WO2009112237A1 - Grue à chenilles, avec articulation pivotante, pour le réglage d'une position de manœuvre au sol d'une grue de ce type - Google Patents

Grue à chenilles, avec articulation pivotante, pour le réglage d'une position de manœuvre au sol d'une grue de ce type Download PDF

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Publication number
WO2009112237A1
WO2009112237A1 PCT/EP2009/001702 EP2009001702W WO2009112237A1 WO 2009112237 A1 WO2009112237 A1 WO 2009112237A1 EP 2009001702 W EP2009001702 W EP 2009001702W WO 2009112237 A1 WO2009112237 A1 WO 2009112237A1
Authority
WO
WIPO (PCT)
Prior art keywords
crane
undercarriage
vertical axis
angle
inclination
Prior art date
Application number
PCT/EP2009/001702
Other languages
German (de)
English (en)
Inventor
Ingo Nöske
Alfons Weckbecker
Werner Rutz
Original Assignee
Terex Demag Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Terex Demag Gmbh filed Critical Terex Demag Gmbh
Publication of WO2009112237A1 publication Critical patent/WO2009112237A1/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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear

Definitions

  • the invention relates to a crawler crane according to the preamble of claim 1.
  • the invention relates to a method for setting a basic operating position of such a crawler crane.
  • a crawler crane of the type mentioned is known from DE 20 2006 002 023 Ul. Crane boom of such crawler cranes can only then work with their rated load when the undercarriage with the crawler carriers stands up on a plane which is practically deviating from the horizontal plane. This requires a complex preparation of a basic working position of the known crawler crane by grading.
  • a pivot joint which is pivotable about two vertical axes that engage with each other at an angle, leads to an advantageous variability with regard to a level control 25 of the crane.
  • the pivot joint according to the invention can be at least one curl, ie an inclination of the chassis to an axis extending along the direction of travel, and preferably also a tendency to roll, ie an inclination of the chassis about a horizontal and transverse to the direction of travel axis with respect to the chassis at least - same.
  • An elaborate leveling of the ground and a complex alignment of the chassis eliminated in practice.
  • the angle between the two vertical axes is preferably greater than 2 °, more preferably greater than 3 °, more preferably greater than 4 ° and even more preferably in the range of 5 °. Even larger angles between the two vertical axes are possible.
  • the swivel joint can be pre-set in advance, for example at the factory, so that own adjusting drives for the swivel joint need not necessarily belong to the equipment of the crane.
  • Motorized adjustment drives ensure an uncomplicated adaptation of the level control of the crane body on site.
  • Roller slewing rings according to claims 3 and 4 have proven in practice to be robust and suitable for receiving particularly high forces.
  • a control device allows a control of the adjustment especially from a cab of the crawler crane.
  • a tilt sensor according to claim 6 enables a precise inclination measurement.
  • the inclination sensor can be, for example, a non-contact magnetoresistive measuring element with a measuring range of +/- 10 °.
  • a control module according to claim 7 allows an automatically controlled adjustment of the adjustment for level control of the upper carriage of the crawler crane. In this way, in particular, a minimum RoIl inclination angle of the superstructure can be set as a function of an inclination angle measured with the inclination sensor.
  • both the roll and the roll inclination can be compensated for a certain range of terrain inclinations simultaneously.
  • the swivel joint with the two middle pieces can have three motorized adjusting drives for pivoting the crane body relative to the undercarriage, namely a boom or crane body adjusting drive for pivoting the crane body relative to the upper center piece, a middle piece adjusting drive for pivoting the upper center piece relative to the lower center piece and a Unterwagen- adjusting drive for pivoting the lower center piece to the undercarriage.
  • a control device of the crane can be in signal connection with these three adjusting drives.
