CLIMBING SYSTEM FOR A CRANE

Description

[0001] In the context of cranes, the term "climbing" describes the insertion of mast elements into a crane tower to raise the crane to a desired hook height. This involves a climbing device that is slidably connected to the tower structure. This climbing device typically surrounds the crane tower and has an opening on one side through which a mast section (mast element) can be inserted into or removed from the tower structure.

[0002] In the current state of the art, the climbing device is referred to as a climbing bell, climbing chair, climbing platform, or telescopic carriage, among other things. However, this always refers to a movable structure connected to the crane tower, which serves to insert or remove a mast section from a tower structure.

[0003] Crane climbing typically occurs with the fully assembled crane upper section, which typically includes the main boom, counter jib, counter ballast, crane cabin, and slewing ring. The climbing device is located below the crane upper section and connected to it in such a way that it can raise the crane upper section. A mast section can be inserted into or removed from the tower structure to raise the crane upper section to a desired height.

[0004] During a crane climb, the section of a tower structure located above the climbing device is lifted using a lifting device, and a mast section is inserted into the created gap. The newly inserted mast section is then secured to the tower structure with the help of fitters working on the tower structure. Crane climbing is labor-intensive due to the labor-intensive work that must be performed in the area of the mast section being inserted or removed. Furthermore, there is an increased risk of accidents for the personnel entrusted with the climbing operation during the climb.

[0005] The document WO 2014 / 048516 A1 discloses a climbing system for a crane which includes all the features of the generic term.

[0006] It is therefore the object of the present invention to simplify the climbing of a crane and to significantly reduce the risk of accidents during a climbing process.

[0007] This is achieved by the climbing system for a crane having the features of claim 1.

[0008] The system comprises a climbing device for inserting a mast section into a tower structure of a crane or for removing a mast section from a tower structure of a crane, as well as a control unit for controlling the climbing device. The system is further characterized in that it comprises a first sensor for monitoring a state of a connecting means of the climbing device and / or the tower structure, wherein the first sensor is connected to the control unit. According to the invention, it is further provided that the control unit is designed to control the climbing device and / or the crane such that the insertion of the mast section into or the removal of the mast section from the tower structure takes place automatically.

[0009] By reliably monitoring the positions of all moving parts on the climbing device, it is possible to automate the crane's climbing process. Sensors are used to record the torques applied to the connecting elements and the guide frame of the climbing device. This information enables the automated assembly and disassembly of the connecting elements (especially screw and bolt connections) using electrical, pneumatic, and / or hydraulic devices.

[0010] Preferred embodiments of the above-mentioned solution result from the subclaims following the main claim.

[0011] Preferably, there is a first sensor for monitoring a condition of a connecting means of the climbing device and / or the tower structure.

[0012] The first sensor can be an electromechanical, inductive, capacitive, optical, or ultrasonic sensor. Of course, the provision of multiple first sensors for monitoring connecting means of the climbing device and / or tower structure is also conceivable. In this case, the first sensor can preferably detect the state of the connecting means in a closed or open position. Furthermore, the first sensor can advantageously also determine a moment acting on the connecting means.

[0013] A crane tower consists of several interconnected mast sections arranged one above the other. Typically, the individual mast sections are connected with bolts or similar fasteners.

[0014] The first sensor monitors the status of safety-relevant fasteners, particularly screw and / or bolt connections on the climbing equipment and on the tower itself. This makes it possible to detect incorrectly installed fasteners and send a corresponding signal to the control unit. A hazard caused by an incorrectly installed fastener that could jeopardize the stability of the tower structure is therefore detected using the first sensor. The connection of each newly inserted mast section is checked by the first sensor. The sensor is connected to the control unit via a cable or radio link and sends corresponding signals about the status of a fastener to the control unit.

[0015] According to a further advantageous variation of the invention, the control unit further comprises an interface for connecting to a crane control of the crane, so that the crane and the climbing device can be controlled via a common control unit, preferably the control unit for controlling the climbing device.

[0016] This enables a particularly safe climbing process that requires minimal personnel. For example, a mast section stored on the ground can be picked up from the ground by a crane's boom, whose hook height needs to be increased, and passed on to a climbing device. The crane and climbing device can be controlled using a control unit that controls both the crane and the climbing device. Furthermore, errors that can occur due to divergent control during the transfer of elements controlled by the crane to the climbing device occur less frequently, as a common control unit can be used. Furthermore, since the control is provided from a single source, the climbing system according to the invention simplifies the climbing process and requires fewer operating personnel.

[0017] The interface for connecting to the crane's control system can be implemented via a cable or radio connection. However, the interface is designed so that the control unit can access the crane's control system and control the crane. Alternatively, it is also possible for the climbing device to be controlled via the crane control system. This ensures that the crane and the climbing device can be controlled using a common control unit.

