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EP4053069B1 - Steuerungsverfahren zum steuern des hebens einer hängenden last im falle eines notstopps - Google Patents

Steuerungsverfahren zum steuern des hebens einer hängenden last im falle eines notstopps Download PDF

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Publication number
EP4053069B1
EP4053069B1 EP22156883.5A EP22156883A EP4053069B1 EP 4053069 B1 EP4053069 B1 EP 4053069B1 EP 22156883 A EP22156883 A EP 22156883A EP 4053069 B1 EP4053069 B1 EP 4053069B1
Authority
EP
European Patent Office
Prior art keywords
lifting
speed
ascending
emergency stop
mode
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
EP22156883.5A
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English (en)
French (fr)
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EP4053069A1 (de
Inventor
Simon GRIMAUD
Philippe COMBRIS
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.)
Manitowoc Crane Group France SAS
Original Assignee
Manitowoc Crane Group France SAS
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Publication of EP4053069A1 publication Critical patent/EP4053069A1/de
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Classifications

    • 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
    • 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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • 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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • 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
    • 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
    • B66C23/88—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
    • B66D1/28—Other constructional details
    • 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

Definitions

  • the invention relates to a control method for controlling the lifting of a suspended load by means of a lifting winch incorporating a drum on which a lifting cable coupled to the suspended load is wound.
  • It relates more particularly to a control method which aims to avoid winding faults of the lifting cable which can occur when an emergency stop is activated during a rise of the suspended load.
  • a lifting winch also called a cable winch, comprises a cable drum around which a lifting cable is wound, where the drum is rotated by means of a motor in two opposite directions of rotation for a winding/unwinding of the lifting cable on the drum, thus controlling the lifting of the suspended load up and down.
  • the D1 document CN106586865A discloses a control method for controlling the lifting of a suspended load by means of a lifting winch incorporating a drum on which is wound a lifting cable coupled to the suspended load, the control method measures a mass parameter representative of a mass of the suspended load, measurement of a lifting speed representative of a speed of movement of the suspended load, up and down, and included in a speed range limited to a maximum speed and monitoring of 'an emergency stop which, once activated, cuts off at least the lifting winch and stops the lifting of the suspended load and which, once deactivated, authorizes the lifting winch to be put back into service.
  • the invention finds a preferred, and non-limiting, application for a crane-type lifting device, and in particular a tower crane, an element-mounted crane, an automated assembly crane, a port crane and a mobile crane.
  • the suspended load is generally suspended on a boom, and in particular on a distribution trolley moving along such a boom, to raise and lower it relative to the boom.
  • the invention can also find applications in transport devices such as cable cars and elevators, and in other types of lifting devices such as gantry cranes.
  • lifting winches of the high lifting performance winch type called "HPL"
  • HPL high lifting performance winch type
  • the invention proposes to solve this problem by controlling the lifting of the load, in particular during the phases of lifting the load, to at least warn of a risk of winding fault, so that a checking the winding (for example a visual inspection) and, if necessary, unwinding the lifting cable to correct and eliminate the winding fault, or even to prevent such a winding fault from occurring.
  • the invention proposes an optimized mode in which, when the suspended load is raised, the lifting speed uphill is restricted in the sense that it cannot exceed the high threshold; this high threshold being dependent on the mass of the load and being a threshold beyond which the risk of a winding fault is very high, or even the winding fault may be such that it cannot be corrected, even by unwinding the lifting cable.
  • this clamping prevents such a non-recoverable winding fault from occurring.
  • the alarm informs that it is necessary to check whether there is a winding fault and, if necessary, that this winding fault must be corrected by unwinding the lifting cable.
  • the mass parameter can correspond to the mass of the suspended load, or to another parameter which depends on the mass of the suspended load, such as for example a weight, a tension, a force, a stretching, etc.
  • the lifting speed can correspond to the speed of movement of the suspended load, or to another speed which depends on the speed of movement of the suspended load, such as for example a rotation speed of the drum, a motor speed, a lifting cable speed, etc.
  • the lifting speed uphill is limited to a reduced speed, below the high threshold, until a winding condition is met, said winding condition being representative of a state of winding/unwinding the lifting cable around the drum.
