EP3328782B1 - Motor-operated crane drive - Google Patents

Motor-operated crane drive Download PDF

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Publication number
EP3328782B1
EP3328782B1 EP16774898.7A EP16774898A EP3328782B1 EP 3328782 B1 EP3328782 B1 EP 3328782B1 EP 16774898 A EP16774898 A EP 16774898A EP 3328782 B1 EP3328782 B1 EP 3328782B1
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Prior art keywords
motor
brake
transmission
emergency stop
signal
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EP16774898.7A
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German (de)
French (fr)
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EP3328782A1 (en
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Andreas KUBE
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Flender GmbH
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Flender GmbH
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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
    • B66C15/00—Safety gear
    • 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
    • B66D1/02—Driving gear
    • B66D1/14—Power transmissions between power sources and drums or barrels
    • 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
    • B66D1/485—Control devices automatic electrical
    • 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
    • B66D1/54—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads

Definitions

  • the present invention relates to a motor-driven crane drive and a method for operating such a crane drive.
  • Safety brakes serve as additional protection of the system, eg in the event of a break in a transmission shaft. Since the safety brake is usually arranged on a flange of the cable drum, ie at the load-side end of the rotating drive train, it is also referred to as a cable drum brake. Since the safety brake is able to stop and hold the load in addition to the service brake, it is also called auxiliary brake.
  • Crane drives have different methods of stopping a lifting or lowering operation. In any case, a crane drive must have an emergency stop, by which an imminent or imminent danger can be avoided.
  • Directive 2006/42 / EC of the European Parliament and of the Council of 17 May 2006 on machinery and amending Directive 95/16 / EC defines in the Annex, section 1.2.4.3, an emergency stop as an emergency shutdown such that: the dangerous process as quickly as possible to a standstill without additional risks.
  • Vöth Stefan, hoists with safety brakes, parts 1-3, in: hoists funding, trade journal for technical logistics, ISSN 0017-9442, Berlin: Huss media GmbH, 55 (2015), Issue 3, pages 150 to 152; Issue 4, pages 192 to 194; and Issue 5, pages 254 to 255, www.hebezeuge-conveyer .de, proposes to reduce the load in the drive train in an emergency stop or emergency stop, that the braking intervention of service and / or safety brake as possible coincides with engine shutdown or a simultaneous or coordinated engagement of safety brake and service brake.
  • DE102013209361A1 discloses a motor-driven crane drive with the features of the preamble of claim 1.
  • An object of the invention is to reduce the load acting on the transmission during an emergency stop.
  • a solution to the problem is a crane drive with the features specified in claim 1.
  • a further solution of the problem is a method having the features specified in claim 4. It is also possible that a corresponding procedure is carried out in the event of an emergency stop.
  • the crane drive is a motor-driven crane drive.
  • the crane drive has a drive motor, a transmission and a cable drum. From the term “cable drum” are meant all other types of rotary lifters, e.g. Chains, bands, or similar use, with, includes.
  • the transmission is connected between the drive motor and the cable drum, that a rotation of the drive motor is translated into a slower rotation of the cable drum.
  • the transmission divides the crane drive into a faster rotating part, also referred to as the faster rotating side of the transmission, and a slower rotating part, also called the slower rotating side of the transmission.
  • a safety brake On the slower rotating side of the transmission, a safety brake is arranged. It is possible that the safety brake is designed as a disk brake arranged on the cable drum or a jaw or drum brake.
  • a signal used to trigger the safety brake to initiate an electrical braking of the drive motor i. for generating a torque opposite to the current direction of rotation of the drive motor.
  • the signal used to trigger the safety brake is also referred to as the emergency stop or emergency stop signal.
  • the method is a method of operating a powered crane operator in which a faster rotating drive motor drives a slower rotating drum via a transmission. It is on the slower rotating side of the transmission arranged a safety brake. A serving to trigger the safety brake signal, in particular due to the operation of an emergency stop switch is used to initiate an electrical braking of the drive motor.
  • the motor If the motor generates a braking torque at the same time as the response of the safety brake or shortly before, the inertial mass to be braked by the safety brake and thus the load peak in the transmission are reduced by a considerable amount.
  • the exact height depends on the performance of the motor-inverter combination, but is usually not less than the simple rated torque. This is possible because the converters on crane drives are generally capable of regenerative feedback and can regenerate the kinetic energy of the motor regeneratively into the grid.
  • the kinetic energy of the motor can be converted by a braking resistor into thermal energy. It is also possible to store the potential energy extracted from the load in a mechanical storage system, e.g. in a spring or a flywheel.
  • the invention results in that in an emergency stop the load acting on the transmission is reduced. As a result, less gear damage occurs and gears or gear parts can be made smaller. This brings especially economic benefits and possibly a higher availability of the drive.
  • Fig. 1 shows schematically and not to scale a motor-driven crane drive, in which an electric motor 1, for example, a three-phase motor, via a gear 2 drives a cable drum 3.
  • the motor 1 is supplied via a frequency converter 6 with electric current.
  • a drive shaft 11 of the engine 1 is connected to an input shaft 21 of the transmission 2 by means of a clutch device 30.
