EP2762438B1 - Process for influencing a winch force acting on a rope drive and device suitable for such a process - Google Patents
Process for influencing a winch force acting on a rope drive and device suitable for such a process Download PDFInfo
- Publication number
- EP2762438B1 EP2762438B1 EP14153452.9A EP14153452A EP2762438B1 EP 2762438 B1 EP2762438 B1 EP 2762438B1 EP 14153452 A EP14153452 A EP 14153452A EP 2762438 B1 EP2762438 B1 EP 2762438B1
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- EP
- European Patent Office
- Prior art keywords
- cable
- force
- drive
- winch
- rope
- Prior art date
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- 238000000034 method Methods 0.000 title claims description 33
- 230000001105 regulatory effect Effects 0.000 claims description 16
- 238000004804 winding Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000009420 retrofitting Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
- 230000003319 supportive effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
- B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/60—Rope, cable, or chain winding mechanisms; Capstans adapted for special purposes
- B66D1/74—Capstans
- B66D1/7405—Capstans having two or more drums providing tractive force
- B66D1/741—Capstans having two or more drums providing tractive force and having rope storing means
Definitions
- the invention relates to a method for influencing a cable winch force acting on a rope drive and to a device for carrying out such a method.
- the WO 2009/027 580 A1 discloses a winch drive for a crane with traction sheaves.
- Other winch drives are known from the US 2007/113 640 A1 , of the US 2010/262 384 A1 , of the US 2005/017 228 A1 and the US 2003/057 916 A1 ,
- a winch force depends on a respective cable operating state and can be controlled by an external cable force.
- a controlled and low-wear winding is made possible by the rope is wound with as constant as possible and especially low winch force.
- An additional drive of the rope in front of the winch can make that possible.
- This drive principle is based on the rope friction according to the Euler-Eytelwein formula.
- a constant winch force is understood to be a permissible tolerance range of winch force, which is in particular +/- 20% of a predetermined target winch force.
- the permissible rope winch force range comprises +/- 10% of the predetermined target winch force and in particular +/- 5% of the predetermined target winch force.
- a target winch force which serves a bias of the rope for optimal winding or unwinding of the rope
- a value of 2% of a minimum breaking force of the rope or 10% of the nominal force of the cable drive is used.
- the device can be connected at a first end of the rope with the cable drive and at a second end of the rope with a load-receiving device such as a load hook, in particular a hook bottle.
- the rope in particular wraps around each of the two traction sheaves.
- the cable drive operating state is determined by an actuating direction of the cable drive, for example, by a direction of rotation of a winch of the cable drive, so a winding or unwinding of the rope.
- An external cable force is caused in particular by a load taken up by the load-receiving device.
- different traction sheave operating states can be used depending on the respective rope drive operating state and the external rope force be determined. This results in four traction sheave drive operating states, ie with or without load attached to the load handling device and winding or unwinding of the rope from the winch of the rope drive. These traction sheave drive modes will lift as idle, ie, unwinding the rope without load, lowering idle, ie unwinding the rope without load, lifting operating load, ie winding the rope with load, and lowering operating load, ie unwinding the rope with load.
- the rope regulated so both unwind with constant winch force on and also, it is irrelevant whether the cable drive is loaded by an external load, ie whether a load is attached to the load receiving device or not.
- a four-quadrant operation of the traction sheave drive can be simulated by means of a control unit.
- additional operating conditions are possible, by means of one of the DE 10 2004 046 130 A1 known Zwequadranten réelles for generating a constant load when winding a rope on the rope drive can not be mapped.
- the method according to the invention makes it possible to map additional operating states.
- the mapping of the additional operating states takes place by setting these operating states in an incremental control range. This means that the regulation of the rope force acting on the rope drive is also possible for the additional operating states reduce operating load and reduce idle stroke. As a result, the cable guide and the rope claims is improved.
- a so-called hanging rope or slack rope arises as a result of a low stress of the rope, as a result of the outer cable force the rope is not claimed with sufficient tensile load.
- An insufficient tensile load may be present when, for example, the load of the rope is given solely by an attached hook or a retracted lower block and in particular an external load is missing.
- a rupture of the rope occurs as a result of overstressing.
- such a method can be advantageously used for the mutual control of Mehrfachseileinscherung in double rope operation. In the case of multiple rope insertion, the cables can be braked very differently due to rope braking forces caused by the sheaves.
- the traction sheave drive has a drive motor, in particular an electric motor, which provides a torque in a required size as a function of the cable drive operating state, so that a traction sheave force caused by the traction sheave drive leads to a desired winch force.
- a control algorithm of the traction sheave drive is directly dependent on the rope drive operating state.
- a method according to claim 2 allows an advantageous control of the cable winch force in relation to the outer cable force.
- a method according to claim 3 allows a fast and effective control of winch force.
- a method according to claim 4 allows a quick and easy determination of the outer cable force.
- a method according to claim 5 enables a particularly accurate determination of the outer cable force.
- a method according to claim 6 enables monitoring of the pulley cable force.
- a method according to claim 7 allows an improved control of winch force.
- a method according to claim 8 allows the consideration of various influencing variables for generating the control or regulation variable.
- a method according to claim 9 enables control of the pulley cable force such that the resulting winch force is independent of the speed of rotation of the winch.
- the pulley cable force immediately responds to a change in the outer cable force due to the closed-loop pressure level.
- the method is independent of the speed of the rope and in particular of accelerations or decelerations of the rope.
- two traction sheaves are used to exert a traction sheave rope force on a rope of a rope drive, whereby the traction sheaves can be driven independently of one another at least by means of a drive and in particular by means of a drive.
- the device ensures that the cable force acting on the cable drive is controlled independently of the respective operating mode of the cable drive.
- the traction sheave drive can thus be controlled independently of the rope drive.
- the winch of a primary rope drive can be made smaller and in particular with reduced power and brake. This can reduce the overall weight of the winch assembly of a work machine and reduce the cost. It is also possible to retrofit said device to an already existing work machine. In the case of the execution of the device as a retrofit kit for an existing work machine, it is not necessary in particular to set increased safety requirements for the traction sheaves, since safety-relevant functions such as a brake function must be met by the already existing on the machine rope drive. In particular, the same safety requirements are imposed on the device as a retrofit kit as on a primary cable drive. Even a temporary failure of the device, for example by icing of the traction sheaves can be tolerated.
