EP2748101B1 - Method and control assembly for operating in parallel at least two lifting devices, in particular cranes - Google Patents

Description

The invention relates to a method for operating at least two hoists, in particular at least two cranes, in a group operation and in a normal operation, each hoist having an electric hoist motor with an associated control, which is connected to a control switch, wherein the at least two hoists are controlled by a common bus, wherein in the group mode, the at least two hoists are controlled by one of the control switches together via the bus.

The invention also relates to a control arrangement for operating at least two hoists, in particular of at least two cranes, in a group operation and in a normal operation, each hoist having an electric hoist motor with an associated control, which is connected to a control switch.

It is generally known to use two cranes simultaneously in a so-called tandem operation for lifting and lowering heavy and / or long loads. Here, the load depends on two load handling devices, each of which is raised or lowered by its own crane hoist. Due to various causes can lead to a departure from the horizontal position of the load. Such a misalignment of the load could, for example, lead to slipping out of the load from the stop means for long goods, which are usually suspended by means of slings such as loops on the load-receiving means. Such dangerous conditions should be avoided. Normally, each of the crane lifts can be operated via a control switch. One of the two control switches is then designed for tandem operation. Only with this control switch then takes place a change in the tandem operation and out of tandem operation. This can lead to dangerous situations, which should be avoided. On the one hand, the change of operating modes is feedback-free, so that the operator must trust that the tandem operation is activated, and on the other hand is intervened by the control switch, which is designed for tandem operation, directly into the operation of the other crane, which is dangerous situations there can lead.

On this topic it is for example from the German publication DE 31 47 158 A1 known to connect two cranes for tandem operation via a common control device. This control device has the task of preventing the misalignment described above. For this purpose, a sensor is arranged on a load traverse, which is suspended on lifting devices of the two Kranhubwerke. This sensor determines the position of the load cross member. In the event that the load crossbar leaves its desired horizontal position, the tandem operation is abandoned, one of the two crane lifts stopped and moved with the other crane lifting the load beam back to the horizontal position.

Furthermore, from the European patent EP 1 380 533 A1 a hoisting crane known, the cat drive, crane drive, hoist and control switch are connected to each other via a bus. Operating and safety signals are sent and received via the bus.

From the German utility model DE 91 15 537 U1 For example, a single crane control for a single crane and a tandem crane control for a first crane with a first trolley and a second crane with a second trolley is already known. For the tandem crane control, a bidirectional transmission bus is provided, via which the two cranes and their trolleys can be activated by means of a control switch connected thereto. Within the tandem crane control to control a single crane of the two cranes is not described.

Further, the German patent application discloses DE 10 2006 040 782 A1 Within a safety system a tandem operation of two cranes and a separate control of the cranes in a single operation. Each of the cranes has an on-board CAN bus to which a control system is connected. For required corrections within the tandem operation, the tandem operation is deselected, the correction performed and the tandem operation selected again.

Based on this prior art, the present invention seeks to provide a control device for safe parallel operation of at least two hoists, especially cranes.

This object is achieved by a method having the features of claim 1 and a control arrangement having the features of claim 3. Advantageous embodiments of the control device are specified in claims 2, 4 to 8.

According to the invention, a safe and simple method for operating at least two hoists, in particular at least two cranes, in a group operation and in a normal operation, each hoist comprises an electric hoist motor with an associated control, which is connected to a control switch in which the at least two hoists are controlled via a common bus, wherein in the group mode the at least two hoists are controlled jointly by one of the control switches via the bus, achieved in that in the group mode one of the control switches is in an active mode. Is state and the remaining control switch (s) is in a passive state that normal operation is deselected in preparation for the group operation of all but one of the control switches (9a, 9b) which are in normal operation; then the group control is logged on by the remaining control switch and this remains end control switch is then in the active state in group mode, and in preparation for the normal operation of the control switch (9a, 9b) in the active state in group operation, the group operation is deselected and the normal operation is selected , then the other control switch (9a, 9b) or the other control switch in passive group operation to normal operation are logged.

Particularly advantageous is provided that the control switch is operated in the active state within the group operation in three modes, and the modes as a tandem operation in which several hoists are controlled in parallel by the control switch in the active state, as the first individual Operation, in which only a first of the hoists are controlled by the control switch in the active state, and as a second single operation in which only a second of the hoists of the control switches are activated in the active state, are defined.