  • a service brake 4 is arranged on the clutch 30, which has a rotatably connected to the clutch 30 brake disk 41 and a brake caliper 40.
  • brake caliper 40 mounted brake pads can act on the brake disk 41 from both sides.
  • the service brake 4 on the fast side of the transmission 2 is designed only as a holding brake for the stationary drive system.
  • a rotational movement of the input shaft 21 of the transmission 2 is translated by three gear stages in a slower rotational movement of the output shaft 22 of the transmission 2.
  • a cable drum 3 is rotatably connected to the output shaft 22.
  • a safety brake 5 is arranged on the cable drum 3, which has a rotatably connected to the cable drum 3 brake disc 51 and a brake caliper 50.
  • brake caliper 50 mounted brake pads can act on the brake disc 51 from both sides.
  • Seiltrommelbremse 5 is activated.
  • the cable drum brake 5 engages in a very short time and with very great force to bring a load transported by the crane as quickly as possible to a standstill.
  • a crane operator may, in an emergency, eg when a person is in the danger area below a load, operate an emergency stop switch 70 to bring the cable drum to a standstill as quickly as possible.
  • a first emergency stop signal is generated and transmitted via a first signal line 7 to a control unit 80.
  • the control unit triggers the incoming first emergency stop signal from a process in the course of which a second emergency stop signal is generated and transmitted via a second signal line 8 to the cable drum brake 5, and a third emergency stop signal generated via a third signal line 9 to the Frequency converter 6 is transmitted.
  • the emergency stop signal arriving at the cable drum brake 5 triggers there activation of the cable drum brake 5, as a result of which a rotation of the cable drum 3 is decelerated to a standstill and the cable drum 3 is kept at a standstill.
  • the emergency stop signal arriving at the frequency converter 6 triggers activation or maintenance of an air gap torque of the electric motor 1 which is opposite to the direction of rotation of the motor.
  • the kinetic energy of the electric motor 1 is converted into electrical energy and either dissipated via an electrical resistance as heat (resistance brake) or fed back into a power grid 60 or a memory (regenerative braking).
  • the activation of a generator operation of the electric motor 1 leads to an electrical braking of the motor 1, ie the motor 1 itself generates a rotational moment counteracting its rotational movement.
  • the intercepted by the transmission 1 load peak which is generated by the deceleration of the inertial mass of the fast side of the transmission 1 after activating the cable drum brake 5 in the transmission 1, is substantially reduced by the electrical braking of the engine 1, because the inertial mass of the engine. 1 by the electrical braking is not or at least partially not come into play.
  • the exact amount of load reduction depends on the performance of the motor-inverter combination, but is usually not less than the simple rated torque of the transmission 1. This reduction is possible because the inverter 6 is regenerative and the kinetic energy of the mechanism is regenerative can feed back to the network 60.
  • the emergency stop signals sent by the control unit 80 are set in time so that the collapse of the cable drum brake 5 and the electric braking of the motor 1 take place at the same time or the electric braking of the motor 1 is short, in particular in the range of up to a few tenths of a second, takes place before the collapse of the cable drum brake 5. In this way it is ensured that the inertial mass to be intercepted by the transmission 1 is actually reduced. If in fact the electrical braking of the motor 1 would be delayed with respect to the collapse of the cable drum brake 5, a reduction of the load would not be achievable.
  • Fig. 2 shows a diagram for illustrating the time scales on which the braking operations take place.
  • torques M are plotted over the time t in the unit ms for a lifting operation with a sudden emergency stop signal.
  • the air gap torque 100 of the motor, the brake torque 110 of the cable drum and the gear moment 120 are plotted.
  • a lifting operation of a crane as in Fig. 1 shown, instead of:
  • the electric motor 1 there is a constant air gap torque 100, which is transmitted to the transmission 2 and there acts as a constant transmission torque 120.
  • the brake torque 110 of the cable drum is zero, since the safety brake 5 is not activated.
  • time S of the emergency stop signal and the increase in the braking torque 110 at time A is a period of about 200 ms, in which the brake pads are moved from its rest position to the brake disc. After the 200 ms, i. At time A, the brake pads are applied to the brake disc. From this point on, the contact pressure of the brake pads on the brake disc increases, which causes the steep increase of the brake torque 110 of the cable drum.
  • the transmission torque 120 oscillates sinusoidally by a slightly decreasing torque value: the engine torque no longer acts on the transmission 2, but the inertia allows the transmission 2 to continue rotate.
  • the slightly decreasing tendency of the mean value of the gear moment 120 results from the now slowly relaxing rope, the oscillation results from the sudden relaxation of the transmission 2.
  • the brake torque 110 of the cable drum rises sharply and reaches its maximum value after approximately 40 ms.
  • the transmission torque 120 increases, since now the inertial mass of the elements of the drive train connected to the transmission input shaft 21, in particular the engine 1, the clutch 30 and the service brake 4, "from the front", i. via the transmission input shaft 21, acting on the transmission 2.
  • this braking torque 110 remains constant at its maximum value, since the safety brake 5 has reached its maximum braking effect.
  • this value can be so high that the transmission 2 is damaged.
  • the gear moment 120 oscillates sinusoidally by a slightly decreasing torque value.
  • the maximum value of the transmission torque 120 can be significantly reduced.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Braking Arrangements (AREA)

Description

Die vorliegende Erfindung betrifft einen motorbetriebenen Kranantrieb und ein Verfahren zum Betreiben eines solchen Kranantriebs.The present invention relates to a motor-driven crane drive and a method for operating such a crane drive.

