EP3280674B1 - Transporteinrichtung - Google Patents

Transporteinrichtung Download PDF

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Publication number
EP3280674B1
EP3280674B1 EP16713281.0A EP16713281A EP3280674B1 EP 3280674 B1 EP3280674 B1 EP 3280674B1 EP 16713281 A EP16713281 A EP 16713281A EP 3280674 B1 EP3280674 B1 EP 3280674B1
Authority
EP
European Patent Office
Prior art keywords
cable
load
transport device
hoist
container
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP16713281.0A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3280674A1 (de
Inventor
Roman BEER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hans Kuenz GmbH
Original Assignee
Hans Kuenz GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hans Kuenz GmbH filed Critical Hans Kuenz GmbH
Priority to MA41896A priority Critical patent/MA41896B1/fr
Priority to PL16713281T priority patent/PL3280674T3/pl
Publication of EP3280674A1 publication Critical patent/EP3280674A1/de
Application granted granted Critical
Publication of EP3280674B1 publication Critical patent/EP3280674B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B66C19/007—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries for containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • B66D1/02—Driving gear
    • B66D1/12—Driving gear incorporating electric motors
    • 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
    • B66D1/36—Guiding, or otherwise ensuring winding in an orderly manner, of ropes, cables, or chains

Definitions

  • the present invention relates to a transport device for transporting at least one container or other load, wherein the transport device has at least one trolley and at least one load receiving device and at least eight hoisting ropes, and the load receiving device comprises connecting means for fastening the container or the other load and lifting means of the hoisting ropes - And lowered on the trolley hangs, the hoisting ropes are rotatable on the trolley rotatably mounted cable drums, and each hoist rope on a separate cable drum wound and / or at least partially wound.
  • the invention also relates to methods for transporting at least one container or other load, and a crane with at least one transport device.
  • a transport device of the type mentioned in which the load-carrying device is supported by two longitudinal pairs of cables and two transverse pairs of cables.
  • the two transverse cable pairs are driven together by a motor.
  • the two longitudinal cable pairs are driven by a common motor.
  • piston-cylinder units are provided in the region of the anchoring points of the cable pairs on the load receiving device, which allow a shift of the load receiving device against the cable engagement points of the cable pairs.
  • To control the piston-cylinder units corresponding hydraulic units, electrical components, sensors, etc. are required on the load-carrying device, which increase the weight of the load-receiving device.
  • U1 discloses a transport device of the type mentioned above, wherein four cable drums are assigned to a hoist and four more cable drums an auxiliary hoist.
  • the auxiliary hoist supports the actual hoist if its rope drums are subjected to excessive loads.
  • the object of the invention is to provide a transport device of the type mentioned above, in which the weight of the load bearing device can be reduced compared to the prior art.
  • all cable drums can be driven independently of one another with different rotational speeds and / or in different rotational directions.
  • the cable drums can be driven synchronously, i. that the cable drums can then be driven at the same time with a corresponding, possibly the same speed or in the same direction of rotation. This can be achieved by a correspondingly individual control of the cable drums with correspondingly matched to each other default values.
  • a cable drum in the context of the invention could also be referred to as a winch and serves the winding and unwinding of a hoisting rope.
  • a hoisting rope or an end portion of the hoisting rope is wound up or unwound.
  • the number of cable drums thus corresponds to the number of hoisting ropes.
  • the transport device with the remaining hoisting ropes can still be safely operated without the stability of the cable shaft and the safety of the transport device is substantially reduced.
  • the load-receiving device has two opposite longitudinal sides and two, aligned to the longitudinal sides, opposite end faces, wherein attack on each of the end sides and sides at least two of the hoisting ropes, and each attacking on the same end side hoisting ropes, in one direction Seen parallel to the longitudinal sides, at least form a crossing point and / or that in each case the attacking on the same longitudinal side hoisting ropes, seen in a direction parallel to the end faces, at least form a crossing point.
  • a hoisting rope can essentially only absorb forces in the direction of the hoisting rope course, with the said crossed arrangement of two hoisting cables, in each case, oscillating movements of the load receiving device due to dynamic processes (acceleration processes, wind, etc.) can be reduced.
  • At least one of the hoisting ropes is deflected on the load receiving device by means of a deflection roller and the end of the hoisting rope facing away from the cable drum on the trolley is anchored.
  • the deflection of the rope on the pulley could also be referred to as a shearing of the hoisting rope or double guidance of the hoist rope. Due to the reduced rope forces, it is possible to choose a smaller rope diameter. It can also be conveniently realized a smaller diameter of the cable drum. Due to the smaller cable forces and the necessary torques for driving a respective cable drum are smaller.
  • the remote from the cable drum end of the hoisting rope is conveniently anchored or fixed by means of a Seilendverbinders to the trolley. Such cable end connectors are well known.
  • the transport device preferably for each hoisting rope, has at least one measuring device for determining the cable force acting in one of the hoisting ropes, preferably in the respective hoisting rope.
  • a rope force that force is referred to, with which is pulled on the hoisting rope, so that force with which the rope is stretched and which acts in the rope longitudinal direction.
  • the rope force is variable and depends on the static conditions (dead weight of the load-carrying device, weight of the rope, net weight of the container or other load) and the dynamic boundary conditions, such. the instantaneous acceleration of the load bearing device, attacking wind forces, etc. from.
  • the life of a hoist rope depends largely on the rope forces occurring. Based on the measurement of the cable force by means of the measuring device, the instantaneous load of the respective hoisting cable can be determined. In preferred embodiment variants, the information about the cable force acting in the respective hoisting cable can be used to control and / or regulate the overall movement of the transport device or the load receiving device. An imminent overload of a hoist can be detected immediately, for example, if the container or the load-bearing device collides with other obstacles, and be prevented by appropriate control of the cable drums.
