EP3368462B1 - Verfahren zum betreiben von mindestens zwei hebezeugen in einem gruppen-betrieb und anordnung mit mindestens zwei hebezeugen - Google Patents

Verfahren zum betreiben von mindestens zwei hebezeugen in einem gruppen-betrieb und anordnung mit mindestens zwei hebezeugen Download PDF

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Publication number
EP3368462B1
EP3368462B1 EP16788058.2A EP16788058A EP3368462B1 EP 3368462 B1 EP3368462 B1 EP 3368462B1 EP 16788058 A EP16788058 A EP 16788058A EP 3368462 B1 EP3368462 B1 EP 3368462B1
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EP
European Patent Office
Prior art keywords
hoist
lifting
load
crane
procedure
Prior art date
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Active
Application number
EP16788058.2A
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German (de)
English (en)
French (fr)
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EP3368462A1 (de
Inventor
Klaus Behnke
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Konecranes Global Oy
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Konecranes Global Oy
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Publication of EP3368462A1 publication Critical patent/EP3368462A1/de
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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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—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
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • 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
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical

Definitions

  • the invention relates to a method for operating at least two hoists in a group operation, wherein each hoist comprises a hoist, can be raised by a lifting operation or lowered by a lowering operation in each case a load receiving means in the group mode in a synchronous mode
  • a common lifting operation by the at least two hoists is carried out to move a load attached to the load receiving means, after the common lifting operation for a change from the synchronous operation to a single operation or a multi-operation at least one of the common Hoist participating lifting is disabled and at least one of the hoists involved remains activated, so that only each activated hoist relative to each deactivated hoist can perform a lifting or lowering.
  • the invention also relates to an arrangement with at least two hoists.
  • hoists overload protection with a load sensor and a load value corresponding thereto is determined, which corresponds to a load acting on the hoist during a lifting operation, the determined load value is compared with a permissible limit value and the lifting operation is prevented when the determined load value exceeds the limit value.
  • overload protection which detects and monitors active hoists only during a lifting operation, however, the overload of a deactivated hoist can not be detected and a threat of load crash can not be prevented.
  • the invention is based on the object, a method for operating at least two hoists in a group operation and a corresponding be provided operable arrangement with at least two hoists, which are particularly safe.
  • each hoist comprises a hoist, via each of which a lifting device can be raised by a lifting operation or lowered by a lowering operation, in the group mode in a mode synchronous operation
  • a common lifting operation is performed by the at least two hoists to move a load attached to the load receiving means, after the common lifting operation for a change from the synchronous operation in a single operation or a multiple operation at least one of the common lifting process involved
  • Hoists is disabled and at least one of the hoists involved remains activated, so that only each activated hoist can perform relative to each deactivated hoist lifting or lowering process to provide, which is particularly safe, it is provided that even after the change of the Synchronous operation in the single loading drove or multiple operation for each previously involved in the common lifting synchronous operation hoist, in particular each deactivated hoist, a load value corresponding to a load acting on the hoist part load, determined and compared with a respective allowable limit.
  • the hoists are operated together in synchronous operation via a single control switch, in particular synchronously and thus in parallel and in the same direction in the sense of rectified and gleichschnschn movements. Opposing or rectified movements at different speeds are not provided in synchronous operation.
  • the synchronous operation therefore differs from a coordinated normal operation of two hoists, in which the hoists are also operated simultaneously, but the control of each other independently via two control switches and not in the sense of synchronous operation via a single control switch. In a coordinated normal operation of two hoists and opposite movements and different speeds of the two hoists are possible. Further explanations of the synchronous operation and other mentioned modes can be found in the following description.