DE 3838058 A1 (Mannesmann AG) 10.05.1980 und EP 1 710 199 A1 (Shanghai Zhenhua Port Machinery Co. Ltd.) 11.10.2006 offenbaren motorbetriebene Kranantriebe, bei denen ein schnell drehender Motor über ein Getriebe eine langsam drehende Seiltrommel antreibt. Bei diesen Antriebssträngen ist es bekannt, auf der "schnellen Seite" des Getriebes, d.h. auf die schnell laufende Getriebeeingangswelle wirkend, eine Betriebsbremse und auf der "langsamen Seite" des Getriebes, d.h. auf die langsam laufende Getriebeausgangswelle wirkend, eine Sicherheitsbremse anzuordnen. Betriebsbremsen kommen bei den heute bekannten elektrisch bremsenden Systemen kaum als Stoppbremse zum Einsatz, sondern dienen dazu, die Last sicher zu halten. Sicherheitsbremsen dienen als zusätzliche Absicherung der Anlage, z.B. bei einem Bruch einer Getriebewelle. Da die Sicherheitsbremse in der Regel auf einer Bordscheibe der Seiltrommel, d.h. am lastseitigen Ende des rotierenden Antriebsstrangs, angeordnet ist, wird sie auch als Seiltrommelbremse bezeichnet. Da die Sicherheitsbremse zusätzlich zu der Betriebsbremse in der Lage ist, die Last zu stoppen und zu halten, wird sie auch als Zusatzbremse bezeichnet. DE 3838058 A1 (Mannesmann AG) 10.05.1980 and EP 1 710 199 A1 (Shanghai Zhenhua Port Machinery Co. Ltd.) Oct. 11, 2006, discloses motor-driven crane drives in which a high-speed motor drives a slowly rotating cable drum via a gearbox. In these drive trains, it is known on the "fast side" of the transmission, ie acting on the high-speed transmission input shaft, a service brake and on the "slow side" of the transmission, ie acting on the slow-running transmission output shaft, to arrange a safety brake. Service brakes are hardly used as a stop brake in today's known electrically braking systems, but serve to keep the load safely. Safety brakes serve as additional protection of the system, eg in the event of a break in a transmission shaft. Since the safety brake is usually arranged on a flange of the cable drum, ie at the load-side end of the rotating drive train, it is also referred to as a cable drum brake. Since the safety brake is able to stop and hold the load in addition to the service brake, it is also called auxiliary brake.

Bei Kranantrieben gibt es unterschiedliche Methoden, einen Hebe- oder Senkvorgang zu stoppen. In jedem Fall muss ein Kranantrieb einen Not-Halt aufweisen, durch den eine unmittelbar drohende oder eintretende Gefahr vermieden werden kann. Die Richtlinie 2006/42/EG des europäischen Parlaments und des Rates vom 17. Mai 2006 über Maschinen und zur Änderung der Richtlinie 95/16/EG definiert im Anhang, Abschnitt 1.2.4.3 einen Not-Halt als ein Stillsetzen im Notfall so, dass der gefährliche Vorgang möglichst schnell zum Stillstand gebracht wird, ohne dass dadurch zusätzliche Risiken entstehen.Crane drives have different methods of stopping a lifting or lowering operation. In any case, a crane drive must have an emergency stop, by which an imminent or imminent danger can be avoided. Directive 2006/42 / EC of the European Parliament and of the Council of 17 May 2006 on machinery and amending Directive 95/16 / EC defines in the Annex, section 1.2.4.3, an emergency stop as an emergency shutdown such that: the dangerous process as quickly as possible to a standstill without additional risks.

DIN EN 13135:2013-05 "Krane - Sicherheit - Konstruktion - Anforderungen an die Ausrüstungen" in Kapitel 5.3.3.1 gibt an, dass bei einer Aktivierung des Not-Halts der Kategorie 1 die Betriebsbremse automatisch ansprechen muss, nachdem die elektrische Bremsung die Bewegung zum Anhalten gebracht hat. Insbesondere beim Not-Halt oder Not-Aus ist es bekannt, die auf der langsamen Seite des Getriebes befindliche Seiltrommelbremse zu aktivieren. Diese Bremse fällt mit sehr kurzer Totzeit ein, um die vom Kran transportierte Last möglichst schnell zum Stillstand zu bringen. Bei diesem Bremsvorgang muss die Drehmasse auf der Achse der schnell laufenden Motorwelle, insbesondere von Motor, Kupplung und Bremstrommel bzw. -scheibe der Betriebsbremse, vom Getriebe aufgefangen werden. Das kann dazu führen, dass das Getriebe ein Vielfaches des Nennmomentes als Lastspitze erfährt. Die auftretenden Drehmomentspitzen erfordern es, dass das Getriebe größer ausgelegt werden muss als es die maximale statische Last des Krans erfordern würde. Trotzdem sind die Lastspitzen zum Teil so groß, dass sich die Lebensdauer des Getriebes verkürzt.DIN EN 13135: 2013-05 "Cranes - Safety - Design - Equipment requirements" in chapter 5.3.3.1 indicates that when the Category 1 emergency stop is activated, the service brake must respond automatically after electric braking stops the movement has brought to a halt. Especially when emergency stop or emergency stop, it is known to activate the located on the slow side of the transmission cable drum brake. This brake comes with a very short dead time to bring the load transported by the crane as quickly as possible to a standstill. During this braking process, the mass of rotation on the axis of the fast-running motor shaft, in particular of the engine, clutch and brake drum or disc of the service brake, must be absorbed by the transmission. This can lead to the transmission experiencing a multiple of the rated torque as a load peak. The torque peaks that occur require that the transmission be made larger than the maximum static load of the crane would require. Nevertheless, the load peaks are sometimes so great that the service life of the transmission is shortened.