  • each cable drum is driven individually by its own motor, preferably an electric motor.
  • the motors conveniently have sensors, e.g. Incremental encoder or resolver, which detect the angular position of the respective motor shaft. By an appropriate control or regulation, an angle-faithful rotation of the motor shafts of all motors can be realized.
  • the individual motors can also be controlled independently of one another, as is possible with electric motors, with particular advantage.
  • the measuring device for measuring the cable force is arranged on a torque arm of a transmission, wherein the transmission between the cable drum and the motor acts.
  • the drive torque or the rotational movements are generated by the engine and transmitted via the transmission to the respective cable drum.
  • the torque arm serves to support the gear housing on the trolley of the crane and prevents rotation of the gear housing during operation.
  • a torque arm usually has a lever, which is connected for example by means of a bolt with the trolley.
  • the measuring device is arranged to detect the cable force at a remote from the cable drum end of the hoisting rope.
  • the present invention also provides a crane, preferably a gantry crane, with at least one transport device according to the invention.
  • the invention further provides a method for transporting at least one container or other load by means of a transport device according to the invention, wherein a translational and / or rotational movement of at least one hanging on the load receiving device container or other load, preferably in six degrees of freedom, exclusively by a corresponding winding and unwinding of the hoisting ropes of the transport device takes place on the respective cable drum and the cable drums are driven accordingly.
  • the cable forces of at least one hoist rope, preferably each hoist rope, are measured to avoid an overload and the hoist drums are individually driven independently of each other or individually become.
  • it can be provided to drive the individual cable drums as required with different or even equal angular accelerations and / or speeds and / or torques.
  • the rope forces are determined in a measuring position in which the container or other load is suspended freely. Based on the determined rope forces then a default value for a maximum allowable angular acceleration and / or a default value for a maximum speed of the respective cable drum can be selected. Conveniently, it can be provided that the other crane drives for coarse positioning of the container or the other load with respect to the maximum travel speed and / or the maximum acceleration depending on the actual measured cable forces can be limited.
  • the instantaneous cable force of a hoist rope is monitored during the entire movement of the container, or the other load, and the rope drums are controlled as a function of the instantaneous cable force. It is thus e.g. possible to detect suddenly occurring dynamic forces and to reduce or compensate for them by an appropriate reaction, so as to avoid an overload in the hoisting rope or in the hoisting ropes.
  • the hoisting ropes 20-27 are individually alswickelbar or wound up on the trolley 2 rotatably mounted cable drums 4.
  • the number of cable drums 4 thus corresponds to the number of hoisting ropes 20-27.
  • All cable drums 4 are individually or independently drivable with different or equal speeds and / or in different or identical directions of rotation.
  • Each of the cable drums 4 is driven by a separate motor 5 in the embodiment. It is expediently provided that at least two of the cable drums 4 have axes of rotation 17 aligned parallel to one another. In the exemplary embodiment, the axes of rotation 17 of each four of the cable drums 4 are aligned parallel to one another.
  • the motors 5 are formed in the embodiment as an electric motor and each combined with a gear 6. Such combinations are also referred to as a geared motor.
  • the motors 5 are independently controllable, i. the different motors 5 can have different or identical rotational speeds and / or different or identical rotational directions at the same time. It is also possible to apply the cable drums 4 with different, generated by the respective motor 5, torques.
  • Each of the hoisting ropes 20-27 is deflected in the embodiment of the load receiving device 3 by means of a guide roller 12.
  • the remote from the cable drum 4 end of each hoist rope 20-27 is anchored by means of a cable end connection 16 to the trolley 2.
  • the deflected at the pulley 12 cable sections of a hoisting rope 20-27 extend between the guide roller 12 and the trolley 2 in substantially the same direction.
  • substantially is meant in this context an angular deviation of the deflected cable sections of at most 30 °, preferably less than 20 °.
  • the load-bearing device 3 seen in plan view, has a substantially rectangular contour, i. it has two opposite longitudinal sides 7, 8 and normal to the longitudinal sides 7, 8 aligned, opposite end faces 9, 10.
  • the longitudinal sides 7, 8 and the end faces 9, 10 are conveniently parallel to the longitudinal sides 34 and the end faces 35 of the load receiving device 3 mounted container 31 aligned.
  • two guide rollers 12 are arranged on the longitudinal sides 7, 8 and end faces 9, 10 and mounted rotatably relative to the load receiving device 3.
  • two of the hoisting ropes 20-27 engage on the respective deflection rollers 12 on each of the end faces 9, 10 and longitudinal sides 7, 8.
  • Fig. 2 are possible directions of movement of the load receiving device 3 referred to a view of the long side 34 of the container 31 located.
  • first direction 40 lifting direction
  • all cable drums 4 as already explained, at least substantially synchronously driven and the respective hoisting ropes 20-27 wound substantially synchronously on the respective cable drums 4 ,
  • the load receiving device 3 and the container 31 can be moved arbitrarily in six degrees of freedom, as is also provided in the embodiment. Since the fine positioning of the load receiving device 3 can be made with the hoisting ropes 20-27, can be dispensed with an intermediate frame and known in the prior art additional drives for fine positioning. Overall, it is thus conveniently possible to save up to a third of the mass of the load-receiving device 3 in comparison to the known from the prior art load-carrying device.
  • the transport device according to the invention can also be adapted for other loads. It is not limited to the transport of containers.
  • the transport device 1 could be used in other embodiments also on a bridge crane or another crane.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Types And Forms Of Lifts (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
  • Warehouses Or Storage Devices (AREA)
EP16713281.0A 2015-04-08 2016-03-11 Transporteinrichtung Active EP3280674B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
MA41896A MA41896B1 (fr) 2015-04-08 2016-03-11 Dispositif de transport
PL16713281T PL3280674T3 (pl) 2015-04-08 2016-03-11 Urządzenie transportowe

