SYSTEM FOR OPERATING A LOAD-HANDLING CRANE, AND LOAD-HANDLING CRANE AND METHOD FOR OPERATING SAME

Abstract

A load-handling crane, and a system and method are provided for operating the load-handling crane having a hoist movable by means of a drive of the crane and a handling device for operating the crane. The handling device is fastened to a liftable and lowerable suspension element of the hoist and having a sensor system for determining an orientation of the suspension element, or of a part fastened to the suspension element, or of the handling device, or of a load-handling attachment. The system further has an operating element that cooperates with the sensor system such that, when the operating element is actuated, a control command for activating the drive is able to be triggered, resulting in the hoist being movable by means of the drive in a direction of travel, with the direction of travel being dependent on an orientation determined by means of the sensor system.

Claims

1. A system for operating a load-handling crane, said system comprising: a hoist movable in a travel plane by a travel drive of the crane, said hoist having a liftable and lowerable carrying means; a handling device for operating the crane and configured to attach to said carrying means; a sensor system for determining an orientation of a section of said carrying means, or a part attached to said carrying means that is suspended from the travel plane and extends in the direction of gravitational force, wherein the orientation is varied by rotation of said section or said part about a rotational axis extending in the direction of gravitational force; and an operating element configured to cooperate with said sensor system in such a manner that by actuating said operating element a control command is triggered for actuating the travel drive so that said hoist is moved in the travel plane in a direction of travel by the travel drive and the direction of travel is dependent upon the orientation determined by said sensor system; wherein said operating element comprises two operating parts, an actuation of which in each case triggers control commands for opposite directions of travel in terms of a forward travel and a rearward travel, wherein said two operating parts comprise a first button for the forward travel and a second button for the rearward travel, wherein each one of said two operating parts includes at least one actuation stage.

2. The system as claimed in claim 1, wherein a specification of the direction of travel for said travel drive that depends upon the determined orientation is effected as a predefined allocation of a directional vector to the determined orientation in such a manner that the specified direction of travel extends along, or in parallel with, a notional straight line representing the orientation, wherein the notional straight line contains two reference points that are defined in a mutually distinguishable manner on said section of said carrying means suspended from the travel plane or said respective part attached thereto used to determine the orientation, wherein a change in the orientation relative to a coordinate plane of said sensor system or said travel drive effects a correspondingly equal change in the directional vector and the direction of travel specified in dependence upon the determined orientation.

3. The system as claimed in claim 1 wherein the direction of travel is specified for the control command in dependence upon the determined orientation by actuating said operating element or another operating element of said system.

4. The system as claimed in claim 1, wherein said sensor system is configured to continuously determine the orientation and cooperate with said operating element configured to be actuated to specify the direction of travel in such a manner that the specified direction of travel remains unchanged or is continuously changed when said operating element is permanently actuated while the orientation changes.

5. The system as claimed in claim 1, wherein said sensor system is configured to determine the orientation of said section of said carrying means or the part attached thereto suspended from the travel plane, wherein the orientation is changeable by rotating said section or said part about the rotational axis and is independent of an inclination of the rotational axis with respect to the direction of gravitational force.

6. The system as claimed in claim 1, wherein sensor system is configured to be at least partially attached to said carrying means and to be arranged between said carrying means and the and said handling device.

7. The system as claimed in claim 1, further comprising a rotary arrangement that is configured to facilitate attachment of said handling device including at least one part of said sensor system to said carrying means, wherein said rotary arrangement is attached so as to be rotatable relative to said carrying means and about the rotational axis.

8. The system as claimed in claim 7, further comprising an element for reducing twisting of said carrying means, wherein said element is configured to be connected to said carrying means for conjoint rotation therewith.

9. The system as claimed in claim 7, wherein said rotary arrangement includes a housing with an opening, through which a connecting body that is connectable to said handling device is engaged and is supportable on said housing with a collar within said housing.

10. The system as claimed in claim 1, further comprising a load sensor configured to detect a weight of a load acting on said carrying means, wherein desired values for speed, acceleration, or deceleration of said travel drive are adaptable in dependence upon the detected weight of the load.