[0018] Preferably, the climbing system comprises a second sensor for detecting a marking attached to a guide frame of the climbing device or the tower structure, which allows a conclusion to be drawn about certain properties of the tower structure, wherein the second sensor is connected to the control unit.

[0019] The guide frame refers to the outer frame of the climbing device, which typically surrounds a mast section from the outside and is connected to it in such a way that it can push the upper section of the crane upwards. The marking, which can be detected by the second sensor, allows conclusions to be drawn about certain properties of the tower structure. This information is passed on to the control unit, which can then implement a corresponding load moment reduction during climbing or during crane operation.

[0020] Preferably, the control unit for controlling the climbing device is designed to send control commands to a trolley drive of a climbing device. This trolley drive is used to move a mast section horizontally into the gap created by the climbing device. The trolley drive is also used to move a mast section removed from the tower structure approximately horizontally and then lower it to the ground using the functioning upper section of the crane.

[0021] According to a further optional, advantageous feature of the invention, the system further comprises a third sensor for monitoring a lifting device of the climbing device, wherein the third sensor is connected to the control unit.

[0022] The lifting device of the climbing device lifts all crane elements arranged above it. A mast section can then be inserted into the gap created by the lifting device. Of course, the lifting device can also be used to lift the crane elements arranged above it in order to remove a mast section from the tower structure. The third sensor monitors, in particular, the position or attitude of the lifting device in order to obtain information about the possible removal or insertion of a mast section. Furthermore, the third sensor is connected to the control unit via a cable or radio link, so that the information obtained by the third sensor can be sent to the control unit.

[0023] The third sensor can also be designed to determine the position of the climbing device on the tower structure. Preferably, the third sensor is capable of recognizing a support bracket used by the lifting device and / or detecting that the lifting device is correctly seated on the bracket. The climbing device is supported against at least one support bracket, which transmits the supporting forces emitted by the lifting device into the tower structure. Several vertically spaced support brackets can be attached to a mast section. After inserting a mast section, the lifting device changes the support bracket it is supporting against to a higher support bracket. The insertion of a mast section can then be repeated, and the crane climbs in height.

[0024] Preferably, the system further comprises a fourth sensor for detecting the orientation and the angle of inclination of the climbing device and / or the crane, wherein the fourth sensor is connected to the control unit.

[0025] The fourth sensor is preferably designed to detect the exact position of the climbing device and the crane. This simplifies crane balancing. The crane can also be balanced automatically via the crane control system or the control unit. Slewing, trolley, hoist, and boom movements are controlled automatically.

[0026] Furthermore, according to a further optional feature of the invention, it is possible to record all travel movements and positions of mechanical components via position detection systems. Possible mechanical components include the rotational movements of the crane, the movement of the trolley of the main boom, the movement of the trolley drive of the climbing device, which is used to insert a mast section into the tower structure with a horizontal movement or to release it from the tower structure with the aid of a horizontal movement, the movement caused by the hoist of the lifting device, a movement of the boom, a movement of the hook block of the main boom, and / or a movement of the counter-jib ballast.

[0027] The position detection system is implemented using electromechanical, inductive, capacitive, optical, or ultrasonic sensors. A combination of the various sensor types is also conceivable. The position detection system is capable of detecting the precise position of the mechanical components described in more detail above. This makes it possible, for example, to determine the position of a mast section attached to the trolley drive of the climbing device. This information is preferably transmitted to the control unit via a cable or radio connection.

[0028] The climbing system preferably comprises a fifth sensor for torque detection at at least one location on the climbing device, wherein the fifth sensor is connected to the control unit. The connection can be implemented wirelessly or wired. Advantageously, the fifth sensor is also provided on the connecting means so that torques applied there can be detected.

[0029] Based on the data measured by the fifth sensor, automatic assembly or disassembly of the tower structure is possible. The information is sent to the control unit, where it is evaluated, which leads to the appropriate control of the electrical, pneumatic, or hydraulic devices required for assembly or disassembly.

[0030] According to a further advantageous development of the system according to the invention, it comprises a detection system for monitoring an area between the tower structure and the climbing device and an area in which the mast section is inserted into or removed from the tower structure, wherein the monitoring is preferably carried out by a light grid, laser, pull cable, or camera system. This detection system is preferably connected to the control unit.

[0031] The detection system is designed to detect a potentially dangerous situation early on and to prevent it by sending a corresponding signal to the control unit. For example, the insertion of a mast section into the tower structure should preferably be stopped as long as assembly personnel are in a danger zone. According to the invention, the control unit of the system is designed to control the climbing device and / or the crane in such a way that the insertion of the mast section into the tower structure or its removal from the tower structure is automated without causing an overload condition.

