EP1103511B1 - Method and device for monitoring a drive of a lifting winch - Google Patents

Description

The invention relates to a monitoring device for monitoring the Hoisting winches, in particular cranes, with cable power means of determination for determining the rope forces acting on the hoist winch and an evaluation unit to determine the dynamic load of the hoist winch the rope forces and / or the remaining life according to the preamble of Claim 1.

Hoists of cranes are dynamically stressed, their life depends among other things, the number of load cycles, the size of each load and the type or training of the respective load cycles. With the help of load collective meters become the actual stresses and load cycles recorded and evaluated, becomes a resulting burden collective gradually calculated so that the remaining life with help known and predetermined method for calculating the fatigue strength can be determined. From EP 07 49 934 A2 a load collective counter is known, which determines the occurring load changes, for each load change the Lifting winch stressing cable force determined, calculated from the load collective and calculated using the so-called Wöhler lines the remaining life and indicating. However, this load collective counter is in terms of detection the actual stresses occurring in practice barely implement and in need of improvement. In addition, an even more comprehensive monitoring of the operation the hoist desirable.

The present invention is therefore based on the object to provide an improved device of the type mentioned, avoid the known from the prior art disadvantages. Especially should provide a simple, accurate and reliable record of the loads occurring achieved and preferably a comprehensive monitoring of Hubwindenbetriebs be effected.

In terms of device technical aspects, the above task solved in a monitoring device of the type mentioned by the features of the characterizing part of claim 1.

The torque-determining device preferably comprises a pressure detection device for detecting the pressure difference across the hydraulic motor of the hoist winch drive, a swallow volume detecting means and means for determining the torque of the hydraulic motor from the detected pressure difference and the swallow volume. The pressure detection device can in particular have two pressure sensors on the upstream and downstream side of the Hydraulic motor are connected in the corresponding fluid circuit. The fluid circuit can be both closed and open.

The swallow volume detector may consist of a block, which is associated with the actuating lever of the hydraulic motor and detects its angular position. The angular position of the control lever is a measure of the displacement of the Hydromotors, which together with the pressure drop at the hydraulic motor Determined torque. Preferably, the swallow volume detection means from a module that measures the actuating current of a solenoid, with the the adjusting lever is actuated. The actuating current is proportional to the angular position of the Adjusting lever, so that are derived from this, the angular position of the control lever can. The swing angle is therefore determined indirectly and that from the proportional Control current for the lever, which comes from the higher-level crane control comes and is proportional to the swivel angle. Indirect determination of Swivel angle in the manner described is much cheaper to accomplish.

In a further development of the invention, a rotary position detection device for the Hoisting winch provided. In particular, the rotational position detecting device made absolutely working, i. It also covers any rotational positions Absolutely 360 °, with reverse rotation of the hoist winch also runs the rotary position detection device backward. Preferably, the rotational position detecting device digitally trained, it digitizes the respective rotary position the hoist winch.

The monitoring device expediently comprises a memory for Storage of hoist winch parameters, in particular, are in the memory of the Wind diameter, the number of turns per layer and the rope diameter can be stored.

Preferably, a means for determining the lever arm of the rope with respect the hoist winch provided. This can basically be a sensor that the Location of the running of the hoist winch rope detected immediately. Preferably however, the device calculates the lever arm from the respective rotational position the hoist winch and the stored Hubwindenparameters.

The monitoring device is characterized in development of the invention thereby from that a real-time clock is provided. The real-time clock is with the evaluation unit connected to the data processing with the real-time values Food.

The evaluation unit is designed in accordance with an embodiment of the invention such that the time course of the cable force is determined and stored and from this maximum and minimum cable force values and / or load changes are determined assigned to one of several stored load collectives and to Determination of residual life can be used.

Furthermore, the monitoring device according to another aspect of the invention provided with a device for monitoring the unwound rope length, which locks the hoist drive and / or actuates a hoist brake as soon as possible are only a predetermined number of turns on the hoist winch.

Furthermore, the monitoring device is characterized according to a further aspect the invention characterized in that means for determining the unwinding or Aufspulgeschwindigkeit provided the hoist rope and for determining the cable acceleration are. Preferably, these sizes from the detected rotational movement the hoist winch taking into account their geometric parameters, in particular the diameter of the wind and the turns. Further, after In another aspect of the invention, means are provided for controlling the speed of the hoist winch determine and monitor these and / or the speed of Huboperantriebs.

According to an advantageous embodiment of the invention, the evaluation unit, the Torque-determining device, the device for determining the lever arm, the device for determining the absolute unwound cable length, the device for determining the unwinding speed, the device for the determination the Abspulbeschleunigung and / or the means for monitoring the Winding speed as a microcomputer with it stored and expiring Software trained. Preferably, the microcomputer has interfaces to Data transfer to and from a higher-level crane control, from which the determined data including the calculated load collective and the remaining service life are available. The transfer of data or control commands is a matter of course also provided in the opposite direction.