11. A load-handling crane comprising: a travel drive; a hoist moveable in a travel plane by the travel drive, said hoist having a liftable and lowerable carrying means; a handling device for operating said crane and configured to attach to said carrying means; a sensor system for determining an orientation of a section of said carrying means, or a part attached to said carrying means that is suspended from the travel plane and extends in the direction of gravitational force, wherein the orientation is varied by rotation of said section or said part about a rotational axis extending in the direction of gravitational force; and an operating element configured to cooperate with said sensor system in such a manner that by actuating said operating element a control command is triggered for actuating the travel drive so that said hoist is moved in the travel plane in a direction of travel by the travel drive and the direction of travel is dependent upon the orientation determined by said sensor system; wherein said operating element comprises two operating parts, an actuation of which in each case triggers control commands for opposite directions of travel in terms of a forward travel and a rearward travel, wherein said two operating parts comprise a first button for the forward travel and a second button for the rearward travel, wherein each one of said two operating parts includes at least one actuation stage.

12. A method for operating a load-handling crane, said method comprising: providing a hoist movable in a travel plane by a travel drive of the crane, the hoist having a handling device for operating the crane, wherein the handling device is attached to a liftable and lowerable carrying means of the hoist and the hoist further comprising a sensor system and an operating element that cooperates with the sensor system; determining by the sensor system an orientation of a section of the carrying means, or a part attached to the carrying means, wherein the sensor system is configured to determine the orientation of the section of the carrying means or of the part attached thereto, suspended from the travel plane and extending in the direction of gravitational force, and wherein the orientation is varied by rotating the section or the part about a rotational axis extending in the direction of gravitational force; actuating the operating element to trigger a control command for actuating the travel drive to move the hoist in the travel plane in a direction of travel by the travel drive, wherein the direction of travel is based on the orientation determined by the sensor system, wherein the operating element comprises two operating parts, wherein actuation of the two operating parts in each case triggers control commands for opposite directions of travel in terms of a forward travel and a rearward travel, wherein the two operating parts are configured as a first button for the forward travel and a second button for the rearward travel, and wherein each button includes at least one actuation stage.

13. The method as claimed in claim 12, further comprising: specifying the direction of travel for the travel drive based on the determined orientation and effected as a predefined allocation of a directional vector to the determined orientation in such a manner that the specified direction of travel extends along, or in parallel with, a notional straight line representing the orientation, wherein the notional straight line contains two reference points that are defined in a mutually distinguishable manner on the section of the carrying means or the part attached thereto and used to determine the orientation suspended from the travel plane, wherein a change in the orientation relative to a coordinate plane of the sensor system or the travel drive effects a correspondingly equal change in the directional vector and the direction of travel specified based upon the determined orientation.

14. The method as claimed in claim 13, wherein the direction of travel is specified for the control command based upon the determined orientation by actuating the operating element or another operating element.

15. The method as claimed in claim 13, wherein the specified direction of travel remains unchanged or is continuously varied when the operating element to be actuated to specify the direction of travel is permanently actuated and the orientation changes.

16. The system as claimed in claim 1, wherein said sensor system is configured for determining an orientation of said part attached to said carrying means, wherein said part comprises said handling device and/or a load picking-up means.

17. The load-handling crane of claim 11, wherein said determining the orientation by the sensor system comprises determining the orientation of the part attached to the carrying means, wherein the part comprises the handling device or a load picking-up means.

18. The load-handling crane of claim 11, wherein said sensor system is at least partially attached to said carrying means and is arranged between said carrying means and said handling device.

19. The load-handling crane of claim 11, further comprising a rotary arrangement, wherein said handling device together with at least one part of said sensor system are connected to said carrying means via said rotary arrangement, and wherein said rotary arrangement is attached to said carrying means so as to be rotatable relative to said carrying means and about the rotational axis.