- the device can be designed as a retrofit kit uncomplicated, in particular function-reduced, and inexpensive. It is possible to provide on an intermediate piece pre-equipped consoles and / or hydraulic lines to facilitate later retrofitting of the device according to the invention. It is advantageous in geometric proximity to the traction sheave drive, a self-sufficient hydraulic unit, for example, from the EP 1 641 703 B1 it is known to stockpile and pre-equip necessary cables.
- An apparatus enables automatic adjustment and regulation of the drive pulley cable force by controlling drive torque and / or drive speed of at least one of the drives.
- An apparatus enables a simplified and direct control of the drives.
- a predetermined desired torque can be generated and controlled directly.
- a device with hydraulic drives for the traction sheaves is uncomplicated and inexpensive to implement.
- the hydraulic drives are controlled by a closed, self-sufficient hydraulic circuit.
- the use in particular of frequency-controlled electric motors allows a direct and more accurate control of the drive torque.
- the electric motors are also easier to integrate into a possible control loop.
- An adjunct control can be done near real time.
- electric motors have improved efficiency over hydraulic drives. The environmental impact is reduced because of reduced emissions.
- the drive can also be designed as a motor-gearbox combination. Such a combination allows a particularly small-scale realization of the drive.
- the drive can be particularly advantageously arranged on the device and allows a total of a small-sized, weight-reduced design of the traction sheave drive.
- An apparatus enables a simplified and effective control of the traction sheaves.
- An apparatus enables a targeted and particularly robust cable guide on the traction sheaves. In particular, a superposition of individual cable strands in the device is avoided.
- An apparatus according to claim 15 enables an uncomplicated and at the same time stable arrangement of the device on a working machine, in particular a crane.
- Fig. 1 is a lattice boom 1 of a crane, which may be designed in particular as a lattice boom crane shown.
- two devices 2 of the invention are attached on the lattice boom 1 .
- the devices 2 are arranged along a cable guide of a cable drive, not shown, between a not-shown winch of the cable drive and a load-receiving device, not shown, for receiving an external load.
- the use of the device 2, which is designed as a traction sheave drive, is applicable to various working machines, in particular for a crawler crane.
- the device 2 has a receiving frame 3, in which a first traction sheave 4 and a second traction sheave 5 are arranged.
- the first traction sheave 4 is driven about its axis of rotation 6 by a first drive 7 via a first gear 8.
- the first drive 7 is designed as a hydraulic drive.
- the first gear 8 is held by means of a first flange 9 on a vertical wall 10 of the receiving frame 3 in the axial direction of the axis of rotation 6.
- the first gear 8 has a second flange 11, on which the first traction sheave 4 is held in the axial direction along the axis of rotation 6.
- the first traction sheave 4 is fitted with a gear opening 12 on the first gear 8.
- the first gear 8 is designed to taper conically in a section to be received in the gear opening 12.
- a bearing pin 14 is provided, which is rotatably mounted in a floating bearing 15 which is arranged in a bearing opening 16 of the first traction sheave 4.
- the first drive 7, the first gear 8, the bearing pin 14 and the floating bearing 15 are oriented concentrically with each other.
- the first traction sheave 4 has on its outer cylindrical surface four grooves 17, which serve to guide the cable when winding or unwinding a rope from the first traction sheave 4.
- the grooves 17 are each separated by interposed groove rings. Furthermore, the first traction sheave 4 from the grooves 17 obliquely outwardly directed flanks 18.
- the second traction sheave 5 is held on the receiving frame 3 in an identical manner.
- the second traction sheave 5 is about its axis of rotation 19 by means a second drive 20 via a second gear 21 driven.
- the only difference is that the second traction sheave 5 has three instead of four grooves 17.
- This will create an in Fig. 3 by means of dashed line shown leadership of a rope 22 allows.
- the rope 22 runs according to Fig. 3 coming from the top left of the load-carrying device in the first traction sheave 4 a.
- the rope 22 is wound along the grooves 17 of the traction sheaves 4, 5.
- the number of wraps 23 of the rope 22 results from the number of grooves 17 of both traction sheaves 4, 5.
- first traction sheave 4 has a groove 17 more than the second traction sheave 5, the rope 22 at the traction sheaves 4, 5th the device 2 deflected such that an inlet 24 of the rope 22 coming from the load receiving device forth and an outlet 25 of the rope 22 are arranged to a rope drive out in a same plane.
- the inlet 24 is shown on the top left and the outlet 25 on the bottom right. The inlet 24 and the outlet 25 are parallel to each other.
- the device 2 further has a in the Fig. 1 to 4 not shown, in the further course yet explained control unit, which is in signal communication with the drives 7, 20.
- the control unit is used to control drive torque and / or drive speed of the drives 7, 20. Additionally or alternatively, each drive 7, 20 have an automatic torque control, not shown, which is also referred to as Mooring horrung.
- the pump pressure is used as a control variable for the mooring control. The predetermined pressure is kept constant by the pump, from which follows a constant at the hydraulic motors of the traction sheave drive regardless of the direction of rotation of the drives.
- the device 2 is at a first, in Fig. 5
- the rope end of the cable 22 shown on the left is connected via a pulley 26 of the upper and lower bottle to the load-receiving device in the form of a hook hook 27 shown symbolically. In Mehrfachseileinscherung several pulleys 26 may be provided.
- the device 2 at a second, in Fig. 5 Rope end of the rope 22 shown connected to a winch 28.
- the winch 28 is part of the total designated 29 rope drive.
- the cable drive 29 has a drive, not shown, for driving the winch 28 about the winch rotation axis 30. As shown in Fig. 5 is attached to the hook bottle 27 no load.
- a load force 31 introduced by the hook block 27 is small and is essentially based on the own weight of the hook hook 27 and the rope 22 Fig. 5 the rope 22 is wound on the winch 28 by the rope drive 29.
- the winch 28 along the Aufwickelfilter 32 to the wind rotation axis 30 according to Fig. 5 turned clockwise.
- a cable drive operating state is characterized, ie in particular by the predetermining the Aufwickelformat substances 32 of the winch 28 set.
- Fig. 5 shows the traction sheave operating mode lifting idle stroke.
- the force acting on the cable drive 29 outer cable force 33 is determined.
- the outer cable force 33 indicates the bias voltage with which the cable 22 is wound onto the winch 28.