  • the lifting speed is limited to the reduced speed to help compensate for the probable winding fault, by unwinding the lifting cable, and also to avoid making the winding fault worse. Then, it is only once the winding condition is met that the lifting speed can be unrestrained (i.e. can exceed the reduced speed) in order to be able to resume lifting operations. charge.
  • This winding condition reflects the absence of a winding fault, either because no winding fault occurred at the time of the emergency stop, or because the winding fault has was caught after the lifting winch was put back into service.
  • This winding condition may be subject to validation, either by an operator who carries out a visual check, or automatically or remotely, for example by means of a dedicated sensor.
  • the lifting speed uphill is again authorized only below the high threshold and prohibited above the high threshold, unless another operating mode is selected.
  • the lifting speed is not restricted to the reduced speed after deactivation of the emergency stop, and there is no assessment of a winding condition; only the alarm is activated before a return to normal in this variant of the optimized mode.
  • the winding condition is met once the lifting cable is unwound by a given unwinding length after deactivation of the emergency stop.
  • This unwinding length corresponds to a minimum length to compensate for a winding fault, and can be the result of a calculation, a simulation, a series of empirical tests, or a check by an operator.
  • the unwinding length is a function of at least one of the following parameters among the lifting speed uphill at the time of activation of the emergency stop and the mass parameter.
  • this unrolling length depends on the lifting speed uphill at the time of activation of the emergency stop and/or the mass parameter.
  • the alarm is deactivated.
  • the lifting speed uphill is again authorized only below the high threshold and prohibited above the high threshold, unless another operating mode is selected.
  • the low threshold and the high threshold are distinct and they increase with the mass parameter.
  • the low threshold and the high threshold are equal; they decrease with the mass parameter.
  • the maximum speed varies according to the mass parameter and, when the mass parameter is greater than the reference value, the maximum speed decreases with the mass parameter and the low threshold and the high threshold are equal to this Maximum speed.
  • the maximum speed is constant or constant to plus or minus 15%, and the high threshold is strictly less than the maximum speed or is equal to the maximum speed .
  • the reduced speed, in the optimized mode is lower than the low threshold.
  • the reduced speed, in the optimized mode is between 0.1 and 0.6 times the maximum speed, and for example between 0.2 and 0.4 times the maximum speed.
  • the alarm is in the form of a visual or audible alarm signal on a control interface.
  • a step of selecting an operating mode is carried out among the optimized mode and a basic mode in which the lifting speed uphill is authorized in the entire speed range, and if a stop of emergency is activated when the suspended load is raised and while the lifting speed up is greater than the low threshold then an alarm is activated; and lifting control takes place in the selected operating mode.
  • This basic mode corresponds to operation without limiting the lifting speed, but still with an alarm if an emergency stop is activated when the suspended load is raised with an upward lifting speed greater than the low threshold , to inform that it is necessary to check if there is a winding fault; because as a reminder the low threshold is a threshold beyond which the risk of a winding fault is high.
  • the alarm varies depending on whether the lifting speed uphill is less than the high threshold or is greater than the high threshold at the time of activation of the emergency stop.
  • the alarm whether audible or visual, depends on whether the uphill lifting speed is between the low threshold and the high threshold or whether the uphill lifting speed is above above the high threshold, in order to alert an operator of a risk of a high (or minor) but recoverable winding fault (case where the lifting speed uphill is lower than the high threshold) or of a risk of winding fault very high (or major) winding or even non-recoverable (case where the lifting speed uphill is greater than the high threshold).
  • a step of selecting an operating mode is carried out among the optimized mode and a secure mode in which the lifting speed uphill is authorized only below the low threshold and prohibited above from the low threshold; and lifting control takes place in the selected operating mode.
  • This secure mode corresponds to operation with limiting the lifting speed uphill below the low threshold, in the sense that this lifting speed uphill cannot exceed the low threshold; thus preventing a winding fault (recoverable or non-recoverable) from occurring.
  • a step of selecting an operating mode is carried out among the optimized mode, the basic mode and the secure mode, and the lifting control is carried out in the operating mode selected among the three.
  • the lowering lifting speed is allowed throughout the speed range.