Vöth, Stefan, Hubwerke mit Sicherheitsbremsen, Teile 1-3, in: Hebezeuge Fördermittel, Fachzeitschrift für Technische Logistik, ISSN 0017-9442, Berlin: Huss-Medien GmbH, 55 (2015), Heft 3, Seiten 150 bis 152; Heft 4, Seiten 192 bis 194; und Heft 5, Seiten 254 bis 255, www.hebezeuge-foerdermittel .de, schlägt vor, bei einem Not-Halt oder Not-Aus die Belastung im Antriebsstrang dadurch zu reduzieren, dass der Bremseingriff von Betriebs- und/oder Sicherheitsbremse möglichst zeitgleich zur Motorabschaltung oder ein zeitgleicher bzw. abgestimmter Eingriff von Sicherheitsbremse und Betriebsbremse erfolgt. Vöth, Stefan, hoists with safety brakes, parts 1-3, in: hoists funding, trade journal for technical logistics, ISSN 0017-9442, Berlin: Huss media GmbH, 55 (2015), Issue 3, pages 150 to 152; Issue 4, pages 192 to 194; and Issue 5, pages 254 to 255, www.hebezeuge-conveyer .de, proposes to reduce the load in the drive train in an emergency stop or emergency stop, that the braking intervention of service and / or safety brake as possible coincides with engine shutdown or a simultaneous or coordinated engagement of safety brake and service brake.

DE102013209361A1 offenbart einen motorbetriebenen Kranantrieb mit den Merkmalen des Oberbegriffs des Anspruchs 1. DE102013209361A1 discloses a motor-driven crane drive with the features of the preamble of claim 1.

Eine Aufgabe der Erfindung ist es, die bei einem Not-Halt auf dem Getriebe wirkende Last zu reduzieren.An object of the invention is to reduce the load acting on the transmission during an emergency stop.

Eine Lösung der Aufgabe ist ein Kranantrieb mit den in Anspruch 1 angegebenen Merkmalen. Eine weitere Lösung der Aufgabe ist ein Verfahren mit den in Anspruch 4 angegebenen Merkmalen. Es ist auch möglich, dass ein entsprechendes Verfahren bei einem Not-Aus durchgeführt wird.A solution to the problem is a crane drive with the features specified in claim 1. A further solution of the problem is a method having the features specified in claim 4. It is also possible that a corresponding procedure is carried out in the event of an emergency stop.

Bei dem Kranantrieb handelt es sich um einen motorbetriebenen Kranantrieb. Der Kranantrieb weist einen Antriebsmotor, ein Getriebe und eine Seiltrommel auf. Von dem Begriff "Seiltrommel" sind alle anderen Arten von rotierenden Hebevorrichtungen, die z.B. Ketten, Bänder, o.ä. verwenden, mit umfasst.The crane drive is a motor-driven crane drive. The crane drive has a drive motor, a transmission and a cable drum. From the term "cable drum" are meant all other types of rotary lifters, e.g. Chains, bands, or similar use, with, includes.

Dabei ist das Getriebe so zwischen den Antriebsmotor und die Seiltrommel geschaltet, dass eine Drehung des Antriebsmotors in eine langsamere Drehung der Seiltrommel übersetzt wird. Das Getriebe unterteilt also den Kranantrieb in einen schneller drehenden Teil, auch als schneller drehende Seite des Getriebes bezeichnet, und einen langsamer drehenden Teil, auch als langsamer drehende Seite des Getriebes bezeichnet.In this case, the transmission is connected between the drive motor and the cable drum, that a rotation of the drive motor is translated into a slower rotation of the cable drum. Thus, the transmission divides the crane drive into a faster rotating part, also referred to as the faster rotating side of the transmission, and a slower rotating part, also called the slower rotating side of the transmission.

Auf der langsamer drehenden Seite des Getriebes ist eine Sicherheitsbremse angeordnet. Es ist möglich, dass die Sicherheitsbremse als eine an der Seiltrommel angeordnete Scheibenbremse oder eine Backen- bzw. Trommelbremse ausgebildet ist. Bei dem Kranantrieb wird ein zur Auslösung der Sicherheitsbremse dienendes Signal zur Einleitung einer elektrischen Bremsung des Antriebsmotors, d.h. zur Generierung eines der aktuellen Rotationsrichtung des Antriebsmotors entgegengesetzten Moments, genutzt. Somit wird ein Moment generiert, welches die Geschwindigkeit des Motors reduziert und somit die Wirkung der Sicherheitsbremse unterstützt. Das zur Auslösung der Sicherheitsbremse dienende Signal wird auch als Nothalt- oder Notstopp-Signal bezeichnet.On the slower rotating side of the transmission, a safety brake is arranged. It is possible that the safety brake is designed as a disk brake arranged on the cable drum or a jaw or drum brake. In the crane drive, a signal used to trigger the safety brake to initiate an electrical braking of the drive motor, i. for generating a torque opposite to the current direction of rotation of the drive motor. Thus, a moment is generated, which reduces the speed of the engine and thus supports the effect of the safety brake. The signal used to trigger the safety brake is also referred to as the emergency stop or emergency stop signal.