- the ascertained cable force 33 can be used, in particular, as an input signal for the control unit 34 of the device 2 serve.
- the cable force measuring device which enables a direct determination of the outer cable force 33, it is also possible to indirectly determine the outer cable force 33 from the load force 31.
- the indirect determination of the outer cable force 33 is possible in an uncomplicated manner. In particular, the expenditure on equipment is low.
- the rope 22 is wound on the winch 28 with a winch force 35.
- the traction sheaves 4, 5 of the device 2 are driven and in particular regulated that amaschineshibenseilkraft 36 on the Rope 22 of the rope winch force 35 counteracts.
- the winch force 35 is regulated.
- the rope winch force 35 is the resultant of the drive pulley rope force 36 and the outer rope force 33.
- the outer rope force 33 results from the load force 31, depending on the load situation, by the system comprising the rope 22, the lower bottle or a simple load handling device.
- the outer cable force 33 is opposite to the cable winch force 35.
- the outer cable force 33 and the cable winch force 35 compensate each other.
- the outer cable force 33 and the cable winch force 35 are equal in magnitude in particular in the usual operation of the device and cancel each other. A resultant of these two forces 33, 35 resulting force is 0.
- the traction sheave 2 is inserted.
- winch force 35 can be increased or reduced by traction sheave cable force 36.
- the effective direction of the drive pulley cable force 36 is adjustable by the drive direction of the traction sheaves 4, 5. The drive pulley cable force 36 can thus be adjusted in the same direction or in opposite directions to the cable winch force 35.
- the relationship of the rope forces 33, 35 and 36 is in the characteristic diagram according to Fig. 10 represented graphically by the winch force 35 and themaschinebenseilkraft 36 are each represented as a function of the outer cable force 33. Exemplary are the respective forces in Fig. 10 in N indicated.
- the characteristic diagram shows purely qualitatively the relationships between the forces 33, 35 and 36.
- the winch force 35 is shown as a dashed line.
- the cable winch force 35 is identical to the outer cable force 33 when nomaschinebenseilkraft 36 is provided.
- winch force 35 is a straight line of origin with incline 1.
- Traction rope force 36 is in Fig. 10 represented by a solid line.
- the solid line corresponds to a possible predetermined characteristic for the drive pulley cable force 36.
- the drive pulley cable force 36 has a linearly rising area, wherein the slope of the characteristic curve is less than that of the cable winch force 35.
- F crit which according to As shown in the characteristic diagram 180 N, the drive pulley cable force 36 follows a plateau, ie the drive pulley cable force 36 is constant for an outer cable force 33 which is greater than F crit .
- the characteristic curve 36 can also have a falling section.
- the characteristic curve can also be embodied non-linearly, at least in sections, and in particular have a quadratic, cubic, exponential, logarithmic or otherwise curved function profile. Furthermore, in Fig.
- the dot-dash line 42 indicates the course of the cable winch force 35, which is reduced by the following characteristic curve 36maschinenseilkraft. This applies to the operating conditions Lower idle stroke ( Fig. 5 ) and idle lift ( Figure 8 ). It is also possible that the characteristic curve 36 is added to the winch force 35. This applies to the operating states Lift load ( Fig. 6 ) and reduce operating load ( Fig. 7 ).
- the traction sheave operating mode operating load lift in accordance with Fig. 6 differs from the according to Fig. 5 in that an outer load 39 is attached to the hook block 27.
- the load 31 is comparatively high. Due to the high load force 31, the drives 7, 20 are controlled by the control unit 34 with a drive torque such that the traction sheaves 4, 5 along the drive pulley rotation direction 37, the winch 28 are supported supportive. This causes a pulley cable force 36 on the rope 22 which acts in the same direction as the winch force 35. This means that the traction sheave force 36 caused by the traction sheaves 4, 5 relieves the winds 28.
- the cable 22 is wound with the winch force 35 on the winch 28, wherein the cable winch force 35 is smaller than the outer cable force 33. This can be avoided that due to a high load 39, the rope 22 is wound too tight. Inadmissibly high strains of the rope 22 are avoided.
- the traction sheave operating condition reduce operating load according to Fig. 7 differs from the operating state according to Fig. 6 in that the load 39 is lowered, ie the winch 28 is rotated along the unwinding direction 40 about the axis of rotation 30.
- the rope 22 is unwound from the winch 28.
- the traction sheaves 4, 5 of the device 2 are controlled by the control unit 34 such that the traction sheaves 4, 5 are acted upon by a Abwickelwindraum 40 opposing drive torque.
- the pulley cable force 36 acts relieving in the same direction as the cable winch force 35 in order to avoid too high a tensile load of the load 39 during unwinding.
- the rope 22 is braked during unwinding.
- the device 2 relieves the winds 28.
- the in Fig. 8 illustrated traction sheave operating state idle stroke is different according to the in Fig. 7 shown state in that the rope 22 is unwound without load. Accordingly, the winch 28 is rotated along the unwinding direction 40 about the rotation axis 30. The fact that no load is attached to the hook bottle 27, the load 31 is low.
- the device 2 provides a drive pulley rope force 36 which counteracts the winch force 35.
- the drive pulley cable force 36 thus effects unwinding with a predetermined rope winch force 35, in that the rope 22 is pulled off the winch 28 by means of the device 2.
- the cable winch force 35 is greater than the external cable force 33.
- the hydraulic drives 7, 20 are controlled such that, depending on the outer cable force 33 and the drive pulley rotation direction 37, the drive torques of the traction sheaves 4, 5 cause the drive pulley cable force 36.
- the drive torques of the hydraulic drives 7, 20 are realized by means of an automatic torque control.
- the drives 7, 20 are actuated via a hydraulic pump 38 operating in a closed hydraulic circuit.
- the amount and the direction of the drive torque are controlled via a pressure unit 41 on the pump.
Description
Die Erfindung betrifft ein Verfahren zur Beeinflussung einer auf einen Seiltrieb wirkenden Seilwindenkraft sowie eine Vorrichtung zur Durchführung eines derartigen Verfahrens.The invention relates to a method for influencing a cable winch force acting on a rope drive and to a device for carrying out such a method.
