Crane with a derrick ballast

Abstract

The invention relates to a crane comprising a movable undercarriage, a superstructure rotatably mounted on the undercarriage, a luffing jib connected to the superstructure, a derrick jib articulated to the superstructure and braced over it, a crane control system, a guide connected to the superstructure, and a derrick ballast. The derrick ballast comprises a ballast plate for stacking ballast elements, which is connected to the derrick jib via ballast bracing and to the superstructure via the guide, as well as a ballast carriage. The ballast carriage includes a standard heavy-duty transport device with its own drive and drive control. According to the invention, the guide is connected to the ballast plate or the ballast carriage via a connecting device, which includes a measuring device and is configured to detect a force that opposes a relative movement between the ballast carriage and the guide.According to the invention, the crane control is furthermore connected to the drive control of the heavy-load transport device via a control connection and is configured to control and / or regulate the heavy-load transport device depending on the force detected by the measuring device.

Description

[0001] The present invention relates to a crane according to the preamble of claim 1. Such a crane is disclosed, for example, in DE202009011577U1.

[0002] Cranes of this type are also known as derrick cranes and typically have crawler tracks. Due to the additional derrick ballast, these cranes are designed for lifting and moving particularly heavy loads. In these cranes, the main boom (hereinafter referred to as the "boom" - this is typically a lattice boom) and the derrick boom are connected via a length-adjustable luffing cable. The derrick boom is connected to the rear end of the superstructure or rear of the superstructure via a length-adjustable derrick guying system. By adjusting (i.e., lengthening or shortening) the derrick guying, the inclination of the derrick boom relative to the superstructure can be adjusted. During crane operation, the angle of the derrick boom is generally unchanged. The luffing movement of the main boom is achieved by adjusting the luffing cable between the boom and derrick boom.

[0003] The moment that the boom, with its load, introduces into the boom system must therefore be absorbed by the derrick boom. Furthermore, the entire crane system must remain stable. This means that the overall center of gravity must be within the tipping edges. When lifting large loads, this is not possible with superstructure ballast alone. For this reason, the derrick ballast is required as additional ballast. This is connected to the free end of the derrick boom via an adjustable-length ballast guy. The length of the ballast guy can be adjusted, for example, using hydraulic pull cylinders.

[0004] Derrick ballasts are known from the state of the art in the form of suspended ballast or a ballast cart that can be moved along the ground with ballast elements stacked on it. A suspended ballast can generally assume two operating modes: it can be placed on the ground or suspended from the adjustable-length ballast guy wire. These two modes are usually dependent on the load moment to be absorbed.

[0005] The horizontal distance between the rotation axis of the superstructure or the superstructure rotation axis and the center of gravity of the derrick ballast is called the ballast radius. With suspended ballast, the ballast radius can be adjusted either by the inclination of the derrick boom or via a guide between the rear of the superstructure and the suspended ballast. A disadvantage of this type of suspended ballast is that the crane as a whole can only be moved or rotated when the suspended ballast is raised off the ground. It should also be noted that not the entire mass of the suspended ballast is "active" while it is on the ground. The tension cylinders of the ballast guying "take" the required portion of the total mass of the suspended ballast and feed it into the boom system. The unused mass remains on the ground and is not involved in the crane hoist.

[0006] If the derrick ballast is designed as a ballast cart with stacked ballast elements, the derrick ballast rests on a ballast cart, which itself becomes part of the entire derrick ballast. An additional advantage over suspended ballast is the mobility of the entire crane and derrick ballast system. The crane remains rotatable and also mobile. The purpose of the ballast cart is, on the one hand, to ensure the crane's mobility and, on the other hand, to transfer the unused mass of the derrick ballast into the ground.

[0007] Previously known solutions for ballast carts were generally expensive in-house designs by crane manufacturers. These were integrated into the crane control system and were therefore relatively straightforward to operate. Crane operators often also own a relatively large number of standard heavy-duty transport devices. These are mobile transport systems with their own drive and drive control system, capable of carrying and moving very heavy loads. For some time now, there have been efforts to use such heavy-duty transport devices as ballast carts for cranes.

[0008] One problem here is the independent control of heavy-duty transport devices, as their drive controls are not designed for the highly safety-critical area of crane operation. The necessary strong structural connection between the crane and the heavy-duty transport device is particularly problematic. This connection must be capable of transmitting even very large forces between the crane and the heavy-duty transport device. If the crane and the ballast wagon are not moving synchronously, such large forces can pose a risk during crane operation or even damage components. For this reason, the operation of heavy-duty transport devices as ballast wagons is currently not permitted, and their use is therefore at the crane operator's risk.

[0009] The present invention is therefore based on the object of enabling the use of heavy-duty transport devices for ballast trolleys of generic cranes, in which the high safety requirements of crane operation are met and the risk of damage to the crane system is minimized.

[0010] According to the invention, this object is achieved by a crane having the features of claim 1. Advantageous embodiments of the invention emerge from the subclaims and the following description.

[0011] Accordingly, a crane is proposed which comprises a movable undercarriage, a superstructure rotatably mounted on the undercarriage, a boom luffingly connected to the superstructure, a derrick boom articulated to the superstructure, a crane control system, a guide connected to the superstructure, and a derrick ballast. The undercarriage can have a crawler track. The boom is guyed via the derrick boom, preferably via a length-adjustable luffing cable as described above. The derrick boom is preferably connected to the superstructure via a derrick guying system, which is in particular length-adjustable, as described above.

[0012] The derrick ballast comprises a ballast plate on which several ballast elements can be stacked. The ballast plate, which can also be referred to as a ballast pallet, is connected to the derrick boom via a ballast guy wire and to the superstructure, in particular the rear of the superstructure, via the aforementioned guide wire. The ballast guy wire is particularly designed to be variable in length and can comprise two guy wires, each with a tension cylinder. The guide wire is preferably designed as a rigid structure, at least in sections, for example, as a lattice structure.

[0013] The derrick ballast also includes a ballast truck, which includes at least one standard heavy-duty transport device with its own drive and drive control. Due to its own drive, the heavy-duty transport device can also be referred to as a heavy-duty transport vehicle. The heavy-duty transport device is, in particular, a mobile platform with multiple wheel axles or an SPMT ("Self-Propelled Modular Transporter"). Such heavy-duty transport devices are already in large numbers at many crane operators for moving heavy loads such as bridge elements or parts of drilling rigs.

[0014] The ballast plate is placed or secured on a transport platform of the heavy-duty transport device. The heavy-duty transport device can have a load capacity of over 1,000 tons, although smaller heavy-duty transport devices with lower maximum load capacities can also be used.

[0015] The ballast wagon can comprise several interconnected heavy-duty transport devices. Therefore, when reference is made to the ballast wagon or "the" heavy-duty transport device, this also includes the possibility of several interconnected heavy-duty transport devices or a combination of heavy-duty transport devices.

[0016] According to the invention, the guide is connected to the ballast plate or the ballast carriage via a connecting device. This refers to a mechanical connection. The connecting device comprises a measuring device configured to detect a force that counteracts a relative movement between the ballast carriage and the guide. This force is referred to below as the control force.

[0017] The control force results from an uneven or non-synchronous movement of the crane or guide system and the ballast carriage. If, for example, the superstructure rotates around the superstructure rotation axis, the guide system connected to the superstructure swivels. The ballast carriage must follow the movement of the guide system, which is connected to the derrick ballast via the connecting device, with a corresponding movement to prevent excessive lateral forces from being introduced into the guide system or the derrick boom. If, for example, the ballast carriage travels too fast (i.e. the ballast carriage is ahead of the guide system) or too slow (i.e. the guide system is ahead of the ballast carriage) or if the ballast carriage hits an obstacle, a relative movement would occur without a fixed connection between the guide system and the ballast carriage.

[0018] Due to the connection between the guide and the ballast carriage or ballast plate, which is provided according to the invention by the connecting device, a force arises due to this uneven or non-synchronous movement, which is detected by the measuring device and used to control the movement of the ballast carriage. According to the invention, the crane control system is connected to the drive control system of the heavy-duty transport device via a control connection (this particularly refers to a data connection) and is configured to control and / or regulate the heavy-duty transport device depending on the control force detected by the measuring device. When reference is made below only to a "control" of the heavy-duty transport device, this refers to a control and / or regulation system.

[0019] According to the invention, no change in the position of the ballast wagon relative to the crane or the guideway, nor a relative movement between the ballast wagon and the crane, is detected and used to control the heavy-duty transport device. Instead, a force resulting from a non-synchronous movement of the crane and ballast wagon is used. This allows for a stable or even rigid connection between the guideway and the derrick ballast. Actual relative movement between the guideway and the ballast wagon is no longer required for controlling the ballast wagon. Steering errors and terrain influences can thus be corrected, and the ballast wagon or the heavy-duty transport device can be "forced" into track.

[0020] Furthermore, in the solution according to the invention, the control systems of the crane and the heavy-duty transport device are interconnected, i.e., communication takes place between the crane control system and the drive control system of the heavy-duty transport device. This allows the heavy-duty transport device to be controlled solely via the crane control system; the drive control system of the heavy-duty transport device is thus integrated into the crane control system. This simplifies the control of the entire crane and derrick ballast system and ensures direct and optimal response to movement sequences that result in a corresponding detectable control force. This makes it possible to avoid situations in which excessive lateral forces are introduced into the guide or the derrick boom by the powerful drive of the heavy-duty transport device.

[0021] The connecting device preferably provides a mechanical connection between the guide and the ballast plate or the guide and the ballast carriage, which has at least one degree of freedom of movement, for example a relative translational movement parallel to the longitudinal axis of the guide and / or a relative rotation about a vertical axis (with a horizontal alignment of the guide and the ballast plate, this is preferably a vertical axis). This relative movement(s) can be blocked by means of one or more actuators in order to provide a fixed connection within a defined force range and instead to detect the forces occurring and use them for controlling the heavy-duty transport device via the crane control system. Alternatively, the connecting device can provide a rigid connection between the guide and the ballast plate or the guide and the ballast carriage.In this case, only the forces that occur are preferably measured and used to control the heavy-duty transport device.

[0022] In one possible embodiment, the guide is designed such that the force generated by the derrick ballast is divided into a first force introduced into the guide or transmitted through the guide, and a second force introduced into the ballast guying or transmitted through the ballast guying. Together with the derrick boom, to whose free end the ballast guying is preferably connected, this creates a force triangle within which the very high forces resulting from the mass of the derrick ballast are transmitted. These forces resulting from the derrick mass, i.e. also their force components introduced into the crane via the guide and the ballast guying, are in particular significantly greater than the control force which is recorded by the measuring device and used as the basis for controlling the heavy load transport device by the crane control system.

[0023] To prevent these high forces from overriding the control force measurement by the measuring device, the measuring device is located outside the structures of the guide and ballast guying that transmit the first and second forces, i.e., outside the aforementioned force triangle. This not only enables effective measurement of the control force, which underlies the control of the heavy-duty transport device by the crane control system, but also the use of simpler sensors that do not have to be designed for such high forces. Furthermore, such an arrangement increases the sensitivity of the measuring device (measuring systems designed for larger forces are less accurate when measuring smaller forces).

[0024] The measuring device is preferably located below the structures of the guide and the ballast guying that transmit the first and second forces, preferably below the connecting means that connect the ballast guying to the derrick ballast (i.e., in particular, to the guide, the ballast plate, or the connecting device). It should be noted that the terms "below," "above," "below," "above," etc., refer to the case where the crane and the derrick ballast are standing on a flat, horizontal surface. Furthermore, the term "below" should not be understood to mean that the relevant components must overlap in plan view, but merely that the "lower" component is at a smaller distance from the surface than the "upper" component.

[0025] Measuring outside, particularly below, the aforementioned force triangle also allows for high ballast radii, i.e., situations where the ballast guying is not vertical but inclined, since, in plan view, the connecting elements of the ballast guying on the derrick ballast are at a greater distance from the superstructure's rotation axis than the free end of the derrick boom. This allows higher moments and thus a higher maximum crane load to be achieved with the same mass of derrick ballast.

[0026] In another possible embodiment, the measuring device comprises at least one first actuator, by means of which a control force acting in the longitudinal direction of the guide (also referred to herein as the longitudinal force) can be detected. The at least one first actuator is preferably designed as a hydraulic cylinder, although other types of actuators, e.g., a hydraulic motor, are also conceivable in principle. Detection is carried out in particular via a corresponding sensor integrated into the actuator (e.g., a pressure sensor).

