vorteilhaften Ausführung der Erfindung umfaßt die Überlastsicherung wenigstens ein Druckbegrenzungsventil, insbesondere ein proportional ansteuerbares Druckbegrenzungsventil. Der Ausgangsdruck des Druckbegrenzungsventils wird dabei als Steuerdruck auf wenigstens ein oder vorzugsweise alle Druckentlastungsventile geschaltet. Demnach läßt sich über das Druckbegrenzungsventil der jeweilige Öffnungsgrad des oder der Druckbegrenzungsventile ausregeln.In a particularly advantageous embodiment of the invention, the overload protection comprises at least one pressure relief valve, in particular a proportionally controllable pressure relief valve. The output pressure of the pressure relief valve is connected as a control pressure on at least one or preferably all pressure relief valves. Accordingly, the respective degree of opening of the pressure relief valve or valves can be compensated via the pressure limiting valve.

Vorzugsweise ist das Druckbegrenzungsventil regelbar ausgeführt und die Überlastsicherung bzw. die Steuereinheit der Überlastsicherung regelt in Abhängigkeit der erfaßten Ausladung und/oder der Position des Kranhakens den Ausgangsdruck des Druckbegrenzungsventils und folglich den anliegenden Steuerdruck an wenigstens einem Druckentlastungsventil. Der Systemdruck bzw. das resultierende Haltemoment am Drehwerksantrieb sind demnach über das regelbare Druckbegrenzungsventil in Abhängigkeit der erfaßten Ausladung und/oder der Position des Kranhakens regulierbar.Preferably, the pressure limiting valve is made adjustable and the overload protection or the control unit of the overload protection regulates the output pressure of the pressure relief valve and consequently the applied control pressure to at least one pressure relief valve depending on the detected projection and / or the position of the crane hook. The system pressure or the resulting holding torque on the slewing drive can therefore be regulated via the controllable pressure limiting valve as a function of the detected projection and / or the position of the crane hook.

Weiterhin kann vorgesehen sein, daß die Steuerleitung wenigstens eines oder aller Druckentlastungsventile über mindestens ein Rückschlagsventil mit der Systemdruckleitung des Drehwerkantriebs verbunden ist. Vorzugsweise ist die Steuerleitung über wenigstens ein Rückschlagventil mit der Zuführung der Systemdruckleitung zum hydraulischen Drehwerksantrieb sowie über wenigstens ein Rückschlagventil mit der Rückführung der Systemdruckleitung verbunden.Furthermore, it can be provided that the control line is connected at least one or all pressure relief valves via at least one check valve with the system pressure line of the rotary drive. Preferably, the control line is connected via at least one check valve with the supply of the system pressure line to the hydraulic slew drive and via at least one check valve with the return of the system pressure line.

Der hydraulische Drehwerksantrieb umfaßt vorzugsweise wenigstens einen Hydromotor zur Ausführung einer Drehbewegung des Drehwerksantriebs. Zweckmäßig kann es sein, daß die erforderliche Haltekraft am Drehwerksantrieb durch das Antriebmoment des Hydromotors erzeugt wird. Die vorliegende Erfindung sieht daher eine entsprechende Ansteuerung des Hydromotors über den vorliegenden Systemdruck vor, um das anliegende Haltemoment in Abhängigkeit der Ausladung und/oder Position des Hakens zu regulieren.The hydraulic slewing drive preferably comprises at least one hydraulic motor for carrying out a rotary movement of the slew drive. Appropriately, it may be that the required holding force on the slewing drive is generated by the drive torque of the hydraulic motor. The present invention therefore provides for a corresponding control of the hydraulic motor over the present system pressure in order to regulate the applied holding torque as a function of the projection and / or position of the hook.

Darüber hinaus kann eine hydraulische Feststellbremse vorgesehen sein, die zusätzlich oder alternativ zum Hydromotor ein entsprechendes Haltemoment auf dem Drehwerksantrieb aufbringt. Unabhängig von der konkreten Ausgestaltung des Drehwerksantriebs nimmt die erfindungsgemäße Überlastsicherung eine entsprechende Regulierung des Steuerdrucks vor, um das gewünschte Haltemoment über den Drehwerksantrieb aufzubringen.In addition, a hydraulic parking brake may be provided, which in addition to or as an alternative to the hydraulic motor applies a corresponding holding torque on the slewing gear drive. Regardless of the specific embodiment of the slewing drive, the overload protection according to the invention adopts a corresponding regulation of the control pressure in order to apply the desired holding torque via the slewing gear drive.