Aus der
Die
Es ist eine Aufgabe der vorliegenden Erfindung, ein Verfahren zur Beeinflussung einer auf einen Seiltrieb wirkenden Seilwindenkraft derart zu verbessern, dass die auf den Seiltrieb wirkende Seilwindenkraft abhängig von einem jeweiligen Seiltrieb-Betriebszustand und einer äußeren Seilkraft regelbar ist.It is an object of the present invention to improve a method for influencing a cable winch force acting on a cable drive in such a way that the cable winch force acting on the cable drive can be regulated as a function of a respective cable drive operating state and an external cable force.
Diese Aufgabe ist durch ein Verfahren mit den im Anspruch 1 angegebenen Merkmalen gelöst.This object is achieved by a method having the features specified in claim 1.
Erfindungsgemäß wurde erkannt, dass durch Ausüben einer Treibscheibenseilkraft auf ein Seil eines Seiltriebs eine Seilwindenkraft abhängig von einem jeweiligen Seiltrieb-Betriebszustand und von einer äußeren Seilkraft geregelt werden kann. Durch die Kombination des Seiltriebs, der grundsätzlich lediglich zwei Betriebszustände ermöglicht, mit einer Vorrichtung zum Erzeugen einer Treibscheibenseilkraft, die insbesondere als Treibscheibenantrieb ausgeführt ist, können vier verschiedene Betriebszuständen nachgebildet werden. Dadurch ist es möglich, eine auf den Seiltrieb wirkende Seilwindenkraft, die insbesondere mittels einer Seilkraftmesseinheit bestimmbar ist, derart zu beeinflussen, dass die Seilwindenkraft abhängig von einem Seiltrieb-Betriebszustand und von einer äußeren Seilkraft regelbar ist. Ein kontrolliertes und verschleißarmes Wickeln wird ermöglicht, indem das Seil mit möglichst konstanter und insbesondere geringer Seilwindenkraft aufgespult wird. Ein zusätzlicher Antrieb des Seils vor der Winde kann das ermöglichen. Dieses Antriebsprinzip beruht auf der Seilreibung gemäß der Euler-Eytelweinschen Formel. Als konstante Seilwindenkraft wird ein zulässiger Toleranzbereich der Seilwindenkraft verstanden, der insbesondere +/- 20% einer vorgegebenen Soll-Seilwindenkraft beträgt. Insbesondere umfasst der zulässige Seilwindenkraftbereich +/-10% der vorgegebenen Soll-Seilwindenkraft und insbesondere +/- 5% der vorgegebenen Soll-Seilwindenkraft. Als Soll-Seilwindenkraft, die einer Vorspannung des Seils für ein optimales Aufwickeln bzw. Abwickeln des Seiles dient, wird beispielsweise ein Wert von 2% einer Mindestbruchkraft des Seiles oder von 10% der Nennkraft des Seiltriebes verwendet. Mittels eines Seils kann die Vorrichtung an einem ersten Seilende mit dem Seiltrieb und an einem zweiten Seilende mit einer Lastaufnahmevorrichtung wie beispielsweise einem Lasthaken, insbesondere einer Hakenflasche, verbunden sein. Das Seil umschlingt insbesondere jeweils die beiden Treibscheiben. Der Seiltrieb-Betriebszustand ist durch eine Betätigungsrichtung des Seiltriebs beispielsweise durch eine Drehrichtung einer Winde des Seiltriebs, also ein Auf- oder Abwickeln des Seils festgelegt. Eine äußere Seilkraft wird insbesondere durch eine von der Lastaufnahmevorrichtung aufgenommene Last verursacht. Für eine bereitgestellte Vorrichtung zum Erzeugen einer Treibscheibenseilkraft auf das Seil können in Abhängigkeit des jeweiligen Seiltrieb-Betriebszustands und in Abhängigkeit der äußeren Seilkraft verschiedene Treibscheibenantriebs-Betriebszustände bestimmt werden. Es ergeben sich vier Treibscheibenantriebs-Betriebszustände, also mit oder ohne an der Lastaufnahmevorrichtung angehängter Last sowie Aufwickeln oder Abwickeln des Seils von der Winde des Seiltriebs. Diese Treibscheibenantriebs-Betriebszustände werden als Leerhub heben, d. h. Aufwickeln des Seils ohne Last, Leerhub senken, d. h. Abwickeln des Seils ohne Last, Betriebslast heben, d. h. Aufwickeln des Seils mit Last, und Betriebslast senken, d. h. Abwickeln des Seils mit Last, bezeichnet. Insbesondere ist es also mit dem erfindungsgemäßen Verfahren möglich, das Seil geregelt, also mit konstanter Seilwindenkraft sowohl aufals auch abzuwickeln, wobei es unerheblich ist, ob der Seiltrieb durch eine äußere Last belastet ist, d.h. ob eine Last an der Lastaufnahmevorrichtung angehängt ist oder nicht. Ein Seilverschleiß, insbesondere auf einer mehrlagig bewickelten Winde, ist reduziert. Dadurch, dass insbesondere auch beim Aufwickeln des Seiles auf die Winde des Seiltriebs eine Kontrolle und ein Anpassen der Seilwindenkraft ermöglicht sind, können Spulfehler und/oder Seilsprung infolge eines zu lockeren, instabilen Seilverbands vermieden werden. Insbesondere kann vermieden werden, dass ein derart fehlerhaft aufgewickeltes Seil, das anschließend einer starken äußeren Seilkraft infolge einer hohen äußeren Last unterliegt, aus einer oberen Lage einer Seilwicklung in darunter liegende, tiefere Lagen mit lockerer Wicklung eingezogen oder eingezwängt werden. Diese Form der Seilbeschädigung ist durch das erfindungsgemäße Verfahren ausgeschlossen. Zusätzlich seilbremsende Vorrichtungen, die als Seilquäler bezeichnet werden, sind bei dem erfindungsgemäßen Verfahren entbehrlich.According to the invention it has been recognized that by exerting a driving pulley rope force on a rope of a rope drive a winch force depends on a respective cable operating state and can be controlled by an external cable force. The combination of the cable drive, which in principle only allows two operating states, with a device for generating a drive pulley rope force, which is designed in particular as a traction sheave drive, four different operating states be reproduced. This makes it possible to influence a rope winch force acting on the cable drive, which can be determined in particular by means of a cable force measuring unit, in such a way that the cable winch force can be regulated as a function of a cable drive operating state and of an external cable force. A controlled and low-wear winding is made possible by the rope is wound with as constant as possible and especially low winch force. An additional drive of the rope in front of the