  • the lifting operation or the lowering process of each activated hoist is prevented when in the at least one deactivated hoist a load value is determined which exceeds a permissible limit.
  • the safety is further increased because a lifting or lowering operation is not possible in case of overload of the at least one deactivated hoist.
  • a further increase in safety can be achieved by continuously determining load values for each hoist and comparing them with a respective permissible limit value. In this way, a continuous overload protection can be achieved.
  • the common lifting process is stored and based on this information after switching to single or multiple operation of a control of at least one activated hoist the respectively determined Load values and limit values of all hoists originally involved in synchronous operation are compared.
  • each hoist is independent of the lifting or lowering by a driving operation in at least one horizontal direction movable and the driving of each active hoist is prevented when in the at least one deactivated hoist a load value is determined, the one exceeds the permitted limit.
  • the limit value can vary depending on different operating situations and in particular can be set in a control of the respective hoisting gear. This makes a particularly flexible embodiment of the method for a variety of loads handling possible.
  • each hoist is designed as a crane with a crane girder, in particular as a bridge crane.
  • the safety of an arrangement with at least two hoists, in particular two cranes, can be increased by the fact that the hoists and in particular their controls are designed to operate according to one of the methods described above can.
  • FIG. 1 a schematic representation of two interconnected for a group operation overhead cranes.
  • FIG. 1 is shown schematically an arrangement with two hoists.
  • the hoists are formed by a first crane 1a and a second crane 1b or are part of the respective crane 1a, 1b.
  • Each crane 1a, 1b has a horizontal crane girder in the usual way.
  • a crane rake is arranged, which carries a hoist and with this together in the direction of the longitudinal extent of the crane girder is movable (not shown).
  • the first and the second crane 1a, 1b are each designed as a bridge crane. Accordingly, each crane girder is along with the trolley carrying trolley along Can be moved by crane rails not shown in the direction transverse to its longitudinal extent.
  • the first crane 1a has a first controller S1 comprising a first crane controller 2a and a first cat controller 3a.
  • the second crane 1b likewise has a second control S2, which comprises a second crane control 2b and a second cat control 3b.
  • the first and second crane controls 2a, 2b each have the task of controlling the first and second crane traction motors 4a, 4b in order to move the respective crane carrier along the crane rails.
  • first and second cat control 3a, 3b are first and second Katzfahrmotoren 5a, 5b driven to move the respective trolley along the crane girder.
  • first and second Hubwerksmotoren 6a, 6b driven to each control the associated arranged on the appropriate crane hoist and raise or lower a lifting device over this.
  • the hoist motors 6a, 6b assigned and not shown hoists are designed as cables. In principle, it is also possible to design the hoists as chain hoists. A mixed operation of chain and cable trains are conceivable.
  • the aforementioned motors 4a, 4b, 5a, 5b, 6a and 6b are designed as electric motors.
  • the crane controls 2a, 2b and the cat controllers 3a, 3b are each connected to a bus 7 via bus coupling modules (not shown).
  • This bus 7 preferably works with the CAN protocol.
  • the bus 7 is constructed locally from a first wired bus portion 7a in the area of the first crane 1a, from a second wired bus portion 7b in the area of the second crane 1b and a wireless bus 7c connecting the first bus portion 7a and the second bus portion 7b ,
  • a first coupling module 8a is connected to the first bus section 7a and a second coupling module 8b is connected to the second bus section 7b.
  • the signals on the first bus section 7a and the second bus section 7b are converted into wireless signals and transmitted via transmitter and receiver modules between the coupling modules 8a, 8b.
  • the coupling modules 8a, 8b all bus subscribers such as the crane controls 2a, 2b, the cat controllers 3a, 3b and also directly or indirectly the first and the second control switches 9a, 9b are connected to a common bus 7.
  • the wireless bus 7c is as
  • Radio bus trained It is also possible to provide an infrared bus.
  • the crane controls 2a, 2b and the cat controls 3a, 3b are provided with circuit breakers, safety switches, sensors, a switching logic and bus coupling modules, not shown and generally known.
  • the bus coupling modules can be part of the switching logic.
  • a first wireless control switch 9a associated with the first crane 1a and a second wireless control switch 9b associated with the second crane 1b are provided.
  • the control switch 9a is connected via a first wireless connection 10a to a first switch coupling module 11a.
  • the wireless connection 10a is bidirectional.