  • the lowering lifting speed is not restricted and can operate in the entire speed range, otherwise said up to maximum speed.
  • control/command system is configured to, in the optimized mode and once the emergency stop is deactivated, control the lifting winch so that the lifting speed, whether up or down descent, is limited to a reduced speed, below the high threshold, until a winding condition is met, said winding condition being representative of a state of winding/unwinding of the lifting cable around the drum.
  • the lifting or transport device comprises a mode selector for selecting an operating mode from the optimized mode and a basic mode in which the control/command system controls the lifting winch so that the lifting speed uphill is permitted in the entire speed range, and to activate the alarm system if an emergency stop is activated when the suspended load is raised and the lifting speed uphill is greater than the low threshold.
  • the lifting or transport device comprises a mode selector for selecting an operating mode from the optimized mode and a secure mode in which the control/command system controls the lifting winch so that the speed of lifting uphill is authorized only below the low threshold and prohibited above the low threshold.
  • FIG 1 schematically represents a crane 1, for example of the tower crane type, this crane 1 comprising a mast 10 and a distributor boom 11 along which a carriage moves, under which the suspended load 9 is suspended from a lifting cable 60 by via a mitten and a hook (not shown).
  • the crane 1 also includes a lifting winch 6, essentially composed of an electric motor 61, a reduction gear and a drum 62 around which is wound the lifting cable 60 coupled to the suspended load 9; the electric motor 61 rotates the drum 62 in one direction or the other, via the reduction gear, to wind up or unwind the lifting cable 60, therefore for lifting the suspended load 9 uphill (towards the up) or down (down).
  • a lifting winch 6 essentially composed of an electric motor 61, a reduction gear and a drum 62 around which is wound the lifting cable 60 coupled to the suspended load 9; the electric motor 61 rotates the drum 62 in one direction or the other, via the reduction gear, to wind up or unwind the lifting cable 60, therefore for lifting the suspended load 9 uphill (towards the up) or down (down).
  • the electric motor 61 of the lifting winch 6 is controlled by a frequency converter 63, with a speed variator function.
  • This electric motor 61 is itself supplied with electrical energy by an electrical power supply 12, which is in particular constituted by an electrical distribution network.
  • the lifting winch 6 also includes a motor brake 64, associated with the electric motor 61. Closing the motor brake 64 immobilizes the electric motor 61 and the drum 62 from rotating, while the opening of this motor brake 64 allows free rotation of the electric motor 61 and the drum 62. Normally, the switching on of the electric motor 61 is accompanied by an opening of the brake motor 64, while stopping this electric motor 61 is accompanied by the closing of the motor brake 64.
  • the crane 1 also includes a control/command system 2 connected to the frequency converter 63 for controlling the motor speed of the electric motor 61, whether up or down, and thus controlling the speed of movement of the crane 1. suspended load 9, up and down.
  • This control/command system 2 is also connected to the engine brake 64 to control its opening/closing.
  • the crane 1 also includes a first measuring system 31 for measuring a mass parameter PM representative of a mass of the suspended load 9.
  • This mass parameter PM can correspond to the mass of the suspended load 9, or else to another parameter which depends on the mass of the suspended load, such as for example a weight, a tension measured at the level of the lifting cable 60, a force measured for example at the level of the block or the hook, a stretching of the lifting cable lifting 60, etc.
  • the crane 1 also includes a second measuring system 32 for measuring a lifting speed VL representative of the speed of movement of the suspended load 9, up and down, and included in a speed range limited to a speed maximum VMAX.
  • This lifting speed VL can correspond to the speed of movement of the suspended load 9, or to another speed which depends on the speed of movement of the suspended load 9, such as for example a speed of rotation of the drum 62, a setpoint speed, motor speed, lifting cable speed 60, etc.
  • this lifting speed VL can vary from zero to the maximum speed VMAX, this maximum speed VMAX being a manufacturer limit or a machine limit specific to the lifting winch 6.
  • This maximum speed VMAX can vary with the mass parameter PM, and more particularly decrease with the mass parameter PM.
  • the control/command system 2 is connected to both the first measuring system 31 and the second measuring system 32 to receive in real time the measurement of the mass parameter PM and the measurement of the lifting speed VL.