[0027] Preferably, the first actuator is configured to provide a rigid longitudinal connection between the guide and the ballast carriage within a first force range in which the longitudinal force is less than a defined limit force. In the first force range, in which the longitudinal force is not too high, the first actuator keeps the ballast carriage "on track" and blocks a relative movement resulting from a non-synchronous movement. The resistance that the first actuator offers to this relative movement results in a corresponding increase in force in the first actuator (e.g., a pressure increase in one of the cylinder chambers of the hydraulic cylinder), which is detected by the measuring device and provided to the crane control system as a control force.

[0028] The defined limit force can be provided, for example, via a suitably designed or adjusted pressure relief valve. If a pressure corresponding to the control force rises above the limit pressure set on the pressure relief valve, the valve opens and a further increase in pressure or force in the first actuator is prevented. The actuator then "slips through."

[0029] The crane control system is preferably designed to control and / or regulate the heavy-duty transport device depending on the detected longitudinal force in such a way that the longitudinal force is minimized. In the first force range, in which the longitudinal force is still relatively small, this is used as the control variable for controlling the heavy-duty transport device. The crane control system records the longitudinal force and determines which movement of the heavy-duty transport device it needs to initiate so that the longitudinal force is reduced again. Due to this control range, it is generally not necessary to stop the movement of the crane or the ballast wagon. The compensating control of the heavy-duty transport device is preferably automatic, i.e. without intervention by the crane driver. Compared to existing systems, manual intervention in the crane movement or after a stop is therefore required much less frequently. In many cases, shutdowns can therefore be avoided.

[0030] In another possible embodiment, the first actuator is configured to accommodate a relative movement between the guide and the ballast carriage in a second force range in which the longitudinal force exceeds the defined limit force. If the longitudinal force becomes too high, the first actuator releases the movement of the ballast carriage relative to the crane or guide resulting from the non-synchronous movement, thus preventing a further increase in force and thus damage to the crane components. The relative movement can be released, for example, via an appropriately adjusted pressure relief valve, as described above.

[0031] The now released relative movement is detected by the crane control system, and appropriate measures are initiated. For this purpose, the measuring device preferably comprises a first position sensor, by means of which a change in the position of the ballast carriage relative to the guideway can be detected. Preferably, a change in the length or angle of the first actuator (e.g., a retraction or extension movement of a hydraulic cylinder) is directly detected. Alternatively, the change in the relative positions of the ballast carriage and guideway could also occur at any other location. Any sensors can be used for this purpose, for example, optical distance sensors, magnetic proximity sensors, etc.

[0032] The crane control system is configured to stop or limit the movement of the crane and / or the ballast carriage in response to a position change detected by the first position sensor. Subsequently, a compensating movement of the heavy-duty transport device can be performed manually or automatically via the crane control system, allowing the first actuator to be locked again and the movement of the crane-derrick ballast assembly to continue.

[0033] For the control described above, it is preferable to consider not only the longitudinal forces, but also the forces or moments acting transversely to the longitudinal direction of the guide, which arise, for example, when the superstructure rotates if the ballast vehicle does not move synchronously (e.g. because it encounters an obstacle or is ahead due to a slope in the terrain).

[0034] In a further possible embodiment, it is therefore provided that the measuring device comprises at least one second actuator, by means of which a torque counteracting a rotational movement between the ballast carriage and the guide can be detected. This torque is also referred to below as the control torque and is accompanied by a control force that does not act parallel to the longitudinal axis of the guide and is also referred to below as the lateral force. Such moments about the z-axis can occur, for example, during a superstructure rotation and corresponding circular travel of the ballast carriage, if the center of rotation of the crane and the center of rotation of the heavy-duty transport device diverge (e.g. due to a steering error of the heavy-duty transport device) or when the crane or the heavy-duty transport device strikes an eccentrically acting obstacle during towing or parallel travel.

[0035] The at least one second actuator is preferably designed as a hydraulic cylinder, although in principle other types of actuators, e.g. a hydraulic motor, are also possible. Detection takes place in particular via a corresponding sensor integrated into the actuator (e.g. a pressure sensor). The second actuator is preferably designed to provide a rotationally rigid connection between the guide and the ballast carriage in a first torque range in which the control torque is less than a defined limit torque. Since the control torque can be easily converted into a corresponding control force and the defined limit torque into a corresponding limit force, the terms control torque and control force, limit torque and limit force, as well as torque range and force range will be used interchangeably below.In particular, it does not matter whether the control system calculates with moments or forces, since the conversion can be carried out using a simple conversion factor.

[0036] In the first torque range, where the control torque or lateral force is not too high, the second actuator keeps the ballast carriage "on track" and blocks any relative movement resulting from a non-synchronous movement. The resistance offered by the second actuator to this relative movement results in a corresponding increase in force in the second actuator (e.g., a pressure increase in a cylinder chamber of the hydraulic cylinder), which is recorded by the measuring device and provided to the crane control system as a control force or torque.

[0037] The defined limit torque can be provided, for example, via a suitably designed or adjusted pressure relief valve. If a pressure corresponding to the control torque rises above the limit pressure set on the pressure relief valve, the valve opens and a further increase in pressure or force in the second actuator is prevented.

[0038] Preferably, the crane control system is configured to control and / or regulate the heavy-duty transport device based on the detected control torque in such a way that the torque resulting from the non-synchronous movement is minimized. The explanations regarding control / regulation based on the detected longitudinal force apply analogously, so repetition is avoided.

[0039] In principle, it is conceivable that only the longitudinal forces are detected and compensated via at least one first actuator, or only the transverse forces or moments are detected and compensated via at least one second actuator. However, preferably, both first and second actuators are present (or one actuator functions as both the first and second actuator), and both the longitudinal forces and the transverse forces or moments are detected and compensated.

[0040] InIn another possible embodiment, the second actuator is configured to yield to a relative rotation between the guide and the ballast carriage in a second torque range in which the detected control torque exceeds the defined limit torque. If the control torque or the corresponding transverse force becomes too high, the second actuator releases the movement of the ballast carriage relative to the crane or the guide resulting from the non-synchronous movement, thus preventing a further increase in force and thus damage to the crane components. The relative movement can be released, for example, via an appropriately adjusted pressure relief valve, as described above.

[0041] The now released relative movement is detected by the crane control system, and appropriate measures are initiated. For this purpose, the measuring device preferably comprises a second position sensor, by means of which a change in the position of the ballast carriage relative to the guide in the second force range can be detected. Preferably, a change in the length or angle of the second actuator (e.g., a retraction or extension movement of a hydraulic cylinder) is directly detected. Alternatively, the change in the relative positions of the ballast carriage and guide could also occur at any other location. Any sensors can be used for this purpose, for example, optical distance sensors, magnetic proximity sensors, induction sensors, etc.

[0042] The crane control system is configured to stop or limit the movement of the crane and / or the ballast carriage in response to a position change detected by the second position sensor. Subsequently, a compensating movement of the heavy-duty transport device can be performed manually or automatically via the crane control system, allowing the second actuator to be locked again and the movement of the crane-derrick ballast assembly to continue.

[0043] In another possible embodiment, the connecting device is arranged between the guide and the ballast plate and comprises a coupling part rigidly connected (e.g., bolted) to the guide. The connecting device is preferably part of the guide, but in certain embodiments could also be considered part of the ballast plate.

[0044] In a further possible embodiment, the connecting device comprises a movable element which is connected to the ballast plate. The movable element is mounted such that it can move relative to the coupling part in the longitudinal direction of the guide and thus enables (when movement is released) a certain movement of the ballast carriage relative to the crane or the guide. If the ballast carriage or the heavy-duty transport device moves relative to the crane parallel to the longitudinal direction of the guide, this would result in a corresponding movement of the movable element relative to the coupling part when the movable element is released (i.e. if it is not blocked, for example, by an actuator). The movable element can be mounted such that it can move on or in the coupling part of the connecting device, for example via a roller bearing or a plain bearing.The coupling part may comprise corresponding guide elements or rails for guiding the movable element.

[0045] Preferably, the movable element is arranged below connecting means, via which the ballast guying is connected to the guide. The connecting means can be arranged on the guide itself or on the coupling part. This results in the previously described effect that the measuring device, which detects a control force opposing the movement of the movable element, is arranged below the aforementioned force triangle. The movable element can be plate-shaped.

[0046] In another possible embodiment, at least one first actuator is coupled to the movable element on the one hand and to the guide on the other. In particular, the first actuator is connected to the coupling part. The first actuator is preferably designed as a hydraulic cylinder and is configured to block relative movement between the movable element and the coupling part up to the defined limit force. In contrast, the first actuator releases relative movement if the longitudinal force exceeds the defined limit force. The hydraulic cylinder is, in particular, aligned parallel to the longitudinal axis of the guide.

[0047] In a further possible embodiment, the connecting device comprises a rotating device, via which the ballast plate is connected to the guide so that it can rotate about a vertical axis. The term "vertical" refers to the case where the crane is standing on a flat, horizontal surface and the guide is, in particular, also aligned horizontally. The rotating device comprises a rotating bearing, which is preferably arranged on the movable element, in particular on an underside of the movable element facing the ballast carriage. The combination of movable element and rotating bearing thus enables both relative movement between the ballast carriage and the crane in the longitudinal direction of the guide (i.e., toward or away from the crane) and rotation of the ballast carriage relative to the crane.

[0048] In another possible embodiment, the pivot bearing comprises a first bearing part connected to the connecting device and a second bearing part connected to the ballast plate. These connections can be direct or indirect. Thus, the second bearing part can be connected directly to the ballast plate or, for example, to an intermediate piece, which in turn is connected to the ballast plate. The first bearing part is connected, in particular, to the movable element.

[0049] At least one second actuator is coupled to the movable element on the one hand and to the ballast plate on the other. The second actuator can be coupled to the first bearing part and / or to the second bearing part, preferably coupling both bearing parts to one another and thus directly monitoring or detecting the rotation between the two bearing parts and blocking it if necessary. The second actuator is preferably designed as a hydraulic cylinder, but can alternatively be configured as a rotary drive (e.g., a hydraulic motor). The second actuator is designed to block relative rotation between the bearing parts up to the defined limit torque and to release rotation at a greater control torque.

[0050] In an alternative possible embodiment, instead of the described movable element, the connecting device comprises at least two pivotally mounted rockers, via which the connecting device is movably connected to the ballast plate (directly or indirectly). The rockers are preferably mounted directly on the coupling part. In the simplest case, the rockers can each be mounted on the coupling part and / or on the ballast carriage (or an intermediate piece connected to the ballast plate) so as to be pivotable about horizontal pivot axes.

[0051] Instead of a displaceable, movable element, in this embodiment, the rockers allow movement of the ballast plate relative to the coupling part in the longitudinal direction of the guide. The rockers can be connected directly to the ballast plate or to an intermediate piece connected to the ballast plate, for example, via bolted connections. The rockers are preferably arranged below connecting means by which the ballast guying is connected to the guide. The connecting means can be arranged on the guide itself or on the coupling part. This results in the previously described effect of the measuring device being arranged below the aforementioned force triangle.

[0052] The rockers can be elongated and identically constructed. Several independently movable individual rockers can be provided. Alternatively, some of the rockers can be connected to each other (e.g., via coupling elements articulated to the rockers) and perform a common movement.

[0053] InAnother possible embodiment provides for at least one first actuator to be coupled, on the one hand, to a rocker arm or an intermediate piece movable by the rocker arm, and, on the other hand, to the guide, in particular to the coupling part. The first actuator is preferably designed as a hydraulic cylinder and is configured to block a pivoting movement of the rockers up to a defined limit force. The at least one first actuator thus holds the rockers in a fixed position up to a defined limit force and only releases an oscillation or relative movement when the longitudinal force exceeds the defined limit force.

[0054] In principle, each rocker arm can be assigned a first actuator. Alternatively, one or more rockers themselves may not be coupled to a first actuator. Because the first actuator blocks one rocker arm in the first force range, the remaining rockers cannot move, and the longitudinal position of the ballast trolley relative to the crane is thus fixed.

[0055] Even in the embodiment with a mobility in the longitudinal direction of the guide made possible by swinging, there is preferably a further degree of freedom of movement in the form of a rotation of the ballast carriage relative to the crane or the guide about a particularly vertical axis of rotation in order to be able to detect moments about the z-axis and to block a relative rotational movement in the first moment range.