So kann es zweckmäßig sein, daß zusätzlich zur ausladungs- und positionsabhängigen Regulierung des Haltemoments ein benutzerdefiniertes maximales Grenzhaltemoment in die Ansteuerung wenigstens eines Druckentlastungsventils einfließt. Besonders bevorzugt wird ein derartiger Grenzwert bei der Ansteuerung des proportionalen Druckbegrenzungsventils berücksichtigt.Thus, it may be appropriate that in addition to the discharge and position-dependent regulation of the holding torque, a user-defined maximum limit holding torque flows into the activation of at least one pressure relief valve. Such a limit is particularly preferably taken into account in the control of the proportional pressure limiting valve.

Das Druckbegrenzungsventil kann grundsätzlich verschieden ausgebildet und angeordnet sein. Es kann vorgesehen sein, daß die Ablassseite des Druckbegrenzungsventils mit einem Tank des Systems verbunden ist.The pressure relief valve can basically be designed and arranged differently. It can be provided that the discharge side of the pressure relief valve is connected to a tank of the system.

Das oder die Druckentlastungsventile können selbst verschiedene Ausbildungen besitzen. Nach einer vorteilhaften Ausführung der Erfindung kann mindestens ein Druckentlastungsventil als Ventilpatrone bzw. sogenanntes Cartridgeventil ausgebildet sein.The one or more pressure relief valves may themselves have different configurations. According to an advantageous embodiment of the invention, at least one pressure relief valve may be formed as a valve cartridge or so-called cartridge valve.

Ferner kann die Überlastsicherung des Krans in Weiterbildung der Erfindung ein Schaltventil umfassen, das nur im energiebeaufschlagten Zustand die Überlastsicherungsfunktion aktiviert. Beispielsweise kann im nicht energiebeaufschlagten Zustand das Druckentlastungsventil gesperrt sei, indem die Druckleitung zwischen Druckbegrenzungs- und Druckentlastungsventil gesperrt ist.Furthermore, the overload protection of the crane in development of the invention may include a switching valve that activates the overload protection function only in the energized state. For example, in the non-energized state, the pressure relief valve is locked by the pressure line between the pressure relief and pressure relief valve is locked.

Dem Schaltventil kann eine Wegerfassungseinrichtung, insbesondere eine Schaltstellungsüberwachung zugeordnet sein, die die Schaltstellung des Schaltventils überwacht und somit eine Fehlerdetektion ermöglicht.The switching valve may be associated with a position sensing device, in particular a switching position monitoring, which monitors the switching position of the switching valve and thus enables error detection.

Die vollständige Überlastsicherung des Krans ist nicht auf die Regulierung des Haltemomentes am Drehwerk begrenzt, allerdings wurde der Einfachheit halber lediglich auf diese Funktion Bezug genommen. Die Überlastsicherung kann grundsätzlich weitere Momente und Kräfte am Kransystem messen, überwachen und gegebenenfalls die einzelnen Kranantriebe passend ansteuern, wie beispielsweise eine geregelte Ansteuerung des Hubwindenantrieb zur Auslassung des Hubseils im Überlastfall.The complete overload protection of the crane is not limited to the regulation of the holding torque on the slewing, however, for reasons of simplicity, only this function has been referred to. The overload protection can basically measure other moments and forces on the crane system, monitor and optionally control the individual crane drives suitable, such as a controlled control of Huboper drive to omit the hoist rope in case of overload.

Die Erfindung wird nachfolgend anhand eines bevorzugten Ausführungsbeispiels und zugehöriger Zeichnungen näher erläutert. In den Zeichnungen zeigen:

Figur 1:
eine schematische Darstellung eines auf einer Offshore-Plattform installierten Offshore-Krans mit einer Überlastsicherung nach einer bevorzugten Ausführungsform der Erfindung und
Figur 2:
eine schematische Darstellung der Schaltung der hydraulischen Komponenten der Überlastsicherung des Krans aus Figur 1.
The invention will be explained in more detail below with reference to a preferred embodiment and associated drawings. In the drawings show:
FIG. 1:
a schematic representation of an installed on an offshore platform offshore crane with an overload protection according to a preferred embodiment of the invention and
FIG. 2:
a schematic representation of the circuit of the hydraulic components of the overload protection of the crane FIG. 1 ,

