EP3328782B1 - Entraînement de grue motorisé - Google Patents

Entraînement de grue motorisé 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
Authority
EP
European Patent Office
Prior art keywords
motor
brake
transmission
emergency stop
signal
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
EP16774898.7A
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German (de)
English (en)
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EP3328782A1 (fr
Inventor
Andreas KUBE
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.)
Flender GmbH
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Flender 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.)
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Publication date
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Application filed by Flender GmbH filed Critical Flender GmbH
Publication of EP3328782A1 publication Critical patent/EP3328782A1/fr
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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.

Landscapes

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

Claims (5)

  1. Entraînement de grue motorisé, dans lequel un moteur (1) entraîne un tambour (3) à câble par une transmission (2) et un frein (5) de sécurité est disposé du côté tournant lentement de la transmission (2), un signal servant à déclencher le frein (5) de sécurité étant utilisé pour lancer un freinage électrique du moteur (1).
  2. Entraînement de grue motorisé suivant la revendication 1, comprenant un convertisseur (6) de fréquence pour commander le moteur (1).
  3. Entraînement de grue motorisé suivant la revendication 1 ou 2, comprenant un appareil (80) de commande pour la production et la fixation dans le temps du signal de lancement d'un freinage électrique du moteur (1).
  4. Procédé pour faire fonctionner un entraînement de grue motorisé, dans lequel un moteur (1) tournant rapidement entraîne, par l'intermédiaire d'une transmission (2), un tambour (3) à câble tournant lentement et un frein (5) de sécurité est disposé du côté tournant lentement de la transmission (2), dans lequel on utilise, pour lancer un freinage électrique du moteur (1), un signal d'arrêt d'urgence servant à déclencher le frein (5) de sécurité.
  5. Procédé suivant la revendication 4, dans lequel on reçoit, dans un appareil (80) de commande, le signal servant à déclencher le frein (5) de sécurité, l'appareil (80) de commande produit et fixe dans le temps, après réception du signal, un signal de lancement d'un freinage électrique du moteur (1) et envoie le signal de lancement d'un freinage électrique du moteur (1) à un moteur ou à un convertisseur alimentant le moteur.
EP16774898.7A 2015-09-23 2016-09-23 Entraînement de grue motorisé Active EP3328782B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015218300.9A DE102015218300B4 (de) 2015-09-23 2015-09-23 Motorbetriebener Kranantrieb, Verfahren zu dessen Betrieb, und Steuergerät
PCT/EP2016/072678 WO2017050962A1 (fr) 2015-09-23 2016-09-23 Entraînement de grue motorisé

Publications (2)

Publication Number Publication Date
EP3328782A1 EP3328782A1 (fr) 2018-06-06
EP3328782B1 true EP3328782B1 (fr) 2019-06-12

Family

ID=57044927

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16774898.7A Active EP3328782B1 (fr) 2015-09-23 2016-09-23 Entraînement de grue motorisé

Country Status (5)

Country Link
US (1) US10865082B2 (fr)
EP (1) EP3328782B1 (fr)
CN (1) CN107949535B (fr)
DE (1) DE102015218300B4 (fr)
WO (1) WO2017050962A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018126964A1 (de) 2018-10-29 2020-05-14 Pintsch Bubenzer Gmbh Bremsanordnung zur sicherung einer fördereinrichtung, fördereinrichtung und krananlage
DE102019108411B4 (de) * 2019-04-01 2020-12-03 Emg Automation Gmbh Verfahren und Vorrichtung zum Steuern eines Antriebsstrangs, insbesondere an Krananlagen
DE102020124135A1 (de) 2020-09-16 2022-03-17 Emg Automation Gmbh Verfahren und Vorrichtung zum Steuern eines Bremsvorgangs in einem Antriebsstrang
DE102021110606A1 (de) 2021-04-26 2022-10-27 Movecat GmbH Bremseinheit mit einer Magnetbremse für elektrisch angetriebene Hebezeuge
DE102021128974B3 (de) 2021-11-08 2023-03-23 Fernsteuergeräte Kurt Oelsch GmbH Seillängengeber mit elektrischem Antrieb
DE102022115657A1 (de) * 2022-06-23 2023-12-28 Ringspann Gmbh Bremssystem und Verfahren zum Bremsen mit variabler Bremskraft

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Also Published As

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

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