[0056] InIn a further possible embodiment, it is therefore provided that the connecting device comprises a rotating device, via which the ballast plate is connected to the guide so as to be rotatable about a vertical axis, wherein the rotating device is arranged on the coupling part or on an intermediate piece connecting the rockers to the ballast plate and comprises a pivot bearing with two mutually rotatable bearing parts. As already explained with regard to the embodiment with the movable element, the bearing parts can be connected via at least one second actuator directly (i.e. the actuator is directly connected to the bearing parts) or indirectly (i.e. the actuator is connected at one end or both ends not directly to the respective bearing part, but to an element connected to the bearing part, such asthe coupling part or an intermediate piece connected to the ballast plate), wherein the second actuator is designed to block relative rotation between the bearing parts up to the defined limit torque. The rotation device is preferably located between the rockers and the ballast plate, for example, on an intermediate piece connected to the coupling part of the connecting device via the rockers.

[0057] In a further possible embodiment, rotation is not enabled by a rotating device, but by the rockers themselves. For this purpose, at least four rockers are provided, which are designed in particular as individual rockers. The rockers are designed in such a way that they allow rotation of the ballast plate relative to the coupling part. This can be made possible, for example, by the rockers being attached to the coupling part and / or the ballast plate not via a linear joint (movability about one axis), but via a ball joint, a universal joint, or any other joint device that allows pivoting movement about more than one axis. Alternatively, the rockers can have an additional joint between their attachment points that enables this mobility.At least one second actuator is directly coupled to at least one rocker or to an intermediate piece connecting the rockers to the ballast plate.

[0058] In another possible embodiment, at least two second actuators are provided, each coupled on the one hand to the coupling part and on the other hand to one of the rockers or to an intermediate piece connecting the rockers to the ballast plate, and simultaneously functioning as first actuators. This utilizes the fact that some rockers deflect in different directions when the ballast carriage rotates relative to the guide. If the differently deflecting rockers are each coupled to a first actuator, these actuators are subjected to different loads (e.g., pressure increase in a first pressure chamber for an actuator designed as a hydraulic cylinder and in the other pressure chamber for another actuator).

[0059] The second actuators are consequently arranged in particular such that they are subjected to different loads when the ballast plate rotates relative to the coupling part, wherein the crane control is configured to receive the different loads (i.e. control moments or forces) from the measuring device and to control and / or regulate the heavy load transport device depending on the load difference detected thereby.

[0060] In an alternative possible embodiment, the connecting device is arranged not between the guide and the ballast plate, but between the ballast plate and the heavy-duty transport device. In this case, relative movement between the heavy-duty transport device and the ballast plate is monitored and blocked or released, in particular, via first and / or second actuators. The ballast guying can be connected directly to the ballast plate.

[0061] The connecting device comprises at least one adapter element, which comprises a first adapter part connected to the ballast plate and a second adapter part movable relative to the first adapter part in the longitudinal direction of the guide and connected to the heavy-duty transport device. The monitored and, if necessary, blocked / released relative movement thus occurs between the two adapter parts of the at least one adapter element.

[0062] At least one first actuator, preferably designed as a hydraulic cylinder, is coupled to the first and second adapter parts and is designed to block relative movement between the adapter parts up to a defined limit force. The adapter element and the first actuator are aligned with their longitudinal axes, in particular parallel to the longitudinal axis of the guide. One of the adapter parts can be an outer adapter part, in which the other, inner adapter part is displaceably mounted. Appropriate bearings, for example, plain or roller bearings, are arranged between the adapter parts. The outer adapter part can, for example, be connected to the heavy-duty transport device, while the inner adapter part is connected to the ballast plate. The reverse arrangement is also conceivable.

[0063] Even in the embodiment with mobility in the longitudinal direction of the guide, which is made possible by intermediate adapters or adapter elements installed between the ballast plate and the heavy-duty transport device, there is preferably a further degree of freedom of movement in the form of a rotation of the heavy-duty transport device relative to the ballast plate and thus to the crane about a particularly vertical axis of rotation in order to be able to detect moments about the z-axis and to block a relative rotational movement in the first moment range.

[0064] In a further possible embodiment, at least two adapter elements are provided, which are spaced apart from one another transversely to the longitudinal axis of the guide and each comprise at least one first actuator. The adapter elements are designed such that the second adapter parts are not only displaceable relative to the first adapter parts parallel to the longitudinal axis of the guide, but that they are also pivotable laterally thereto, in particular in a plane that contains the longitudinal axes of the adapter elements (in particular, this is a plane parallel to the ballast plate or to a transport platform of the heavy-duty transport device). For this purpose, appropriately designed bearings can be installed between the first and second adapter parts, which enable such lateral relative movement of the adapter parts. Furthermore, the adapter parts or the bearings must have a corresponding amount of play so that the second adapter parts can move laterally.For this purpose, the bearings can be crowned, for example. Eight or more bearing positions can be provided per adapter element, for example, four bearing positions in each end area of the adapter elements, two at the bottom and two at the top.

[0065] Preferably, the first actuators simultaneously function as second actuators and are arranged such that they are subjected to different loads when the heavy-duty transport device or ballast truck rotates relative to the ballast plate. The crane control system is configured to control and / or regulate the heavy-duty transport device depending on the detected load difference. The principle of the differently acting loads can correspond to that previously explained with reference to the embodiment with the rocker arms.

[0066] In another possible embodiment, the guide comprises a head piece with a coupling section rigidly connected to the rest of the guide structure and a pivoting part connected to the ballast plate. The head piece can be connected directly to the superstructure. Alternatively, the head piece can be connected to a pivoting piece of the guide, which in turn is connected to the superstructure, in particular pivotally connected to the superstructure. Alternatively, one or more intermediate pieces of the guide can be installed between the head piece and the pivoting piece.

[0067] The pivoting part comprises a first pivot element connected to the ballast plate and a second pivot element connected to the coupling section. The coupling section can be formed directly on the second pivot element or represent a component connected to it. The two pivot elements are pivotally mounted relative to one another about a pivot axis running parallel to the longitudinal axis of the guide. The pivot elements allow rotation of the ballast plate about said pivot axis. For example, the first pivot element can be rotatably mounted in the second pivot element, with corresponding bearings (e.g. plain or roller bearings) preferably being arranged between the pivot elements. The pivot elements can be tubular. The ballast guying is preferably connected directly to the ballast plate via corresponding connecting means.

[0068] In an alternative possible embodiment, the connecting device is arranged between the guide and the ballast plate. Instead of a coupling of the ballast carriage and the guide that is movable in the longitudinal direction of the guide and a corresponding detection and, if necessary, blocking of relative movements by first and / or second actuators, a rigid connection between the guide and the ballast carriage in the longitudinal direction of the guide is provided. For this purpose, the connecting device comprises a coupling part that is rigidly connected to the guide. The connection between the coupling part and the guide or ballast plate can again be direct or indirect (for example, via one or more rigidly connected intermediate pieces).The measuring device comprises at least one force measuring pin, by means of which a longitudinal force counteracting a relative movement between the ballast carriage and the guide in the longitudinal direction of the guide can be detected. The crane control system is preferably configured to control and / or regulate the heavy-duty transport device depending on the detected longitudinal force in such a way that the longitudinal force is minimized. The longitudinal axis of the force measuring pin is preferably oriented perpendicular to the longitudinal axis of the guide.

[0069] In this embodiment, it is therefore not intended that a relative movement in the longitudinal direction of the guide is released when a defined limit force is exceeded. Instead, the longitudinal force is measured as a control force for controlling compensating movements of the heavy-duty transport device directly via one or more force-measuring bolts, which are part of a rigid bolt connection of the connecting device. Preferably, the at least one force-measuring bolt is arranged below connecting means via which the ballast guying is connected to the guide.

[0070] Preferably, the connecting device comprises an intermediate piece connected to the coupling part via the at least one force-measuring bolt, which in turn is connected to the ballast plate. The intermediate piece can have a box-shaped structure.

[0071] In a further possible embodiment, the connecting device comprises a rotating device with two mutually rotatable bearing parts, via which the ballast plate is connected to the coupling part so as to be rotatable about a vertical axis. The bearing parts are preferably coupled to one another directly or indirectly via at least one second actuator, which is designed to block rotation between the bearing parts up to a defined limit torque. In this case, the coupling part is therefore not completely rigidly connected to the ballast plate, but rather there is a degree of freedom of movement in the form of a rotation of the ballast carriage relative to the coupling part. The rotating connection, the detection of the control torque, and the corresponding control of the heavy-duty transport device can be configured as in the previously described embodiments.

[0072] In a further possible embodiment, the coupling part is not only rigidly connected to the guide, but also rigidly connected to the ballast plate (directly or indirectly), i.e. no degrees of freedom of movement are provided between the guide and the ballast carriage via the connecting device. In order to nevertheless detect a control torque resulting from a non-synchronous movement of the ballast carriage and to be able to control the heavy-duty transport device accordingly, at least two, but preferably at least four force measuring bolts are provided, which are arranged such that they are loaded differently when the ballast plate rotates relative to the guide. The crane control system is designed to control and / or regulate the heavy-duty transport device depending on the detected load difference.

[0073] Preferably, the crane control and / or the force measuring bolts are configured to determine a position or direction of a force vector acting on the connecting device, whereby the crane control can determine whether it is a pure longitudinal force or a torque or a superposition of a longitudinal force and a torque.

[0074] In another possible embodiment, the coupling part comprises connecting means via which the ballast guying is connected to the connecting device or the guide, wherein the at least one force measuring pin is part of a bolt connection located below said connecting means, preferably a bolt connection of the coupling part to the ballast plate or to an intermediate piece connected to the ballast plate. As a result, the force measuring pins are located outside the previously described force triangle and can be correspondingly smaller or designed to measure smaller forces and moments.

[0075] In a further possible embodiment, the crane comprises at least one guying frame, wherein the guying frame comprises first connecting means for connecting to the ballast guying and second connecting means for connecting to the ballast plate. The guying frame can thus be mounted to the ballast plate as required, and the ballast guying can be connected to the at least one guying frame. The connection between the guying frame and the ballast guying can be articulated and allow a pivoting movement about a horizontal axis. The ballast plate can also be removed from the ballast truck, wherein the guying frames and the ballast plate are designed such that the derrick ballast can be used as suspended ballast when the guying frame is mounted and after it has been separated from the ballast truck. Preferably, two guying frames are provided to keep the suspended ballast stable.

[0076] This allows the derrick ballast to be converted into suspended ballast. To do this, the guy frames are mounted on the ballast plate, the ballast guy wire is connected to the guy frame connectors, and the ballast plate is separated from the ballast truck or heavy-duty transport device so that the ballast plate can be lifted off with the ballast elements stacked on it. The guy frames can be installed with the ballast plate placed on the ground.

[0077] The suspended ballast can be used with or without a guide. When used with an attached guide (i.e., the guide is still connected to the ballast plate, for example, by one of the previously described connecting devices), the connection between the guy frames and the ballast guying and / or the connection between the guy frames and the guide can be articulated. Alternatively, the suspended ballast could be used without a guide, in which case the suspended ballast would be located below the free end of the derrick boom and the ballast guying would run essentially vertically.

[0078] In another possible embodiment, the guide is designed to be length-adjustable. For this purpose, the guide can, for example, comprise a pivot piece connected to the superstructure and at least one intermediate piece that can be removably installed between the pivot piece and the connecting device. The length of the guide can then be adjusted by installing or removing a corresponding number of intermediate pieces.

[0079] Alternatively or additionally, the guide can comprise a telescopic section with at least two sections that are mounted so as to be displaceable within one another, which can be telescoped in and out, in particular by means of an actuator (e.g. a telescopic cylinder), whereby the length of the guide is changed. The telescopic section can replace a linkage piece of the guide and can be mounted directly on the superstructure, in particular be pivotally connected. It is also conceivable for the telescopic section to represent an intermediate piece and be installed between a linkage piece and a head piece or a connecting device, wherein the head piece or the connecting device is connected to the ballast plate. It is also conceivable for the telescopic section to represent a head piece or a connecting device and to be connected to the ballast plate. Said head piece or the said connecting device can be arranged on one of the displaceable sections.It is also conceivable for one of the sections to form a pivot piece, while a section that can be moved relative to it forms a head piece or a connecting device, thus allowing the telescopic section itself to represent the entire guide. In the aforementioned examples, the connecting device can be designed according to one of the previously described embodiments.