Der in Figur 1 gezeichnete Kran 10 ist mittels eines Drehwerks 30 um eine vertikale Achse A drehbar auf einer Offshore-Plattform 20 gelagert. Er besitzt einen um eine horizontale Wippachse wippbaren Ausleger 40, über dessen Spitze ein Hubseil 50 abläuft, das zur Aufnahme der auf dem Schiff 90 gelagerten Last 100 dient. Das Hubseil 50 kann mittels einer Hubwinde abgelassen und eingeholt werden.The in FIG. 1 Drawn crane 10 is rotatably supported by means of a slewing gear 30 about a vertical axis A on an offshore platform 20. It has a cantilevered about a horizontal rocking axis boom 40, on the top of a hoist rope 50 runs, which serves to receive the mounted on the ship 90 load 100. The hoist rope 50 can be lowered and overtaken by means of a hoist winch.

Der abgebildete Kran 10 ist mit einer Überlastsicherung ausgestattet, die bei einer Änderung des Lastmomentes eine Gefährdung für den Ausleger 40 des Krans 10 vermeiden und die gesamte Kranstruktur gegen Beschädigungen schützen soll. Die Überlastsicherung umfaßt hierzu eine Steuereinrichtung, die mit einer Lasthakenpositionserfassungseinrichtung verbunden ist, die einerseits die jeweils auf den Kran 10 wirkende Last sowie andererseits die jeweilige Position des Lasthakens bzw. der angehängten Last 100 erfaßt.The illustrated crane 10 is equipped with an overload protection, which should avoid a threat to the boom 40 of the crane 10 and to protect the entire crane structure against damage when changing the load torque. For this purpose, the overload protection comprises a control device which is connected to a load hook position detection device, which on the one hand detects the respective load acting on the crane 10 and on the other hand the respective position of the load hook or the attached load 100.

Darüber hinaus umfaßt die Überlastsicherung einen Ausladungssensor, der die Ausladung des Krans 10, d. h. den horizontalen Abstand des von der Spitze des Auslegers 40 ablaufenden Hubseils 50 von der vertikalen Drehachse A des Krans 10 erfaßt und der Steuereinheit der Überlastsicherung mitteilt.In addition, the overload protection comprises a Ausladungssensor, the unloading of the crane 10, d. H. detected the horizontal distance of the running of the tip of the boom 40 hoist rope 50 from the vertical axis of rotation A of the crane 10 and the control unit of the overload protection notifies.

Durch die erfindungsgemäße Überlastsicherung soll das Moment am Drehwerk 30 begrenzt werden, um potentielle Schäden am Ausleger 40 zu verhindern. Beispielsweise kann der durch eine unvorhergesehene Bewegung des Schiffes 90 hervorgerufene Schrägzug des Hubseils 50 zu einem unzulässigen Lastmoment auf die Kranstruktur, insbesondere auf das Drehwerk 30 führen. Eine Entlastung der Kranstruktur soll nun erfindungsgemäß durch eine situationsabhängige Anpassung des durch den Drehwerkantrieb aufgebrachten Haltemomentes erzielt werden, um eine Drehbewegung des Krans 10 um die vertikal stehende Drehachse A im Überlastfall zu gewähren. Das maximal zulässige Moment auf das Drehwerk 30 ist dabei abhängig von der Auslegung bzw. der Position des Kranhakens am Hubseil 50.Due to the overload protection according to the invention, the torque on the slewing gear 30 should be limited in order to prevent potential damage to the boom 40. For example, caused by an unforeseen movement of the vessel 90 diagonal pull of the hoisting rope 50 lead to an inadmissible load torque on the crane structure, in particular on the slewing gear 30. A relief of the crane structure is now to be achieved according to the invention by a situation-dependent adjustment of the applied torque applied by the slewing drive to grant a rotational movement of the crane 10 about the vertical axis of rotation A in case of overload. The maximum permissible torque on the slewing gear 30 is dependent on the design or the position of the crane hook on the hoist rope 50.