Bei dem Verfahren handelt es sich um ein Verfahren zum Betreiben eines motorbetriebenen Kranantriebs, bei dem ein schneller drehender Antriebsmotor über ein Getriebe eine langsamer drehende Seiltrommel antreibt. Dabei ist auf der langsamer drehenden Seite des Getriebes eine Sicherheitsbremse angeordnet. Ein zur Auslösung der Sicherheitsbremse dienendes Signal, insbesondere aufgrund der Betätigung eines Not-Halt-Schalters, wird zur Einleitung einer elektrischen Bremsung des Antriebsmotors genutzt.The method is a method of operating a powered crane operator in which a faster rotating drive motor drives a slower rotating drum via a transmission. It is on the slower rotating side of the transmission arranged a safety brake. A serving to trigger the safety brake signal, in particular due to the operation of an emergency stop switch is used to initiate an electrical braking of the drive motor.

Wenn der Motor zeitgleich zum Ansprechen der Sicherheitsbremse oder kurz vorher ein Bremsmoment erzeugt, wird die von der Sicherheitsbremse abzubremsende träge Masse und somit die Lastspitze im Getriebe um einen beträchtlichen Betrag reduziert. Die genaue Höhe hängt von der Leistungsfähigkeit der Motor-Umrichter-Kombination ab, beträgt aber in der Regel nicht weniger als das einfache Nennmoment. Dies ist möglich, weil die Umrichter an Kranantrieben in der Regel rückspeisefähig sind und die kinetische Energie des Motors generatorisch ins Netz zurückspeisen können.If the motor generates a braking torque at the same time as the response of the safety brake or shortly before, the inertial mass to be braked by the safety brake and thus the load peak in the transmission are reduced by a considerable amount. The exact height depends on the performance of the motor-inverter combination, but is usually not less than the simple rated torque. This is possible because the converters on crane drives are generally capable of regenerative feedback and can regenerate the kinetic energy of the motor regeneratively into the grid.

Alternativ kann die kinetische Energie des Motors durch einen Bremswiderstand in thermische Energie umgewandelt werden. Es ist auch möglich, die aus der Last entnommene potentielle Energie in einem mechanischen Speichersystem zu speichern, z.B. in einer Feder oder einer Schwungmasse.Alternatively, the kinetic energy of the motor can be converted by a braking resistor into thermal energy. It is also possible to store the potential energy extracted from the load in a mechanical storage system, e.g. in a spring or a flywheel.

Die Erfindung führt dazu, dass bei einem Not-Halt die auf das Getriebe wirkende Last reduziert wird. Infolgedessen treten weniger Getriebeschäden auf und Getriebe oder Getriebeteile können kleiner dimensioniert werden. Dies bringt vor allem wirtschaftliche Vorteile sowie gegebenenfalls eine höhere Verfügbarkeit des Antriebs.The invention results in that in an emergency stop the load acting on the transmission is reduced. As a result, less gear damage occurs and gears or gear parts can be made smaller. This brings especially economic benefits and possibly a higher availability of the drive.

Im Folgenden wird die Erfindung anhand eines Ausführungsbeispiels unter Zuhilfenahme der Zeichnung erläutert. Es zeigt schematisch und nicht maßstabsgetreu

Fig. 1
einen Kranantrieb, und
Fig. 2
ein Diagramm zur Veranschaulichung der bei den Bremsvorgängen auftretenden Zeitskalen.
In the following the invention will be explained with reference to an embodiment with the aid of the drawing. It shows schematically and not to scale
Fig. 1
a crane drive, and
Fig. 2
a diagram illustrating the time scales occurring during the braking processes.

Fig. 1 zeigt schematisch und nicht maßstabsgetreu einen motorbetriebener Kranantrieb, bei dem ein elektrischer Motor 1, z.B. ein Drehstrommotor, über ein Getriebe 2 eine Seiltrommel 3 antreibt. Der Motor 1 wird dabei über einen Frequenzumrichter 6 mit elektrischem Strom versorgt. Fig. 1 shows schematically and not to scale a motor-driven crane drive, in which an electric motor 1, for example, a three-phase motor, via a gear 2 drives a cable drum 3. The motor 1 is supplied via a frequency converter 6 with electric current.

Eine Antriebswelle 11 des Motors 1 ist mit einer Eingangswelle 21 des Getriebes 2 mittels einer Kupplungseinrichtung 30 verbunden. Dabei ist an der Kupplung 30 eine Betriebsbremse 4 angeordnet, welche eine drehfest mit der Kupplung 30 verbundene Bremsscheibe 41 und einen Bremssattel 40 aufweist. Im Bremssattel 40 montierte Bremsklötze können dabei die Bremsscheibe 41 von beiden Seiten beaufschlagen. Die Betriebsbremse 4 auf der schnellen Seite des Getriebes 2 ist nur als Haltebremse für das stehende Antriebssystem ausgelegt.A drive shaft 11 of the engine 1 is connected to an input shaft 21 of the transmission 2 by means of a clutch device 30. In this case, a service brake 4 is arranged on the clutch 30, which has a rotatably connected to the clutch 30 brake disk 41 and a brake caliper 40. In the brake caliper 40 mounted brake pads can act on the brake disk 41 from both sides. The service brake 4 on the fast side of the transmission 2 is designed only as a holding brake for the stationary drive system.