  • the first switch coupling module 11a and the second switch coupling module 11b are connected to the bus 7 as further bus subscribers.
  • the control switches 9a, 9b are equipped in the usual way with a plurality of push-button elements to control the individual directions of movement and possibly existing speed levels of the crane drive motors 4a, 4b, the Katzfahrmotoren 5a, 5b and the Hubwerksmotoren 6a, 6b.
  • each hoist in the context of a driving operation on the crane traction motors 4a, 4b and / or the Katzfahrmotoren 5a, 5b in the horizontal direction, that is in Kran- and / or this perpendicular Katzfahrraum, and thus in particular in a horizontal plane are moved and independently of this, each load-carrying means can be raised via the hoist motors 6a, 6b as part of a lifting operation or lowered in the course of a reverse lowering operation.
  • cable control switch 9c are provided instead of the two wireless control switches 9a, 9b and the two switch coupling modules 11a, 11b as shown in FIG. 1 dashed lines.
  • the cable control switch 9c are designed as a hanging switch and connected directly via the supply line to the bus 7 as a bus subscriber to take over the functions of the control switches 9a, 9b.
  • Control switches 9a and 9b are operated individually and independently of each other to move the respective load-receiving means and optionally a load attached thereto. This operating mode is referred to below as normal operation. Within normal operation, the first control switch 9a is then assigned to the first crane 1a and the second control switch 9b is assigned to the second crane 1b and activated. Both control switches 9a, 9b are therefore in an active state during normal operation.
  • the group operation is particularly suitable when a long and / or heavy load moves and in this case not only lifted or lowered and translationally moved in the horizontal direction, but also to be rotated and this in a normal operation with a single crane 1a or 1b is no longer possible.
  • a pushbutton switching element as a registration key 12a and a pushbutton switching element as a logout key 12b are respectively formed on both control switches 9a, 9b.
  • a predetermined operating sequence of Tastschaltriin trigger the change between normal and group operation.
  • the registration key 12a of the control switch 9a or 9b In order to register and finally set up the group operation, the registration key 12a of the control switch 9a or 9b, which is still in the active state, must be actuated in a second step.
  • the crane 1a or 1b released for group operation in the above first step is registered for group operation or included in the group operation.
  • the establishment of the group operation thus requires both previously described steps in the sense of an acknowledgment process.
  • a reverse order of the two steps is possible. Accordingly, first of all, the actuation of the registration key 12a can take place as a request for participation in group operation, which must be confirmed by actuating the logout key 12b.
  • the logout key 12b is operated on the single activated control switch 9a or 9b.
  • a corresponding deregistration signal is sent via the bus 7 to the crane controls 2a, 2b and the cat controls 3a, 3b.
  • the emergency / stop button is deactivated in the previously in passive state control switch 9a or 9b and the registration button 12a is pressed. It can also be provided that the deactivated control switch 9a or 9b can only be activated and thus a change to the normal mode can be effected if none of the touch-sensitive switching elements of this Control switch 9a or 9b is actuated.
  • a corresponding registration signal of the previously deactivated control switch 9a or 9b is sent automatically or by actuation of a corresponding push-button element via the bus 7 to the crane controls 2a, 2b and the cat controls 3a, 3b. Both control switches 9a, 9b and the associated cranes 1a and 1b are then again in the normal operation state.
  • the termination of the group operation also requires the two steps described above in reverse order in the sense of an acknowledgment.
  • the two cranes 1a, 1b are operatively separated from one another, but still connected to each other via the bus 7, in order to be able to respond to a future request of a re-group operation.
  • the Ab- and registration sequences are preset so that a corresponding detection, testing and at the end of the actual change between normal and group operation in the crane controls 2a, 2b and the Katz Kunststoffmaschineept 3a 3b can be made as soon as the correct sequence and type of logout and logon sequences has been recognized.
  • the group mode only the first control switch 9a or only the second control switch 9b is in an active state and the remaining control switch 9a or 9b is in a passive state.