  • the crane 1 incorporates at least one emergency stop 4, for example placed in a pilot cabin 13 or on a remote control or at the foot of the mast 10 and which, once activated, cuts off at least the lifting winch 6 (in other words stops the electric motor 61) and stops the lifting of the suspended load 9 and which, once deactivated, authorizes the reactivation of the lifting winch 6.
  • This emergency stop 4 is connected to the control/command system 2 which, when the emergency stop 4 is activated, cuts off the lifting winch 6.
  • Other electrical devices can of course also be cut off when the emergency stop is activated. emergency 4.
  • the crane 1 includes an alarm system 5 configured to emit an alarm when activated.
  • This alarm system 5 can be in the form of a visual display, for example at a pilot interface placed in the pilot cabin 13 or a remote interface, so that the alarm signal is a visual signal on this control interface.
  • this alarm system 5 may include a sound transmitter, for example in the cockpit 13, so that the alarm signal is a sound signal.
  • the alarm system 5 is connected to the control/command system 2 which is configured to activate/deactivate the alarm system 5 under certain conditions described later.
  • the control/command system 2 is configured to carry out lifting control during a descent of the suspended load 9 and during an ascent of the suspended load 9.
  • control/command system 2 authorizes the lifting speed VL in descent in the entire speed range, in other words a pilot can control the lifting speed VL in the entire speed range up to at the corresponding maximum speed VMAX for the measured mass parameter PM.
  • control/command system 2 is configured to carry out a comparison of the lifting speed VL uphill with a low threshold SB which varies according to the mass parameter PM, and with a high threshold SH which also varies as a function of the mass parameter PM, where this high threshold SH is greater than or equal to the low threshold SB and less than or equal to the maximum speed VMAX.
  • FIG. 2 to 4 illustrate, in tables, an example of variations of a low threshold SB and a high threshold SH, expressed in m/s, as a function of the mass parameter PM expressed in kg.
  • the low threshold SB is represented by a single thick line
  • the high threshold SH is represented by a double thick line.
  • the low threshold SB and the high threshold SH are distinct and they increase with the mass parameter PM, and thus the low threshold SB is strictly lower than the SH high threshold.
  • the mass parameter PM is greater than the reference value PREF
  • the low threshold SB and the high threshold SH are equal to the maximum speed VMAX which decreases with the mass parameter PM.
  • the control/command system 2 imposes a reduction in the maximum speed VMAX, and the two thresholds SB, SH are equal to this maximum speed VMAX and therefore also decrease with the mass parameter PM.
  • the mass parameter PM is lower than the reference value PREF
  • the maximum speed VMAX is constant or constant at plus or minus 15%
  • the high threshold SH is strictly lower than the maximum speed VMAX.
  • the variation curves of the low threshold SB, the high threshold and the maximum speed VMAX delimit three speed zones, a low zone ZB below the low threshold SB, an intermediate zone ZI between the low threshold SB and the threshold high SH, and a high zone ZH between the high threshold SH and the maximum speed VMAX.
  • the intermediate zone ZI and the high zone ZH stop beyond the reference value PREF, so that beyond this reference value PREF only the low zone ZB remains.
  • the low threshold SB and the high threshold SH are established by modeling, simulation or real test of a net stop of a winding of the lifting cable 60 around the drum 62 (such winding being associated with a rise in the suspended load 9 ) for different lifting speeds VL uphill and for different mass parameters PM, distinguishing the low threshold SB as a speed below which no winding fault is observed and above which a winding fault winding is observed, and the high threshold SH as a speed above which the observed winding fault is very high (or major) or even unrecoverable, while between the low threshold SB and the high threshold SH the winding fault is observed winding is high (or minor) but can be corrected by an operation of unwinding and rewinding the lifting cable 60.
  • three operating modes can be selected, in particular by means of a mode selector 7, arranged for example at a pilot interface placed in the pilot cabin 13, so as to that the pilot (also called crane operator) can select an operating mode from the following three operating modes: a basic mode, an optimized mode and a secure mode.