According to the invention, a safe and simple control arrangement for operating at least two hoists, in particular at least two cranes, in a group operation and in a normal operation, each hoist comprises an electric hoist motor with an associated control, which is connected to a control switch where the at least two hoists are on a common bus can be controlled, wherein in the group operation, the at least two hoists are controlled by one of the control switches together via the bus, achieved in that in the group mode one of the control switch is in an active state and the one or more control switch in one Passive state is that in order to prepare for the group operation of all but one of the control switches (9a, 9b), which are in normal operation, the normal operation can be deselected before the group operation of the remaining control switch available is and this control switch (9b, 9a) is then active in group mode, and in preparation for the normal operation of the active control switch in group operation, the group operation can be deselected and the normal operation is selectable before the other Control switch (9a, 9b) or the other control switch in passive group operation for normal operation can be reported. Thus, for group operation, the change between normal operation and group operation, the registration and deregistration of the control switch and the locking of the control switch, the existing controls and the existing switching logic can be used. This safe, two-step switching between normal and group operation by log-off and logon sequences no special designed for tandem control switch are required. It is particularly certain that to switch between group operation and normal operation always requires two steps. To one of the control switches a Abmeldesequenz is triggered, the controls recognize this request and wait for the registration sequence of the other control switch. After appropriate checks and communication between the controllers, the operating mode is changed.

It is particularly advantageous that the control switch in the active state within the group operation in three modes of operation is operable and the modes as a tandem operation in which the control switch in the active state several hoists in parallel controls, as the first single operation, in the control switch in the active state only controls a first of the lifting equipment, and as a second single operation in which the control switch in the active state only controls a second of the lifting devices, are defined. Thus, simply position corrections of the load can be made in group mode, without having to return to normal operation. The control switch selected for group operation remains in the active state in group mode. Passing through the logon and logon sequences is eliminated.

In a particularly advantageous embodiment of the bus per hoist in a wired bus section and split between the hoists in a wireless bus.

In the context of the bus architecture, the controls and the control switches are connected to the bus.

In a particularly advantageous embodiment, it is provided that the at least two hoists are designed as cranes, the cranes next to the hoist motors crane traction motors and Katzfahrmotoren, the controls are assigned to the hoist motors and the Katzfahrmotoren, crane controls are assigned the crane traction motors and the crane controls to the common bus are connected. The control of the cranes is decentralized and divided into the modules crane control and cat control, which each respond to the respective commands of the control switch to switch between normal and group operation.

It is especially safe and easy to monitor the logging in and out of the control switches. Also here the controllers can have a corresponding logic to coordinate the login and logout.

• Figur 1 eine schematische Darstellung von zwei für einem Gruppen-Betrieb zusammen geschalteten Brückenkranen.

Hereinafter, the present invention is explained in more detail with reference to an embodiment shown in a drawing. It shows:

• FIG. 1 a schematic representation of two interconnected for a group operation overhead cranes.

In the FIG. 1 schematically a first crane 1a and a second crane 1b are shown. The first and the second crane 1 a, 1 b are each formed as a bridge crane, which is movable along crane rails, not shown. In the usual way, the bridge crane on a horizontal crane girder on which along a trolley with a hoist is movable. The first crane 1 a has a first crane control 2a and a first cat control 3a; the second crane 1b accordingly has a second crane control 2b and a second cat control 3b. The first and second crane control 2a, 2b each have the task to control the first and second crane traction motors 4a, 4b. By means of the first and second Katzfahrsteuerung 3a, 3b are first and second Katzfahrmotoren 5a, 5b and first and second Hubwerksmotoren 6a, 6b driven. The hoist motors 6a, 6b assigned and not shown hoists are designed as cables. In principle, it is also possible to design the hoists as chain hoists. A mixed operation of chain and cable trains are conceivable. The aforementioned motors 4a, 4b, 5a, 5b, 6a and 6b are designed as electric motors.

In order to be able to transmit and receive operating signals and safety signals, the crane controls 2a, 2b and the cat controllers 3a, 3b are each connected to a bus 7 via bus coupling modules (not shown). This bus 7 preferably works with the CAN protocol. In addition, the bus 7 is locally composed of a first wired bus section 7a in the area of the first crane 1a, a second wired bus section 7b in the area of the second crane 1b and a wireless bus 7c which includes the first bus section 7a and the second bus section 7b connects with each other. For this purpose, a first coupling module 8a is connected to the first bus section 7a and a second coupling module 8b is connected to the second bus section 7b. By means of the coupling modules 8a, 8b, the signals on the first bus section 7a and the second bus section 7b are converted into wireless signals and transmitted via transmitter and receiver modules between the coupling modules 8a, 8b. By means of the coupling modules 8a, 8b, all bus subscribers such as the crane controls 2a, 2b, the cat controllers 3a, 3b and also directly or indirectly the first and the second control switches 9a, 9b are connected to a common bus 7. Preferably, the wireless bus 7c is designed as a radio bus. It is also possible to provide an infrared bus.