  • the passive state the corresponding control switch 9a or 9b is deactivated and thus locked against an operator. Accordingly, all actuations of key switch elements that are made on the deactivated control switch 9a or 9b are ignored, which are directed to the triggering of a driving, lifting or lowering operation. It is thus prevented that the Bus 7 is applied with related control commands in the form of corresponding control signals or these are executed by the controllers S1 and S2. In other words, no driving, lifting or lowering operation can be triggered by the deactivated and passive state control switch 9a or 9b. This and also beyond going coordination of participating in group operation cranes 1a, 1b is possible only on the only in the active state activated control switch 9a or 9b.
  • the first controller S1 and the second controller S2 are set in group mode accordingly.
  • a synchronous operation which takes place in the present embodiment with two cranes 1a, 1b, is also referred to as tandem operation.
  • the only activated control switch 9a or 9b is simultaneously assigned to all cranes registered for group operation, in the present case both cranes 1a, 1b, in such a way that the motors 4a, 4b, 5a, 5b, 6a and 6b run parallel to the cranes respond from the activated control switch 9a or 9b sent control signals and execute the corresponding control commands.
  • critical operating conditions may occur in which the synchronous and parallel operation of the motors 4a, 4b, 5a, 5b, 6a and 6b must be interrupted to resume shortly thereafter or later become. This may be the case if, by the method of the two cranes 1a, 1b in synchronous operation, the load gets into an undesired and unstable inclination, in the example Slings having load-carrying means slipping out and crash of the load threatens. Also, in a load in the form of a bulk container containing in synchronous operation slipping of the bulk material can occur to an unstable inclination of the container.
  • the operation of the selection key 12c switches from the synchronous or tandem operation to a single operation.
  • the group operation is not left here. Accordingly, in the single mode, only one of the control switches 9a or 9b continues to be in the active state and the other control switch 9a or 9b remains deactivated in the passive state.
  • one of the two cranes 1a, 1b is deactivated and thus put into a passive state, so that only one of the two cranes 1a, 1b remains activated.
  • the coordination that is, the selection and deactivation of the respective crane 1a or 1b, via the activated control switch 9a, 9b by the operation of a corresponding Tastschaltelements. In this case, the selection of the respectively activated or deactivated crane 1a or 1b can be changed via the activated control switch 9a, 9b.
  • the respective disabled crane 1a or 1b then ignored at least such control signals or does not execute the corresponding control commands, which are directed to the triggering of a driving, lifting or lowering operation.
  • control signals aimed at reactivating the deactivated crane 1a or 1b to switch to synchronous operation are not ignored.
  • the deactivation of one of the two cranes 1a or 1b thus results in only the other of the two cranes 1a, 1b being activated as the only crane 1a or 1b in an active state in the sense that it responds to control signals that are triggered a driving, lifting or lowering are directed, and executes them.
  • the first controller S1 and the second controller S2 are in single operation according to the selection, which crane 1a, 1b in the active state and which in Passive state should be, set.
  • This can be moved independently of and relative to the second crane 1 b and in particular the hoist and load-carrying means in the individual operation of the first crane 1 a and in particular its hoist and load-receiving means. It is not necessary to switch to normal operation, in which each crane 1a, 1b is operated via its associated control switch 9a, 9b. As a result, the operator does not have to switch between the control switches 9a, 9b, but can perform the operation continuously through one and the same control switch 9a or 9b.
  • the controls S1 and S2 of the cranes 1a, 1b are decentralized and divided into the modules crane control 2a, 2b and Katz facedung 3a, 3b, each for themselves to the respective control signals of the control switches 9a, 9b for switching between normal and group operation or synchronous and single operation respond.
  • the existing crane control 2a, 2b and the existing Katz felung 3a, 3b used.
  • each hoist is provided in a known manner with a load sensor having overload protection (not shown) to determine continuously at the respective hoist load values corresponding to an attacking on the hoist part load, and to compare continuously with a respective permissible and parameterizable limit.
  • the execution of a driving, lifting and / or lowering operation is prevented by the controller S1 or S2 in case of overload, that is, when a load value is determined in the corresponding hoist, which exceeds an allowable limit. This applies to both normal operation and group operation.
  • the associated controller S1 or S2 stores the previous involvement of each crane 1a, 1b or hoist on the common lifting operation in synchronous operation.
  • the respective load values and limit values are available to both controls S1 and S2 via the bus 7.