To determine the dynamic loads and determine the To make residual life safer and more reliable, the monitoring device stands out according to another aspect of the present invention thereby from that the evaluation unit including an associated data memory are integrated in the hoist winch. So they form an inseparable unity with the hoist winch. If the hoist winch is e.g. replaced for maintenance or replacement, so it becomes together with the evaluation unit and the associated Data memory exchanged, the stored stress values and / or the remaining life. This ensures that the remaining Remaining life is not lost or incorrect calculation data of Remaining life.

These and more features that combine with each other and for yourself protectable versions for which protection is claimed here, go out of the claims also from the description below and the accompanying drawing, on the basis of which a preferred embodiment the invention is explained in more detail.

The single drawing shows a schematic representation of an inventive Monitoring device for monitoring a hydraulically driven Hoist winch.

The hoist winch 1 is driven by a hydraulic motor 2, which by means of a corresponding Fluid circuit 3, which may be open or closed, is subjected to the necessary Fuiddruck. On the hoist winch 1 is the rope 4 wound, with which the crane raises or lowers the corresponding lifting loads.

To the hoist also includes a hoist brake 5, between the hydraulic motor 2 and the hoist winch 1 is connected in the drive train.

Connected to the hoist winch 1 is a multifunctional acquisition, calculation and Evaluation unit 6, which forms a load collective counter and realizes other functions. In particular, with the multifunctional computing, computing and Evaluation unit 6, the dynamic stress of the hoist winch 1 and their Remaining life determined. Furthermore, the Abspullänge the rope 4, the Speed and acceleration of the rope 4 and the rope force under consideration the winding layers on the hoist winch 1 and the speed of the hoist winch determined and monitored.

The unit 6 is advantageously integrated in the hoist winch 1 and forms with this one unity. It can be flange-mounted or in another suitable way at the Wind 1 be attached.

An angle detection unit 7 is assigned to the Hubwindenwelle and digitized the angular position of the hoist winch 1. The angle detection unit 7 is absolutely working formed, i. it detects the angular position of the hoist winch 1 absolutely, even beyond the range of a full turn. The rotation angle values become passed from the converter 7 to the central processing unit 8, which further Processing the values. A real time clock 9 is also connected to the central processing unit 8 connected, so that all their data supplied with the Link real-time values and process them further. This is how the central determines Arithmetic unit 8 from the rotational angle values of the transducer 7, the respective rotational position, the rotational speed and acceleration of the hoist winch. 1

The geometric parameters of the hoist winch 1 are stored in the data memory 10, in particular, there are Hubwindendurchmesser, rope diameter and number of turns stored per position on the hoist winch 1, so that the central processing unit 8 in conjunction with the respective angle of rotation values of the hoist winch 1 the absolute Abspullänge the rope 4, the speed and acceleration of the rope 4 when unwinding or winding and the lever arm of the rope 4, this with respect to the hoist winch 1, determined. These sizes come with the real-time values linked and stored in the data memory 10, so that the operation crane, e.g. for accident reconstruction can be retrieved later.

In order to determine the load of the hoist winch, the respective Torque of the hydraulic motor 2, with which the hoist winch 1 is driven determined. As the figure shows, by means of two pressure sensors 11 and 12, the the fluid circuit 3 on the upstream side and on the downstream side of the hydraulic motor 2 are connected, detects the pressure difference across the hydraulic motor 2. The respective ones Pressure values measured by the pressure sensors 11 and 12 are from these also the central processing unit 8 supplied.

In order to determine the torque of the hydraulic motor 2, the central Arithmetic unit 8 also supplied a signal, the angular position of the actuating lever 14 of the hydraulic motor 2 corresponds, which determines the amount of swallowing of the hydraulic motor 2. The amount of displacement of the hydraulic motor 2 determined together with the pressure difference via the hydraulic motor whose torque. The angular position of the rocking lever 14 can be measured directly by means of a corresponding angle sensor. It can also be determined indirectly. As the figure shows, is a building block 13 provided in the multifunction unit 6, which controls the control of a superimposed Crane control 15 measures, with which the lever 14 is controlled. From the block 13 is a proportional to the position of the control lever 14 signal delivered to the central processing unit 8.