Figur 2 zeigt eine schematische Darstellung der Schaltung zur Ansteuerung des Drehwerks 30. Wie der Figur im Einzelnen zu entnehmen ist, umfaßt der hydraulische Schaltkreis den Hydromotor 110, der über den Zu- und Rückführung der Systemdruckleitungen 120, 120' mit dem gewünschten Druck beaufschlagt wird, um eine entsprechende Drehbewegung des Krans 10 um die Drehachse A zu bewirken. Die Durchflußrichtung bestimmt dabei die Drehrichtung des Hydromotors 110. Ferner wird über die Systemdruckleitungen 120, 120' ein definierbares Haltemoment eingestellt, mit dem der Hydromotor 110 das Drehwerk 30 während der Kranarbeit in Position hält. Das Druckniveau in den Systemdruckleitungen 120, 120' wird in der Regel über eine in der Figur 2 nicht dargestellte Hydraulikpumpe bestimmt. FIG. 2 shows a schematic representation of the circuit for driving the slewing 30. As the figure can be seen in detail, the hydraulic circuit comprises the hydraulic motor 110, which is acted upon by the supply and return of the system pressure lines 120, 120 'with the desired pressure to to cause a corresponding rotational movement of the crane 10 about the axis of rotation A. The flow direction determines the direction of rotation of the hydraulic motor 110. Furthermore, a definable holding torque is set via the system pressure lines 120, 120 ', with which the hydraulic motor 110 keeps the slewing gear 30 in position during crane work. The pressure level in the system pressure lines 120, 120 'is usually a in the FIG. 2 not shown hydraulic pump determined.

Wie Figur 2 weiterhin zeigt, ist die Vorlaufseite 120 der Steuerdruckleitung des Hydromotors 110 mit einem Druckentlastungsventil 130 geschaltet, das in der gezeichneten Ausführungsform eine sogenanntes Cartridge-Druckventil ist und eingangsseitig mit der Spesedruckleitung 120' des Hydromotors 110 verbunden ist. Zusätzlich ist ein weiteres, gegebenenfalls identisch aufgebautes Druckentlastungsventil 130' vorgesehen, das eingangsseitig mit der Systemdruckleitung 120 und ausgangsseitig mit der Systemdruckleitung 120' des Hydromotors 110 in Verbindung steht. Im geöffneten Zustand der beiden Druckentlastungsventile 130, 130' sind die zu- sowie rückführenden Systemdruckleitungen 120, 120' kurz geschlossen, so daß Drucköl von der zuführenden Seite 120 auf die rückführende Seite 120' strömen kann und hierdurch der Hydromotor 110 und folglich das Drehwerk 30 unter einem vorbestimmten Widerstand um die Drehachse A drehbar ist.As FIG. 2 Furthermore, the flow side 120 of the control pressure line of the hydraulic motor 110 is connected to a pressure relief valve 130, which in the illustrated embodiment is a so-called cartridge pressure valve and the input side is connected to the Spesedruckleitung 120 'of the hydraulic motor 110. In addition, another, possibly identically constructed, pressure relief valve 130 'is provided, which is connected on the input side to the system pressure line 120 and on the output side to the system pressure line 120' of the hydraulic motor 110. In the open state of the two pressure relief valves 130, 130 ', the supply and return system pressure lines 120, 120' short-circuited so that pressurized oil from the supplying side 120 on the returning side 120 'can flow and thereby the hydraulic motor 110 and consequently the slewing 30th is rotatable about the rotation axis A under a predetermined resistance.

Das Öffnen der Druckentlastungsventile 130, 130' wird hydraulisch über ein proportionales Druckbegrenzungsventil 140 gesteuert, das eingangsseitig mit dem Hydrauliktank 160 verbunden ist und dessen variabler Ausgangsdruck den anliegenden Steuerdruck an den beiden Druckentlastungsventilen 130, 130' bestimmt. Das Proportionaldruckbegrenzungsventil 140 wird dabei von der Steuereinrichtung der Überlastsicherung in Abhängigkeit der vom Ausladungssensor erfaßten Ausladung des Krans 10 sowie der von der Lasthakenpositionserfassungseinrichtung bestimmten Position des Kranhakens angesteuert, so daß das Öffnen der beiden Druckentlastungsventile 130, 130' und damit der an den Speisdruckleitungen 120, 120' anliegende Systemdruck in Abhängigkeit der Kranausladung sowie der Kranhakenposition bzw. des damit jeweils zugelassenen Grenzmomentes am Drehwerk bestimmt wird.The opening of the pressure relief valves 130, 130 'is controlled hydraulically via a proportional pressure relief valve 140 which is connected on the input side to the hydraulic tank 160 and whose variable output pressure determines the applied control pressure at the two pressure relief valves 130, 130'. The proportional pressure limiting valve 140 is actuated by the control device of the overload protection function of the discharge of the crane 10 detected by the Ausladungssensor and the determined by the load hook position detecting device position of the crane hook, so that the opening of the two pressure relief valves 130, 130 'and thus the on the Speisdruckleitungen 120, 120 'applied system pressure in dependence on the crane outreach and the crane hook position or the thus each allowed limit torque is determined on the slewing.

