Procedures for operating a crane and crane

Abstract

Method for operating a crane (100) with a movable undercarriage (1), a rotatable superstructure (4) mounted on it with a luffing main boom (5) and derrick boom (10) arranged thereon, characterized in that an auxiliary crane (20) with telescopic boom (25) is connected to the crane (100) as derrick ballast and the derrick ballast radius is set via the telescopic boom (25) of the auxiliary crane (20).

Description

The invention relates to a method for operating a crane with a movable undercarriage, a rotatable superstructure mounted on it with a luffing main boom and derrick boom arranged thereon. Such designs known from the prior art can be found, for example, in DE 33 19 160 A1 and DE 24 38 439 C2. Large cranes, especially large crawler cranes, require a substantial counterweight to counteract the lifted payload and prevent the crane from tipping over. This counterweight can be provided by a central ballast, a superstructure ballast, or a ballast on the derrick boom. A ballast plate supported against the ground by appropriate means is commonly suggested as a derrick ballast. Alternatively, a completely suspended ballast or a derrick ballast carried by a ballast wagon are also possible. Against this background, special ballast wagons were developed that are designed as self-propelled vehicles and can therefore be moved together with the crane to ensure largely unrestricted crane operation. However, such solutions always require the complex in-house development of a suitable ballast wagon used exclusively for ballasting. Furthermore, such a ballast wagon must be transported separately to the construction site for crane operation, which negatively impacts the operating costs, as these generally depend on the required ballast mass. Another problem arises when dimensioning the required ballast during the erection of long boom combinations. The boom lying on the ground has a comparatively large lever arm and therefore induces a relatively large load moment, which far exceeds the load moments that occur later during crane operation. As a workaround for this problem, DE 203 14 503 U1 proposes arranging the auxiliary crane required for the crane's setup process as additional ballast on the crane's superstructure in order to compensate for the load moments generated during the erection process. However, a disadvantage of the proposed method is that the auxiliary crane acting as ballast can only be used during the erection process, as it would severely restrict the crane's freedom of movement during operation. The object of the present invention is to demonstrate a new method for operating such a crane in order to overcome the aforementioned problem. This problem is solved by a method for operating a crane with the features of claim 1. Advantageous embodiments of the method are the subject of the dependent claims following the main claim. The invention relates to an operating method for a crane with a movable undercarriage and a superstructure rotatably mounted on it, wherein the superstructure is preferably rotatably mounted about a vertical axis of rotation relative to the undercarriage. A main boom, preferably luffing about a horizontal axis, is provided on the superstructure of the crane. For the implementation of the method, a crane according to a known derrick configuration is used, such that a derrick boom is also articulated to the superstructure. According to the invention, an auxiliary crane with a telescopic boom is connected to the crane as derrick ballast. This ballasting option can be used, for example, during regular crane operation or even during the crane setup process, specifically during the erection of the main crane boom. An auxiliary crane is, for example, a relatively small crane required for the setup process of the crane according to the invention. In particular, an auxiliary crane designed as a mobile or crawler crane is suitable. The auxiliary crane used as derrick ballast is not necessarily responsible for the setup process of the crane according to the invention. Preferably, the auxiliary crane can also be used as a second crane to rotate the tower elements of a wind turbine. Furthermore, the auxiliary crane can also be used when moving the larger crane. It can be attached to the outer end of the crane's main boom when the main boom is luffed. Both cranes can then be moved together as a single unit. Compared to a conventional derrick ballast, the auxiliary crane used as a derrick ballast has the advantage that it can be moved independently on the construction site, which significantly reduces the required relocation times of the entire crane system from one place of use to the next place of use on the construction site. Generally, the entire weight of the auxiliary crane acts as derrick ballast. The auxiliary crane's telescopic boom system allows the effective derrick ballast weight to be adjusted to the load being lifted, as the counter-moment generated by the auxiliary crane's weight is determined by its telescopic length. For example, a shorter telescopic length is advantageous when lifting a load with a relatively steep boom angle. The larger the load or the shallower the boom's luffing angle, the greater the extended telescopic length of the auxiliary crane boom should be. In particular, the high load moments that occur during the erection of the boom system can easily be compensated for by the auxiliary crane, which acts as derrick ballast and has a suitable boom length. The auxiliary crane is not only used as derrick ballast during the erection of the crane's luffing main boom, but is also intended to serve as derrick ballast during