[0080] In another possible embodiment, the ballast plate is placed on the ballast wagon, in particular directly on the at least one heavy-duty transport device, and is detachably connected to it via connecting elements. The ballast plate can thus be mounted on various heavy-duty transport devices and, if necessary, even used as suspended ballast without a ballast wagon.

[0081] In a further possible embodiment, the guide is mounted on the superstructure so that it can pivot about a horizontal axis, in particular via a pivot piece. This allows the height of the derrick ballast to be changed. Alternatively or additionally, the guying of the crane can be designed such that the horizontal distance between the center of gravity of the derrick ballast and the superstructure axis of rotation (i.e. the ballast radius) is greater than the horizontal distance between the tip of the derrick boom and the superstructure axis of rotation. This results in a higher maximum lifting capacity of the crane for the same mass of derrick ballast, but also in greater stress on the guide, since the force exerted by the derrick ballast is split into a force component transmitted via the ballast guying and a force component transmitted via the guide.The measuring device is therefore preferably arranged outside the force triangle spanned by these force components and the force transmitted via the derrick boom, in particular below this force triangle.

[0082] In a further possible embodiment, the control connection comprises two separate and, in particular, diverse data connections between the crane control system and the drive control system of the heavy-duty transport device. Preferably, a first data connection may comprise a data bus, for example, a CAN bus, and / or a second data connection may comprise at least one safety switching device with a safety relay contact. At least one safety switching device may be provided on the heavy-duty transport device and at least one safety switching device may be provided on the crane. The second data connection may itself comprise two separate data connections, each of which is assigned a safety switching device on the crane side or a safety switching device on the heavy-duty transport device side.

[0083] The safety relay can be configured to transmit a signal to the respective receiver so that a signal transmitted via the first data connection (e.g., a command) can be accepted or verified. The receiver can be the drive controller or the crane controller. A command sent via the first data connection is therefore only executed if corresponding data communication takes place via the second data connection. This results in increased safety for crane control.

[0084] In another possible embodiment, the control connection comprises two emergency stop signal chains with a first emergency stop switch arranged on the crane and a second emergency stop switch arranged on the heavy-duty transport device. The crane control system is preferably configured to stop all movements of the crane and the heavy-duty transport device upon actuation of one of the two emergency stop switches. The heavy-duty transport device preferably has its own, self-contained emergency stop signal chain, which is electronically coupled to the crane's emergency stop signal chain via the at least one safety switching device.

[0085] In a further possible embodiment, the crane comprises a gradient detection device with at least one sensor for detecting an inclination of the derrick ballast, in particular an inclination of the ballast plate. The crane control system is preferably configured to control and / or regulate the heavy-duty transport device on the basis of the data provided by the gradient detection device in such a way that a current terrain gradient is compensated. This can, for example, prevent the heavy-duty transport device from overrunning the crane on a negative terrain gradient (i.e., traveling downhill) or prevent the heavy-duty transport device from traveling at a lower speed than the crane on a positive terrain gradient (i.e., traveling uphill).In particular, the crane control system is configured to increase the drive pressure of the heavy-duty transport device when a positive slope is detected and to decrease it when a negative slope is detected. The drive can be a hydraulic drive.

[0086] In a further possible embodiment, the crane comprises at least one actuator arranged on the ballast carriage and / or on the ballast plate, by means of which the ballast plate and / or the ballast carriage can be lifted or pivoted relative to the ground. For example, a region of the ballast plate can be lifted relative to the ballast carriage in order to change the inclination of the ballast plate. Alternatively or additionally, the inclination of the ballast plate can be changed by changing the axes of the ballast carriage. This can, for example, compensate for an inclination of the ballast plate that deviates from the horizontal orientation. For this purpose, the crane control is configured to control and / or regulate the at least one actuator on the basis of the data provided by the inclination detection device in such a way that the ballast plate is held in a horizontal orientation.Alternatively, the heavy-duty transport device can have an actuator on at least one wheel axle for raising a transport platform relative to the wheel axle. This also allows leveling of the ballast plate mounted on the heavy-duty transport device.

[0087] Further features, details, and advantages of the invention will become apparent from the following exemplary embodiments explained with reference to the figures. They show: Figure 1: the crane according to the invention according to a first embodiment in a perspective view; Figure 2: the derrick ballast of the crane in a side view; Figure 3: a schematic representation of the forces occurring and transmitted; Figures 4a-c: possible travel modes of the crane-derrick ballast combination, each in a top view; Figure 5: the guide with connecting device and ballast plate of the crane according to the first embodiment in a perspective view; Figures 6-7: the connecting device of the first embodiment in different views; Figure 8: the movable element of the connecting device of the first embodiment in a perspective view; Figures 9-10: sections along and transverse to the longitudinal guide axis through the connecting device of the first embodiment; Figure 11: an enlarged view of the ballast plate and its connection to the heavy-duty transport device in a perspective view;Figure 12: the guide with connecting device, ballast plate, and ballast carriage according to a second embodiment in a perspective view; Figure 13: the connecting device of the second embodiment in a perspective view; Figure 14: the guide with connecting device, ballast plate, and ballast carriage according to a third embodiment in a perspective view; Figures 15-16: a perspective view and a sectional view along the longitudinal axis of an adapter element of the third embodiment; Figure 17: a perspective overall view of the crane according to the third embodiment; Figure 18: the guide with connecting device, ballast plate, and ballast carriage according to a fourth embodiment in a perspective view; Figure 19: a perspective overall view of the crane according to the fourth embodiment;Figure 20: a side view of the guide with connecting device, ballast plate, and ballast carriage according to a fifth embodiment; Figure 21: a side view of the guide with connecting device, ballast plate, and ballast carriage according to a sixth embodiment, with the derrick ballast used as suspended ballast; and Figures 22-23: schematic representations of the control systems and data connections of the crane and the heavy-duty transport device.

[0088] In the Figure 1 A first embodiment of the crane 10 according to the invention is shown in a perspective overall view. The crane 10 is a crawler crane with a lattice boom as the main boom 16 (hereinafter referred to as "boom"), wherein in the Figure 1Only the pivot section of the boom 16 is shown, which is pivoted to the superstructure 14 about a horizontal luffing axis. The crane 10 comprises an undercarriage 12 with crawler tracks. The undercarriage 12 is supported on the ground via the two lateral crawler supports 13 of the crawler track. The crane 10 can be moved via the two crawler supports 13. This movement is possible in a straight line, which can be forwards and backwards. The crawler supports 13 can also move their tracks at different speeds, allowing the crane 10 to travel around curves.

[0089] On the undercarriage 12, a superstructure 14 is mounted via a slewing gear about a vertical axis of rotation (herein also referred to as the superstructure rotation axis). In addition to the boom 16, the crane 10 has a derrick boom 18, which is also pivotally connected to the superstructure 14 about a horizontal pivot axis. At the rear of the superstructure there is an superstructure ballast 15 with several ballast elements stacked one on top of the other (in the embodiment shown here, divided into two lateral ballast stacks). The derrick boom 18 is connected to the boom 16 via a length-adjustable luffing cable (not shown). The derrick boom 18 is in turn connected to the rear of the superstructure via a length-adjustable derrick guying system 19. The connection to the superstructure 14 can be made via an additional, pivoting guying frame 11 (also referred to as an A-frame or SA-frame) (in the Fig. 1The rope reeving between the A-frame 11 and the derrick guying 19 is not shown. A driver's cab can be located at the front of the superstructure 14.

[0090] In addition to the superstructure ballast 15, the crane 10 has a derrick ballast 40 with a ballast carriage 44 that can be moved along the ground, on which a ballast plate 42 is attached, on which in turn several ballast elements 41 are stacked. The derrick ballast 40 is connected to the rear of the superstructure via a guide 20 and to the tip or free end of the derrick boom 18 via a length-adjustable ballast guy wire 30. In the embodiment shown here, the ballast guy wire 30 comprises two parallel guy wires, each with a hydraulic pulling cylinder 32. By extending and retracting these wires, the length of the guy wires of the ballast guy wire 30 can be changed, thus adjusting the weight exerted by the derrick ballast 40.

[0091] Regarding the functions of the luffing ropes, derrick guying 19 and ballast guying 30 as well as the derrick ballast 40, reference is made to the introductory explanations, which also apply to the crane 10 according to the embodiment shown here. A repetitive explanation is therefore largely omitted. In addition, the derrick boom 18 in the embodiment shown here is held in its position against the force of the derrick guying 30 by a non-return device, which can comprise two hydraulic non-return supports 17 that follow the movement of the derrick boom 18 and exert a corresponding supporting force on the derrick boom 18. The boom 16 can also be secured by a corresponding non-return device (see Fig. 17 ).

[0092] The ballast carriage 44 of the derrick ballast 40 comprises a standard heavy-duty transport device 50 (hereinafter referred to as SPMT), which is known per se from the prior art and is already available to many crane operators and users for various purposes. These devices have their own drive and drive control system. The ballast carriage 44 can comprise a single SPMT 50 or several SPMTs 50 coupled together (or connected via the ballast plate 42)—the number is not important in this case. The ballast plate 42 is placed, in particular, on a transport surface or platform of the SPMT 50.

[0093] Since the drive control of the SPMT 50 is not designed for safety-relevant crane operation and there is also the risk that the very powerful drive of the SPMT 50 will exert excessive forces, in particular lateral forces, on the guide 20 and the derrick boom 18, the solution according to the invention provides for the control systems of crane 10 and SPMT 50 to be connected to one another so that the SPMT 50 can be controlled via the crane control 90. In addition, the crane 10 comprises a connecting device 60, which is either part of the guide 20 or an independent device and comprises a measuring device by means of which forces can be detected which result from a non-synchronous movement of the crane 10 and the ballast wagon 44. These detected control forces FS are transmitted to the crane control 90 and used by it to control the SPMT 50 so that non-synchronous ordiverging movements are compensated and the most synchronous driving operation possible is ensured.

[0094] A non-synchronous movement of ballast truck 44 and crane 10 can occur for various reasons or in different situations. Figures 4a-4c three possible modes of movement of the crane 10 according to the invention are shown in a plan view, wherein the arrow 100 indicates the direction of travel of the crane 10 and the arrow 200 indicates the direction of travel of the ballast truck 44 or the SPMT 50.

[0095] The Figure 4ashows a towing movement of the crane system, in which the crane 10 (or undercarriage 12) and ballast carriage 44 travel one behind the other in the same direction (i.e., straight ahead or backward) parallel to the longitudinal axis of the guide 20. If, for example, the ballast carriage 44 encounters an obstacle on one side, excessively high forces or moments can arise, which can lead to damage to the crane components, in particular to the guide 20. This can result in torques being generated around the z-axis and / or the y-axis (cf. Fig. 3 ).

[0096] The Figure 4bshows parallel travel of the crane system, in which crane 10 (or undercarriage 12) and ballast carriage 44 travel offset from one another in the same direction (i.e. straight ahead or backward) transverse to the longitudinal axis of the guide 20. If the guide 20 is connected to the ballast carriage 44 via a rotating device, parallel travel can also occur at an angle of less than 90° to the longitudinal axis of the guide 20. If the ballast carriage 44 encounters an obstacle here, forces act transversely to the longitudinal axis of the guide 20, so that moments about the z-axis and about the y-axis can occur (cf. Fig. 3 ).

[0097] The Figure 4cFinally, it shows a rotation of the superstructure 14 around its superstructure rotation axis (also referred to as circular travel). Here, the undercarriage 12 can be stationary, and the ballast carriage 44 moves around the superstructure rotation axis as the rotation or steering center at a speed adapted to the rotation speed of the superstructure 14. Apart from the possibility that the ballast carriage 44 encounters an obstacle, it can happen that the rotation center of the ballast carriage 44 does not coincide with the superstructure rotation axis, or that the ballast carriage is traveling too fast or too slowly. Here, too, moments about the z-axis and the y-axis can arise (see Fig. 3 ).

[0098] Likewise, any movement can lead to the creation of high forces or moments if the ballast carriage 44 sinks into the ground due to the high mass of the derrick ballast 40 (e.g. normal forces of the guide 20 increase up to the maximum propulsive force of the crane 10) or if the ballast carriage 44 travels faster or slower than the crane 10 (straight-ahead travel: ballast carriage 44 travels faster / slower than the undercarriage 12; rotation / circular travel: the ballast carriage 44 travels faster / slower around the center of rotation of the SPMT 50 than the uppercarriage 14 rotates around the uppercarriage rotation axis or the undercarriage 12 moves around its center of rotation when cornering). During a towing movement, moments around the y-axis can occur in particular, while during a rotation / circular travel or parallel travel and generally when encountering eccentrically acting obstacles, moments around the z-axis can also arise.If the terrain slope varies or if the ballast car 44 sinks, additional moments around the x-axis are created. Often, a combination of moments around all three axes will be present, with certain moments dominating depending on the type of movement and the reason for the non-synchronous movement.