  • a mode selector 7 arranged for example at a pilot interface placed in the pilot cabin 13, so as to that the pilot (also called crane operator) can select an operating mode from the following three operating modes: a basic mode, an optimized mode and a secure mode.
  • the lifting control by means of the control/command system 2, then takes place in the selected operating mode.
  • the lowering VL lifting speed is, as a reminder, authorized in the entire speed range.
  • control/command system 2 controls the lifting winch 6 so that the lifting speed VL in rise (in other words during a rise of the suspended load 9) is authorized in the entire speed range, therefore up to the maximum speed VMAX. Also, in basic mode, control system 2 authorizes the lifting speed VL in the three speed zones ZB, ZI and ZH. Furthermore, in this basic mode, the control/command system 2 is configured to activate the alarm system 5 if the emergency stop 4 is activated during an increase in the suspended load 9 and while the speed lifting VL uphill is greater than the low threshold SB.
  • the control/command system 2 controls the lifting winch 6 so that the lifting speed VL uphill is authorized only below the high threshold SH and prohibited above the high threshold SH. Also, in the optimized mode, the control/command system 2 authorizes the lifting speed VL uphill only in the low zone ZB and in the intermediate zone ZI, and prohibits the lifting speed VL uphill in the high zone ZH, which is schematized by stripes in the upper zone ZH on the Figure 3 .
  • control/command system 2 is configured to activate the alarm system 5 if the emergency stop 4 is activated during an increase in the suspended load 9 and while the speed lifting VL uphill is greater than the low threshold SB.
  • This alarm can be specific to the optimized mode, and therefore different from the basic mode alarms. It is also possible that this optimized mode alarm is equivalent to the basic mode alarm triggered when the lifting speed VL uphill is in the intermediate zone ZI.
  • the high ZH zone is prohibited so that there is no risk of a major or even irremediable winding fault.
  • the intermediate zone ZI is authorized, so that if the VL lifting speed uphill is in the intermediate zone ZI at the time of activation of emergency stop 4, then the operator will be informed by a alarm of a risk of winding fault, which is potentially minor and recoverable.
  • the advantage of restricting the VL lifting speed uphill to the reduced speed VRED is to impose low speed operations for rewinding. of the lifting cable 60 around the drum 62 to compensate for the winding fault.
  • the VL lifting speed on the descent is also restricted to the reduced speed VRED (in other words the VL lifting speed on the descent cannot exceed the reduced speed VRED) to impose low speed operations for unwinding the lifting cable. 60 to compensate for the winding fault.
  • the winding condition depends on the VL lifting speed uphill at the time of activation of emergency stop 4. In fact, the winding fault increases with the VL lifting speed uphill at the time of activation of the emergency stop 4.
  • the winding condition is also a function of the mass parameter PM. Indeed, the winding fault decreases with the mass parameter PM measured at the time of activation of the emergency stop 4, because the heavier the suspended load 9 is and applies increased tension on the lifting cable 60 and the less the risk of a winding fault is present.
  • the winding condition is met once the lifting cable 60 is unwound by a given unwinding length LDER after deactivation of the emergency stop 4.
  • This unwinding length LDER is therefore also a function of the VL lifting speed uphill at the time of activation of emergency stop 4 and/or mass parameter PM.
  • control of the winding condition is carried out automatically (by means of a sensor or automatic control of the unwinding length LDER) and/or visually by an operator.
  • This reduced speed VRED may be lower than the low threshold SB (as associated with the mass parameter PM of the suspended load 9) and/or be included between 0.1 and 0.6 times the maximum speed, and for example between 0.2 and 0.4 times the maximum speed.
  • emergency stop 4 in the optimized mode, once emergency stop 4 is deactivated, there is only one possibility: it does not matter whether the lifting speed VL uphill was lower or higher than the low threshold SB at the time of lifting.
  • the lifting speed VL uphill is again authorized below the high threshold SH and prohibited above the high threshold SH (in other words is authorized in the low zone ZB and in the intermediate zone ZI, and prohibited in the upper zone ZH), unless another operating mode is selected.
  • there is no reduced speed or winding condition there is essentially the alarm to warn the operator of a risk of winding fault.