In Weiterbildung der Erfindung kann das Proportionaldruckbegrenzungsventil 140 durch einen Regler 141 geregelt werden. Insbesondere wird dabei das Proportionalventil 140 derart automatisch geregelt, daß das vom Drehwerksantrieb gemessene Haltemoment der zugelassenen Kranbelastung entspricht.In a development of the invention, the proportional pressure limiting valve 140 can be regulated by a controller 141. In particular, the proportional valve 140 is automatically regulated in such a way that the holding torque measured by the slew drive corresponds to the approved crane load.

Zusätzlich zeigt Figur 2 ein 2/2-Wegeventil 150, das in der Steuerdruckleitung zwischen dem Proportionaldruckbegrenzungsventil 140 und den beiden Druckentlastungsventilen 130, 130' eingebunden ist. Dieses Wegeventil 150 ist derart ausgebildet, daß es für einen geschalteten Durchfluß energiebeaufschlagt werden muß.Additionally shows FIG. 2 a 2/2-way valve 150, which is incorporated in the control pressure line between the proportional pressure relief valve 140 and the two pressure relief valves 130, 130 '. This directional control valve 150 is designed such that it must be energized for a switched flow.

Nur in dieser Schaltstellung ist eine Betätigung der beiden Druckentlastungsventile 130, 130' über das Druckbegrenzungsventil 140 überhaupt möglich. Im nicht geschalteten Zustand ist demgegenüber die Ausgangsleitung des Druckbegrenzungsventils 140 gesperrt, das Druckniveau in den Systemdruckleitungen 120, 120' des Hydromotors 110 wird folglich ausschließlich von der nicht dargestellten Hydraulikpumpe bestimmt. Folglich läßt sich die Funktion der Überlastsicherung über das Wegeventil 150 bequem an- und abschalten.Only in this switching position, an actuation of the two pressure relief valves 130, 130 'via the pressure relief valve 140 at all possible. In the non-switched state, by contrast, the output line of the pressure relief valve 140 is blocked, the pressure level in the system pressure lines 120, 120 'of the hydraulic motor 110 is thus determined exclusively by the hydraulic pump, not shown. Consequently, the function of the overload protection via the directional control valve 150 can be easily switched on and off.

Zusätzlich umfaßt das Schaltventil 150 einen Stellungssensor bzw. Schalter 151, der die Stellung des Schalters 150 angibt und vom System kontrolliert wird, so daß eine Fehlerüberwachung ermöglicht ist.In addition, the switching valve 150 includes a position sensor or switch 151, which indicates the position of the switch 150 and is controlled by the system, so that an error monitoring is possible.

Die Überlastsicherung kann beispielsweise deaktiviert sein, wenn sich der Lasthaken oberhalb der Plattform 20 befindet. Andererseits kann die Überlastsicherung dann aktiviert werden und das Haltemoment am Drehwerk 30 abhängig von der Ausladung und Position des Hakens reduziert werden, wenn sich der Lasthaken unterhalb oder außerhalb der Plattform 20 in einer Stellung befindet, die ein erhöhtes Gefährdungspotential für das Auslegersystem bzw. den Kran 10 bedeuten könnte.The overload protection can be deactivated, for example, if the load hook is located above the platform 20. On the other hand, the overload protection can then be activated and the holding torque on the slewing gear 30 is reduced depending on the projection and position of the hook when the load hook is below or outside the platform 20 in a position that increases the risk potential for the boom system or the crane Could mean 10.

Claims (10)