Eine Drehbewegung der Eingangswelle 21 des Getriebes 2 wird durch drei Getriebestufen in eine langsamere Drehbewegung der Ausgangswelle 22 des Getriebes 2 übersetzt. Eine Seiltrommel 3 ist mit der Ausgangswelle 22 drehfest verbunden. Dabei ist an der Seiltrommel 3 eine Sicherheitsbremse 5 angeordnet, welche eine drehfest mit der Seiltrommel 3 verbundene Bremsscheibe 51 und einen Bremssattel 50 aufweist. Im Bremssattel 50 montierte Bremsklötze können dabei die Bremsscheibe 51 von beiden Seiten beaufschlagen. Nach Eintreffen eines Not-Halt-Signals wird die auf der langsamen Seite des Getriebes 2 befindliche Seiltrommelbremse 5 aktiviert. Die Seiltrommelbremse 5 greift in sehr kurzer Zeit und mit sehr großer Kraft zu, um eine vom Kran transportierte Last möglichst schnell zum Stillstand zu bringen.A rotational movement of the input shaft 21 of the transmission 2 is translated by three gear stages in a slower rotational movement of the output shaft 22 of the transmission 2. A cable drum 3 is rotatably connected to the output shaft 22. In this case, a safety brake 5 is arranged on the cable drum 3, which has a rotatably connected to the cable drum 3 brake disc 51 and a brake caliper 50. In the brake caliper 50 mounted brake pads can act on the brake disc 51 from both sides. After arrival of an emergency stop signal located on the slow side of the transmission 2 Seiltrommelbremse 5 is activated. The cable drum brake 5 engages in a very short time and with very great force to bring a load transported by the crane as quickly as possible to a standstill.

Ein Kranführer kann in einem Notfall, z.B. wenn sich eine Person im Gefahrenbereich unterhalb einer Last befindet, einen Not-Halt-Schalter 70 betätigen, um die Seiltrommel so schnell wie möglich zum Stillstand zu bringen. Beim Betätigen des Not-Halt-Schalters 70 wird ein erstes Not-Halt-Signal erzeugt und über eine erste Signalleitung 7 zu einem Steuergerät 80 übertragen. In dem Steuergerät löst das eingehende erste Not-Halt-Signal einen Vorgang aus, in dessen Verlauf ein zweites Not-Halt-Signal erzeugt und über eine zweite Signalleitung 8 zu der Seiltrommelbremse 5 übertragen wird, und ein drittes Not-Halt-Signal erzeugt über eine dritte Signalleitung 9 zu dem Frequenzumrichter 6 übertragen wird.A crane operator may, in an emergency, eg when a person is in the danger area below a load, operate an emergency stop switch 70 to bring the cable drum to a standstill as quickly as possible. Upon actuation of the emergency stop switch 70, a first emergency stop signal is generated and transmitted via a first signal line 7 to a control unit 80. In the control unit triggers the incoming first emergency stop signal from a process in the course of which a second emergency stop signal is generated and transmitted via a second signal line 8 to the cable drum brake 5, and a third emergency stop signal generated via a third signal line 9 to the Frequency converter 6 is transmitted.

Das bei der Seiltrommelbremse 5 eintreffenden Not-Halt-Signal löst dort ein Aktivieren der Seiltrommelbremse 5 aus, in Folge dessen eine Rotation der Seiltrommel 3 bis zum Stillstand abgebremst und die Seiltrommel 3 im Stillstand gehalten wird.The emergency stop signal arriving at the cable drum brake 5 triggers there activation of the cable drum brake 5, as a result of which a rotation of the cable drum 3 is decelerated to a standstill and the cable drum 3 is kept at a standstill.

Das bei dem Frequenzumrichter 6 eintreffende Not-Halt-Signal löst dort ein Aktivieren oder Aufrechterhalten eines der Rotationsrichtung des Motors entgegengesetzten Luftspaltmoments des Elektromotors 1 aus. Bei einem Generatorbetrieb wird die kinetische Energie des Elektromotors 1 in elektrische Energie gewandelt und entweder über einen elektrischen Widerstand als Wärme abgeführt (Widerstandsbremse) oder in ein Stromnetz 60 oder einen Speicher zurückgespeist (Nutzbremse).The emergency stop signal arriving at the frequency converter 6 triggers activation or maintenance of an air gap torque of the electric motor 1 which is opposite to the direction of rotation of the motor. In a generator operation, the kinetic energy of the electric motor 1 is converted into electrical energy and either dissipated via an electrical resistance as heat (resistance brake) or fed back into a power grid 60 or a memory (regenerative braking).

Die Aktivierung eines Generatorbetriebs des Elektromotors 1 führt zu einer elektrischen Bremsung des Motors 1, d. h. der Motor 1 selbst erzeugt ein seiner Rotationsbewegung entgegen gerichtetes Bremsmoment. Die vom Getriebe 1 abzufangende Lastspitze, welche durch die Abbremsung der trägen Masse der schnellen Seite des Getriebes 1 nach dem Aktivieren der Seiltrommelbremse 5 im Getriebe 1 erzeugt wird, wird durch die elektrische Bremsung des Motors 1 wesentlich reduziert, weil die träge Masse des Motors 1 durch dessen elektrische Bremsung nicht oder zumindest teilweise nicht zum Tragen kommt. Die genaue Höhe der Lastreduktion hängt von der Leistungsfähigkeit der Motor-Umrichter-Kombination ab, beträgt aber in der Regel nicht weniger als das einfache Nennmoment des Getriebes 1. Diese Reduktion ist möglich, weil der Umrichter 6 rückspeisefähig ist und die kinetische Energie der Mechanik generatorisch ins Netz 60 zurückspeisen kann.The activation of a generator operation of the electric motor 1 leads to an electrical braking of the motor 1, ie the motor 1 itself generates a rotational moment counteracting its rotational movement. The intercepted by the transmission 1 load peak, which is generated by the deceleration of the inertial mass of the fast side of the transmission 1 after activating the cable drum brake 5 in the transmission 1, is substantially reduced by the electrical braking of the engine 1, because the inertial mass of the engine. 1 by the electrical braking is not or at least partially not come into play. The exact amount of load reduction depends on the performance of the motor-inverter combination, but is usually not less than the simple rated torque of the transmission 1. This reduction is possible because the inverter 6 is regenerative and the kinetic energy of the mechanism is regenerative can feed back to the network 60.