  • the control/command system 2 controls the lifting winch 6 so that the lifting speed VL uphill is authorized only below the low threshold SB and prohibited above the low threshold SB. Also, in the secure mode, the control/command system 2 authorizes the lifting speed VL uphill only in the low zone ZB, and prohibits the lifting speed VL uphill in the intermediate zone ZI and in the high zone ZH, which is represented schematically by stripes in the intermediate zone ZI and in the upper zone ZH on the Figure 4 .

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

Claims (15)

  1. Steuerungsverfahren zum Steuern des Hebens einer hängenden Last (9) mit Hilfe einer Hubwinde (6), die eine Trommel (62) enthält, auf der ein mit der hängenden Last (9) verbundenes Hubseil (60) aufgewickelt ist, wobei das Steuerungsverfahren die folgenden Schritte durchführt:
    - Messen eines Massenparameters (PM), der für eine Masse der hängenden Last (9) repräsentativ ist;
    - Messen einer Hubgeschwindigkeit (VL), die für eine Bewegungsgeschwindigkeit der hängenden Last (9) in der Auffahrt und in der Abfahrt repräsentativ ist und innerhalb eines auf eine Höchstgeschwindigkeit (VMAX) begrenzten Geschwindigkeitsbereichs liegt;
    - Überwachen eines Notstopps (4), der, sobald er aktiviert ist, zumindest die Hubwinde (6) abschaltet und das Anheben der hängenden Last (9) stoppt und der, sobald er deaktiviert ist, einen Reaktivierung der Hubwinde (6) zulässt;
    - während eines Anhebens der hängenden Last (9), Vergleichen der Hubgeschwindigkeit (VL) beim Anheben mit einem unteren Schwellenwert (SB), der in Abhängigkeit von dem Massenparameter (PM) variiert, und mit einem oberen Schwellenwert (SH), der ebenfalls in Abhängigkeit von dem Massenparameter (PM) variiert, wobei der obere Schwellenwert (SH) größer oder gleich dem unteren Schwellenwert (SB) und kleiner oder gleich der Höchstgeschwindigkeit (VMAX) ist;
    - Hubsteuerung in einem optimierten Modus, bei dem die Hubgeschwindigkeit (VL) in der Auffahrt nur unterhalb des oberen Schwellenwerts (SH) zulässig und oberhalb des oberen Schwellenwerts (SH) verboten ist, und, wenn der Notstopp (4) während einer Auffahrt der hängenden Last (9) aktiviert wird und so die Hubgeschwindigkeit (VL) in der Auffahrt größer als der untere Schwellenwert (SB) ist, ein Alarm aktiviert wird.
  2. Hebeverfahren nach Anspruch 1, wobei im optimierten Modus, wenn der Notstopp (4) deaktiviert ist und wenn die Hubgeschwindigkeit (VL) in der Auffahrt beim Notstopp größer als der untere Schwellenwert (SB) zum Zeitpunkt der Aktivierung des Notstopps (4) war, die Hubgeschwindigkeit (VL) in der Auffahrt und optional auch in der Abfahrt auf eine reduzierte Geschwindigkeit (VRED), die kleiner als der obere Schwellenwert (SH) ist, begrenzt wird, bis eine Aufwickelbedingung erfüllt ist, wobei die Aufwickelbedingung repräsentativ für einen aufgewickelten/abgewickelten Zustand des Hubseils (60) um die Trommel (62) ist.
  3. Hebeverfahren nach Anspruch 2, wobei die Aufwickelbedingung in Abhängigkeit von der Hubgeschwindigkeit (VL) in der Auffahrt zum Zeitpunkt der Aktivierung des Notstopps (4) ist.
  4. Hebeverfahren nach Anspruch 2 oder 3, wobei die Aufwickelbedingung erfüllt ist, wenn das Hubseil (60) nach der Deaktivierung des Notstopps (4) um eine vorgegebene Abwickellänge (LDER) abgewickelt ist.
  5. Hebeverfahren nach den Ansprüchen 3 und 4, wobei die Abwickellänge (LDER) in Abhängigkeit von mindestens einem der folgenden Parameter ist, zu denen die Hubgeschwindigkeit (VL) in der Auffahrt zum Zeitpunkt der Aktivierung des Notstopps (4) und der Massenparameter (PM) gehört.