20. The load-handling crane of claim 19, further comprising a connecting body for coupling said handling device with said rotary arrangement, wherein said rotary arrangement includes a housing with an opening, wherein one end of said connecting body extends through said opening and includes a collar supported by said housing of said rotary arrangement, and wherein another end of said connecting body is connected to and engages said handling device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0038] An exemplified embodiment of the invention will be explained in greater detail with reference to the following description. In the drawings:

[0039] FIG. 1 shows a perspective and schematic view of a load-handling crane in accordance with the invention;

[0040] FIG. 2 shows a view of a handling device and rotary arrangement of the crane of FIG. 1; and

[0041] FIG. 3 shows a sectional view through the rotary arrangement and a part of the handling device of FIG. 2.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0042] FIG. 1 shows a perspective view of load-handling crane 1 in accordance with the present invention. The crane 1 is shown by way of example as a single-girder bridge crane having a crane girder 2 configured as a lattice girder. The crane 1 can be moved as a whole in a direction of travel of the crane x on rails, not illustrated, by means of crane running gear units 5, 6, which are attached to opposite ends 3, 4 of the crane girder 2 forming a crane bridge. The rails are raised with respect to the ground in a conventional manner, and for this purpose can be elevated, for example via a suitable support structure, or can be attached to mutually opposing building walls and/or on a building ceiling which are then used as a support structure.

[0043] Of course, alternative embodiments not illustrated here in more detail for the crane 1, in particular the crane girder 2 and the rails, are also feasible. For instance, the crane 1 can be formed such as a suspension crane. In the case of a suspension crane, the rails and also the crane girder 2 can be formed by rail profiles which generally have a c-shaped cross-section open at the bottom in its mounting position. In the mounting position, the crane bridge formed by the crane girder 2 is then suspended via the crane running gear units 5, 6 on the rails suspended for example on a building ceiling used as a support structure, wherein the crane running gear units 5, 6 are inserted from beneath into the rail profiles and can move within the rail profiles on craneways formed at that location. The following statements in relation to the present crane 1 apply accordingly to a load-handling crane formed as a suspension crane.

[0044] The crane girder 2 extends with its longitudinal extent LE horizontally and transversely, in particular perpendicularly, to the direction of travel of the crane x. The crane 1 or its crane girder 2 can be moved in the direction of travel of the crane x via the crane running gear units 5, 6 driven by a motorised crane drive. The crane drive preferably includes an electric motor 5a and 6a for each crane running gear unit 5 and 6 respectively. A crane trolley 7 having a hoist 8 is arranged on the crane girder 2 and can be moved in a direction of travel of the trolley y, by means of its trolley running gear unit 7a driven by a motorised trolley drive, together with the hoist 8 on the crane girder 2 along the longitudinal extent LE thereof and thus transversely, in particular perpendicularly, to the direction of travel of the crane x. The trolley drive preferably likewise includes an electric motor. In the case of a suspension crane, the crane trolley 7 can be moved with its trolley running gear unit 7a in an identical manner within the crane rail 2 on a trolley-way at that location, like the crane running gear units 5, 6 within the respective rail on the craneway.

[0045] The running gear units 5, 6 and 7a and the motorised drives thereof form a travel drive of the crane 1. By way of a targeted actuation of the crane drive and/or the trolley drive, the crane trolley 7, and thus the hoist 8, can be moved in a direction of travel in a motorised manner in, and in parallel with, a preferably horizontal travel plane E. The direction of travel thus corresponds to the direction of travel of the crane x, or the direction of travel of the trolley y, or the superposition thereof.

[0046] Via a lifting drive of the hoist 8, which is motorised by means of an electric motor, a flexible and string-like carrying means 9 of the hoist 8, or its section suspended from the travel plane E, and a load picking-up means 9a that is attached thereto, and is thus suspended, having a possible load L attached to the load picking-up means 9a can be lifted or lowered. The carrying means 9 can also be designed, in addition to the present exemplified embodiment as a cable, as a chain, and so the hoist 8 is then not formed as a cable winch but as a chain hoist. The load picking-up means 9a includes by way of example a load hook and is attached and suspended on the carrying means 9 and thus on the load string, in particular via a handling device 10 in the load string attached to the carrying means 9 in a load-bearing manner. As a result, the crane 1 is formed as a load-handling crane 1 in the sense defined in the introduction. The load-bearing connection between the load picking-up means 9a and the handling device 10 for attaching the load picking-up means 9a to the carrying means is optionally a conjoint-rotation connection in order to be able to move and thus handle a load L in a particularly precise manner by corresponding manipulation of the handling device 10. For this purpose a handle 15 is arranged on a housing 12 of the handling device 10 which can be grasped by the respective operator 13 using one hand 13a in order to be able to guide and orientate the carrying means 9 and thus the load string including any possible load L by a corresponding manual force, and thus to be able to dampen any possible swinging movements. The other hand 13b of the operator 13 can be in direct contact with the load L and assist the guiding and orientating or dampening and so for this purpose both hands 13a, 13b are available on the whole, as is typical for load-handling cranes. Moreover, the handling device 10 is provided with an operating element 16 (see FIG. 2) for operating the crane 1 and is thus configured as a control switch.