winch can make that possible. This drive principle is based on the rope friction according to the Euler-Eytelwein formula. A constant winch force is understood to be a permissible tolerance range of winch force, which is in particular +/- 20% of a predetermined target winch force. In particular, the permissible rope winch force range comprises +/- 10% of the predetermined target winch force and in particular +/- 5% of the predetermined target winch force. As a target winch force, which serves a bias of the rope for optimal winding or unwinding of the rope, for example, a value of 2% of a minimum breaking force of the rope or 10% of the nominal force of the cable drive is used. By means of a cable, the device can be connected at a first end of the rope with the cable drive and at a second end of the rope with a load-receiving device such as a load hook, in particular a hook bottle. The rope in particular wraps around each of the two traction sheaves. The cable drive operating state is determined by an actuating direction of the cable drive, for example, by a direction of rotation of a winch of the cable drive, so a winding or unwinding of the rope. An external cable force is caused in particular by a load taken up by the load-receiving device. For a provided device for generating a driving pulley rope force on the rope, different traction sheave operating states can be used depending on the respective rope drive operating state and the external rope force be determined. This results in four traction sheave drive operating states, ie with or without load attached to the load handling device and winding or unwinding of the rope from the winch of the rope drive. These traction sheave drive modes will lift as idle, ie, unwinding the rope without load, lowering idle, ie unwinding the rope without load, lifting operating load, ie winding the rope with load, and lowering operating load, ie unwinding the rope with load. In particular, it is thus possible with the method according to the invention, the rope regulated, so both unwind with constant winch force on and also, it is irrelevant whether the cable drive is loaded by an external load, ie whether a load is attached to the load receiving device or not. A rope wear, especially on a multi-layer wound winds, is reduced. Due to the fact that control and adaptation of the rope winch force are made possible, in particular, even when the rope is being wound onto the winch of the rope drive, spoilage and / or rope jump can be avoided as a result of too loose, unstable rope bandage. In particular, it can be avoided that such a faulty wound rope, which is then subject to a strong outer cable force due to a high external load, are drawn or forced from an upper layer of a cable winding in underlying, lower layers with loose winding. This form of rope damage is excluded by the method according to the invention. Additionally rope braking devices, which are referred to as Seilquäler, are dispensable in the inventive method.
Insbesondere kann mittels einer Steuerungs- oder Regelungseinheit ein Vierquadrantenbetrieb des Treibscheibenantriebs nachgebildet werden. Dadurch sind zusätzliche Betriebszustände ermöglicht, die mittels eines aus der
Vorteilhaft ist es, wenn der Treibscheibenantrieb einen Antriebsmotor, insbesondere einen Elektromotor, aufweist, der in Abhängigkeit des Seiltrieb-Betriebszustands ein Drehmoment in einer erforderlichen Größe zu Verfügung stellt, damit eine von dem Treibscheibenantrieb verursachte Treibscheibenseilkraft zu einer gewünschten Seilwindenkraft führt. Insbesondere ist ein Regelalgorithmus des Treibscheibenantriebs direkt von dem Seiltrieb-Betriebszustand abhängig.It is advantageous if the traction sheave drive has a drive motor, in particular an electric motor, which provides a torque in a required size as a function of the cable drive operating state, so that a traction sheave force caused by the traction sheave drive leads to a desired winch force. In particular, a control algorithm of the traction sheave drive is directly dependent on the rope drive operating state.
Ein Verfahren nach Anspruch 2 ermöglicht eine vorteilhafte Regelung der Seilwindenkraft in Relation zur äußeren Seilkraft.A method according to
Ein Verfahren nach Anspruch 3 ermöglicht eine schnelle und effektive Regelung der Seilwindenkraft.A method according to claim 3 allows a fast and effective control of winch force.
Ein Verfahren nach Anspruch 4 ermöglicht eine schnelle und unkomplizierte Ermittlung der äußeren Seilkraft.A method according to
Ein Verfahren nach Anspruch 5 ermöglicht eine besonders genaue Ermittlung der äußeren Seilkraft.A method according to
Ein Verfahren nach Anspruch 6 ermöglicht ein Überwachen der Treibscheibenseilkraft.A method according to
Ein Verfahren nach Anspruch 7 ermöglicht eine verbesserte Regelung der Seilwindenkraft.A method according to
Ein Verfahren nach Anspruch 8 ermöglicht die Berücksichtigung verschiedener Einflussgrößen zur Erzeugung der Steuerungs- oder Regelungsgröße.A method according to
Ein Verfahren nach Anspruch 9 ermöglicht eine Regelung der Treibscheibenseilkraft derart, dass die resultierende Seilwindenkraft unabhängig von der Drehgeschwindigkeit der Winde ist. Die Treibscheibenseilkraft reagiert unmittelbar auf eine Veränderung der äußeren Seilkraft aufgrund des Druckniveaus im geschlossenen Regelkreis. Das Verfahren ist unabhängig von der Geschwindigkeit des Seiles und insbesondere von Beschleunigungen oder Abbremsungen des Seiles.A method according to
Es ist eine weitere Aufgabe der vorliegenden Erfindung, eine Vorrichtung zur Beeinflussung einer auf einen Seiltrieb wirkenden Seilwindenkraft zu verbessern, um insbesondere einen Seilverschleiß zu reduzieren und Spulfehler beim Aufwickeln des Seiles zu vermeiden.It is a further object of the present invention to improve a device for influencing a cable winch force acting on a rope drive, in particular to reduce rope wear and to avoid spoilage errors during winding of the rope.