  • the limit values can vary depending on different operating situations and can be set in each case in the two controllers S1 and S2. As such operating situations can be considered, for example, load-dependent to be maintained crane relationship hoist distances, required static load reductions or load limits or different experience profiles of operators.
  • the determined load values and limit values are compared. If an overload is applied to the deactivated hoist, it is prevented by the corresponding control S1 or S2 that the activated hoist can perform a driving, lifting and / or lowering operation.
  • the driving, lifting and / or lowering operation in single operation is accordingly stopped or can not even be started until an overload of the deactivated crane 1a or 1b or its hoist is present even before the planned start of the correction movement in single operation.
  • the load can always be replaced by a change back to Synchronous operation can be lowered with all hoists previously involved in the common lifting process.
  • the above-described principle of the invention is also applicable to a group operation with more than two cranes 1a, 1b.
  • the synchronous operation is then analogous to tandem operation with all of the at least three cranes, which are logged as described above for group operation and interconnected accordingly in terms of control.
  • a single operation is available as the second operating mode, in which case only a single crane remains activated.
  • a third operating mode there is also a multiple operation.
  • the selection of synchronous, multiple or single operation also takes place by a corresponding operation of the selection key 12c.
  • the multiple operation represents a kind of "small" synchronous operation in the sense of a less-synchronous operation.
  • at least two cranes are activated and at least one of the cranes is deactivated. All activated cranes can be operated parallel and synchronously, as well as relative to the deactivated cranes, in the same way as regular synchronous operation, in which all cranes involved in group operation are activated.
  • the activation of the cranes participating in the multiple operation takes place by actuation of one of the key-switching elements of the activated control switch 9a or 9b, which serves as activation key 12d in a corresponding manner.
  • the activation key 12d also deactivates the cranes which, starting from the synchronous or multiple operation, are not or no longer intended to participate in the multiple operation. However, a single operation or multiple operation following a synchronous operation is only possible if, as described above, no overload is detected on any deactivated crane or its hoist. For this purpose, the participation in synchronous operation in the associated control is also stored for each crane or hoist. On the basis of this information, the respectively determined load values and limit values of all hoists originally involved in synchronous operation are compared by the control of the at least one activated hoist after switching to single or multiple operation in order to control a driving, lifting and / or overrunning in the event of an overload. or to prevent lowering of the at least one activated hoist. The stored information about the common lifting operation in synchronous operation or the hoists involved in this synchronous operation are deleted as soon as load values are determined for all of these hoists, which exclude the overload of that hoist with the lowest limit.
  • the method described above is not limited to the operation of cranes whose hoists are moved horizontally, but in principle also applicable to the operation of hoists or their respective stationary hoist, in their operation accordingly only lifting operations and lowering operations and no driving done.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
EP16788058.2A 2015-10-28 2016-10-21 Verfahren zum betreiben von mindestens zwei hebezeugen in einem gruppen-betrieb und anordnung mit mindestens zwei hebezeugen Active EP3368462B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015118434.6A DE102015118434A1 (de) 2015-10-28 2015-10-28 Verfahren zum Betreiben von mindestens zwei Hebezeugen in einem Gruppen-Betrieb und Anordnung mit mindestens zwei Hebezeugen
PCT/EP2016/075437 WO2017072051A1 (de) 2015-10-28 2016-10-21 Verfahren zum betreiben von mindestens zwei hebezeugen in einem gruppen-betrieb und anordnung mit mindestens zwei hebezeugen

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Publication Number Publication Date
EP3368462A1 EP3368462A1 (de) 2018-09-05
EP3368462B1 true EP3368462B1 (de) 2019-09-04

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US (1) US10723595B2 (zh)
EP (1) EP3368462B1 (zh)
CN (1) CN108349710B (zh)
DE (1) DE102015118434A1 (zh)
ES (1) ES2757075T3 (zh)
WO (1) WO2017072051A1 (zh)

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CN114144377A (zh) * 2019-06-28 2022-03-04 米沃奇电动工具公司 无线升降系统
JP7466916B2 (ja) 2021-07-06 2024-04-15 保線機器整備株式会社 クレーンの遠隔操作システム

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US10723595B2 (en) 2020-07-28
CN108349710A (zh) 2018-07-31
EP3368462A1 (de) 2018-09-05
US20180319633A1 (en) 2018-11-08
WO2017072051A1 (de) 2017-05-04
DE102015118434A1 (de) 2017-05-04
CN108349710B (zh) 2020-07-17

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