subsequent crane operations. The crane's freedom of movement during these operations must not be restricted, or only minimally restricted, by the derrick ballast. To this end, an advantageous embodiment of the invention provides that a crane control system controls at least one drive of the auxiliary crane used as derrick ballast, depending on the crane's travel movement. The implementation of the suitable crane control system can preferably be located on the crane side. Of course, the implementation of a suitable crane control system can also be located on the auxiliary crane side without restriction.In this context, the necessary coupling between the two cranes is crucial to enable the required control of at least one drive of the auxiliary crane. For the sake of simplicity, the following discussion will focus exclusively on the crane control system of the main crane; however, the explanations below apply equally to implementations on the auxiliary crane side. It is conceivable that the crane's control system could control the auxiliary crane's travel drive. Furthermore, other drives of the auxiliary crane, such as the drive on the luffing cylinder and other drives, could also be controlled depending on the crane's travel movement. Furthermore, the auxiliary crane can also function as a rotary drive for the crane's superstructure. In this case, the crane's rotary drive is activated, and a rotary movement of the crane superstructure is generated by a traversing movement of the auxiliary crane. In a preferred embodiment of the method, in addition to the crane's linear movement, the crane's rotational movement, in particular the rotational movement of the superstructure relative to the undercarriage, is also taken into account for controlling the auxiliary crane. In principle, any other crane movement can be considered when controlling the auxiliary crane. According to an advantageous embodiment of the invention, the control of one or more auxiliary crane drives can be achieved by the crane control system automatically determining the corresponding steering center for the auxiliary crane when the crane is rotating and independently steering, accelerating, or decelerating it while towing behind the main crane. This prevents a high lateral force from being introduced by the auxiliary crane, which acts as a derrick ballast, when the main crane is rotating. Alternatively, the aforementioned problem can be counteracted by using the auxiliary crane as the slewing drive for the main crane. To enable the auxiliary crane to fully contribute its mass as a counterweight for the crane according to the invention, it is advantageous to install a bracing system between the derrick boom and the auxiliary crane. The bracing system can, for example, be connected directly or indirectly to the superstructure of the auxiliary crane via a frame. Alternatively, other connection points can also be chosen. In this context, any connection point on the outer section of the auxiliary crane's boom pivot is conceivable. A connection point between the bracing and the boom pivot in the area of ​​the luffing cylinder bearing proves to be a sensible alternative. It is particularly advantageous if the connection between the crane and the auxiliary crane is established via the auxiliary crane's boom, especially its telescopic boom. In this context, it is conceivable that the auxiliary crane's boom tip is connected directly or indirectly to the crane, particularly to the crane superstructure. Alternatively, the boom tip can be attached to the crane's ballast holder or directly to the ballast. Furthermore, a connecting adapter can be installed between the boom of the auxiliary crane and the superstructure of the crane. This adapter can preferably be mounted directly on the sheave head of the auxiliary crane's boom system, utilizing the existing bolted connections on the sheave head, which are normally used to accommodate a boom extension. In particular, the connecting axes of the connection points between the crane and the adapter are horizontally aligned, allowing one degree of freedom around a horizontal axis. This enables the auxiliary crane's boom to compensate for height differences, provided the corresponding luffing drive or luffing cylinder is engaged. The required control lines for controlling the auxiliary crane, preferably electrical and / or hydraulic control lines, are preferably guided from the crane towards the auxiliary crane by means of suitable guides on the connecting adapter. Another aspect of the invention relates to a crane with a movable undercarriage and a superstructure rotatably mounted on it, the superstructure preferably being rotatably mounted about a vertical axis of rotation relative to the undercarriage. A main boom, which can be tilted about a horizontal axis, is provided on the superstructure of the crane. The crane is designed according to a known derrick configuration and therefore additionally includes a derrick boom arranged on the superstructure. According to the invention, an auxiliary crane can be connected to the crane as derrick ballast. An auxiliary crane is defined, for example, as a relatively small crane with a telescopic boom, in particular a mobile or crawler crane, required for the setup process of the crane according to the invention. However, the auxiliary crane used as derrick ballast is not necessarily responsible for the setup process of the crane according to the invention. In addition to its use as derrick ballast for erecting the luffing main boom of the crane according to the invention, it should also be available as derrick ballast for subsequent crane operations. The derrick ballast radius or the