EP2748101B1 - Procédé et système de commande permettant de faire fonctionner parallèlement au moins deux engins de levage, notamment des grues - Google Patents

Procédé et système de commande permettant de faire fonctionner parallèlement au moins deux engins de levage, notamment des grues Download PDF

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Publication number
EP2748101B1
EP2748101B1 EP12748712.2A EP12748712A EP2748101B1 EP 2748101 B1 EP2748101 B1 EP 2748101B1 EP 12748712 A EP12748712 A EP 12748712A EP 2748101 B1 EP2748101 B1 EP 2748101B1
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EP
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Prior art keywords
control
mode
control switch
crane
grouped
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EP12748712.2A
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German (de)
English (en)
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EP2748101A1 (fr
Inventor
Klaus Behnke
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Demag Cranes and Components GmbH
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Terex MHPS GmbH
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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
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • B66C13/18—Control systems or devices
    • 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
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • a control switch connected thereto.
  • 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.
  • the tandem operation is deselected, the correction performed and the tandem operation selected again.
  • the present invention seeks to provide a control device for safe parallel operation of at least two hoists, especially cranes.
  • 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.
  • 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.
  • 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
  • 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.
  • the control switch selected for group operation remains in the active state in group mode. Passing through the logon and logon sequences is eliminated.
  • bus per hoist in a wired bus section and split between the hoists in a wireless bus In a particularly advantageous embodiment of the bus per hoist in a wired bus section and split between the hoists in a wireless bus.
  • the controls and the control switches are connected to the bus.
  • 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.
  • controllers can have a corresponding logic to coordinate the login and logout.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • the two cranes 1 a, 1 b can operate in a so-called group operation in parallel or individually.
  • 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.
  • the respective control switch 9a, 9b is locked to an operator, ie all input signals are ignored.
  • 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.
  • three modes are possible, namely a tandem operation, a first single operation and a second single operation.
  • 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.
  • the tandem operation is changed to a first single operation or a second single operation.
  • the first 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.
  • 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.
  • 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.
  • optically recognized by the pressed emergency / stop at the control switch 9a, 9b be that this control switch 9a, 9b in the passive state.
  • 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.
  • 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.
  • the control of the cranes 1 a, 1 b is decentralized and divided into the modules crane travel control 2a, 2b and Katz facedung 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.
  • 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.

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

Claims (8)