The crane controls 2a, 2b and the cat controls 3a, 3b are provided with circuit breakers, safety switches, sensors, a switching logic and bus coupling modules, not shown and generally known. The bus coupling modules can be part of the switching logic.

Furthermore, a first wireless control switch 9a associated with the first crane 1a and a second wireless control switch 9b associated with the second crane 1b are provided. The control switch 9a is connected via a first wireless connection 10a to a first switch coupling module 11a. The wireless connection 10a is bidirectional. The same applies to the second control switch 9b, which is assigned a second wireless connection 10b and a second switch coupling module 11b are. The first switch coupling module 11a and the second switch coupling module 11b are connected to the bus 7 as further bus subscribers. The control switches 9a, 9b are equipped in the usual way with a plurality of push-button elements to control the individual directions of movement and possibly existing speed levels of the crane drive motors 4a, 4b, the Katzfahrmotoren 5a, 5b and the Hubwerksmotoren 6a, 6b.

Alternatively, the two wireless control switches 9a, 9b and the two switch coupling modules 11a, 11b in the FIG. 1 dashed cable control switch 9c be provided. The cable control switch 9c are designed as a hanging switch and connected directly via the supply line to the bus 7 as a bus subscriber.

The cranes 1a, 1b described above can be operated individually and independently of one another via their control switches 9a, 9b. This operating mode is referred to below as normal operation. Within normal operation, the first control switch 9a is then assigned to the first crane 1a and the second control switch 9b to the second crane 1b. Both control switches 9a, 9b are in an active state.

It is also possible, either by means of one of the two control switches 9a, 9b, the two cranes 1 a, 1 b to operate in a so-called group operation in parallel or individually. In the group mode, one of the first or second control switches 9a, 9b is then in an active state and the remaining one of the first or second control switches 9a, 9b is in a passive state. In the passive state, the respective control switch 9a, 9b is locked to an operator, ie all input signals are ignored. In contrast, control commands to the one or more associated cranes 1 a, 1 b can be sent via a control switch 9a, 9b in the active state. Within the group operation then three modes are possible, namely a tandem operation, a first single operation and a second single operation. In the tandem mode, the control switch 9a, 9b in the active state at the same time both cranes 1 a, 1 b assigned, so that control commands from the control switch 9a, 9b in the active state in parallel to the motors 4a, 4b, 5a, 5b, 6a and 6b are sent. Then the motors 4a, 4b, 5a, 5b, 6a and 6b of the first crane 1 a move synchronously with those of the second crane 1b. With the two cranes 1a, 1b in tandem operation can Long and heavy loads are lifted and moved together. In the tandem operation, the cranes 1 a, 1 b are then controlled synchronously via one of the two control switches 9 a, 9 b. Within the tandem operation and thus also within the group operation operating conditions may occur in which the parallel operation of the motors 4a, 4b, 5a, 5b, 6a and 6b must be left to resume the tandem operation shortly thereafter or later. The group operation with a common control switch 9a in the active state is then not abandoned. This may be the case if during the process of the two cranes 1 a, 1 b in tandem operation, a correction of the position of the load is necessary to avoid skewing. A correction of the relative position of the cranes 1 a, 1 b to each other, in particular the crane girder and / or his crane dogs, is conceivable. For such corrections, the tandem operation is changed to a first single operation or a second single operation. In the first single operation, according to the group operation, one of the control switches 9a, 9b is still in the active state and the other control switch 9b, 9a is in the passive state. In addition, only the first crane receives 1 a control commands and is in an active state and the second crane 1 b receives no control commands and is in a passive state. Thus, the first crane 1 a relative to the second crane 1 b are moved. The second single operation corresponds to the first with the difference that the first crane 1 a in the passive state and the second crane 1 b in the active state.

In order to be able to switch between normal operation and group operation, a registration key 12a and a logout key 12b are arranged on both control switches. Instead of certain logon and logout buttons 12a, 12b, predetermined key sequences can trigger the logon and logoff process.

By operating a logout key 12b of the first or the second control switch 9a, 9b is in a first step, a termination of the normal operation and a notification of the group operation to the bus 7 and in the direction of crane driving controls 2a, 2b and the Katzsteuerungen 3a, 3b signals and this control switch 9a, 9b now falls into the passive state.