The central processing unit 8 calculates from the angular position of the actuating lever 14 and the pressure difference across the hydraulic motor 2 whose torque. This can be stored in the memory 10 together with the associated real-time values. In particular, the central processing unit 8 calculates from the respective one Torque of the hydraulic motor 2 and given in each moment Lever arm of the rope 4 with respect to the hoist winch 1, the cable force in the rope. 4

All measurements and calculations are done dynamically, the central processing unit 8 calculates the dynamic load of hoist winch 1. To do this determines minimum and maximum extreme values from the chronological course of the cable force, From this load cycles or load changes determined, from which the central processing unit 8 constantly calculates the load spectrum for the hoist winch 1. in principle In this method, the actual load cycles and loads actually occur the winch is divided into n categories and those attributable to the respective categories Summed time shares of the load and stored in the memory 10. Based on the determined dynamic loads, the central processing unit determines 8 according to a method known per se, the remaining life remaining the hoist winch 1.

As the figure shows, the multifunction unit 6 with a superordinate crane control 15 connected. Via a bus interface 16, the higher-level control 15 access the central processing unit 8 and exchange data. Especially the remaining life can be read out and in one corresponding display 17 are displayed.

Furthermore, a safety circuit 18 is provided in the multifunction unit 6, with the prevents that the rope 4 is completely unwound from the hoist winch 1. With the help of stored in the data memory 10 Hubwind parameters and the Rotary position signal of the angle detection unit 7, the central processing unit 8 determine the remaining number of turns on the hoist winch 1. As soon as the absolute unwound cable length reaches a maximum value, controls the central processing unit 8, the safety circuit 17 at. The corresponding switch closes itself, so that from the parent crane control 15, a signal for brake control is turned on, so that the brake 5 is activated and the Hubwindendrehung stops. This will ensure that the required minimum number of turns on the hoist winch 1 is not exceeded.

Furthermore, by determining the absolute unwound rope length from the central arithmetic unit 8 are determined when the hoist winch 1 wound up and is unwound.

All data that are detected in the multifunction unit 6 and / or determined and stored in the data memory 10 are over the serial bus of the superordinated crane control 15 available.

The parameterization of the hoist geometry can also be done via the serial Bus done. In addition, wind data such as Manufacturing data, identification number, Serial number etc. available via the serial bus.

Claims (8)

1. A monitoring device for monitoring the operation of lifting winches of cranes and the like, comprising cable force determination means (7, 8, 10, 11, 12, 13) for determining the cable forces acting on the lifting winch (1) and an evaluation unit (8) for determining the dynamic load of the lifting winch from the cable forces and/or the residual service life, the rope force determination means including a torque determination means (8, 11, 12, 13) for determining the torque of a lifting winch drive (2), a means (7, 8, 10) for determining the lever arm of the cable (4) with respect to the lifting winch (1), and a means (8) for determining the cable force from the respective torque and the associated lever arm, characterized in that the evaluation unit (8) including an associated data memory (10) is integrated into the lifting winch (1) and forms an inseparable unit with the same, and that the torque determination means includes a pressure detecting means (11, 12) for detecting a pressure difference via a hydraulic motor (2) of the lifting winch drive, an absorption volume detection means (13, 14), and a means (8) for determining the torque of the hydraulic motor from the detected pressure difference and the absorption volume.
2. The monitoring device as claimed in the preceding claim, wherein a means (7, 8, 10) for determining and monitoring the absolute cable length unreeled is provided.
3. The monitoring device as claimed in the preceding claim, wherein the means for determining and monitoring the cable length unreeled blocks the drive of the lifting mechanism and/or actuates a lifting mechanism brake (5), as soon as only a predetermined number of windings is left on the lifting winch (1).
4. The monitoring device for monitoring the operation of lifting winches as claimed in any of the preceding claims, wherein a rotary position detecting means (7) for the lifting winch (1) is provided, which is designed to operated on an absolute basis.
5. The monitoring device for monitoring the operation of lifting winches as claimed in any of the preceding claims, wherein a memory (10) for storing lifting winch parameters is provided and the means (7, 8, 10) for determining the lever arm of the cable (4) with respect to the lifting winch (1) determines the lever arm of the cable from the respective rotary position of the lifting winch (1) and the stored lifting winch parameters.
6. The monitoring device for monitoring the operation of lifting winches as claimed in any of the preceding claims, wherein a real-time clock (9) and a memory (10) for storing all detected and/or determined data and variables together with associated real-time values are provided.
7. The monitoring means for monitoring the operation of lifting winches as claimed in any of the preceding claims, wherein the evaluation unit (8) is formed such that the time curve of the cable force is determined and stored and from the same maximum and minimum cable force values and/or load changes are determined, which are allocated to one of a plurality of stored collective load values and are used for determining the residual service life.
8. The monitoring means as claimed in any of the preceding claims, wherein a means (7, 8, 10) for determining a cable speed and/or a cable acceleration is provided.

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