[0047] The crane 1 also includes a control unit 11 that is connected to the handling device 10, or its operating element 16, and also to the travel drive and the lifting drive of the crane 1 in terms of control technology and in particular in a signal-transmitting manner. When an operator 13, in particular with the hand 13a grasping the handle 15, at the same time actuates the operating element 16, corresponding control commands for actuating the drives or the electric motors thereof in particular mutually independent manner are triggered by the control unit 11, and so the crane 1 is operated thereby and the associated crane movements, in particular driving manoeuvres in the travel plane E and lifting and lowering movements of the carrying means 9 perpendicular thereto can be effected. The operating element 16, which can be seen in FIG. 2, includes for this purpose two operating parts in the form of a “forwards travel” button 16a and a “rearwards travel” button 16b for triggering control commands having opposing directions of travel (desired directional values) for the travel drive. Moreover, the operating element 16 includes two further operating parts in the form of a “lift” button 16c and a “lower” button 16d for actuating the lifting drive of the hoist 8 and thus for triggering corresponding desired values and/or control commands.

[0048] The control unit 11 can be divided such that one part 11a of the control unit 11 used for actuating the trolley drive, and in particular also the lifting drive, is arranged on the crane trolley 7 as a trolley controller, and one part 11b of the control unit 11 used to actuate the crane drive is arranged as a crane controller outside the crane trolley 7 on the crane girder 2 or at least one of the running gear units 3, 4. Alternatively, the control unit 11 can also be incorporated in the handling device 10 or the housing 12 thereof, at least with both parts 11a and 11b, and from there can actuate the lifting drive and also the travel drive (crane drive and trolley drive) (not shown).

[0049] In order to be able to move the hoist 8 of the crane 1 in the travel plane E in a desired direction of travel by means of the travel drive intuitively, safely and efficiently, the crane 1 is provided with a system, in accordance with the present invention, for operating the crane 1 accordingly. The essential components of the system are the handling device 10, the operating element 16 and a sensor system 20 (see FIG. 3) for determining, in particular continuously, an orientation of the carrying means 9, and/or a part attached to the carrying means 9, in particular the handling device 10 and/or the load picking-up means 9a. The operating element 16 cooperates with the sensor system 20 via a signal-transmitting connection, not shown, such that by actuating the operating element 16, i.e. the “forwards travel” button 16a or “rearwards travel” button 16b thereof, a control command for actuating the travel drive with a desired directional value can be triggered. By way of the control command, the hoist 8 can then be moved in the travel plane E in a direction of travel corresponding to the desired directional value by means of the travel drive, wherein the desired directional value, or the direction of travel, is dependent upon an orientation determined by means of the sensor system 20. The desired direction of travel for the control command is specified in dependence upon the corresponding orientation by actuating the operating element 16, and can be changed by adjusting the respective orientation accordingly. The desired directional value can be specified by an evaluation unit connected to the sensor system 20 in a signal-transmitting manner and can be transmitted to the control unit 11 via a signal-transmitting connection, and the control command is then generated in the control unit. The evaluation unit can be incorporated, like the control unit 11, on or in the handling device 10.