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA211/2015A AT516981B1 (de) 2015-04-08 2015-04-08 Transporteinrichtung
PCT/AT2016/000026 WO2016161470A1 (de) 2015-04-08 2016-03-11 Transporteinrichtung

Publications (2)

Publication Number Publication Date
EP3280674A1 EP3280674A1 (de) 2018-02-14
EP3280674B1 true EP3280674B1 (de) 2019-07-17

Family

ID=55646199

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16713281.0A Active EP3280674B1 (de) 2015-04-08 2016-03-11 Transporteinrichtung

Country Status (20)

Country Link
US (1) US10807837B2 (es)
EP (1) EP3280674B1 (es)
JP (1) JP6756732B2 (es)
KR (1) KR102456484B1 (es)
CN (1) CN107743473A (es)
AT (1) AT516981B1 (es)
AU (1) AU2016245321B2 (es)
BR (1) BR112017021446B1 (es)
CA (1) CA2977991C (es)
ES (1) ES2747429T3 (es)
HK (1) HK1245225A1 (es)
HU (1) HUE046707T2 (es)
MA (1) MA41896B1 (es)
MX (1) MX2017012920A (es)
MY (1) MY184738A (es)
PL (1) PL3280674T3 (es)
PT (1) PT3280674T (es)
RU (1) RU2702366C2 (es)
UA (1) UA120387C2 (es)
WO (1) WO2016161470A1 (es)