effective derrick ballast weight is adjustable via the telescopic length of the auxiliary crane's boom system. To avoid restricting the crane's freedom of movement, the crane preferably has a crane control system to control at least one drive of the auxiliary crane used as derrick ballast, depending on the crane's travel movement. It is conceivable that the auxiliary crane's travel drive could be controlled via the crane's control system. In principle, it is also conceivable that any drives of the auxiliary crane, such as the drive on the luffing cylinder or other drives, could be controlled by the crane's control system. In particular, the crane has the necessary means for carrying out the method according to the invention in accordance with one of the advantageous embodiments described above. The advantages and properties of the crane therefore correspond to those of the method according to the invention, which is why a repetitive description will be omitted here. The necessary exchange of control signals between the crane and the auxiliary crane necessitates suitable cable routing. It is advisable to route one or more electrical and / or hydraulic lines between the crane and the auxiliary crane to control one or more drives of the auxiliary crane. For this purpose, at least one or more guide elements are provided on the connecting adapter to accommodate one or more lines and offer a sufficiently stable and secure routing option. The invention further relates to a crane system consisting of an auxiliary crane and a crane according to the aforementioned embodiment. The properties and advantages of the crane according to the invention apply equally to the crane system. The invention further relates to a connecting adapter for the crane according to the invention. The connecting adapter forms the appropriate coupling element for establishing a connection between the auxiliary crane and the main crane. The advantages and properties of the connecting adapter according to the invention obviously correspond to those of the crane according to the invention. A further description is therefore unnecessary. In particular, the connecting adapter is provided with one or more guide elements for guiding one or more electrical and / or hydraulic lines. The shape of the connecting adapter can be approximately described as a prism with triangular side faces, with suitable bolting points for connection to the auxiliary crane boom and the crane superstructure available in the corner areas. It is also possible to equip the connection adapter with a suitable coupling mechanism to ensure quick and easy coupling of the aforementioned control lines. The invention further relates to a crane control system for carrying out the method according to the invention, the advantages and properties of which of the crane control system are evident from the corresponding description of the method according to the invention. The crane control system can optionally be integrated into the auxiliary crane and / or the main crane. Consequently, existing cranes can be easily retrofitted, provided that the corresponding control lines are connected. Furthermore, the invention relates to a data carrier that carries the appropriate control software for implementing the aforementioned crane control. Further advantages and details of the invention are explained in more detail below with reference to an embodiment illustrated in the drawings. The drawings show: Fig. 1: a side view of the crane according to the invention with the auxiliary crane attached, Fig. 2: a detailed view of the superstructure of the auxiliary crane, Fig. 3: a detailed view of the connection point between the auxiliary crane and the crane according to the invention, and Fig. 4: a top view of the connecting adapter. The main crane 100 shown in the figures has a chassis 1 with a running gear 2, which in the drawn version is designed as a crawler chassis and comprises two crawler tracks arranged on the right and left. A superstructure 4, rotatably mounted about an upright pivot axis, is arranged on the chassis 1. The superstructure 4 carries a boom 5, which is articulated to the superstructure 4 about a horizontal pivot axis and allows a hoist cable to run off it in the usual manner. On the rear side of the superstructure 4, opposite the pivot point of the boom 5, it carries an operating ballast 7, which counteracts the tipping moment induced by the boom 5 or a load suspended from it. The luffing jib 9, which is pivotally connected to the boom 5, can be raised and lowered via the guy wires 8, 8'. Behind the main boom 5, the rearward-oriented derrick boom 10 is mounted, wherein the main boom 5 or the main boom head is braced in a manner known per se via the adjustable bracing 11 on the derrick boom 10. When lifting very heavy loads, it is necessary to brace the derrick boom 10 using an additional derrick ballast. This is usually achieved using a derrick ballast suspended above the ground or one braced against the ground. In contrast to the prior art, the main crane 100 according to the invention provides a novel solution for ballasting the derrick boom 10. As can be seen from Fig. 1, instead of a conventional derrick ballast holder, a crawler crane 20, which is hereinafter referred to as the auxiliary crane 20, is used. The use of the auxiliary crane 20 as derrick ballast has the advantage that the transport of an additional assembly, such as an additional ballast wagon or ballast plate, is unnecessary. The auxiliary crane 20, used as derrick ballast, can be moved independently on the construction site, which significantly reduces the time required to move the entire crane system from one location