  • the angle between the second and third vertical axes is preferably greater than 2 °, more preferably greater than 3 °, more preferably greater than 4 ° and even more preferably in the range of 5 °. Even larger angles between the second and the third vertical axis are possible.
  • a roller slewing connection according to claim 9 has proven in practice to be robust and suitable for receiving particularly high forces.
  • Two inclination sensors according to claim 10 enable a precise measurement of both a roll and a roll inclination winkeis.
  • the inclination sensors can each be a non-contact magnetoresistive measuring element with a measuring range of +/- 10 °.
  • Fig. 1 is a side view of a crawler crane
  • Figure 2 is a frontal view of an undercarriage of the crawler crane of Figure 1 together with components of a crane structure of the crawler crane, wherein cantilever elements of the crawler crane are omitted;
  • Fig. 3 is a roller pivot connection means for pivoting
  • FIG. 4 shows a further embodiment of a crawler crane, shown with an inclined rearing plane, wherein boom-side components of a crane structure of the crawler crane have been omitted; and
  • Fig. 5 is a side view corresponding to FIG. 1 another
  • FIG. 6 is a view of the connection according to the viewing direction VI in FIG.
  • Fig. 7 in a similar to Fig. 5 view the compound in one
  • FIG. 8 is a view according to viewing direction VIII in Fig. 7.
  • a crawler crane 1 has a movable undercarriage 2, a superstructure 3, a crane main boom 4 and a counter-boom 5.
  • a Roal lrehrehtresss worn 6, which is only indicated in Figs. 1 and 2, the upper carriage 3 relative to the lower carriage. 2 rotatable about a vertical axis 7.
  • the undercarriage has two driven tracks 8, which are supported and guided by two mutually parallel tracked carriers 9.
  • the two crawler supports 9 are connected to each other by a transverse bridge 10 or by a plurality of such transverse bridges.
  • the at least one transverse bridge 10 in turn supports the roller rotation connecting device 6.
  • the roller slewing connection device 6 represents a pivot bearing or a pivot joint, which connects the undercarriage 2 pivotally connected to the superstructure 3, so the crane structure.
  • the roller rotary connecting device 6 has a center piece 1 1, which is rotatably connected to the superstructure 3 via a superstructure roller pivot connection 12 about a first vertical axis 13.
  • the uppercarriage roller slewing connection 12 is also referred to as a crane boom roller slewing connection.
  • the roller rotary connecting device 6 has an undercarriage roller slewing connection 14, via which the middle piece 11 is connected rotatably about a second vertical axis 15 to the undercarriage 2.
  • the two roller slewing rings 12, 14 of the roller slewing connection devices 6 ensure full rotation about the vertical axes 13, 15.
  • the two vertical axes 13, 15 occupy an angle of 5 ° to each other. Other angles between the vertical axes 13, 15 greater than 0 ° are possible. An angle which is greater than 2 ° is preferred.
  • the middle piece 1 1 has the shape of a wedge-cylinder, wherein a top wall of this cylinder assumes a wedge angle to a bottom wall of this cylinder, which is as large as the angle between the two vertical axes 13, 15th
  • a boom adjustment 16 serves to pivot the upper carriage 3 with the arms 4, 5 relative to the center piece 1 1 about the first vertical axis 13.
  • the boom adjustment 16 has an adjusting motor 17, with the drive shaft, a drive pinion 18 is rotatably connected.
  • the drive pinion 18 meshes with an outer sprocket 19 of the superstructure roller slewing 12.
  • the Rollenenendustagensein- device 6 has a Unterwagen- adjustment 20 for pivoting the middle piece 1 1 relative to the undercarriage 2 about the second vertical axis 15.
  • the Unterwagen- adjustment 20 has a another adjusting motor 21, which is shown broken in Fig. 3. With a drive shaft of the adjusting motor 21 is rotatably another drive pinion 22 is connected. This meshes with an outer sprocket 23 of the undercarriage roller slewing ring 14.
  • the roller rotary connecting device 6 further has a control device 24. This is connected via a signal line 25 to the uppercarriage adjusting motor 17 and via a signal line, not shown, with the undercarriage adjusting motor 21 in signal connection. Via a signal line 26, the control device 24 is in signal connection with an inclination sensor 27. The tilt sensor 27 is fixedly attached to the uppercarriage 3.