[0050] In the present exemplified embodiment, the system, or the sensor system 20 thereof, is configured to determine an orientation of the handling device 10 as a part attached to the carrying means 9. This is an orientation that can be varied and thus adjusted by a rotation R of the handling device 10 about a rotational axis z1. For this purpose, the respective operator 13 can grasp the handling device 10, for example by the handle 15, with one hand 13a and can affect the desired rotation R by way of a corresponding manual force. The rotational axis z1 can extend in the direction of gravitational force and thus in an inclined manner with respect to the travel plane E. The section of the carrying means 9 suspended from the travel plane E, to which the handling device 10 and in particular also the load picking-up means 9a via the handling device 10 is attached, can also be located in its rest position and can likewise extend in the direction of gravitational force. In this context, the carrying means 9 itself can also be oriented according to the rotation R and for this purpose can be twisted about the rotational axis z1. However, since this is associated with an increased manual application of force for the operator 13 in order to compensate for a returning torque, produced owing to the twisting of the carrying means, the rotation of the handling device 10 optionally occurs relative to the carrying means 9. For this purpose, the handling device 10, in particular together and uniformly with the load picking-up means 9a and any possible load L attached thereto, is attached to the carrying means 9 so as to be rotatable relative thereto about the rotational axis z1 by means of a rotary arrangement 17. The carrying means 9 itself is not twisted about the rotational axis z1, or is at most twisted to a negligible extent. In order to minimise or prevent twisting of the carrying means 9, a hose 22 formed as a spiral hose is provided (see FIG. 2) which is used as an element for reducing twisting of the carrying means 9. The lower end of the hose 22 is connected to the section of the carrying means 9 suspended from the travel plane E for conjoint rotation therewith via the rotary arrangement 17, in particular indirectly via a rotary element of the rotary arrangement 17, which for its part is connected to the suspended section of the carrying means 9 for conjoint rotation therewith. The opposing upper end (not shown) of the hose 22 is likewise connected to the hoist 8, in particular the housing thereof, for conjoint rotation therewith in the region of the travel plane E. The hose 22 is configured such that its length is adjusted accordingly during lifting or lowering and the associated movement of the carrying means 9. The carrying means 9 is accommodated within the hose 22.

[0051] The orientation, which can be determined by means of the sensor system 20, is detected in the present exemplified embodiment in the form of a rotational angle W which can be adjusted by the rotation R of the handling device 10 about the rotational axis z1 and relative to the carrying means 9. One possible embodiment of the sensor system 20 is explained hereinunder with the aid of FIG. 3.

[0052] FIG. 2 shows a side view of more details of the handling device 10, suspended on the carrying means 9, from FIG. 1. In this enlarged illustration, it can be seen that the handling device 10 is coupled with the carrying means 9 via a connecting body 14 and the rotary arrangement 17. Opposite the rotary arrangement 17, the handling device 10, or the housing 12 thereof, includes a receptacle 10a for attaching the load picking-up means 9a in particular for conjoint rotation therewith. The rotary arrangement 17, in particular the housing 17c thereof, and the handling device 10, in particular housing 12, are connected to each other and to the carrying means 9 in a load-bearing manner by means of the connecting body 14. It is hereby possible to convey in particular the weight of the load L via the handling device 10, the connecting body 14 and the rotary arrangement 17, and to introduce same into the carrying means 9 from the rotary arrangement 17. The operating element 16 is arranged on the housing 12, in particular on the handle 15 thereon. The operating parts of the operating element 16 formed by the buttons 16a to 16d can also be seen. The operating element 16 and the buttons 16a to 16d thereof are formed in the present case as push-buttons to be mechanically actuated, each having at least one actuation stage. However, other embodiments in the sense defined in the introduction are also feasible.

[0053] It can also be seen that the handle 15 is formed to be grasped at least partially by one hand 13a, 13b of the operator 13, and at the same time to allow the operating element 16 or the buttons 16a to 16d to be reached using the same hand 13a, 13b. The handle 15 can also be used as a lever arm in order to be able to rotate the handling device 10 together with a suspended load L (see FIG. 1) smoothly about the rotational axis z1.

[0054] FIG. 3 shows a sectional view through the rotary arrangement 17 and a part of the handling device 10. An upper first rotary element 17a and a lower second rotary element 17b of the rotary arrangement 17 are incorporated within the housing 17c. The rotary elements 17a, 17b are rotatable relative to each other about the rotational axis z1 or define same. The rotary elements 17a, 17b are supported with respect to each other via in particular spherical rolling bodies 18 in order to form an axial bearing formed as a roller bearing, in particular a ball bearing. In order to protect against fouling, a sealing body 19 is further arranged and covers the gap between the two rotary elements 17a, 17b.