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CN106672829B (zh) * 2016-12-15 2018-06-19 江苏华宏科技股份有限公司 报废汽车拆解举升和翻转两用机
US11142442B2 (en) * 2017-02-10 2021-10-12 Arrow Acquisition, Llc System and method for dynamically controlling the stability of an industrial vehicle
DK3612487T3 (da) * 2017-04-18 2021-04-26 Siemens Gamesa Renewable Energy As Fremgangsmåde til montering eller afmontering af en komponent af en vindmølle
EP3453669A1 (de) 2017-09-08 2019-03-13 Siemens Aktiengesellschaft Steuerungseinrichtung für ein hebezeug und verfahren zu dessen betrieb
EP3461782B1 (de) * 2017-09-28 2020-06-03 Mohr Lizenz Verwaltungs GmbH Hubvorrichtung zum heben und senken schwerer gegenstände
US20200346906A1 (en) * 2017-09-28 2020-11-05 Mohr Lizenz Verwaltungs Gmbh Lifting apparatus for raising and lowering heavy objects
CN108147282B (zh) * 2017-12-08 2019-10-25 北京建筑机械化研究院有限公司 用于建筑构件吊装的六自由度起重机
AT520763B1 (de) 2017-12-21 2022-09-15 Hans Kuenz Gmbh Kransteuerung
US11286046B2 (en) * 2018-03-26 2022-03-29 Michael J. Capek Payload lift and positioning system for airships
EP3590881A1 (de) 2018-07-02 2020-01-08 Hans Künz GmbH Transporteinrichtung
WO2020070345A1 (es) * 2018-10-01 2020-04-09 Soluciones Tecnicas Intermodales, S.L. Dispositivo de alimentación eléctrica para transporte de contenedores tales como contenedores frigoríficos
CN109292366A (zh) * 2018-10-24 2019-02-01 湖北汉唐智能科技股份有限公司 智能悬挂系统
CN112520570A (zh) * 2020-11-26 2021-03-19 山东大学 吊装机构
KR102473986B1 (ko) * 2020-12-22 2022-12-06 주식회사 부명 리프팅 장치들을 포함하는 시스템
CN113003387A (zh) * 2021-04-07 2021-06-22 长江重庆航道工程局 一种沉箱吊装用的双层吊具及其吊装方法
CN113213363A (zh) * 2021-06-04 2021-08-06 三一海洋重工有限公司 起升系统和起重机
US11608252B1 (en) * 2022-02-15 2023-03-21 Innovative Minds, LLC Damper systems for suspended loads
CN117185106B (zh) * 2023-09-22 2024-02-09 中铁五局集团第二工程有限责任公司 一种高速公路钢砼叠合梁施工方法

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Also Published As

Publication number Publication date
WO2016161470A1 (de) 2016-10-13
MA41896A (fr) 2018-02-14
RU2702366C2 (ru) 2019-10-08
CA2977991C (en) 2023-05-09
ES2747429T3 (es) 2020-03-10
AU2016245321B2 (en) 2020-10-29
EP3280674A1 (de) 2018-02-14
UA120387C2 (uk) 2019-11-25
CN107743473A (zh) 2018-02-27
CA2977991A1 (en) 2016-10-13
AU2016245321A1 (en) 2017-09-28
PT3280674T (pt) 2019-09-23
HUE046707T2 (hu) 2020-03-30
HK1245225A1 (zh) 2018-08-24
US10807837B2 (en) 2020-10-20
MY184738A (en) 2021-04-20
RU2017134128A (ru) 2019-04-04
JP6756732B2 (ja) 2020-09-16
US20180029849A1 (en) 2018-02-01
JP2018513818A (ja) 2018-05-31
MA41896B1 (fr) 2019-12-31
AT516981A1 (de) 2016-10-15
BR112017021446B1 (pt) 2022-04-12
RU2017134128A3 (es) 2019-08-01
AT516981B1 (de) 2017-02-15
BR112017021446A2 (pt) 2018-07-03
KR102456484B1 (ko) 2022-10-18
PL3280674T3 (pl) 2020-01-31
KR20170134410A (ko) 2017-12-06
MX2017012920A (es) 2018-05-17

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