[0099] The Figure 2 shows the derrick ballast 40 in a side view, with the forces occurring during operation and introduced into the crane system indicated by black arrows (the lengths and directions of the arrows are merely schematic and serve only as illustrations). The ballast carriage 44 and thus the SPMT 50 are connected to the crane system via the triangle formed by the legs guide 20, ballast guy 30 and derrick boom 18. This triangle is shown schematically in the Figure 3 shown, along with the respective forces.

[0100] A compressive force is generated in the guide 20, depending on the "activated" mass or weight force FB from the derrick ballast 40. This "activation" is carried out via the tension cylinders 32 and the ballast guy wire 30. Retracting the tension cylinders 32 shortens the leg with the ballast guy wire 30, allowing the mass of the derrick ballast 40 to be used as needed, or the force FB introduced into the crane system to be adjusted. This "activation" creates a moment that secures the crane 10 against tipping over, as well as a force that keeps the boom system 14, 16 in balance. These forces introduced into the crane system are therefore usually very large, so that it is not easily possible to install a sensor system in this highly stressed area (ie in the guide 20 or in the ballast guy 30) for detecting forces resulting from non-synchronous movements and for safe control of the SPMT 50.

[0101] The guide 20 is pivotally mounted on the superstructure 14. The derrick boom 18 preferably remains stationary when the traction cylinders 32 are actuated. This results in minimal movement at the connection between the crane system and the derrick ballast 40 in the vertical direction. As long as the mass of the derrick ballast 40 is large enough, this movement remains imperceptible, and essentially only the force FB resulting from the mass of the derrick ballast 40 and "activated" via the adjustment of the traction cylinders 32 increases. At the connecting means 34 of the ballast guying 30, which connect the latter to the guide 20, this force FB is divided into a force FA introduced into the crane system via the ballast guying 30 and a force FF introduced into the crane system via the guide 20. These forces are very large and, together with the forces transmitted via the derrick boom 18, form a force triangle along the Figure 3 drawn leg.

[0102] Therefore, a force Fs that lies outside this triangle should be used as the control force for controlling the SPMT 50. The measuring device for detecting this force is therefore located outside this force triangle, specifically below the force triangle or below the connecting elements 34. In this area, the control forces Fs are not superimposed by the other forces FA and FF, so the measuring device can be designed for smaller forces.

[0103] The purely vertical force FB is transmitted by the connection between the guide 20 and the SPMT 50, wherein according to the invention a connecting device 60 is part of this connection and comprises the aforementioned measuring device, which is connected to the crane control 90 and exchanges data with it. Depending on the embodiment, the connecting device 60 can be installed between the guide 20 and the ballast plate 42 or between the ballast plate 42 and the ballast carriage 44 or SPMT 50. If an uneven run occurs between the wheel sets of the SPMT 50 and the crawler supports 13 of the crane 10, the force FB remains vertical but a control force Fs results transversely or at a certain angle to the force FB . The connection between the ballast carriage 44 and the guide 20 is flexurally rigid, in particular at an angle of 90°, wherein the control force Fs generates a moment about the flexurally rigid connection.

[0104] The crane system or the SPMT 50 is controlled depending on the detected control force(s) FS in two different force ranges (hereinafter, the terms force and force range also refer to the torques resulting from non-synchronous movement). In a first force range, in which the control force Fs is still relatively small, the control force Fs is used as the control and / or regulated variable for the movement of the SPMT 50. The crane control system 90 receives the detected control force FS from the measuring device and determines which movement it must initiate so that the control force Fs decreases again. Due to the comparatively low control forces Fs in this first force range, it is generally not necessary to stop the crane movement; instead, the crane control system independently performs a continuous movement as desired by the crane operator.The crane control system merely adjusts the movement of the SPMT 50 to minimize the control force Fs, in particular by accelerating or decelerating the SPMT 50 or adjusting the speed and / or adjusting the steering angle.

[0105] In a second force range, the occurring control force Fs is specifically limited to prevent damage. The second force range lies above a defined limit force, whereby different limit forces or limit moments can be defined for the various forces and moments occurring, e.g., a defined limit force for a control force Fs in the longitudinal direction of the guide (longitudinal force) and another defined limit force or limit moment for a control moment occurring about the z-axis (lateral force).

[0106] When the limit force is exceeded, i.e., in the second force range, the force Fs should remain constant, resulting in a detectable movement between the ballast carriage 44 and the guide 20, which can be recorded by the measuring device. During the execution of this movement, the crane control system 90 preferably intervenes and stops the movement of the crane system, i.e., the undercarriage 12, the superstructure 14, and the SPMT 50. This ensures that the crane system remains in a safe state. The ballast carriage 44 can then be moved back into a "safe area," and the crane movement can be continued. The correction or movement of the SPMT 50 back into the safe area can be performed by a crane operator, a signalman, or fully automatically by the crane control system 90.

[0107] In the following, the Figures 5-21Several embodiments of the crane 10 are discussed, in particular with regard to the realization of the connecting device 60 and the detection of the control forces FS.

[0108] A first embodiment is shown in the Figures 5-10 shown. The Figure 5 shows a perspective view of the guide 20, the connecting device 60, and the ballast plate 42, which are connected to each other. The ballast elements 41 and the ballast carriage 44 with the SPMT 50 are not shown.

[0109] The guide comprises a pivot piece 21 pivoted about a horizontal pivot axis to the rear of the superstructure and an intermediate piece 22 connected to the pivot piece 21 via bolt connections (in particular fork-finger connections), which can comprise a lattice construction with several longitudinal, transverse and diagonal struts. The connecting device 60 is bolted to the intermediate piece 22 and connected to the ballast plate 42 and forms part of the guide 20 in this embodiment. The connecting device 60 comprises a coupling part 23 rigidly connected to the intermediate piece 22 and a movable element 62 mounted on or in the coupling part 23 in the longitudinal direction of the guide 20, which movable element 62 is mounted in the Figures 6 and 7 is easier to recognize. The Figure 6 shows the connecting device 60 looking at the top side 34, while the Figure 7 shows the view of the underside of the connecting device 60.

[0110] The movable element 62 is designed in this embodiment as a plate-shaped element, which is slidably mounted in guide rails that extend on the coupling part 23 in the longitudinal direction of the guide 20. The mobility of the movable element 62 is ensured by bearings 64, which can be, for example, plain or roller bearings. Figure 9 shows a cross-section through the connecting device 60 transverse to the longitudinal axis of the guide 20, from which the position and shape of the guide rails, the bearings 64 and the movable element 62 can be seen. A section along the longitudinal axis of the guide 20 is shown in the Figure 10 shown.

[0111] On the underside of the movable element 62, which faces the ballast plate 42, there is a rotating device which allows rotation of the ballast plate 42 relative to the guide 20 about an axis perpendicular to the direction of extension of the ballast plate 42 (i.e., in the case of a horizontally oriented guide 20, about a vertical axis or about the z-axis). The rotating device comprises a pivot bearing 66 with a first bearing part 67, which is connected to the movable element 62, and a second bearing part 68 which is rotatably connected to the first bearing part 67 and forms an intermediate piece which is bolted directly to the ballast plate 42. Alternatively, further intermediate pieces could be provided between the second bearing part 68 and the ballast plate 42. The movable element 62 with the first bearing part 67 is in the Figure 8 shown in isolation with a view of its underside.

[0112] The connecting device 60 thus has two degrees of freedom of movement and allows a relative translational movement of the ballast plate 42 or the ballast carriage 44 attached thereto parallel to the longitudinal axis of the guide 20 (i.e. towards or away from the superstructure 14) as well as a rotation of the ballast plate 42 or the ballast carriage 44 relative to the guide 20.

[0113] As in the Figures 5 and 6 As can be seen, the connecting means 34, designed as bolting points, for the ballast guying 30 are arranged on the coupling piece 23 and located on its upper side. Thus, the movable element 62 and the pivot bearing 66 are located below the connecting means 34 and, in particular, below the structures of the guide 20, which transmit the high forces FF resulting from the derrick ballast 40. The resultant force from the rod force and the drawn ballast weight passes, in particular, directly from the connecting means 34 into the corner post tubes of the guide 20.

[0114] If crane 10 and ballast car 44 do not move synchronously (e.g. for one of the reasons related to the Figures 4a-4c reasons explained), a relative movement occurs between the ballast plate 42 and the guide 20. This can mean a displacement of the movable element 62 relative to the coupling part 23 and / or a rotation of the second bearing part 68 relative to the first bearing part 67. Such relative movements should be avoided in the first force range or minimized by appropriate counter-control of the SPMT 50.

[0115] For this purpose, the connecting device 60 comprises a first actuator 1, which in the embodiment shown here is designed as a hydraulic cylinder 1, which is connected on the one hand to the coupling part 23 and on the other hand to the movable element 62 and extends parallel to the longitudinal direction of the guide 20 (ie the degree of freedom of movement of the movable element 62) (cf. Fig. 6-7 ). As in the Figure 10As can be seen, this can be a double-acting hydraulic cylinder. In the first force range, the first actuator 1 blocks movement of the movable element 62 relative to the coupling part 23. This can be achieved, for example, by a pressure relief valve hydraulically connected to the first actuator 1 (not shown), which remains closed up to a defined limit pressure and blocks displacement of the piston rod. As a result, the movable element 62 is held in a central position in the first force range (cf. Fig. 10 ).

[0116] A sensor of the measuring device, in particular a pressure sensor, detects the control force FS or longitudinal force acting in the longitudinal direction of the guide 20, which acts on the first actuator 1 due to a non-synchronous movement of the crane 10 and the ballast carriage 44. If the longitudinal force is smaller than the defined limit force (which results, for example, from the set limit pressure of the aforementioned pressure relief valve), the movement of the movable element 62 is blocked, and the detected longitudinal force is used by the crane control 90 to control the SPMT 50 such that the deviating movement is compensated and the longitudinal force is reduced. This can prevent shutdown of the crane 10.

[0117] A moment occurring around the z-axis, resulting from a non-synchronous movement (= control moment), is detected via second actuators 2. In the embodiment discussed here, two second actuators 2 are provided, which are also designed as hydraulic cylinders. Alternatively, the pressure and rotational travel monitoring could also be implemented with one or more rotary drives. The second actuators 2 are articulatedly coupled to both the first bearing part 67 and the second bearing part 68 (see. Fig. 7 and 8), i.e., they are coupled between ballast plate 42 and coupling part 23, so that the moments about the axis of rotation of pivot bearing 66 act on second actuators 2. As with first actuator 1, second actuators 2 block rotational movement of second bearing part 68 relative to first bearing part 67 up to a defined limit force or a defined limit torque. Here, too, the limit torque can be defined by at least one pressure relief valve. Corresponding sensors (in particular pressure sensors) detect the forces acting on second actuators 2 due to the control torque, i.e., the corresponding transverse forces, and on this basis, crane control 90 controls SPMT 50 such that the control torque is minimized due to a corresponding compensating movement.

[0118] Due to the blocked first and second actuators 1, 2, the ballast carriage 44 is forced "into the track" in the first force range. Due to the fact that the first and second actuators 1, 2 are below the Figure 3 shown force triangle, they can be made significantly smaller and the measured control forces Fs are not superimposed by the high forces FA and FF.

[0119] To prevent damage, the first and second actuators 1, 2 open when the respective limit force or moment is exceeded, thus enabling a corresponding relative movement between the ballast carriage 44 and the guide 20. The respective actuators 1, 2 move a specific distance. If, for example, the longitudinal force exceeds the defined limit force of the first actuator 1, this releases a movement of the movable element 62 relative to the coupling part 23, and during the subsequent movement, the piston rod moves relative to the cylinder housing of the first actuator 1. The same applies to the second actuators 2. These position changes of the actuators 1, 2 are detected by corresponding position or orientation sensors of the measuring device and transmitted to the crane control system 90. The crane control system 90 then stops all movements of the crane 10 and the SPMT 50.As an alternative to detecting a movement of the actuators 1, 2, the relative movements in question could also be detected in another way, e.g. by position or proximity sensors arranged on the movable element 62, on the coupling part 23, on the first bearing part 67 and / or on the second bearing part 68.