[0032] Preferably, the system comprises a device for coupling and decoupling connecting means, which is connected to the control unit and can be controlled by it.

[0033] According to a further advantageous embodiment of the invention, the system comprises an optical display element for displaying various states of the system, wherein preferably activities to be carried out are also displayed.

[0034] The optical display element can be mounted on a control panel and visualize the current system status and necessary actions via a display or indicator elements. In particular, the control panel can also be provided with symbols. Preferably, the control panel and the optional optical display elements arranged on it are connected to the system's control unit. It is also possible for operating elements and a touch-sensitive surface in a display on the control panel to enable operation of the control unit.

[0035] In addition, the visualization provides diagnostic and error display using optical display elements. This significantly reduces system downtime due to errors, as the source of the error is easier to locate. It is also possible to display many or all values recorded by sensors in the visualization, allowing various process stages of the climbing process to be visually represented.

[0036] The control unit is preferably operated via a cable remote control or a radio remote control with a limited range. This allows the system to be operated flexibly from multiple locations. The control unit also includes a positioning mode in which the speed of the lifting device can be significantly reduced, making it easier to insert and remove fasteners (screw and bolt connections).

[0037] The present invention is explained in more detail below with reference to the drawings. Fig. 1: the climbing system according to the invention in a side view of a tower construction, Fig. 2: a stylized representation of the climbing system according to the invention, Fig. 3: an operating panel with optical display elements for operating the control unit of the system according to the invention, Fig. 4(a) a display of an operating panel for a specific state of the climbing system, and Fig. 4(b) a further display of an operating panel for a specific state of the climbing system.

[0038] Fig. 1 shows a section of a crane tower in which a climbing system 1 is arranged. The climbing system comprises a climbing device 2 that surrounds the tower structure 4. The climbing device 2 is connected to a crane tower section arranged above and below it. It also has a lifting device 10 that can push the section of the crane arranged above the climbing device 2 upwards away from the section of the crane arranged below the climbing device 2. The lifting device 10 is supported on so-called support brackets 14 that protrude from the outside of a mast section 3.

[0039] Also visible is a mast section 3 to be inserted, suspended from a trolley drive 16 of the climbing device 2. The trolley drive 16 ensures essentially horizontal movement of the mast section, so that it can be inserted into a gap created by the lifting device 10. The mast section 3 is transferred to the climbing device mounted at a certain height using the fully assembled crane upper section.

[0040] In addition, a first sensor 51 is provided near the connecting means of the individual mast sections 3, which monitors the status of a connecting means. This allows it to be determined whether the connecting means between the individual mast sections 3 are in their intended position.

[0041] Furthermore, two third sensors 53 are arranged on the guide frame 7 of the climbing device 2. These sensors are capable of detecting the position of the lifting mechanism of the lifting device 10 and can determine the currently used support bracket 14 on which the lifting device is supported.

[0042] Two fourth sensors are placed on the struts arranged at the top and bottom of the guide frame 7, which can determine the inclination of the guide frame 7 or the tower structure 4.

[0043] In addition, a plurality of fifth sensors 55 are mounted on the guide frame 7, each of which can determine a moment acting on the guide frame at its mounting location. This allows for detection of an exceedance of a permissible maximum load on the guide frame 7, and suitable countermeasures can be used to return the load to a normal state.

[0044] All sensors are connected to the control unit 5. The connection can be wired or wireless. The information collected by the multiple sensors is processed in the control unit 5, so that automatic climbing is also possible with the climbing system according to the invention.

[0045] Fig. 2 shows a crane with a climbing system 1. A climbing device 2 is arranged below the upper part of the crane, as well as a mast section 3, which can be retracted into the gap created by the lifting device 10 with the aid of a trolley drive. The mast section 3 is suspended from a trolley drive 11 belonging to the climbing device 2. To reach this position, the mast section 3 is picked up from the ground with the aid of the crane's main boom and transferred to the climbing device 2.

[0046] The climbing device 2 is in operative connection with the tower structure 4, i.e. it is supported by it in order to form a gap between the tower structure 4 and the crane elements arranged above the climbing device 2.

[0047] Furthermore, the control unit 5 can be seen, which is connected to an operating panel 12 for controlling the control unit 5. The interface of the control unit 5, via which a connection to the crane control is established, can also be seen. Furthermore, the control unit has a connection to a second sensor 52, which can detect a marking attached to the tower structure 4 or to a guide frame of the climbing device 2, whereby the control unit 5 is informed of certain properties of the tower structure 4. With the help of this information, it is thus possible to adapt the crane control to the specific properties during a climbing process. For example, it is conceivable to limit the maximum load that the crane can lift and / or to reduce the maximum boom length while the crane is climbing.