In addition, the emergency / stop button may also be pressed or may be at the end of a logout sequence, preferably for actuating the logout button 12b. Thus, optically recognized by the pressed emergency / stop at the control switch 9a, 9b be that this control switch 9a, 9b in the passive state.

Subsequently, in a second step, by actuating the logon key 12a of the other control switch 9b, 9a, the log-on of group operation via the bus 7 in the direction of the crane travel controls 2a, 2b and the cat controls 3a, 3b is assumed and this control switch 9b, 9a is now off all crane travel controls 2a, 2b and Katzsteuerungen 3a, 3b accepted as a source of control and safety signals.

By logging off one of the two control switches 9a, 9b and registration of the other control switch 9b, 9a is the crane driving controls 2a, 2b and the Katzsteuerungen 3a, 3b, the information that now the group mode is turned on and only control and safety signals from the other control switch 9b, 9a are taken in the active state. Since such a group operation of two cranes 1 a, 1 b is planned planned, previously the two cranes 1 a, 1 b have been aligned with respect to the load to be handled. By the above-described single operation within the group operation, the cranes 1a, 1b can also be moved relative to each other without leaving the group operation. It can also be provided that the other control switch 9b, 9a can only fall into the active state of group operation when none of the keys of this control switch 9a, 9b are actuated.

In this group operation then all crane controls 2a, 2b and Katzsteuerungen 3a, 3b the one of the two control switches 9a, 9b, which is in the active state assigned, and the crane traction motors 4a, 4b, Katzfahrmotoren 5a, 5b and Hubwerksmotoren 6a and 6b are each controlled synchronously, so that the two cranes 1 a, 1 b can be moved synchronously to each other in crane and Katzfahrrichtung and a load synchronously from both cranes 1 a, 1 b can be lowered.

To end the group operation, we press the logout key 12b on the control switch 9a in the active state. A corresponding deregistration signal is sent via the bus 7 to the crane travel controls 2a, 2b and the cat controls 3a, 3b. Subsequently, in the case of the control switch 9a, 9b previously in the passive state, the emergency / stop button is deactivated and the registration key 12a is actuated. A corresponding registration signal is sent via the bus 7 to the crane travel controls 2a, 2b and the cat controls 3a, 3b. Both control switches 9a, 9b are then state single mode again. Thus, the two cranes 1 a, 1 b are operationally separated, but still over the bus 7 connected to each other in order to respond to a future request of a group operation can.

In connection with the logon and logoff sequences for switching between normal and group operation and vice versa, the steps of deselecting one of the two control switches 9a, 9b followed by logging on by the other of the two control switches 9a, 9b, of the Crane travel controls 2a, 2b and the cat controls 3a, 3b monitored, recognized, checked and checked for admissibility. For this purpose, the crane driving controls 2 a, 2 b and the cat controls 3 a, 3 b interchange with each other. Only log off and logon sequences in a predetermined manner are considered, and also the sequence of skip and log off steps are checked to achieve a safe mode change. Only after successful deregistration in a first step and a registration in the sense of an acceptance in a second step is a change of the operating mode. This achieves a high degree of security. In the crane driving controls 2a, 2b and the cat controls 3a, 3b, the log-off and registration sequences are preset, so that a corresponding detection, testing and at the end the actual switching to change the operating mode in the crane travel controls 2a, 2b and the cat controls 3a, 3b done as soon as the correct sequence and type of logout and logon sequences have been recognized.

The control of the cranes 1 a, 1 b is decentralized and divided into the modules crane travel control 2a, 2b and Katzsteuerung 3a, 3b, each of which reacts to the respective commands of the control switch 9a, 9b to switch between normal and group operation , For the switching between normal and group operation and within the group operation on tandem operation and the two individual modes of operation thus the existing crane driving control 2a, 2b and the existing cat control 3a, 3b are used.

In the present embodiment, the invention is described on the basis of a group operation of two cranes 1 a, 1 b, however, the principle of the invention is also easy to parallel operation with more than two cranes 1 a, 1 b applicable.