[0120] In summary, the degrees of freedom of movement provided by the connecting device 60 are only released when the relevant forces or moments become too large. Then, the respective actuators 1, 2 "slip," and the detected movement causes the crane control system 90 to stop the movement of the crane-derrick ballast assembly, allowing a correction to be made.

[0121] The ballast plate 42 is connected to the SPMT 50 in particular via connecting elements 52. A possible example of such a detachable connection is shown in the Figure 11The ballast plate 42 can be removed from the ballast carriage 44 or the SPMT 50 by loosening the connections provided by the connecting elements 52.

[0122] A second embodiment is shown in the Figures 12 and 13 shown. Here, the connecting device 60 does not comprise a movably mounted element 62 or a pivot bearing 66, but a coupling part 23 with four rockers 70, each of which is pivotally mounted on the coupling part 23 about a pivot axis running perpendicular to the longitudinal axis of the guide 20 (and horizontally on a flat surface). The independently movable rockers 70 can, as shown in the Fig. 12 shown, be attached to the side of the coupling piece 23, although other arrangements are also possible, e.g. on the underside of the coupling part 23.

[0123] In the embodiment shown here, the rockers 70 are hingedly connected at their lower ends directly to the ballast plate 42. Alternatively, the rockers 70 could be hingedly attached to an intermediate piece, and the intermediate piece could in turn be connected to the ballast plate 42.

[0124] Due to the mobility of the rockers 70, the ballast plate 42 can move relative to the coupling part 23 in the longitudinal direction of the guide 20, similar to the movable element 62 of the first embodiment. In the embodiment shown here, two rockers 70 on opposite sides of the coupling part 23 are each coupled to the coupling part 23 via a hydraulic cylinder (see FIG. Fig. 13). These hydraulic cylinders function, on the one hand, as first actuators 1, since they can detect the control force FS or longitudinal force acting in the longitudinal direction of the guide 20 during a non-synchronous movement. The principle of blocking the relative movement in a first force range and releasing the movement in a second force range functions analogously to the first embodiment. In the first force range, the first actuators 1 hold the rockers 70 in a central position (cf. Fig. 13 ) and are in turn monitored for length, force and pressure via corresponding sensors in the measuring device.

[0125] The connecting means 34 for the ballast guy wire 30 are again located above the first actuators 1 (in particular on the upper corner posts of the coupling part 23, as shown in the Fig. 13 shown), so that the latter are arranged below the force triangle.

[0126] In the embodiment shown here with four individual rockers 70, the hydraulic cylinders can simultaneously function as second actuators 2 if the rockers 70 have or are mounted on corresponding spherical bearings that allow deflection of the rockers 70 in different directions or have degrees of freedom in two axes. In this case, upon a rotational movement of the ballast plate 42 relative to the coupling part 23 about the z-axis, the rockers 70 on the different sides of the coupling part 23 are deflected in different directions (or, in the first force range, the control forces Fs act in different directions). In this case, the crane control 90 is configured to detect the different loads and derive a control torque therefrom, on the basis of which a corresponding control of the SPMT 50 takes place, analogously to the first embodiment.To enable this variant, at least four individual rockers 70 must be provided. These can, for example, be connected to the coupling part 23 and / or to the ballast plate 42 (or an intermediate piece) via spherical bearings and / or have an additional joint arranged between the pivot points of the rockers 70.

[0127] Alternatively, the control torque could also be detected via an additional rotating device with corresponding force and length monitoring via at least one second actuator 2, for example, analogous to the first embodiment. Such a rotating device could be arranged on an intermediate piece, which is connected to the coupling part 23 via the rockers 70.

[0128] A third embodiment is shown in the Figures 14-17 shown. The Figure 14shows the guide 20, the connecting device 60, the ballast plate 42, and the SPMT 50 to which the ballast plate 42 is connected. Here, the guide 20 comprises only the pivot piece 21 and a head piece 24 connected thereto, with a coupling section rigidly connected to the pivot piece 21 and a pivoting part 29 connected to the ballast plate 42. In this embodiment, the pivoting part 29 comprises two tubular elements pivotably mounted relative to one another about the longitudinal axis of the guide 20, wherein an inner tubular element (= first pivoting element) is connected to the ballast plate 42 via corresponding connection points, and an outer tubular element (= second pivoting element) is connected to the coupling section. Alternatively, the outer tubular element could be connected to the ballast plate 42 via corresponding connection points.The tubular elements allow a rotational movement of the ballast plate 42 relative to the guide 20 about the longitudinal axis of the guide 20 (which corresponds to the x-axis when the guide 20 is horizontally aligned).

[0129] In this embodiment, the connecting device 60 is not located between the guide 20 and the ballast plate 42, but between the ballast plate 42 and the ballast carriage 44 or SPMT 50. The connecting device 60 comprises two adapter elements 80 (alternatively, only one adapter element 80 or more than two adapter elements 80 can be provided), which are spaced apart from one another in the longitudinal direction of the SPMT 50 (ie transverse to the longitudinal axis of the guide 20) and provide the corresponding degrees of freedom of movement of the ballast carriage 44 relative to the guide 20.

[0130] For this purpose, the adapter elements 80 each comprise an (outer) first adapter part 81, which is connected to the SPMT 50, and an (inner) second adapter part 82 displaceably mounted in the outer adapter part 81. The Figures 15 and 16 each show a single adapter element 80 in a perspective view ( Fig. 15 ) and in a side sectional view along the longitudinal axis of the adapter element 80 ( Fig. 16 ). The second adapter parts 82 have corresponding connecting elements 83, which protrude through the shells of the first adapter parts 81 and are connectable or connected to the underside of the ballast plate 42 (cf. Fig. 15 ). The first adapter parts 81 include corresponding connecting elements for connecting to the SPMT 50. Alternatively, the first (outer) adapter parts 81 could be connected to the ballast plate 42 and the second (inner) adapter parts 82 could be connected to the SPMT 50.

[0131] The adapter elements 80 comprise a bearing to ensure the mobility of the adapter parts 81, 82 relative to each other, wherein the bearing may comprise several bearings 84, which may be designed, for example, as plain or roller bearings. Figures 15 and 16 a possible arrangement of the bearings 84 is shown, wherein a lower and an upper bearing 84 are provided on each side and on each end section of the second adapter part 82, thus a total of eight bearings 84 per adapter element 80. Of course, a different arrangement or a different number (e.g. fewer or more than eight) of bearings 84 could also be used.

[0132] The first and second adapter parts 81, 82 are connected to each other via a first actuator 1 in the form of a hydraulic cylinder (cf. Fig. 16), so that the longitudinal forces resulting from non-synchronous movements can be detected. The principle of blocking the relative movement in a first force range and releasing the movement in a second force range functions analogously to the first and second embodiments. In the first force range, the first actuators 1 hold the adapter parts 81, 82 in a central position (cf. Fig. 16 ) and are in turn monitored for length, force and pressure via corresponding sensors in the measuring device.

[0133] In this exemplary embodiment, the connecting means 34 for connecting the ballast guy wire 30 are arranged directly on the ballast plate 42. The force flow thus occurs, on the one hand, from the ballast plate 42 via the connecting means 34 into the ballast guy wire 30 and, on the other hand, via the pivoting part 29 into the guide 20. Since the adapter elements 80 of the connecting device 60 are arranged below the ballast plate 42, the first actuators 1 are again located below the force triangle.

[0134] In order to enable the moments about the z-axis to be detected by means of the adapter elements 80, the latter can be designed such that the second adapter parts 82 are not only mounted so as to be longitudinally displaceable relative to the first adapter parts 81, but can also be moved or pivoted laterally relative to them. In this case, the first actuators 1 of the adapter elements 80 would be subjected to different loads, from which the crane control system 90 can derive the control torque and control the SPMT 50 accordingly. In this case, the first actuators 1 would simultaneously function as second actuators 2. The principle functions in particular analogously to the corresponding variant of the second exemplary embodiment with the four rockers 70 and the first actuators 1 functioning as second actuators 2. To enable this mobility, the bearings 84 can be designed accordingly and have a corresponding amount of play. For this purpose, the bearings 84 can, for example, be spherical.The ballast carriage 44 can then rotate around the z-axis with the second adapter parts 82 relative to the ballast plate 42 with the first adapter parts 81. However, this movement is only released in the second force range. In the first force range, the rotational movement is blocked, and the SPMT 50 is controlled accordingly to compensate for the control moments and forces.

[0135] The Figure 17 shows a perspective overall view of the crane 10 according to the third embodiment, wherein it can be seen that the pivoting part 29 is arranged between two ballast stacks stacked laterally on the ballast plate 42.

[0136] In the Figure 17An example is also shown in which the superstructure 14 has an additional A-frame 11, which is pivotally mounted on the superstructure 14 and connected to the derrick boom 18 via the derrick guying 19. The A-frame 11 is in turn connected to the superstructure 14 via a length-adjustable guying cable. The crane 10 according to the invention can have such a configuration regardless of the specific design of the guide 20 or the derrick ballast 40.

[0137] A fourth embodiment is shown in the Figure 18, showing the guide 20, the connecting device 60, the ballast plate 42, and the SPMT 50 to which the ballast plate 42 is connected. The guide 20 comprises a pivot piece 21 and a connecting device 60 connected to the pivot piece 21, which in turn is connected to the ballast plate 42. The connecting device 60 comprises a coupling part 23 bolted to the pivot piece 21 and an intermediate piece 25 bolted to the ballast plate 42. In contrast to the previous exemplary embodiments, the connecting device 60 in this embodiment does not provide any degree of freedom of movement, but is rigidly connected to both the pivot piece 21 and the ballast plate 42. The intermediate piece 25 can be regarded as a component of the connecting device 60 or the guide 20.

[0138] The intermediate piece 25 is bolted to the coupling part 23, with at least one of the bolts being designed as a force measuring bolt 3. The longitudinal axis of the force measuring bolt 3 is particularly transverse to the longitudinal axis of the guide 20. In the embodiment shown here, four bolt connections are provided and all four bolts are designed as force measuring bolts 3 whose longitudinal axes are aligned transversely to the longitudinal axis of the guide 20. The force measuring bolts 3 measure the longitudinal forces acting in the longitudinal direction of the guide 20, which are provided as the control force Fs to the crane control 90. A defined limit force can be provided, up to which, analogous to the previous embodiments, the SPMT 50 is controlled to compensate for the control force FS, i.e. without the current crane movement having to be stopped. If the defined limit force is exceeded, the movement can be stopped by the crane control 90.

[0139] In this embodiment, the connecting means 34 for connecting the ballast guy wire 30 are arranged on the coupling part 23, so that the measuring device with the force measuring pins 3 is located below the force triangle. This allows the force measuring pins 3 to be designed smaller.

[0140] The moments about the z-axis can be measured by evaluating the forces detected by the various force measuring pins 3. For this purpose, force measuring pins 3 can be used that are designed to detect the direction of the applied force, i.e., the position of the force vector. For a moment about the z-axis, the force measuring pins 3 are subjected to different loads, from which the control moment can be determined. The crane control 90 can then initiate a corresponding compensating movement of the SPMT 50.

[0141] Alternatively, the connecting device 60 could comprise a rotating device, for example, analogous to the first embodiment. This could be provided on the intermediate piece 25 or on another component of the connecting device 60 and could be monitored for length and force via at least one second actuator 2. The functional principle for detecting the control torque would then be particularly analogous to the first embodiment.

[0142] Alternatively, the force measuring bolts 3 could be provided in the connection between the intermediate piece 25 and the ballast plate 42. It would also be conceivable to dispense with the intermediate piece 25 and bolt the coupling part 23 directly to the ballast plate 42 via the force measuring bolts 3.

[0143] In all of the previously shown embodiments, any number of additional intermediate pieces 22 can be installed in the guide 20 in order to be able to adapt the total length of the guide 20, for example, to a required ballast radius or a specific level of the ballast moment.

[0144] The Figures 19 and 20 show a further embodiment of the guide 20 in a perspective overall view of the crane 10 ( Fig. 19 ) and in a side view of the guide 20 ( Fig. 20 ). Here, the guide 20 is designed to be telescopic and comprises a telescopic piece 26 with at least one outer section 27 and an inner section 28 displaceably mounted therein. In the embodiment variant shown here, the telescopic piece 26 itself forms the guide 20 and comprises an articulation section which is connected to the superstructure 14, as well as a connecting section which is connected to the ballast plate 42 (cf. Fig. 20). The outer section 27 is connected to the articulation section 74, while the inner section is connected to the connecting device 60, which forms the aforementioned connecting section. Alternatively, the outer section 27 could be connected to the connecting device 60 and the inner section 28 to the articulation section 74. By telescoping the sections 27, 28 in and out, the distance of the connecting device 60 from the superstructure 14, and thus the ballast radius, can be changed and continuously adjusted. More than two sections 27, 28 can be provided.