  6. Hebeverfahren nach einem der Ansprüche 2 bis 5, wobei, wenn die Aufwickelbedingung im optimierten Modus erfüllt ist, der Alarm deaktiviert wird und die Hubgeschwindigkeit (VL) in der Auffahrt nur unterhalb des oberen Schwellenwerts (SH) zulässig und oberhalb des oberen Schwellenwerts (SH) verboten ist, es sei denn, es wird ein anderer Betriebsmodus ausgewählt.
  7. Hebeverfahren nach einem der vorhergehenden Ansprüche, wobei, wenn der Massenparameter (PM) kleiner als ein vorgegebener Referenzwert (PREF) ist, der untere Schwellenwert (SB) und der obere Schwellenwert (SH) unterschiedlich sind und sie mit dem Massenparameter (PM) steigen.
  8. Hebeverfahren nach Anspruch 7, wobei, wenn der Massenparameter (PM) größer als der Referenzwert (PREF) ist, der untere Schwellenwert (SB) und der obere Schwellenwert (SH) gleich sind, nehmen und sie mit dem Massenparameter (PM) abnehmen.
  9. Hebeverfahren nach einem der vorhergehenden Ansprüche, wobei ein Schritt zum Auswählen eines Betriebsmodus aus dem optimierten Modus und einem Grundmodus durchgeführt wird, in dem die Hubgeschwindigkeit (VL) in der Auffahrt im gesamten Geschwindigkeitsbereich zulässig ist, und wenn ein Notstopp (4) während der Auffahrt der hängenden Last (9) aktiviert wird und wenn die Hubgeschwindigkeit (VL) in der Auffahrt größer als der untere Schwellenwert (SB) ist, ein Alarm aktiviert wird;
    und die Hubsteuerung im gewählten Betriebsmodus durchgeführt wird.
  10. Hebeverfahren nach Anspruch 9, wobei im Grundmodus der Alarm abhängig davon variiert, ob die Hubgeschwindigkeit (VL) in der Auffahrt kleiner als der obere Schwellenwert (SH) oder größer als der obere Schwellenwert (SH) zum Zeitpunkt der Aktivierung des Notstopps (4) ist.
  11. Hebeverfahren nach einem der vorhergehenden Ansprüche, wobei ein Schritt zum Auswählen eines Betriebsmodus aus dem optimierten Modus und einem sicheren Modus durchgeführt wird, in dem die Hubgeschwindigkeit (VL) in der Auffahrt nur unterhalb des unteren Schwellenwerts (SB) zulässig und oberhalb des unteren Schwellenwerts (SB) verboten ist;
    und die Hubsteuerung im gewählten Betriebsmodus durchgeführt wird.
  12. Hebe- oder Transportvorrichtung, beispielsweise ein Kran (1), umfassend eine Hubwinde (6), die eine Trommel (62) enthält, auf der ein Hubseil (60) aufgewickelt ist, das mit einer hängenden Last (9) verbunden ist, um die hängende Last (9) anzuheben, wobei die Hebe- oder Transportvorrichtung Folgendes umfasst:
    - ein erstes Messsystem (31) zum Messen eines Massenparameters (PM), der für eine Masse der hängenden Last (9) repräsentativ ist;
    - ein zweites Messsystem (32) zum Messen einer Hubgeschwindigkeit (VL), die für eine Bewegungsgeschwindigkeit der hängenden Last (9) in der Auffahrt und in der Abfahrt repräsentativ ist und die innerhalb eines auf eine Höchstgeschwindigkeit (VMAX) begrenzten Geschwindigkeitsbereichs liegt;
    - einen Notstopp (4), der, sobald er aktiviert ist, zumindest die Hubwinde (6) abschaltet und das Anheben der hängenden Last (9) stoppt und der, sobald er deaktiviert ist, einen Reaktivierung der Hubwinde (6) zulässt;
    - ein Alarmsystem (5), das dazu konfiguriert ist, bei Aktivierung einen Alarm auszulösen; und