Diese Aufgabe ist durch eine Vorrichtung mit den im Anspruch 10 angegebenen Merkmalen gelöst.This object is achieved by a device having the features specified in
Erfindungsgemäß wurde erkannt, dass zwei Treibscheiben zur Ausübung einer Treibscheibenseilkraft auf ein Seil eines Seiltriebs verwendet werden, wobei die Treibscheiben mindestens mittels eines Antriebs und insbesondere jeweils mittels eines Antriebs unabhängig voneinander antreibbar sind. Die Vorrichtung gewährleistet, dass die auf den Seiltrieb wirkende Seilkraft unabhängig von der jeweiligen Betriebsart des Seiltriebes kontrolliert ist. Der Treibscheibenantrieb kann also unabhängig von dem Seiltrieb geregelt werden. Mittels der beiden Treibscheiben ist es also möglich, das Auf- bzw. Abwickeln des Seils von der Winde des Seiltriebs gezielt zu unterstützen, d. h. die Winde des Seiltriebs zu belasten bzw. zu entlasten. Aufgrund der unterstützenden Wirkung der Treibscheibenseilkraft kann die Winde eines primären Seiltriebs kleiner und insbesondere mit reduzierter Leistung und Bremse ausgelegt werden. Dadurch kann das Gesamtgewicht der Windenanordnung einer Arbeitsmaschine reduziert und der Kostenaufwand verringert werden. Es ist auch möglich, die genannte Vorrichtung an einer bereits existierenden Arbeitsmaschine nachzurüsten. Im Falle der Ausführung der Vorrichtung als Nachrüstsatz für eine bestehende Arbeitsmaschine ist es insbesondere nicht erforderlich, erhöhte Sicherheitsanforderungen an die Treibscheiben zu richten, da sicherheitsrelevante Funktionen wie beispielsweise eine Bremsfunktion von dem ohnehin an der Arbeitsmaschine vorhandenen Seiltrieb erfüllt sein muss. Insbesondere werden an die Vorrichtung als Nachrüstsatz dieselben Sicherheitsanforderungen gestellt wie an einen primären Seiltrieb. Selbst ein vorübergehender Ausfall der Vorrichtung beispielsweise durch Vereisen der Treibscheiben kann toleriert werden. Die Vorrichtung kann als Nachrüstsatz unkompliziert, insbesondere funktionsreduziert, und kostengünstig ausgeführt sein. Es ist möglich, auf einem Zwischenstück vorgerüstete Konsolen und/oder Hydraulikleitungen vorzusehen, um ein späteres Nachrüsten der erfindungsgemäßen Vorrichtung zu vereinfachen. Es ist vorteilhaft, in geometrischer Nähe zu dem Treibscheibenantrieb, ein autarkes Hydraulikaggregat, das beispielsweise aus der
Eine Vorrichtung nach Anspruch 11 ermöglicht eine automatische Anpassung und Regelung der Treibscheibenseilkraft, durch Regelung von Antriebsdrehmoment und/oder Antriebsdrehzahl von mindestens einem der Antriebe.An apparatus according to
Eine Vorrichtung nach Anspruch 12 ermöglicht eine vereinfachte und direkte Ansteuerung der Antriebe. Insbesondere ist es vorteilhaft, dass ein vorgegebenes Soll-Drehmoment direkt erzeugt und angesteuert werden kann. Eine Vorrichtung mit Hydraulikantrieben für die Treibscheiben ist unkompliziert und kostengünstig realisierbar. Insbesondere ist es möglich, eine Versorgung der Hydraulikantriebe über eine ohnehin an einem Arbeitsgerät vorhandene Hydraulikeinrichtung bereitzustellen. Es ist auch möglich, dass die Hydraulikantriebe durch einen geschlossenen, autarken Hydraulikkreis angesteuert werden. Die Verwendung insbesondere von frequenzgeregelten Elektromotoren ermöglicht eine direkte und genauere Regelung des Antriebsmoments. Die Elektromotoren sind zudem einfacher in einen möglichen Regelkreis integrierbar. Eine darauf abgestellte Regelung kann nahe Echtzeit erfolgen. Darüber hinaus weisen Elektromotoren einen gegenüber Hydraulikantrieben verbesserten Wirkungsgrad auf. Die Umweltbelastung ist wegen reduzierter Emissionen verringert. Der Antrieb kann auch als Motor-Getriebe-Kombination ausgeführt sein. Eine derartige Kombination ermöglicht eine insbesondere kleinbauende Realisierung des Antriebs. Der Antrieb kann dadurch insbesondere vorteilhaft an der Vorrichtung angeordnet sein und ermöglicht insgesamt eine kleinbauende, gewichtsreduzierte Ausführung des Treibscheibenantriebs.An apparatus according to
Eine Vorrichtung nach Anspruch 13 ermöglicht eine vereinfachte und effektive Steuerung der Treibscheiben.An apparatus according to
Eine Vorrichtung nach Anspruch 14 ermöglicht eine gezielte und insbesondere robuste Seilführung an den Treibscheiben. Insbesondere ist eine Überlagerung einzelner Seilstränge in der Vorrichtung vermieden. Eine Vorrichtung, bei der die Treibscheiben jeweils eine verschiedene Anzahl von Rillen aufweisen und insbesondere eine Treibscheibe genau eine Rille mehr aufweist als die jeweils andere Treibscheibe, ermöglicht eine vorteilhafte Seilführung.An apparatus according to
Eine Vorrichtung nach Anspruch 15 ermöglicht eine unkomplizierte und gleichzeitig stabile Anordnung der Vorrichtung an einer Arbeitsmaschine, insbesondere einem Kran.An apparatus according to
Ein Ausführungsbeispiel der Erfindung wird nachfolgend anhand der Zeichnung näher erläutert. In dieser zeigen:
- Fig. 1
- eine perspektivische Darstellung eines Gittermastauslegers eines Krans mit zwei erfindungsgemäßen Vorrichtungen,
- Fig. 2
- eine vergrößerte Detaildarstellung einer Vorrichtung gemäß
Fig. 1 , - Fig. 3
- eine
Fig. 2 entsprechende Darstellung einer Seilführung an der Vorrichtung, - Fig. 4
- eine Schnittdarstellung gemäß Linie IV-IV in
Fig. 2 , - Fig. 5
- eine Prinzipdarstellung der Vorrichtung mit auf ein Seil eines Seiltriebs wirkenden Kräften in einem Treibscheibenantriebs-Betriebszustand Leerhub heben,
- Fig. 6
- eine
Fig. 5 entsprechende Darstellung in einem Treibscheibenantriebs-Betriebszustand Betriebslast heben, - Fig. 7
- eine
Fig. 5 entsprechende Darstellung in einem Treibscheibenantriebs-Betriebszustand Betriebslast senken, - Fig. 8
- eine
Fig. 5 entsprechende Darstellung in einem Treibscheibenantriebs-Betriebszustand Leerhub senken, - Fig. 9
- eine schematische Darstellung eines geschlossenen Hydraulikkreises für die erfindungsgemäße Vorrichtung und
- Fig. 10
- Darstellung einer Kennlinie für die Regelung der Seilwindenkraft.