[0145] The connecting device 60 can be designed according to the first, second, or fourth embodiment. It is also conceivable for a pivoting part 24 according to the third embodiment to be located at the end of the inner section 28, and for a connecting device 60 with one or more adapter elements 80 to be provided.

[0146] Alternatively, the telescopic piece 26 can form only one of several interconnectable pieces of the guide 20. The latter can additionally comprise a pivot piece 21 and / or one or more intermediate pieces 22. In particular, it may be possible to remove the telescopic piece 26 if necessary and use the guide 20 without the telescopic piece 26.

[0147] It is conceivable that the maximum stroke of the telescopic section 26 represents the length of an intermediate section 22 that is also present, so that when the continuously telescopic section 26 is optionally used, the original length graduation of the entire guide 20 is essentially retained. However, operation in the not fully extended state is also possible and monitored by the crane control system 90.

[0148] The guide 20 can generally have a modular structure and comprise several modules or pieces that can be selectively connected to one another (e.g. one or more of: pivot piece 21, intermediate piece 22, head piece or connecting device 60, pivoting part 24, telescopic piece 26).

[0149] In the event that the lifting task does not require movable ballast, the derrick ballast 40 can be designed so that it can also be used as suspended ballast. For this purpose, the crane 10 can comprise additional guy frames 86, which can be mounted on the ballast plate 42 if necessary. For this purpose, first and second connecting means 87, 88 are provided, via which a connection to the ballast guy 30 can be established. The first connecting means 87 replace the connecting means 34 on the guide 20 or on the ballast plate 42. An example of such a design variant is shown in the Figure 21, wherein here two guy frames 86 are bolted to the ballast plate 42 via third connecting means 85. The first connecting means 87 in particular connect the guide 20 in an articulated manner to the ballast guy 30, while the second connecting means 88 in particular connect the guy frames 86 in an articulated manner to the guide 20 and are located at the upper end of the guy frames 86, which have a substantially triangular shape when viewed from the side.

[0150] In this case, the ballast plate 42 can be removed from the ballast truck 44 and placed on the ground, whereupon the guy frames 86 are mounted and the ballast guy 30 is connected to the first connecting means 87 of the guy frames 86.

[0151] The suspended ballast could be used without the guide 20, whereby it is held only by the ballast guy 30, which is vertically aligned (i.e., the suspended ballast is located below the free end of the derrick boom 18). Alternatively, the suspended ballast could be used with the attached guide 20. For this purpose, a special head piece 89 could be installed or capable of being installed in the guide 20 (see Fig. 21 ), which is connected in particular to the upper ends of the guy frames 86. This does not have a rigid connection to the guy frames 86, but rather an articulated connection. This articulated connection can comprise the second connecting means 88. Such a headpiece 89 thus creates an articulated connection between the ballast guy 30, the guide 20, and the guy frames 86. This allows the suspended ballast to be used together with the guide 20, thus achieving a larger ballast radius.

[0152] The use of one or more SPMT 50 as ballast wagon 44 generally offers several advantages: SPMTs have a high load capacity (e.g., > 1000 t); SPMTs are often already available at the user's site; SPMTs represent proven and tested systems; The SPMT can be controlled by the crane 10 (e.g., steering pole shift, travel, emergency stop, support type, lifting / lowering, etc.).

[0153] To control the SPMT 50, the crane control system 90 is connected to the drive control system 54 of the SPMT 50 via a control connection, so that the crane-derrick ballast combination can be controlled via the crane control system 90. Both the crane 10 and the SPMT 50 have suitable interfaces for this purpose.

[0154] The control technology connection of the SPMT 50 covers one or more (preferably all) of the following areas and applications: Emergency stop: connection of the emergency stop circuits of crane 10 and SPMT 50; force limitation; moment limitation; force compensation: determine resulting forces and counteract them; moment compensation: determine resulting moments and counteract them; steering modes: towing, parallel travel, circular travel, rotation travel and / or longitudinal travel; drive: determine the required drive force; leveling: compensate for slight inclines or declines in the terrain using appropriate SPMT axle leveling.

[0155] If a movement stop occurs triggered by a force limitation (entry into a second force range in one or more first or second actuators 1, 2 or in one or more force measuring pins 3), an error message is preferably subsequently output on a crane monitor, describing the error condition in detail. The crane monitor can be located in a superstructure driver's cab and / or on a mobile device such as a tablet or mobile control unit.

[0156] In the following, a preferred embodiment of the control-technical connection of the drive control 54 of the SPMT 50 to the crane control 90 of the crane 10 is described with reference to the Figure 22 described.

[0157] The control connection from crane 10 to SPMT 50 (or, if multiple SPMT 50s are used, to the SPMT network) is implemented via a first data connection 91 in the form of a CAN bus. In addition to the security mechanisms of the CAN protocol, the data to be transmitted is preferably secured at the application level using a "live bit." In this case, the crane control 90 cyclically sends a variable value to the SPMT 50, which the SPMT 50 (or the drive control 54) must return within a defined time. If the return transmission is incorrect, all movements are stopped, and the crane operator is notified of the inconsistent data connection, for example, by means of an error message.

[0158] All safety-related functions such as engine ON / OFF, steering, or travel are executed via two channels via the CAN bus connection, each via a separate safety relay contact of a crane-side safety switching device 93. The safety relay instructs the receiver (i.e., the SPMT 50) to accept the command from the CAN bus 91 (diverse design, in both directions). Safety-relevant information from the SPMT 50 to the crane 10, such as "all steering angles in position," is also executed via separate safety relay contacts of an SPMT-side safety switching device 94. The data connections via the safety switching devices 93, 94 form a second data connection 92 that exists parallel to the CAN bus 91. The safety switching devices 93, 94 are used for the safety-related interruption of a safety circuit. The safety relay contacts installed in the safety switching device 93, 94 are, in particular, redundant and positively guided.

[0159] If the connection between the crane control unit 90 and the drive control unit 54 of the SPMT 50 is established via the control line, the crane control unit 90 takes over most, in particular all, control-relevant calculations, and the SPMT 50 executes the required tasks. In this operating state, the SPMT 50 or the drive control unit 54 is no longer able to execute movements independently without authorization from the crane control unit 90. This may require unplugging an existing input unit of the SPMT 50 and replacing it with a connection unit to the crane 10.

[0160] In the following, the Figure 23 an embodiment of an implementation of an emergency stop function in the crane 10 according to the invention is explained. All in Figure 23The illustrated safety switching devices, switching relays, and their switching contacts are shown in a de-energized state. When the safety switching devices are supplied with power, the illustrated switching states of the contacts change to the actuated state. If power is applied to a relay (e.g., relay K1), the switching state of all "K1" contacts 107, 113, and 114 changes. In the example "K3," there are two normally open contacts 115, 116 and one normally closed contact 117.

[0161] The Figure 23 The control modules 95, 96 shown correspond in particular to the control modules 95, 96 of the crane 10 of the Figure 22 .

[0162] Both the crane 10 and the SPMT 50 each have an emergency stop switch (see Figure 23Emergency stop switch for crane: 106; emergency stop switch for SPMT: 108). During crane operation with the SPMT 50, actuating any emergency stop switch on the crane 10 or the SPMT 50 results in an emergency stop for both devices. Since the SPMT 50 has a self-contained emergency stop chain, the emergency stop chains of both devices must be linked via safety switching devices.

[0163] In order to link the two emergency stop chains, the following sequence must be observed: 1. No emergency stop switch 106 on crane 10 may be actuated. 2. The control system of crane 10 must be started. The safety switching device 107 (K1) is now supplied with power by crane 10. The safety switching contacts 113, 114 are closed. 3. No emergency stop switch 108 on the SPMT 50 may be actuated. 4. The control system of the SPMT 50 must be started. 5. Now the selector switch 110 (T1) on the SPMT 50 must be actuated. By actuating selector switch 110 (T1), the switching relays 111 (K3) and 112 (K4) are supplied with power. The switching contacts 115, 116 are closed. The switching contacts 117, 118 are opened, thus integrating the safety switching contact 119 into the emergency stop chain. The safety relay 109 (K2) is supplied with power, and the safety switching contacts 119 and 120 are closed. 6. Both emergency stop chains are now linked. The shared emergency stop chain is active. 7.The safety switch contacts 114, 120 are used for line monitoring (switch function tested).

[0164] Actuating any emergency stop switch 106 on crane 10 triggers the emergency stop on crane 10. The safety switching device 107 (K1) is de-energized and interrupts the emergency stop chain of the SPMT 50 by opening the safety switching contact 113. Actuating any emergency stop switch 108 on the SPMT 50 triggers the emergency stop on the SPMT 50. The safety switching device 109 (K2) is de-energized and interrupts the emergency stop chain of the crane 10 by opening the safety switching contact 119.

[0165] The Figure 23 shown safety switching device 107 can be used in particular in the Figure 22 shown crane-side safety switchgear 93. The Figure 23 The safety switching device 109 shown can be used in particular in the Figure 22 shown SPMT-side safety relay 94.

[0166] The various steering modes (e.g., towing, parallel, circular, longitudinal, and rotational) are primarily controlled by the crane control system 90. By transferring the ballast radius and the superstructure rotation angle from the crane control system 90 to the SPMT 50, each wheel axle on the SPMT 50 is set to the correct steering angle. The SPMT 50 preferably has a hydraulic drive motor. For the various travel movements, the corresponding drive pressure on the hydraulic drive motor of the SPMT 50 is controlled by the crane control system 90. The SPMT 50 sets the required drive pressure. This can be influenced by the following factors: Terrain gradient; travel speed; applied load or mass of the derrick ballast 40; steering mode; ballast radius.

[0167] In a preferred embodiment, the terrain inclination is determined by a sensor system which detects the current ballast inclination by a sensor, for example a sensor on or at the ballast plate 42. If the SPMT 50 on an incline, the drive pressure is increased compared to driving on level ground to ensure a smooth driving movement. SPMT 50 on a downhill slope, the drive pressure is reduced compared to driving on level ground. This results in the SPMT 50 or the ballast wagon 44 is braked, thus ensuring a smooth travel motion. "Grade" can be understood, for example, as an incline angle of 1°.

[0168] In a further embodiment, a device for axle leveling can be provided. Inclinations of the ballast plate 42 in the transverse direction caused by uneven terrain are detected by a sensor, for example a sensor on or at the ballast plate 42, and transmitted to the crane control 90. This inclination can be compensated for by axle leveling of the SPMT 50. For this purpose, a corresponding lifting / lowering command is sent to the SPMT 50. The wheel axles of the SPMT 50 can be divided into several axle groups, e.g., a first (e.g., left) and a second (e.g., right) axle group. The lifting / lowering command is then preferentially sent to the SPMT 50 for the relevant axle group, e.g., lift the first axle group, lower the first axle group, lift the second axle group, or lower the second axle group. One of the axle groups can also be raised and the other axle group lowered simultaneously.In parallel, an additional safety relay contact is preferably switched, which gives the SPMT 50 the corresponding release for leveling.