  1. Procédé pour faire fonctionner au moins deux engins de levage, en particulier au moins deux grues (la, 1b), en mode groupe et en mode normal, chaque engin de levage comportant un moteur de treuil électrique (6a, 6b) auquel est associée une commande (3a, 3b) reliée à un commutateur de commande (9a, 9b), les au moins deux engins de levage étant commandés par l'intermédiaire d'un bus commun (7), en mode groupe les au moins deux engins de levage étant commandés conjointement par l'un des commutateur de commande (9a, 9b) par l'intermédiaire du bus (7), caractérisé en ce que en mode groupe l'un des commutateur de commande (9a, 9b) se trouve dans un état actif, et le ou les commutateurs de commande (9b, 9a) restants se trouvent dans un état passif, en ce que pour faire passer en mode groupe tous les commutateurs de commande (9a, 9b), sauf un, qui se trouvent en mode normal, on désactive le mode normal, puis on active le mode groupe du commutateur de commande (9b, 9a) restant et ce commutateur de commande (9b, 9a) restant se trouve alors à l'état actif en mode groupe et pour faire passer en mode normal le commutateur de commande (9a, 9b) qui se trouve à l'état actif en mode groupe on désactive le mode groupe et on active le mode normal, puis on active en mode normal l'autre commutateur de commande (9a, 9b) ou les autres commutateurs de commande (9a, 9b) qui se trouvent en mode groupe passif.
  2. Procédé selon la revendication 1, caractérisé en ce que le commutateur de commande (9a, 9b) qui se trouve à l'état actif en mode groupe fonctionne selon trois modes de fonctionnement, et les modes de fonctionnement sont le mode tandem dans lequel plusieurs engins de levage sont commandés en parallèle par le commutateur de commande (9a, 9b) qui se trouve à l'état actif, le premier mode individuel dans lequel un seul premier engin de levage est commandé par le commutateur de commande (9a, 9b) qui se trouve à l'état actif, et le second mode individuel dans lequel un seul second engin de levage est commandé par le commutateur de commande (9a, 9b) qui se trouve à l'état actif.
  3. Système de commande destiné à faire fonctionner au moins deux engins de levage, en particulier au moins deux grues (1 a, 1 b), en mode groupe et en mode normal, chaque engin de levage comporte un moteur de treuil électrique (6a, 6b) auquel est associé une commande (3a, 3b) reliée à un commutateur de commande (9a, 9b), les au moins deux engins de levage étant commandés par l'intermédiaire d'un bus commun (7), en mode groupe les au moins deux engins de levage pouvant être commandés conjointement par l'un des commutateurs de commande (9a, 9b) par l'intermédiaire du bus (7), caractérisé en ce que en mode groupe l'un des commutateurs de commande (9a, 9b) se trouve dans un état actif, et le ou les commutateurs de commande (9b, 9a) restants se trouvent dans un état passif, en ce que pour faire passer en mode groupe tous les commutateurs de commande (9a, 9b), sauf un, qui se trouvent en mode normal, on désactive le mode normal avant de pouvoir activer en mode groupe le commutateur de commande (9b, 9a) restant et ce commutateur de commande (9b, 9a) se trouve alors à l'état actif en mode groupe, et pour faire passer en mode normal le commutateur de commande (9a, 9b) qui se trouve à l'état actif en mode groupe on désactive le mode groupe et on active le mode normal avant de pouvoir activer en mode normal l'autre commutateur de commande (9a, 9b) ou les autres commutateurs de commande (9a, 9b) qui se trouvent à l'état passif en mode groupe.
  4. Système de commande selon la revendication 3, caractérisé en ce que le commutateur de commande (9a, 9b) qui se trouve à l'état actif en mode groupe peut fonctionner selon trois modes de fonctionnement et les modes de fonctionnement sont le mode tandem dans lequel le commutateur de commande (9a, 9b) qui se trouve à l'état actif commande en parallèle plusieurs engins de levage, le premier mode individuel dans lequel le commutateur de commande (9a, 9b) qui se trouve à l'état actif commande un seul premier engin de levage, et le second mode individuel dans lequel le commutateur de commande (9a, 9b) qui se trouve à l'état actif commande un seul second engin de levage.
  5. Système de commande selon la revendication 3 ou 4, caractérisé en ce que le bus (7) est subdivisé pour chaque engin de levage en une section de bus filaire (7a, 7b) et, entre les engins de levage, en un bus sans fil (7c).
  6. Système de commande selon l'une des revendications 3 à 5, caractérisé en ce que les commandes (3a, 3b) et les commutateurs de commande (9a, 9b) sont raccordés au bus commun (7).
  7. Système de commande selon l'une des revendications 3 à 6, caractérisé en ce que l'activation et la désactivation des commutateurs de commande (9a, 9b) est contrôlée par les commandes (3a, 3b).
  8. Système de commande selon l'une des revendications 3 à 6, caractérisé en ce que les au moins deux engins de levage se présentent sous la forme de grues (1 a, 1 b), les grues (1 a, 1 b) comportent en plus des moteurs de treuil (6a, 6b) des moteurs de déplacement de grue (4a, 4b) et des moteurs de déplacement de chariot (5a, 5b), les commandes (3a, 3b) sont associées aux moteurs de treuil (6a, 6b) et aux moteurs de déplacement de chariot (5a, 5b), des commandes de grue (2a, 2b) sont associées aux moteurs de déplacement de grue (4a, 4b) et les commandes de grue (2a, 2b) sont raccordées au bus (7).
EP12748712.2A 2011-08-26 2012-08-23 Procédé et système de commande permettant de faire fonctionner parallèlement au moins deux engins de levage, notamment des grues Active EP2748101B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011053014A DE102011053014A1 (de) 2011-08-26 2011-08-26 Steuerungsanordnung zum parallelen Betreiben von mindestens zwei Hebezeugen, insbesondere Kranen
PCT/EP2012/066454 WO2013030092A1 (fr) 2011-08-26 2012-08-23 Procédé et système de commande permettant de faire fonctionner parallèlement au moins deux engins de levage, s'agissant notamment de grues

Publications (2)

Publication Number Publication Date
EP2748101A1 EP2748101A1 (fr) 2014-07-02
EP2748101B1 true EP2748101B1 (fr) 2015-03-18

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Country Status (13)

Country Link
US (1) US9272883B2 (fr)
EP (1) EP2748101B1 (fr)
JP (1) JP6080314B2 (fr)
KR (1) KR101953409B1 (fr)
CN (1) CN103781718B (fr)
AU (1) AU2012301097B2 (fr)
BR (1) BR112014001085B1 (fr)
CA (1) CA2842740C (fr)
DE (1) DE102011053014A1 (fr)
ES (1) ES2538118T3 (fr)
MX (1) MX339487B (fr)
RU (1) RU2565748C1 (fr)
WO (1) WO2013030092A1 (fr)

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EP2357150B1 (fr) * 2008-11-18 2019-05-01 Sumitomo Heavy Industries, LTD. Machine fonctionnelle
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MX339487B (es) 2016-05-26
US20140251935A1 (en) 2014-09-11
CN103781718A (zh) 2014-05-07
KR101953409B1 (ko) 2019-02-28
US9272883B2 (en) 2016-03-01
RU2565748C1 (ru) 2015-10-20
WO2013030092A1 (fr) 2013-03-07
DE102011053014A1 (de) 2013-02-28
RU2014109081A (ru) 2015-10-10
CN103781718B (zh) 2015-09-09
BR112014001085A2 (pt) 2017-10-31
AU2012301097B2 (en) 2016-09-08
BR112014001085B1 (pt) 2021-06-15
JP2014525381A (ja) 2014-09-29
KR20140053113A (ko) 2014-05-07
AU2012301097A1 (en) 2014-03-06
MX2014001991A (es) 2014-02-27
ES2538118T3 (es) 2015-06-17
CA2842740C (fr) 2019-04-02
EP2748101A1 (fr) 2014-07-02
CA2842740A1 (fr) 2013-03-07
JP6080314B2 (ja) 2017-02-15

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