to the next on the construction site. The transport costs for crane 100 to the construction site can also be significantly reduced, since an auxiliary crane 20 is already available on site to assist with the setup of crane 100 according to the invention or to perform other crane work. For example, the auxiliary crane can also be used as a second crane to turn the tower sections of a wind turbine. Furthermore, the auxiliary crane can also be used when moving the larger crane. It can be attached to the outer end of the crane's main boom when the main boom is luffed. Both cranes can then be moved together as a single unit. Basically, any crane 20 can be used as derrick ballast, as long as its physical dimensions are sufficiently small compared to the crane 100. In the specific embodiment shown in Fig. 1, Fig. 2 to Fig. 3, the auxiliary crane 20 is also designed as a crawler crane and comprises a chassis 21 with a crawler undercarriage 22 carrying two crawler tracks and a superstructure 24 rotatably mounted relative to the chassis 21. The superstructure 24 carries a telescopic boom 25 that can be tilted about a horizontal axis. To use the auxiliary crane 20 as derrick ballast, its boom 25 is first extended to the required length, and the individual telescopic sections of the boom 25 are bolted together accordingly. The telescopic boom 25 is designed to be extremely pressure-resistant in order to achieve long boom lengths without resulting in an unacceptable increase in transport weight. The telescoped boom length determines the derrick ballast radius of the crane 100 according to the invention. For example, radii of 45 m or more are conceivable. Since the auxiliary crane 20 is small compared to the crane according to the invention, the required luffed position of the telescoping boom 25 can be easily reached via the crane's own luffing cylinder 26. Smaller radii can also be reached depending on the space available on the construction site. The connecting adapter 30 is bolted to the tip of the telescopic boom 25 of the auxiliary crane 20, utilizing the existing bolting points on the roller head 27 of the telescopic boom 25, which are already provided for mounting a boom extension. A top view of the connecting adapter is shown in Fig. 4. The connecting adapter 30 is bolted to the connecting points 31, 32 on the roller head 27 via the two adapter connection points 36, 37. The opposite side of the adapter can be attached to the superstructure 4 via the two connection points 34, 35, with the connecting axes 33 of the connection points 34, 35 running horizontally to provide an additional degree of freedom for compensating for height differences between the auxiliary crane 20 and the crane 100. In particular, compensation for height differences is easily achieved if the luffing cylinder 26 of the auxiliary crane 20 is disengaged.A detailed view of the connecting adapter 30 mounted between the auxiliary crane 20 and the superstructure 4 can be seen in Fig. 3. In order for the auxiliary crane 20 to fully contribute its mass as a counterweight, the bracing system designated with reference numeral 40 between the auxiliary crane 20 and the derrick boom 10 is necessary. Bracing system 40 extends from the tip of the derrick boom 10 towards the auxiliary crane 20 and is bolted to its superstructure 24. The detailed view of the superstructure 24 in Fig. 2 shows that the bracing 40 is not attached directly to the superstructure 24, but is bolted on indirectly via the frame section 41. Alternatively, the bracing can be attached directly or indirectly to the boom pivot of the auxiliary crane, in particular to the boom pivot in the area of ​​the luffing cylinder bearing or any outer section of the boom pivot. To ensure unrestricted crane operation with an auxiliary crane 20 acting as derrick ballast, it is necessary for the crane control system of crane 100 to influence the drive(s) of the auxiliary crane 20. In this context, it is desirable that any movement of crane 100 triggers a correspondingly synchronous control of the individual drives of the auxiliary crane 20, so that the crane 100's freedom of movement remains unaffected. It is also possible for the auxiliary crane 20 to act as a slewing drive for the superstructure 4 of crane 100. In this case, the slewing drive of crane 100 is enabled, so that the travel movement of the auxiliary crane 20 causes a slewing movement of the superstructure 4. The basic movements of crane 100 consist, on the one hand, of rotating the superstructure 4 and, on the other hand, of the towing movement, that is, the movement in which the derrick ballast, i.e., the auxiliary crane 20, follows crane 100. During these movements of crane 100, the drive(s) of the auxiliary crane 20, in particular its travel drive, must be controlled in such a way that impermissible forces exerted by the auxiliary crane 20 on crane 100 during the crane's travel movement are avoided. The necessary control interface between crane 100 and auxiliary crane 20 is formed by one or more electrical or hydraulic control lines that connect the corresponding control components of the two cranes 20 and 100. The lines run from crane 100, via the connecting adapter 30, along the longitudinal axis of the boom 25 towards the drives of the auxiliary crane 20 to be controlled. For this purpose, the adapter 30 has corresponding guide elements that provide a secure mounting and guidance system for the installed control lines. The core concept of the invention can, in principle, also be applied to alternative crane types. In particular, the crane 100 and / or the auxiliary crane 20 can also be designed as a mobile crane with a wheeled chassis.