LIST OF REFERENCE NUMBERS

1a

first crane

1b

second crane

2a

first crane control

2 B

second crane control

3a

first cat control

3b

second cat control

4a

first crane drive motor

4b

second crane drive motor

5a

first trolley motor

5b

second trolley motor

6a

first hoist motor

6b

second hoist motor

7

bus

7a

first bus section

7b

second bus section

7c

Drahtlosbus

8a

first coupling module

8b

second coupling module

9a

first control switch

9b

second control switch

9c

alternative cable control switch

10a

first wireless connection

10b

second wireless connection

11a

first switch coupling module

11b

second switch coupling module

12a

registration key

12b

Out button

Claims (8)

1. Method of operating at least two lifting devices, and in particular at least two cranes (1 a, 1 b), in a grouped mode and in a normal mode, each lifting device having an electric lifting unit motor (6a, 6b) which has an associated control system (3a, 3b) connected to a control switch (9a, 9b), the at least two lifting devices having their functions controlled via a common bus (7) and, in the grouped mode, the at least two lifting devices having their functions controlled together via the bus (7) by one of the control switches (9a, 9b), characterised in that, in the grouped mode, one of the control switches (9a, 9b) is in an active state and the remaining control switch or control switches (9a, 9b) is in a passive state, in that, to prepare for the grouped mode, the normal mode is de-selected by all except one of the control switches (9a, 9b) which are in the normal mode, the grouped mode is then logged onto by the remaining control switch (9a, 9b) and this remaining control switch (9a, 9b) is then in the active state in the grouped mode, and in that, to prepare for the normal mode, the grouped mode is de-selected by the control switch (9a, 9b) which is in the active state in the grouped mode and then the other control switch (9a, 9b) or the other control switches (9a, 9b) are logged onto the normal mode in the passive grouped mode.
2. Method according to claim 1, characterised in that the control switch (9a, 9b) in the active state is operated in three modes of operation in the grouped mode and these modes of operation are defined as a tandem mode, in which a plurality of lifting devices have their functions controlled in parallel by the control switch (9a, 9b) in the active state, a first single-device mode, in which only a first one of the lifting devices has its functions controlled by the control switch (9a, 9b) in the active state, and a second single-device mode, in which only a second one of the lifting devices has its functions controlled by the control switch (9a, 9b) in the active state.
3. Control system arrangement for operating at least two lifting devices, and in particular at least two cranes (1 a, 1 b) in a grouped mode and in a normal mode, each lifting device having an electric lifting unit motor (6a, 6b) which has an associated control system (3a, 3b) connected to a control switch (9a, 9b), the at least two lifting devices being able to have their functions controlled via a common bus (7) and, in the grouped mode, the at least two lifting devices being able to have their functions controlled together via the bus (7) by one of the control switches (9a, 9b), characterised in that, in the grouped mode, one of the control switches (9a, 9b) is in an active state and the remaining control switch or control switches (9a, 9b) is in a passive state, in that, to prepare for the grouped mode, the normal mode can be de-selected by all except one of the control switches (9a, 9b) which are in the normal mode, before the grouped mode can be logged onto by the remaining control switch (9a, 9b), and this control switch (9a, 9b) is then active in the grouped mode, and in that, to prepare for the normal mode, the grouped mode can be de-selected, and the normal mode can be selected, by the active control switch (9a, 9b) in the grouped mode, before the other control switch (9a, 9b) or the other control switches (9a, 9b) can be logged onto the normal mode in the passive grouped mode.
4. Control system arrangement according to claim 3, characterised in that the control switch (9a, 9b) in the active state can be operated in three modes of operation in the grouped mode and these modes of operation are defined as a tandem mode, in which the control switch (9a, 9b) in the active state controls the functions of a plurality of lifting devices in parallel, a first single-device mode, in which the control switch (9a, 9b) in the active state controls the functions of only a first one of the lifting devices, and a second single-device mode, in which the control switch (9a, 9b) in the active state controls the functions of only a second one of the lifting devices.
5. Control system arrangement according to claim 3 or 4, characterised in that the bus (7) is divided into a hard-wired portion (7a, 7b) for each lifting device and a wireless bus (7c) between the lifting devices.
6. Control system arrangement according to one of claims 3 to 5, characterised in that the control systems (3a, 3b) and the control switches (9a, 9b) are connected to the common bus (7).
7. Control system arrangement according to one of claims 3 to 6, characterised in that the logging-on and logging-off of the control switches (9a, 9b) can be monitored by the control systems (3a, 3b).
8. Control system arrangement according to one of claims 3 to 6, characterised in that the at least two lifting devices take the form of cranes (1 a, 1 b), the cranes (1 a, 1 b) have crane travel motors (4a, 4b) and trolley travel motors (5a, 5b) as well as the lifting unit motors (6a, 6b), the control systems (3a, 3b) are assigned to the lifting unit motors (6a, 6b) and to the crane travel motors (5a, 5b), crane control systems (2a, 2b) are assigned to the crane travel motors (4a, 4b), and the crane control systems (2a, 2b) are connected to the bus (7).

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