  • control device 24 additionally has a control module 28.
  • This is executed as an internal component of the control device 24.
  • the control module 28 may also be an external component in signal communication with the control device 24.
  • the control module 28 is connected via the signal line 26 with the tilt sensor 27 in signal connection.
  • the control module 28 generates control signals depending on the inclination signal of the inclination sensor 27, which are then passed on by the control device 24.
  • the superstructure 3 with the arms 4, 5 then with the Oberwagen- adjusting motor 17, controlled by the control device 24, by means of the superstructure roller rotating device 12 to the second Vertical axis 15 are adjusted to a desired working position.
  • the undercarriage 2 is first moved to a raw working position. Then, the inclination angle of the first vertical axis 13 is determined to the vertical. This inclination angle corresponds to the inclination angle of the contact surface 29 to the horizontal. The measured angle of inclination is transmitted to the control device 24 via the signal line 26.
  • the control module 28 calculates, for example via a calibration table, from the determined angle of inclination a control value for the adjusting motor 21. This control value is supplied to the adjusting motor 21 via the signal line, not shown, between the control device 24 and the adjusting motor 21.
  • a rotation of the roller slewing connection 14 takes place about the second vertical axis 15 until this second vertical axis assumes the predetermined minimum angle to the vertical.
  • This can be controlled via the tilt sensor 27.
  • the middle piece 1 1 then has a level-controlled position in which the first vertical axis 13 of the superstructure 3 is vertical within a predetermined tolerance, so that the crane main boom 4 can carry its nominal load weight balanced.
  • the adjustment of the adjustment 20 for level control of the superstructure 3 can be done automatically controlled by the control module 28.
  • the inclination sensor 27 indicates, for example, an inclination angle and that the operator of the crawler crane 1 makes a corresponding adjustment of the undercarriage roller slewing connection 14 on the basis of this inclination angle via the control device 24.
  • FIG. 4 shows a further variant of a crawler crane 1, in which the roller slewing connection device 6 with the two roller slewing connections 12, 14 is shown only schematically.
  • Components and functions which correspond to those of the embodiment according to FIGS. 1 to 3 in the execution of the crawler crane according to FIG. 4 and have already been explained in connection with FIGS. 1 to 3 are given the same reference numerals and will not be repeated in FIG Discussed individually.
  • the uppercarriage 3 of the crawler crane 1 has in the embodiment of FIG. 4 connected to the superstructure roller slewing connection 12 central component 31 and two hinged thereto support arms 32, 33 are mounted on which not shown crane jibs.
  • the crawler crane 1 according to Fig. 4 is shown in a basic working position, in which the contact surface 29 is inclined to the horizontal by about 3 °. This inclination is compensated by the level control of the roller rotary connection device 6, so that the two support arms 32, 33 are aligned exactly horizontally.
  • a further embodiment of a crawler crane 1 is explained below with reference to FIGS. 5 to 8.
  • Components and functions which correspond to those of the embodiments according to FIGS. 1 to 4 and have already been explained in connection with these figures have the same reference numerals and will not be discussed again in detail.
  • a pivot joint 34 which connects in the embodiment of Figures 5 to 8, the undercarriage 2 with the crane body 3, not, as the embodiments of Figures 1 to 4, exactly one centerpiece, but two centerpieces 35, 36.
  • the upper center piece 35 is pivotally connected to the crane body 3 about the first vertical axis 13.
  • the upper center piece 35 is rotatably connected to the superstructure 3 via the superstructure roller slewing connection 12.
  • the upper center piece 35 is pivotally connected to the undercarriage 2. This pivoting connection does not take place directly, but via the lower middle piece 36.