    - ein Steuer-/Befehlssystem (2), das mit dem ersten Messsystem (31), dem zweiten Messsystem (32), der Hubwinde (6), dem Alarmsystem (5) und dem Notstopp (4) verbunden ist, wobei das Steuer-/Befehlssystem (2) dazu konfiguriert ist, während einer Auffahrt der hängenden Last (9) einen Vergleich der Hubgeschwindigkeit (VL) in der Auffahrt mit einem unteren Schwellenwert (SB) durchzuführen, der in Abhängigkeit von dem Massenparameter (PM) variiert, und mit einem hohen Schwellenwert (SH), der ebenfalls in Abhängigkeit von dem Masseparameter (PM) variiert, wobei der hohe Schwellenwert (SH) größer oder gleich dem unteren Schwellenwert (SB) und kleiner oder gleich der Maximalgeschwindigkeit (VMAX) ist; und
    wobei das Steuer-/Befehlssystem (2) dazu konfiguriert ist, in einem optimierten Modus die Hubwinde (6) zu steuern, so dass die Hubgeschwindigkeit (VL) in der Auffahrt nur unterhalb des oberen Schwellenwerts (SH) zulässig und oberhalb des oberen Schwellenwerts (SH) verboten ist, und das Alarmsystem (5) zu aktivieren, wenn der Notstopp (4) während einer Auffahrt der hängenden Last (9) aktiviert wird und während die Hubgeschwindigkeit (VL) in der Auffahrt größer ist als der untere Schwellenwert (SB).
  13. Hebe- oder Transportvorrichtung nach Anspruch 12, wobei das Steuer-/Befehlssystem (2) dazu konfiguriert ist, im optimierten Modus und, wenn der Notstopp (4) deaktiviert ist, die Hubwinde (6) zu steuern, so dass die Hubgeschwindigkeit (VL), egal ob in der Auffahrt oder in der Abfahrt, auf eine reduzierte Geschwindigkeit (VRED), die kleiner als der obere Schwellenwert (SH) ist, begrenzt wird, bis eine Aufwickelbedingung erfüllt ist, wobei die Aufwickelbedingung repräsentativ für einen aufgewickelten/abgewickelten Zustand des Hubseils (60) um die Trommel (62) ist.
  14. Hebe- oder Transportvorrichtung nach Anspruch 12 oder 13, umfassend einen Moduswähler (7) zum Auswählen eines Betriebsmodus aus dem optimierten Modus und einem Grundmodus, in dem das Steuer-/Befehlssystem (2) die Hubwinde (6) steuert, so dass die Hubgeschwindigkeit (VL) in der Auffahrt im gesamten Geschwindigkeitsbereich zulässig ist, zum Aktivieren des Alarmsystems (5), wenn ein Notstopp (4) während einer Auffahrt der hängenden Last (9) aktiviert wird und wenn die Hubgeschwindigkeit (VL) in der Auffahrt größer als der untere Schwellenwert (SB) ist.
  15. Hebe- oder Transportvorrichtung nach einem der Ansprüche 12 bis 14, umfassend einen Moduswähler (7) zum Auswählen eines Betriebsmodus aus dem optimierten Modus und einem sicheren Modus, in dem das Steuer-/Befehlssystem (2) das Hubseil (6) steuert, so dass die Hubgeschwindigkeit (VL) in der Auffahrt nur unterhalb des unteren Schwellenwerts (SB) zulässig und oberhalb des unteren Schwellenwerts (SB) verboten ist.
EP22156883.5A 2021-02-23 2022-02-15 Steuerungsverfahren zum steuern des hebens einer hängenden last im falle eines notstopps Active EP4053069B1 (de)

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FR3071240B1 (fr) * 2017-09-21 2019-09-06 Manitowoc Crane Group France Optimisation dynamique d’une courbe de charge de grue
FR3072373B1 (fr) * 2017-10-16 2020-02-28 Manitowoc Crane Group France Procede de securisation d'un mouvement de levage d'une charge et dispositif de levage associe
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CN115028072A (zh) 2022-09-09
US11891281B2 (en) 2024-02-06
ES2969944T3 (es) 2024-05-23
FR3120070B1 (fr) 2023-01-13
FR3120070A1 (fr) 2022-08-26
US20220371861A1 (en) 2022-11-24

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