- Fig. 1
- a perspective view of a lattice boom of a crane with two devices according to the invention,
- Fig. 2
- an enlarged detail of a device according to
Fig. 1 . - Fig. 3
- a
Fig. 2 corresponding representation of a cable guide on the device, - Fig. 4
- a sectional view according to line IV-IV in
Fig. 2 . - Fig. 5
- Lifting a principle view of the device with acting on a rope of a cable drive forces in a traction sheave operating state Leerhub,
- Fig. 6
- a
Fig. 5 Corresponding illustration in a traction sheave operating mode Lift operating load, - Fig. 7
- a
Fig. 5 corresponding representation in a traction sheave operating state reduce operating load, - Fig. 8
- a
Fig. 5 reduce corresponding representation in a traction sheave operating mode idle stroke, - Fig. 9
- a schematic representation of a closed hydraulic circuit for the device according to the invention and
- Fig. 10
- Representation of a characteristic curve for the regulation of winch force.
In
Die Verwendung der Vorrichtung 2, die als Treibscheibenantrieb ausgeführt ist, ist für verschiedene Arbeitsmaschinen, insbesondere für einen Raupenkran, anwendbar.The use of the
Im Folgenden wird die Vorrichtung 2 anhand der
An einer der Antriebsvertikalwand 10 gegenüberliegend angeordneten Lagervertikalwand 13 ist ein Lagerzapfen 14 vorgesehen, der in einem Loslager 15, das in einer Lageröffnung 16 der ersten Treibscheibe 4 angeordnet ist, drehbar gelagert ist. Entlang der Drehachse 6 sind der erste Antrieb 7, das erste Getriebe 8, der Lagerzapfen 14 und das Loslager 15 konzentrisch zueinander orientiert.On one of the drive
Die erste Treibscheibe 4 weist an ihrer äußeren Zylindermantelfläche vier Rillen 17 auf, die zur Seilführung beim Auf- bzw. Abwickeln eines Seils von der ersten Treibscheibe 4 dienen. Die Rillen 17 sind jeweils durch dazwischen angeordnete Rillenkränze getrennt. Weiterhin weist die erste Treibscheibe 4 sich von den Rillen 17 schräg nach außen gerichtete Flanken 18 auf.The
Die zweite Treibscheibe 5 ist in identischer Weise an dem Aufnahmerahmen 3 gehalten. Die zweite Treibscheibe 5 ist um ihre Drehachse 19 mittels eines zweiten Antriebs 20 über ein zweites Getriebe 21 antreibbar. Der einzige Unterschied besteht darin, dass die zweite Treibscheibe 5 drei anstelle von vier Rillen 17 aufweist. Dadurch wird eine in
Die Vorrichtung 2 weist weiterhin eine in den
Im Folgenden wird anhand der
Die Vorrichtung 2 ist an einem ersten, in
Mittels einer nicht dargestellten Seilkraft-Messvorrichtung, die insbesondere als eine an einem Kran ohnehin vorhandene Lastmomentenbegrenzung ausgeführt sein kann, wird die auf den Seiltrieb 29 wirkende äußere Seilkraft 33 ermittelt. Die äußere Seilkraft 33 gibt die Vorspannung an, mit der das Seil 22 auf die Winde 28 aufgewickelt wird. Die ermittelte Seilkraft 33 kann insbesondere als Eingangssignal für die Regelungseinheit 34 der Vorrichtung 2 dienen. Alternativ zu der Seilkraft-Messvorrichtung, die ein direktes Ermitteln der äußeren Seilkraft 33 ermöglicht, ist es auch möglich, die äußere Seilkraft 33 aus der Lastkraft 31 indirekt zu ermitteln. Die indirekte Ermittlung der äußeren Seilkraft 33 ist unkompliziert möglich. Insbesondere ist der apparative Aufwand dafür gering.By means of a cable force measuring device, not shown, which can be designed in particular as a load torque limit already existing on a crane, the force acting on the
Das Seil 22 wird mit einer Seilwindenkraft 35 auf die Winde 28 aufgewickelt. Um zu gewährleisten, dass in dem Betriebszustand Leerhub heben das Seil 22 mit ausreichender Vorspannung, also nicht zu locker, auf die Winde 28 aufgewickelt wird, werden die Treibscheiben 4, 5 der Vorrichtung 2 derart angesteuert und insbesondere geregelt, dass eine Treibscheibenseilkraft 36 auf das Seil 22 der Seilwindenkraft 35 entgegenwirkt. Durch die Treibscheibenseilkraft 36 wird die Seilwindenkraft 35 geregelt. Die Seilwindenkraft 35 ist die Resultierende aus Treibscheibenseilkraft 36 und äußerer Seilkraft 33. Die äußere Seilkraft 33 ergibt sich aus der Lastkraft 31 je nach Lastfall durch das System umfassend das Seil 22, die Unterflasche oder eine einfache Lastaufnahmevorrichtung. Die äußere Seilkraft 33 ist der Seilwindenkraft 35 entgegengesetzt. Das bedeutet, die äußere Seilkraft 33 und die Seilwindenkraft 35 kompensieren sich. Die äußere Seilkraft 33 und die Seilwindenkraft 35 sind insbesondere im gewöhnlichen Betrieb der Vorrichtung betragsgleich und heben sich gegenseitig auf. Eine aus diesen beiden Kräften 33, 35 gebildete resultierende Kraft ist 0. Um die Seilwindenkraft 35 bei einer vorgegebenen äußeren Seilkraft 33 verändern zu können, insbesondere zu vergrößern oder zu verkleinern, ist der Treibscheibenantrieb 2 eingefügt. Je nach Lastfall und Betriebsart kann die Seilwindenkraft 35 durch die Treibscheibenseilkraft 36 vergrößert oder verringert werden. Insbesondere ist die Wirkrichtung der Treibscheibenseilkraft 36 durch die Antriebsrichtung der Treibscheiben 4, 5 einstellbar. Die Treibscheibenseilkraft 36 kann also gleichsinnig oder gegensinnig zur Seilwindenkraft 35 eingestellt werden.The
Der Zusammenhang der Seilkräfte 33, 35 und 36 ist in dem Kennliniendiagramm gemäß
Um die Treibscheibenseilkraft 36 gemäß
Der Treibscheibenantriebs-Betriebszustand Betriebslast heben gemäß
Der Treibscheibenantriebs-Betriebszustand Betriebslast senken gemäß
Der in
Im Folgenden wird anhand der
Claims (15)
- Method for influencing a cable winch force (35) acting on a cable drive (29), comprising the method steps- providing a cable drive (29) with a drivable winch (28) and with a cable (22) that can be wound on the winch (28),- providing a device (2) for producing a traction sheave cable force (36) on the cable (22),- determining an outer cable force (33),- predetermining a cable drive operating state,- providing a control or regulating unit (34) to influence the traction sheave cable force (36),- producing a control or regulating variable by means of the control or regulating unit (34) depending on the outer cable force (33) and the predetermined cable drive operating state,- wherein the device (2) is a traction sheave drive,
characterized by- producing the traction sheave cable force (36) by means of the device (2) and influencing the traction sheave cable force (36) by means of the control or regulating unit (34) in such a way that the cable winch force (35) acting on the cable drive (29) can be controlled depending on the respective cable drive operating state and the outer cable force (33) in such a way that the cable (22) can be wound on and off at a constant cable winch force (35),
wherein a four-quadrant operation of the traction sheave drive is reproduced by means of the control or regulating unit (34), and wherein the four traction sheave drive operating states are no-load lifting, no-load lowering, load lifting and load lowering. - Method according to claim 1, characterized in that the cable winch force (35) acting on the cable drive (29) can be controlled in such a way that it is reduced or increased relative to the outer cable force (33).