  • the upper middle piece 35 is rotatably connected to the lower middle piece 36 about the second vertical axis 15 via a middle piece roller slewing connection 37.
  • the lower center piece 36 is pivotally connected to the undercarriage 2 about a third vertical axis 38.
  • the first vertical axis 13 and the third vertical axis 38 coincide.
  • the undercarriage 2 rests on a flat contact plane 29, so that the undercarriage 2 has neither a curl nor a tendency to roll.
  • the two middle pieces 35, 36 in turn have a wedge angle of 5 °. Other wedge angles greater than 2 ° are possible. Corresponding angles in turn take on the one hand the vertical axes 13 and 15 and on the other hand, the vertical axes 15 and 38 to each other.
  • the crawler crane 1 in addition to the Auslege- adjustment 16 and the undercarriage adjustment 20, which are not shown in the embodiment of Figures 5 to 8 and executed as in the embodiment of FIG. 3, the crawler crane 1 according to Figures 5 to 8 a CENTERPIECES Adjusting drive 39 for pivoting the upper center piece 35 to the lower center piece 36.
  • the middle piece adjustment drive 39 has an adjusting motor 40, with the drive shaft, a drive pinion 41 is rotatably connected.
  • the drive pinion 41 meshes with an external sprocket 42 of the center piece roller slewing ring 37.
  • Via a signal line 43 which is shown in broken line in FIG. 5, the adjusting motor 40 is in signal connection with the control device 24, not shown in FIGS. 5 to 8.
  • the crawler crane 1 has a further inclination sensor 44, which is also firmly attached to the uppercarriage 3.
  • the two tilt sensors 27, 44 can be combined to form a tilt sensor module. Both tilt sensors 27, 44 are connected via the signal line 26, which is shown interrupted in FIG. 5, with the control device 24 in signal connection.
  • the two inclination sensors 27, 44 are arranged so that they can be used to measure two angles of inclination that result in a roll inclination angle and a roll inclination angle of the crane body 3.
  • the inclination sensor 27 may be configured to detect the roll inclination angle.
  • the tilt sensor 44 may be configured to determine the roll tilt angle.
  • Figures 7 and 8 show the situation in which the undercarriage 2 rests on a support plane 45 with a roll inclination angle of 3 ° (see Fig. 8).
  • the roll inclination angle is again 0 in the position according to FIGS. 7 and 8.
  • the rotation of the two middle pieces 35, 36 is in the position according to FIGS. 7 and 8 such that the vertical axes 13 and 38 Inclination angle occupy balancing angle of 3 ° to each other. It results (see Fig. 8), a roll inclination angle of the crane body 3 of 0 °.
  • the pivoting position of the middle pieces 35, 36 can be selected such that the uppercarriage 3 simultaneously also maintains a roll angle of inclination of 0 ° (see FIG. ,
  • the pivot joint 34 can simultaneously roll inclination angle and roll inclination angle of the undercarriage 2 in the range between 0 ° and 5 ° compensate, so that the superstructure 3 has neither a roll nor a roll inclination angle.
  • the roll angle compensation can also be abandoned in favor of an even greater tilt angle compensation.
  • the two center pieces 35, 36 are rotated relative to each other about the second vertical axis 15, that add their wedge angle.
  • a basic working position is set as follows: First, the undercarriage 2 is moved to a raw working position. Then, the inclination angles are determined via the two inclination sensors 27, 44 and from this the roll inclination angle and the roll inclination angle of the superstructure 3 are determined. Right. From these angles of inclination and the actual pivotal positions of the two centerpieces 35, 36, the control module 28 then calculates target pivot positions of the centerpieces 35, 36 relative to each other and to the undercarriage 2 on the one hand and to the crane body 3 on the other. Then controls the controller 24 based on the specific target positions, the adjusting motors 17, 21 and 40, until these target positions are reached. When setting the basic working position, the top priority can be used to minimize the RoIl inclination angle. With second priority, the roll tilt angle can also be minimized with the roll tilt angle minimized.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Abstract