[0055] In order to attach and suspend the handling device 10 on the carrying means 9 in a load-bearing manner via the rotary arrangement 17, the handling device 10 is connected in particular with its housing 12 to the first rotary element 17a for conjoint rotation therewith with respect to the rotational axis z1, and the free end of the carrying means 9 is connected to the second rotary element 17b for conjoint rotation therewith with respect to the rotational axis z1. The load-bearing and conjoint-rotation connection between the handling device 10 and the first rotary element 17a is effected via the connecting body 14, which is supported on the one hand on the housing 17c with a first collar 14a and on the other hand on the housing 12 with a second collar 14b, and thus in each case in a form-fitting and frictional manner, and for this purpose engages in each case into the housing 17c and 12 through corresponding opposite openings. The likewise load-bearing and conjoint-rotation connection between the carrying means 9 and the second rotary element 17b are affected in the present case via a holding element 21, which is arranged within the housing 17c and is supported via the rotary elements 17a and 17b, and the rolling bodies on the housing wall of the housing 17c, wherein the rotary element 17a is in contact with the housing wall.

[0056] In order to be able to determine the respective rotational angle W of the handling device 10 relative to the rotational axis z1 as the orientation, the sensor system 20 is configured as a rotational angle sensor system, and in the present exemplified embodiment is attached completely to the carrying means 9. In this case, the sensor system 20 is arranged between the carrying means 9 and the handling device 10, in particular within the housing 17c. The sensor system 20 includes a magnetic body 20a and a sensor 20b cooperating therewith in the form of a Hall sensor configured as a 3D sensor, which permits determination of an absolute rotational angle W, and for this purpose defines a corresponding coordinate plane of the sensor system 20, which is used as a reference system for the orientation to be determined. In this case, the magnetic body 20a is connected to the holding element 21 for conjoint rotation therewith with respect to the rotational axis z1 and is supported thereby on a side facing away from the carrying means 9 and facing the handling device 10. Opposite the magnetic body 20a, the sensor 20b is connected to the handling device 10 for conjoint rotation therewith with respect to the rotational axis z1 and is arranged on the top side of the connecting body 14 located within the housing 17c. Of course, an inverse arrangement of the magnetic body 20a and sensor 20b is also possible.

[0057] Owing to the parts of the crane 1, which are connected to the rotary element 17a for conjoint rotation therewith with respect to the rotational axis z1, i.e. in particular the handling device 10, the connecting body 14 and the housing 17c, upon rotation R about the rotational axis z1, these are rotated together with the rotation R, whereas the parts connected to the rotary element 17b for conjoint rotation therewith with respect to the rotational axis z1, i.e. in particular the carrying element 9 and the holding element 21, remain in their non-rotated initial position. Owing to the arrangement, which is stationary relative to the rotational axis z1, of the rotary element 17b and the magnetic body 20a connected thereto for conjoint rotation therewith, a relative change in position of the sensor 20b and thus the entire rotational direction and the rotational angle W of the handling device 10 can be determined. Owing to this type and arrangement of the sensor system 20, the orientation can be determined in the form of the rotational angle W independently of any inclination of the rotational axis z1 with respect to the direction of gravitational force, such as when the load string swings with respect to the rest position or is intentionally deflected by the operator 13.

[0058] As an alternative to the determination of the orientation of the handling device 10, and the parts connected thereto for conjoint rotation therewith relative to a coordinate plane which is movable with the carrying means 9, it is also feasible that the orientation, in particular the respective rotational angle W can be determined relative to an overall, and in particular stationary, coordinate plane. For this purpose, the sensor system 20 can include for example an electronic compass, which then defines the coordinate plane of the sensor system 20. The determination of the orientation relative to such a coordinate plane has the advantage that clear results are possible irrespective of any possible rotation or twisting of the carrying means 9, and thus the coordinate plane about the rotational axis z1. In this context, other types and arrangements of the sensor system 20 are feasible, wherein in particular parts of the sensor system 20 defining the respective coordinate plane can also be arranged outside the carrying means 9 and/or outside the crane 1, in particular in a stationary manner relative to the crane 1 and its movements. In this case, the sensor system 20 can include, as described above, transmitting means and receivers in order to determine two reference points, defined for example on the handling device 10, and the orientation thereof.

[0059] Changes and modifications in the specifically-described embodiments may be carried out without departing from the principles of the present invention, which is intended to be limited only by the scope of the appended claims as interpreted according to the principles of patent law including the doctrine of equivalents.