Die vom Steuergerät 80 gesendeten Not-Halt-Signale werden zeitlich so festgelegt, dass das Einfallen der Seiltrommelbremse 5 und die elektrische Bremsung des Motors 1 zum selben Zeitpunkt erfolgen oder die elektrische Bremsung des Motors 1 kurz, insbesondere im Bereich von bis zu wenigen Zehntelsekunden, vor dem Einfallen der Seiltrommelbremse 5 erfolgt. Auf diese Weise wird sichergestellt, dass die vom Getriebe 1 abzufangende träge Masse tatsächlich reduziert wird. Würde sich nämlich die elektrische Bremsung des Motors 1 gegenüber dem Einfallen der Seiltrommelbremse 5 verzögern, wäre eine Reduktion der Last nicht erreichbar.The emergency stop signals sent by the control unit 80 are set in time so that the collapse of the cable drum brake 5 and the electric braking of the motor 1 take place at the same time or the electric braking of the motor 1 is short, in particular in the range of up to a few tenths of a second, takes place before the collapse of the cable drum brake 5. In this way it is ensured that the inertial mass to be intercepted by the transmission 1 is actually reduced. If in fact the electrical braking of the motor 1 would be delayed with respect to the collapse of the cable drum brake 5, a reduction of the load would not be achievable.

Das zur Auslösung der Sicherheitsbremse 5 dienende Not-Halt-Signal, welches von dem Not-Halt-Schalter 70 erzeugt wird, wird in dem Steuergerät 80 zur Generierung eines weiteren, an den Umrichter 6 adressierten Not-Halt-Signals und somit zur Einleitung einer elektrischen Bremsung des Motors 1 genutzt.Serving to trigger the safety brake 5 emergency stop signal, which is generated by the emergency stop switch 70 is in the control unit 80 for generating a further addressed to the inverter 6 emergency stop signal and thus to initiate a electric braking of the engine 1 used.

Fig. 2 zeigt ein Diagramm zur Veranschaulichung der Zeitskalen, auf denen die Bremsvorgänge stattfinden. Im Diagramm sind für einen Anhebevorgang mit einem plötzlich erfolgendem Not-Halt-Signal Drehmomente M über der Zeit t in der Einheit ms aufgetragen. Im Diagramm sind das Luftspaltmoment 100 des Motors, das Bremsmoment 110 der Seiltrommel und das Getriebemoment 120 aufgetragen. Fig. 2 shows a diagram for illustrating the time scales on which the braking operations take place. In the diagram, torques M are plotted over the time t in the unit ms for a lifting operation with a sudden emergency stop signal. In the diagram, the air gap torque 100 of the motor, the brake torque 110 of the cable drum and the gear moment 120 are plotted.

Zunächst findet ein Anhebevorgang eines Krans, wie in Fig. 1 gezeigt, statt: Im Elektromotor 1 liegt ein konstantes Luftspaltmoment 100 vor, welches auf das Getriebe 2 übertragen wird und dort als ein konstantes Getriebe-Drehmoment 120 wirkt. Das Bremsmoment 110 der Seiltrommel ist Null, da die Sicherheitsbremse 5 nicht aktiviert ist.First, a lifting operation of a crane, as in Fig. 1 shown, instead of: In the electric motor 1, there is a constant air gap torque 100, which is transmitted to the transmission 2 and there acts as a constant transmission torque 120. The brake torque 110 of the cable drum is zero, since the safety brake 5 is not activated.

Zum Zeitpunkt S, ungefähr bei t = 100 ms, erfolgt ein Not-Halt-Signal, was ein Abschalten des Motors 1 auslöst. Dadurch fällt das Luftspaltmoment 100 des Motors 1 unmittelbar auf Null ab. Gleichzeitig wird durch das Not-Halt-Signal die Sicherheitsbremse 5 ausgelöst.At time S, approximately at t = 100 ms, there is an emergency stop signal, which triggers a shutdown of the motor 1. As a result, the air gap torque 100 of the motor 1 drops directly to zero. At the same time the safety brake 5 is triggered by the emergency stop signal.

Zwischen dem Zeitpunkt S des Not-Halt-Signals und dem Ansteigen des Bremsmoments 110 zum Zeitpunkt A liegt eine Zeitspanne von ca. 200 ms, in dem die Bremsbeläge von ihrer Ruhestellung an die Bremsscheibe gefahren werden. Nach den 200 ms, d.h. bei Zeitpunkt A, liegen die Bremsbeläge an der Bremsscheibe an. Ab diesem Zeitpunkt steigt der Anpressdruck der Bremsbeläge an die Bremsscheibe, was den steilen Anstieg des Bremsmoments 110 der Seiltrommel hervorruft.Between the time S of the emergency stop signal and the increase in the braking torque 110 at time A is a period of about 200 ms, in which the brake pads are moved from its rest position to the brake disc. After the 200 ms, i. At time A, the brake pads are applied to the brake disc. From this point on, the contact pressure of the brake pads on the brake disc increases, which causes the steep increase of the brake torque 110 of the cable drum.