- Method according to either of the preceding claims, characterized in that the cable winch force (35) acting on the cable drive (29) can be controlled in such a way that the traction sheave cable force (36) follows a predetermined characteristic curve depending on the outer cable force (33).
- Method according to any one of the preceding claims, characterized by an indirect determination of the outer cable force (33) from the load force (31).
- Method according to any one of claims 1 to 3, characterized by a direct determination of the outer cable force (33) by means of a cable force measuring device.
- Method according to any one of the preceding claims, characterized by a determination of the traction sheave cable force (36) that can be transmitted by means of the device (2) from the outer cable force (33).
- Method according to any one of the preceding claims, characterized by a consideration of the rotational direction (32, 40) of the winch (28), which is predetermined, in particular, by an operator, to produce the control or regulating variable.
- Method according to any one of the preceding claims, characterized in that a plurality of input variables, in particular the outer cable force (33), the load force (31), the rotational direction (32, 40) and/or the rotational speed of the winch (28), is used to produce the control or regulating variable.
- Method according to any one of the preceding claims, characterized by a control of the traction sheave cable force (36) in such a way that the resulting cable winch force (35) is independent of the rotational speed of the winch (28).
- Device for carrying out a method according to any one of the preceding claims, wherein the device comprisesa. two traction sheaves (4, 5) that can be looped by a cable (22) andb. at least one drive (7, 20) to drive at least one of the traction sheaves (4, 5),
characterized in that
a traction sheave cable force (36) is produced on the cable (22) by means of the traction sheaves (4, 5) and is influenced by means of a control or regulating unit (34) in such a way that the cable winch force (35) acting on the cable drive (29) can be controlled depending on a respective cable drive operating state and an outer cable force (33) in such a way that the cable (22) can be wound on and off at a constant cable winch force (35). - Device according to claim 10, characterized in that the control or regulating unit (34) has a signal connection to the at least one drive (7, 20) to control or regulate the drive torque and/or drive rotational speed of the drive (7, 20).
- Device according to claim 10 or 11, characterized in that the at least one drive (7, 20) is a hydraulic motor, an electric motor or a motor-gearing combination.
- Device according to any one of claims 10 to 12, characterized in that the at least one drive (7, 20) has an automatic torque control.
- Device according to any one of claims 10 to 13, characterized in that each traction sheave (4, 5) has a plurality of grooves (17) for cable guidance.
- Device according to any one of claims 10 to 14, characterized in that the traction sheaves (4, 5) are arranged in a receiving frame (3).
Applications Claiming Priority (1)
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DE102013201860.6A DE102013201860A1 (en) | 2013-02-05 | 2013-02-05 | Method for influencing a cable winch force acting on a cable drive and apparatus for carrying out such a method |
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EP2762438A1 EP2762438A1 (en) | 2014-08-06 |
EP2762438B1 true EP2762438B1 (en) | 2015-07-29 |
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EP14153452.9A Active EP2762438B1 (en) | 2013-02-05 | 2014-01-31 | Process for influencing a winch force acting on a rope drive and device suitable for such a process |
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US (1) | US9656838B2 (en) |
EP (1) | EP2762438B1 (en) |
CN (1) | CN103964332B (en) |
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DE102004046130A1 (en) | 2004-09-23 | 2006-04-06 | Franz Bracht Kran-Vermietung Gmbh | Winch system for mobile crane includes a friction winch for a controlled lowering of heavy loads |
DE102005043061B3 (en) | 2005-09-06 | 2007-05-03 | Terex-Demag Gmbh & Co. Kg | Combination double bottom block |
US7444861B2 (en) * | 2005-11-22 | 2008-11-04 | Halliburton Energy Services, Inc. | Real time management system for slickline/wireline |
DE202006010703U1 (en) * | 2006-07-10 | 2008-04-03 | Franz Hochleitner Maschinenhandel | Cable pulling device, in particular for pulling heavy loads |
FI119596B (en) * | 2007-08-24 | 2009-01-15 | Konecranes Oyj | Method for controlling the crane |
US20100262384A1 (en) * | 2009-04-07 | 2010-10-14 | Umair Marfani | High tension cable measurement system and assembly |
EP2385011B1 (en) * | 2010-05-07 | 2012-09-19 | ABB Oy | A mooring winch and a method for controlling a cable of a mooring winch |
-
2013
- 2013-02-05 DE DE102013201860.6A patent/DE102013201860A1/en not_active Ceased
-
2014
- 2014-01-31 EP EP14153452.9A patent/EP2762438B1/en active Active
- 2014-02-05 US US14/173,353 patent/US9656838B2/en active Active
- 2014-02-07 CN CN201410116679.0A patent/CN103964332B/en active Active
Also Published As
Publication number | Publication date |
---|---|
US20140217340A1 (en) | 2014-08-07 |
CN103964332B (en) | 2016-09-14 |
DE102013201860A1 (en) | 2014-08-07 |
US9656838B2 (en) | 2017-05-23 |
EP2762438A1 (en) | 2014-08-06 |
CN103964332A (en) | 2014-08-06 |
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