[0048] The interface 6 of the control unit 5 is used for connection to a crane control system. When this connection is established, the control of the crane and the climbing device is possible via a common control system. This allows coordinated control of the crane and the climbing device. This allows the control unit 5 to operate the crane even without entering an operating command. This is advantageous, for example, when using one of the Fig. 1 If the sensors shown detect a condition that deviates from the norm, the counterballast can be automatically moved to compensate for the inclination of the guide frame or the crane tower.

[0049] Fig. 3 shows an operating panel 9 for the control unit 5. A display 8 can be seen as well as status indicators and operating buttons arranged next to the display 8 for interacting with the control unit 5.

[0050] Fig. 4(a) shows a possible display 8. This schematically shows a cross-section of the tower structure 4, in an area where the climbing device 2 encompasses the crane tower. Also visible are the individual states of the connecting elements 13, which can be inserted into designated counterparts. In the specific illustration, the connecting elements 13 are bolts that can be inserted into their corresponding receiving holes. None of the connecting elements 13 is operatively connected to the tower structure 4, since it is indicated that the corresponding bolts are not connected to it.

[0051] Furthermore, the status of the lifting device 10 is represented by the graphic representation 15. It can be seen that the lifting cylinder of the lifting device 1 is in a non-extended state.

[0052] In addition, a view of a mast section 3 is shown, in which the several vertically stacked support points 14 can be seen, on which the climbing device can be supported. Also shown to the right of the stylized mast section 3 is the status of the lifting device 10, which in the Fig. 4(a) corresponds to a retracted state.

[0053] Fig. 4(b) essentially shows the same symbols as Fig. 4(a) . Only their condition has been changed. In the cross-sectional view of the tower structure 4, two connecting means 13 are now connected to the tower. This represents an inserted bolt. The middle of the three support brackets 14 arranged one above the other is also shown in a different color. This means that the lifting device 10 is connected to this support bracket and is supported on it. The condition of the lifting device itself is also different from Fig. 4(a) changed and indicated by an extended cylinder.

[0054] With the help of this visualization, an operator of the climbing system according to the invention can quickly gain an overview of all important system parameters. Any errors can also be quickly identified.

Claims

1. Climbing system (1) for a crane, comprising: a climbing apparatus (2) for inserting a mast section (3) or for removing a mast section (3) from a tower structure (4) of a crane, and a control unit (5) for controlling the climbing apparatus (2), characterized by a first sensor (51) for monitoring a state of a connection means (13) of the climbing apparatus (2) and / or the tower structure (4), wherein the first sensor (51) is connected to the control unit (5), and the control unit (5) is configured to control the climbing apparatus (2) and / or the crane such that an inserting process of the mast section (3) into the tower structure (4) or a removing process of the mast section (3) from the tower structure is effected automatically.

2. System (1) according to claim 1, wherein the control unit (5) comprises an interface (6) for connection to a crane control unit of the crane such that the crane and the climbing apparatus (2) are controllable via a common control unit, preferably the control unit (5).

3. System (1) according to any one of the preceding claims, further comprising a second sensor (52) for detecting a mark attached to a guiding frame (7) of the climbing apparatus (2) or the tower structure (4), which enables a conclusion as to specific properties of the tower structure (4), wherein the second sensor (52) is connected to the control unit (5).

4. System (1) according to any one of the preceding claims, further comprising a third sensor (53) for monitoring a hoisting device (10) of the climbing apparatus (2), wherein the third sensor (52) is connected to the control unit (5).

5. System (1) according to any one of the preceding claims, further comprising a fourth sensor (54) for detecting the orientation and the angle of slope of the climbing apparatus (2) and / or the crane, wherein the fourth sensor (54) is connected to the control unit (5).

6. System (1) according to any one of the preceding claims, further comprising a fifth sensor (55) for the torque detection at at least one point of the climbing apparatus (2), wherein the fifth sensor (55) is connected to the control unit (5).

7. System (1) according to any one of the preceding claims, further comprising a detection system for monitoring an area between the tower structure (4) und the climbing apparatus (2), and an area where the mast section (3) is inserted into the tower structure (4) or is removed from the latter, wherein monitoring is preferably effected by a light grid, a laser, a haulage rope and / or a camera system.

8. System (1) according to any one of the preceding claims, further comprising at least one device for coupling and decoupling of connection means (13) which is connected to the control unit (5) and which is controllable by the latter.

9. System (1) according to any one of the preceding claims, further comprising optical display elements (8) for displaying various states of the system (1) and preferably for displaying activities to be executed.