Zwischen dem Zeitpunkt S des Not-Halt-Signals und dem Ansteigen des Bremsmoments 110 zum Zeitpunkt A schwingt das Getriebemoment 120 sinusförmig um einen leicht abnehmenden Drehmoment-Wert: das Motormoment wirkt nicht mehr auf das Getriebe 2, aber die Trägheit lässt das Getriebe 2 weiter rotieren. Die leicht fallende Tendenz des Mittelwertes des Getriebemoments 120 resultiert aus dem sich nun langsam entspannenden Seil, die Schwingung ergibt sich aus der plötzlichen Entspannung des Getriebes 2.Between the instant S of the emergency stop signal and the increase in the braking torque 110 at the time A, the transmission torque 120 oscillates sinusoidally by a slightly decreasing torque value: the engine torque no longer acts on the transmission 2, but the inertia allows the transmission 2 to continue rotate. The slightly decreasing tendency of the mean value of the gear moment 120 results from the now slowly relaxing rope, the oscillation results from the sudden relaxation of the transmission 2.

Sobald die Bremsbeläge der Sicherheitsbremse 5 an der Bremsscheibe anliegen, steigt das Bremsmoment 110 der Seiltrommel stark an und erreicht nach ca. 40 ms seinen Maximalwert. Gleichzeitig und ähnlich abrupt steigt das Getriebemoment 120 an, da nun die träge Masse der mit der Getriebeeingangswelle 21 verbundenen Elemente des Antriebsstrangs, insbesondere des Motors 1, der Kupplung 30 und der Betriebsbremse 4, "von vorne", d.h. über die Getriebeeingangswelle 21, auf das Getriebe 2 einwirken.As soon as the brake linings of the safety brake 5 rest against the brake disk, the brake torque 110 of the cable drum rises sharply and reaches its maximum value after approximately 40 ms. At the same time and similarly abruptly, the transmission torque 120 increases, since now the inertial mass of the elements of the drive train connected to the transmission input shaft 21, in particular the engine 1, the clutch 30 and the service brake 4, "from the front", i. via the transmission input shaft 21, acting on the transmission 2.

Ab dem Zeitpunkt B, d.h. dem Zeitpunkt, zu dem das Bremsmoment 110 an der Seiltrommel seinen maximalen Wert erreicht hat, bleibt dieses Bremsmoment 110 konstant auf seinem Maximalwert, da die Sicherheitsbremse 5 ihre maximale Bremswirkung erreicht hat. Unmittelbar nach dem Zeitpunkt B erreicht auch das Getriebemoment 120 seinen Maximalwert; dieser Wert kann so hoch sein, dass das Getriebe 2 geschädigt wird. Nach dem Erreichen des Maximalwerts des Getriebemoments 120 schwingt das Getriebemoment 120 sinusförmig um einen leicht abnehmenden Drehmoment-Wert.From time B, ie the time at which the braking torque has reached 110 on the cable drum its maximum value, this braking torque 110 remains constant at its maximum value, since the safety brake 5 has reached its maximum braking effect. Immediately after the time B and the gear moment 120 reaches its maximum value; this value can be so high that the transmission 2 is damaged. After reaching the maximum value of the transmission torque 120 The gear moment 120 oscillates sinusoidally by a slightly decreasing torque value.

Durch die vorliegende Erfindung kann der Maximalwert des Getriebemoments 120 erheblich verringert werden.By the present invention, the maximum value of the transmission torque 120 can be significantly reduced.

Claims (5)

  1. Motor-driven crane drive, in which a motor (1) drives a rope drum (3) via a gear unit (2) and a safety brake (5) is arranged on the slower-rotating side of the gear unit (2), wherein a signal serving to trigger the safety brake (5) is used to initiate electric braking of the motor (1).
  2. Motor-driven crane drive according to claim 1, with a frequency converter (6) for controlling the motor (1).
  3. Motor-driven crane drive according to claim 1 or 2, with a control device (80) for generating and determining the timing of the signal for initiating electric braking of the motor (1).
  4. Method for operating a motor-driven crane drive, in which a faster-rotating motor (1) drives a slower-rotating rope drum (3) via a gear unit (2) and a safety brake (5) is arranged on the slower-rotating side of the gear unit (2), wherein an emergency stop signal serving to trigger the safety brake (5) is used to initiate electric braking of the motor (1).
  5. Method according to claim 4, wherein the signal serving to trigger the safety brake (5) is received in a control device (80), after receiving the signal the control device (80) generates and determines the timing of a signal for initiating electric braking of the motor (1), and sends the signal for initiating electric braking of the motor (1) to a motor or a converter supplying the motor.
EP16774898.7A 2015-09-23 2016-09-23 Motor-operated crane drive Active EP3328782B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015218300.9A DE102015218300B4 (en) 2015-09-23 2015-09-23 Motor-driven crane drive, method of operation, and control unit
PCT/EP2016/072678 WO2017050962A1 (en) 2015-09-23 2016-09-23 Motor-operated crane drive

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EP3328782A1 EP3328782A1 (en) 2018-06-06
EP3328782B1 true EP3328782B1 (en) 2019-06-12

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CN107949535A (en) 2018-04-20
WO2017050962A1 (en) 2017-03-30
EP3328782A1 (en) 2018-06-06
DE102015218300B4 (en) 2019-10-31
US20180273358A1 (en) 2018-09-27
CN107949535B (en) 2022-03-29
US10865082B2 (en) 2020-12-15
DE102015218300A1 (en) 2017-03-23

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