Kran, insbesondere Offshore-Kran, mit einem Drehwerk und einem hydraulischen Drehwerksantrieb, wobei das Drehwerk über ein durch den hydraulischen Drehwerksantrieb aufgebrachtes Haltemoment in seiner Position gehalten wird,
dadurch gekennzeichnet,
daß eine Überlastsicherung mit wenigstens einem Erfassungsmittel zur Erfassung der Ausladung und/oder Position des Kranhakens und mit wenigstens einem Druckentlastungsventil vorgesehen ist, wobei über wenigstens ein Druckentlastungsventil der am hydraulischen Drehwerksantrieb anliegende Systemdruck in Abhängigkeit von der Ausladung und/oder der Position des Kranhakens regulierbar ist.Crane, in particular offshore crane, with a slewing gear and a hydraulic slewing gear drive, wherein the slewing gear is held in its position by means of a holding torque applied by the hydraulic slewing gear drive,
characterized,
in that an overload protection is provided with at least one detection means for detecting the projection and / or position of the crane hook and with at least one pressure relief valve, whereby at least one pressure relief valve of the system pressure applied to the hydraulic slewing drive can be regulated as a function of the projection and / or the position of the crane hook , Kran nach Anspruch 1, dadurch gekennzeichnet, daß im nicht geöffneten Zustand des oder der Druckentlastungsventile das Haltemoment über die Druckeinstellung einer mit der Systemdruckleitung verbundenen Hydraulikpumpe definiert ist und im geöffneten Zustand des oder der Druckentlastungsventile die Zu- und Rückführung der Systemdruckleitung zum Drehwerksantrieb kurzgeschlossen wird.Crane according to claim 1, characterized in that in the non-open state of the pressure relief valves or the holding torque is defined via the pressure setting of a connected to the system pressure line hydraulic pump and in the open state of the pressure relief valves, the supply and return of the system pressure line to the slewing drive is shorted. Kran nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Überlastsicherung wenigstens ein Druckbegrenzungsventil, insbesondere ein proportionales Druckbegrenzungsventil, aufweist, dessen Ausgangsdruck als Steuerdruck auf wenigstens ein oder alle Druckentlastungsventile geschaltet ist.Crane according to one of the preceding claims, characterized in that the overload safety device has at least one pressure limiting valve, in particular a proportional pressure limiting valve, whose outlet pressure is connected as control pressure to at least one or all pressure relief valves. Kran nach Anspruch 3, dadurch gekennzeichnet, daß das Druckbegrenzungsventil regelbar ist und die Überlastsicherung in Abhängigkeit der erfaßten Ausladung und/oder Position des Kranhakens den Steuerdruck wenigstens eines oder aller Druckentlastungsventile über das Druckbegrenzungsventil reguliert.Crane according to claim 3, characterized in that the pressure relief valve is adjustable and the overload protection in dependence of the detected projection and / or position of the crane hook regulates the control pressure of at least one or all pressure relief valves via the pressure relief valve. Kran nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Steuerleitung wenigstens eines oder aller Druckentlastungsventile über mindestens ein Rückschlagventil mit der Systemdruckleitung des Drehwerkantriebs verbunden ist, insbesondere über jeweils ein Rückschlagventil mit der Zu- und Rückführung der Systemdruckleitung des hydraulischen Drehwerksantriebs verbunden ist.Crane according to one of the preceding claims, characterized in that the control line of at least one or all pressure relief valves is connected via at least one check valve to the system pressure line of the rotary drive, in particular connected in each case via a check valve to the supply and return of the system pressure line of the hydraulic slewing drive. Kran nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß der hydraulische Drehwerksantrieb wenigstens einen Hydromotor und gegebenenfalls wenigstens eine hydraulische Feststellbremse aufweist, die einzeln oder in Kombination das Haltemoment aufbringen.Crane according to one of the preceding claims, characterized in that the hydraulic slewing gear drive has at least one hydraulic motor and optionally at least one hydraulic parking brake, which apply the holding torque individually or in combination. Kran nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß der Systemdruck in Abhängigkeit eines definierbaren Grenzhaltemomentes einstellbar ist.Crane according to one of the preceding claims, characterized in that the system pressure is adjustable as a function of a definable limit holding torque. Kran nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß wenigstens ein Druckentlastungsventil in Cartridgebauweise ausgeführt ist.Crane according to one of the preceding claims, characterized in that at least one pressure relief valve in Cartridgebau way is executed. Kran nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß wenigstens ein Schaltventil vorgesehen ist, daß im nicht angesteuerten Zustand wenigstens ein Druckbegrenzungsventil von wenigstens einem oder allen Druckentlastungsventilen absperrt.Crane according to one of the preceding claims, characterized in that at least one switching valve is provided, that shuts off in the non-actuated state, at least one pressure relief valve of at least one or all pressure relief valves. Kran nach Anspruch 9, dadurch gekennzeichnet, daß das Schaltventil wenigstens ein Schaltstellungsüberwachungsmittel aufweist.Crane according to claim 9, characterized in that the switching valve has at least one switch position monitoring means.
EP12003877.3A 2011-05-27 2012-05-16 Crane with overload protection Active EP2527286B1 (en)

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CN202671076U (en) 2013-01-16
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US20120298608A1 (en) 2012-11-29
DE102011105819A1 (en) 2012-11-29

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