Une grue possède une structure portante (2) comportant un châssis. Une superstructure (3) de la grue possède une flèche de grue, pouvant pivoter autour d'un axe vertical (13). Une articulation pivotante (6) relie la structure portante (2) en pivotement avec la superstructure de grue (3). L'articulation pivotante (6) possède une pièce centrale (11). Cette dernière peut pivoter avec la superstructure (3) autour d'un premier axe vertical (13), et est reliée, de façon à pouvoir pivoter autour d'un deuxième axe vertical (15), à la structure portante (2). Les deux axes verticaux (13, 15) font entre eux un angle supérieur à 2°. Il en résulte une grue à chenilles à niveau réglable, dans lequel on a une diminution de la dépense nécessaire au réglage d'une position de manœuvre au sol.
PCT/EP2009/001702 2008-03-13 2009-03-10 Grue à chenilles, avec articulation pivotante, pour le réglage d'une position de manœuvre au sol d'une grue de ce type WO2009112237A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102008014140.2 2008-03-13
DE200810014140 DE102008014140A1 (de) 2008-03-13 2008-03-13 Raupenkran sowie Verfahren zur Einstellung einer Grund-Arbeitsposition eines derartigen Raupenkrans

Publications (1)

Publication Number Publication Date
WO2009112237A1 true WO2009112237A1 (fr) 2009-09-17

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PCT/EP2009/001702 WO2009112237A1 (fr) 2008-03-13 2009-03-10 Grue à chenilles, avec articulation pivotante, pour le réglage d'une position de manœuvre au sol d'une grue de ce type

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DE (1) DE102008014140A1 (fr)
WO (1) WO2009112237A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102431916A (zh) * 2011-12-21 2012-05-02 上海三一科技有限公司 一种环轨可调节支承装置及包含该装置的起重机
CN104495654A (zh) * 2014-12-16 2015-04-08 太原重工股份有限公司 起重机及其整体式转台
JP2015078539A (ja) * 2013-10-17 2015-04-23 カヤバ工業株式会社 重心可変装置
CN107720577A (zh) * 2017-03-02 2018-02-23 何敏 一种低消耗吊塔用旋转结构

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104150379A (zh) * 2014-08-29 2014-11-19 辽宁抚挖重工机械股份有限公司 超大型履带起重机轮组式支承小车装置

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3398967A (en) * 1965-11-01 1968-08-27 Priestman Brothers Levelling devices
GB1158028A (en) * 1967-07-13 1969-07-09 Priestman Brothers Improvements relating to Levelling Devices
GB2163406A (en) * 1984-08-23 1986-02-26 Morita Fire Pump Mfg Revolving block for high place working vehicle

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202006002023U1 (de) 2006-02-08 2007-06-21 Liebherr-Werk Ehingen Gmbh Raupenkran

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3398967A (en) * 1965-11-01 1968-08-27 Priestman Brothers Levelling devices
GB1158028A (en) * 1967-07-13 1969-07-09 Priestman Brothers Improvements relating to Levelling Devices
GB2163406A (en) * 1984-08-23 1986-02-26 Morita Fire Pump Mfg Revolving block for high place working vehicle

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102431916A (zh) * 2011-12-21 2012-05-02 上海三一科技有限公司 一种环轨可调节支承装置及包含该装置的起重机
CN102431916B (zh) * 2011-12-21 2014-07-23 上海三一科技有限公司 一种环轨可调节支承装置及包含该装置的起重机
JP2015078539A (ja) * 2013-10-17 2015-04-23 カヤバ工業株式会社 重心可変装置
CN104495654A (zh) * 2014-12-16 2015-04-08 太原重工股份有限公司 起重机及其整体式转台
CN107720577A (zh) * 2017-03-02 2018-02-23 何敏 一种低消耗吊塔用旋转结构

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Publication number Publication date
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