Claims

Method for operating a crane (100) with a movable undercarriage (1), a superstructure (4) rotatably mounted on it with a luffing main boom (5) and derrick boom (10) arranged thereon, characterized in that an auxiliary crane (20) with telescopic boom (25) is connected to the crane (100) as derrick ballast and the derrick ballast radius is set via the telescopic boom (25) of the auxiliary crane (20). Method according to claim 1, characterized in that a crane control system controls at least one drive of the auxiliary crane (20) used as derrick ballast, depending on the travel movement of the crane (100). Method according to claim 2, characterized in that the crane control system controls at least one drive of the auxiliary crane (20) used as derrick ballast depending on the rotary movement of the crane superstructure (4) or any other crane movement. Method according to one of the preceding claims, characterized in that at least one bracing (40) is arranged between derrick boom (10) and auxiliary crane (20). Method according to claim 4, characterized in that the bracing (40) is connected indirectly or directly via a frame (41) to the auxiliary crane (20), in particular to the superstructure (24) of the auxiliary crane (20). Method according to claim 4, characterized in that the bracing (40) is articulated indirectly or directly to the boom pivot of the auxiliary crane (20), in particular to the boom pivot in the area of ​​the luffing cylinder bearing or any external section of the boom pivot. Method according to one of the preceding claims, characterized in that the auxiliary crane (20) is connected to the crane (100) via its boom (25), wherein preferably the boom tip of the auxiliary crane (20) is connected directly or indirectly to the crane (100), in particular to the crane superstructure (4) and / or the crane ballast receptacle. Method according to claim 7, characterized in that the boom (25) of the auxiliary crane (20) is connected to the crane (100) via an intermediately mounted connecting adapter (30), wherein the connecting adapter (30) is preferably mounted on the roller head (27) of the auxiliary crane (20) via the bolting points (31, 32) provided for a boom extension. Method according to claim 8, characterized in that one or more control lines, in particular electrical and / or hydraulic control lines, are led from the crane (100) via the connecting adapter (30) to at least one drive of the auxiliary crane (20), in particular via one or more guide means and / or coupling points on the connecting adapter (30). Crane (100) with a movable undercarriage (1), a superstructure (4) rotatably mounted on it with a luffing main boom (5) and derrick boom (10) arranged thereon and optionally with a crane control system, characterized in that the crane (100) is suitable for carrying out the method according to one of claims 1 to 9. Crane (100) according to claim 10, characterized in that the intermediately mounted connecting adapter (30) has one or more guide means and / or coupling points for one or more electrical and / or hydraulic control lines, which serve to guide or establish the controlling connection between crane (100) and auxiliary crane (20). Crane system comprising an auxiliary crane (20) and a crane (100) according to one of claims 10 or 11. Connecting adapter (30) for a crane (100) according to one of claims 10 or 11 . Crane control for a crane (100) according to one of claims 10 or 11 for carrying out the method according to one of claims 1 to 9 . Data carrier with stored crane control software for a crane control system according to claim 14.

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