[0169] At this point, it should be noted that the sensors mentioned on or at the ballast plate 42 may technically belong to the crane 10 and not to the SPMT 50. List of reference symbols:

[0170] 1First actuator 2Second actuator 3Load measuring pin 10Crane 11A-frame 12Undercarriage 13Crawler carrier 14Superstructure 15Superstructure ballast 16Boom (main boom) 17Backstay 18Derrick boom 19Derrick guying 20Guide 21Connection piece 22Intermediate piece 23Coupling piece 24Head piece 25Intermediate piece 26Telescopic piece 27Section 28Section 29Swivel section 30Ballast guying 32Pull cylinder 34Connecting element 40Derrick ballast 41Ballast element 42Ballast plate 44Ballast trolley 50Heavy lift transport device (SPMT) 52Connecting element 54Drive control 60Connecting device 62Moving element 64Bearing 66Swivel bearing 67First bearing part 68Second bearing part 70Swing arm 74Articulation section 80Adapter element 81First adapter part 82Second adapter part 83Connecting element 84Bearing 85Third connecting element 86Guarding frame 87First connecting element 88Second connecting element 89Head piece 90Crane control 91First data connection 92Second data connection 93Safety switching device 94Safety switching device 95Control module96Control module 100Crane travel direction 106Crane emergency stop switch 107Safety switch K1 108SPMT emergency stop switch 109Safety switch K2 110Selector switch T1 111Switching relay K3 112Switching relay K4 113Safety switch contacts of K1 (2x NO contacts) 114Safety switch contacts of K1 (1x NO contact) 115Switching contact of K3 (1x NO contact) 116Switching contact of K3 (1x NO contact) 117Switching contact of K3 (1x NC contact) 118Switching contact of K4 (1x NC contact) 119Safety switch contacts of K2 (1x NO contact) 120Safety switch contacts of K2 (1x NO contact) 200Ballast wagon travel direction

Claims

1. Crane (10), comprising a movable undercarriage (12), a superstructure (14) rotatably mounted on the undercarriage (12), a boom (16) connected to the superstructure (14) in a luffable manner, a derrick boom (18) pivotally connected to the superstructure (14), via which the boom (16) is braced, a crane control (90), a guide (20) connected to the superstructure (14), and a derrick ballast (40), wherein the derrick ballast (40) comprises a ballast plate (42) for stacking ballast elements (41), which is connected to the derrick boom (18) via a ballast bracing (30) and to the superstructure (14) via the guide (20), and a ballast wagon (44), wherein the ballast wagon (44) comprises a standard heavy-load transport device (50) with its own drive and its own drive control (54), characterized in that - the guide (20) is connected to the ballast plate (42) or the ballast wagon (44) via a connection device (60), wherein the connection device (60) comprises a measuring device which is configured to detect a force counteracting a relative movement between the ballast wagon (44) and the guide (20), and - the crane control (90) is connected to the drive control (54) of the heavy-load transport device (50) via a control connection and is configured to control and / or regulate the heavy-load transport device (50) depending on the force detected by the measuring device.

2. Crane (10) according to claim 1, wherein the guide (20) is configured such that the force generated by the derrick ballast (40) is divided into a first force transmitted by the guide (20) and a second force transmitted by the ballast bracing (30), wherein the measuring device is arranged outside, in particular below, the structures of the guide (20) and the ballast bracing (30) transmitting the first and second forces.

3. Crane (10) according to claim 1 or 2, wherein the measuring device comprises at least one first actuator (1), in particular a first hydraulic cylinder, by means of which a longitudinal force counteracting a relative movement between the ballast wagon (44) and the guide (20) in the longitudinal direction of the guide (20) can be detected, wherein preferably the first actuator (1) is configured to provide a rigid connection between the guide (20) and the ballast wagon (44) in the longitudinal direction in a first force range, in which the longitudinal force is less than a defined limit force, and the crane control (90) is configured to control and / or regulate the heavy-load transport device (50) depending on the detected longitudinal force in such a way that the longitudinal force is minimized, wherein the first actuator (1) is preferably configured to yield to a relative movement between the guide (20) and the ballast wagon (44) in a second force range in which the longitudinal force exceeds the defined limit force, wherein preferably the measuring device comprises a first position sensor, by means of which a change in position of the ballast wagon (44) relative to the guide (20), in particular a change in length or angle of the first actuator (1), can be detected in the second force range and the crane control (90) is configured to stop or limit a movement of the crane (10) and / or of the ballast wagon (44) in response to a change in position detected by the first position sensor.

4. Crane (10) according to any one of the preceding claims, wherein the measuring device comprises at least one second actuator (2), in particular a second hydraulic cylinder, by means of which a torque counteracting a rotational movement between ballast wagon (44) and guide (20) can be detected, wherein preferably the second actuator (2) is configured to provide a rotationally rigid connection between the guide (20) and the ballast wagon (44) in a first torque range, in which the torque is less than a defined limit torque, and the crane control (90) is configured to control and / or regulate the heavy-load transport device (50) depending on the detected longitudinal force in such a way that the torque is minimized, wherein the second actuator (2) is configured to yield to a relative rotation between the guide (20) and the ballast wagon (44) in a second moment range in which the torque exceeds the defined limit torque, wherein preferably the measuring device comprises a second position sensor, by means of which a change in position of the ballast wagon (44) relative to the guide (20), in particular a change in length or angle of the second actuator (2), can be detected in the second force range and the crane control (90) is configured to stop or limit a movement of the crane (10) and / or of the ballast wagon (44) in response to a change in position detected by the second position sensor.

5. Crane (10) according to any one of the preceding claims, wherein the connection device (60) is arranged between the guide (20) and the ballast plate (42) and comprises a coupling part (23) rigidly connected to the guide (20), wherein the connection device (60) preferably comprises a movable element (62) which is connected to the ballast plate (42), is mounted movably relative to the coupling part (23) in the longitudinal direction of the guide (20), in particular displaceably via a roller or plain bearing (64), and is preferably arranged below connecting means (34) which connect the ballast bracing (30) to the guide (20) and are arranged on the guide (20) or on the coupling part (23).

6. Crane (10) according to claims 3 and 5, wherein at least one first actuator (1) is coupled on the one hand to the movable element (62) and on the other hand to the guide (20), in particular to the coupling part (23), wherein the first actuator (1) is preferably configured as a hydraulic cylinder which is configured to block a relative movement between the movable element (62) and the coupling part (23) up to the defined limit force.

7. Crane (10) according to claim 5 or 6, wherein the connection device (23) comprises a rotation device via which the ballast plate (42) is connected to the guide (20) so as to be rotatable about a vertical axis, wherein the rotation device comprises a pivot bearing (66) which is preferably arranged on the movable element (62).

8. Crane (10) according to claims 4 and 7, wherein the pivot bearing (66) comprises a first bearing part (67) connected to the connection device (60), in particular the movable element, and a second bearing part (68) connected to the ballast plate (42), wherein at least one second actuator (2) is coupled on the one hand to the movable element (62) and on the other hand to the ballast plate (42), in particular on the one hand with the first bearing part (67) and / or on the other hand with the second bearing part (68), wherein the second actuator (2) is preferably configured as a hydraulic cylinder or motor which is configured to block a relative rotation between the bearing parts (67, 68) up to the defined limit torque.

9. Crane (10) according to claim 5, wherein the connection device (60) comprises at least two pivotably mounted rocker arms (70), via which the connection device (60) is movably connected to the ballast plate (42), wherein the rocker arms (70) permit a movement of the ballast plate (42) relative to the coupling part (23) in the longitudinal direction of the guide (20) and in particular are connected directly to the ballast plate (42) or to an intermediate piece connected to the ballast plate (42), wherein the rocker arms (70) are preferably arranged below connecting means (34) which connect the ballast bracing (30) to the guide (20) and which are arranged on the guide (20) or on the coupling part (23).

10. Crane (10) according to claims 3 and 9, wherein at least one first actuator (1) is coupled on the one hand to a rocker arm (70) or an intermediate piece movable by means of the rocker arm (70) and on the other hand to the guide (20), in particular the coupling part (23), wherein the first actuator (1) is preferably configured as a hydraulic cylinder which is configured to block a pivoting movement of the rocker arms (70) up to the defined limit force.

11. Crane (10) according to claim 4 and according to any one of claims 9 to 10, wherein the connection device (60) comprises a rotation device via which the ballast plate (42) is connected to the guide (20) rotatably about a vertical axis, wherein the rotation device is arranged on the coupling part (23) or on an intermediate piece connecting the rocker arms (70) to the ballast plate (42) and comprises a pivot bearing (66) with two bearing parts (67, 68) rotatable relative to one another, wherein the bearing parts (67, 68) are preferably coupled directly or indirectly via at least one second actuator (2), which is configured to block relative rotation between the bearing parts (67, 68) up to the defined limit torque.

12. Crane (10) according to claim 4 and according to any one of claims 9 to 10, wherein the connection device (60) comprises at least four rocker arms (70) which are configured in such a way that they allow a rotation of the ballast plate (42) relative to the coupling part (23), wherein the coupling part (23) is coupled via at least one second actuator (2) to at least one rocker arm (70) or an intermediate piece connecting the rocker arms (70) to the ballast plate (42).

13. Crane (10) according to claims 3 and 12, comprising at least two second actuators (2), which are each connected on the one hand to the coupling part (23) and on the other hand to one of the rocker arms (70) and simultaneously function as first actuators (1), wherein the second actuators (2) are arranged in particular in such a way that they are loaded differently when the ballast plate (42) is rotated relative to the coupling part (23), and the crane control (90) is configured to control and / or regulate the heavy-load transport device (50) depending on the detected load difference.

14. Crane (10) according to any one of claims 1 to 5, wherein the connection device (60) is arranged between the ballast plate (42) and the heavy-load transport device (50) and comprises at least one adapter element (80), which comprises a first adapter part (81) connected to the ballast plate (42) and a second adapter part (82) movable relative to the first adapter part (81) in the longitudinal direction of the guide (20), which is connected to the heavy-load transport device (50), wherein at least one first actuator (1), which is preferably configured as a hydraulic cylinder, is coupled to the first and to the second adapter part (81, 82) and is configured to block a relative movement between the adapter parts (81, 82) up to the defined limit force.

15. Crane (10) according to claims 4 and 14, comprising at least two adapter elements (80) spaced apart in a direction transverse to the longitudinal axis of the guide (20) and each having at least one first actuator (1), wherein the adapter elements (80) are configured in such a way that the second adapter parts (82) can be pivoted laterally relative to the respective first adapter parts (81), wherein preferably the first actuators (1) simultaneously function as second actuators (2) and are arranged in such a way that they are loaded differently relative to the ballast plate (42) when the ballast wagon (44) is rotated, and the crane control (90) is configured to control and / or regulate the heavy-load transport device (50) depending on the detected load difference.

16. Crane (10) according to claim 14 or 15, wherein the guide (20) comprises a head piece (24) with a coupling portion rigidly connected to the remaining structure of the guide (20) and a pivot part (29) connected to the ballast plate (42), wherein the pivot part (29) comprises a first pivot element connected to the ballast plate (42) and a second pivot element connected to the coupling portion, which are pivotably mounted relative to one another about a pivot axis extending parallel to the longitudinal axis of the guide (20) and permit rotation of the ballast plate (42) about the pivot axis, wherein the ballast bracing (30) is preferably connected directly to the ballast plate (42) via connecting means (34).

17. Crane (10) according to claim 1 or 2, wherein the connection device (60) is arranged between the guide (20) and the ballast plate (42) and comprises a coupling part (23) rigidly connected to the guide (20), wherein the measuring device comprises at least one force measuring bolt (3), by means of which a longitudinal force counteracting a relative movement between the ballast wagon (44) and the guide (20) in the longitudinal direction of the guide (20) can be detected, wherein the crane control (90) preferably is configured to control and / or regulate the heavy-load transport device (50) depending on the detected longitudinal force in such a way that the longitudinal force is minimized.

18. Crane (10) according to claims 4 and 17, wherein the connection device (50) comprises a rotation device with two bearing parts (67, 68) rotatable relative to one another, via which the ballast plate (42) is connected to the coupling part (23) rotatably about a vertical axis, wherein the bearing parts (67, 68) are preferably coupled to one another directly or indirectly via at least one second actuator (2), which is configured to block rotation between the bearing parts (67, 68) up to the defined limit torque.

19. Crane (10) according to claim 17, wherein the coupling part (23) is rigidly connected to the ballast plate (42) and the measuring device comprises at least two force measuring bolts (3), which are arranged in such a way that they are loaded differently when the ballast plate (42) is rotated relative to the guide (20), wherein the crane control (90) is configured to control and / or regulate the heavy-load transport device (50) depending on the detected load difference.

20. Crane (10) according to any one of claims 17 to 19, wherein the coupling part (23) comprises connecting means (34) via which the ballast bracing (30) is connected to the connection device (60), wherein the at least one force measuring bolt (3) is part of a bolt connection located below the connecting means (34), preferably a bolt connection of the coupling part (23) to the ballast plate (42) or to an intermediate piece (25) connected to the ballast plate (42).

21. Crane (10) according to any one of the preceding claims, further comprising at least one bracing block (86) and first and second connecting means (87, 88) for connecting the ballast rigging (30), in particular in an articulated manner, to the at least one bracing block (86) and / or to the guide (20), and further comprising third connecting means (85) for mounting the at least one bracing block (86) on the ballast plate (42), wherein the ballast plate (42) can be removed from the ballast wagon (44) and wherein the at least one bracing block (86) and the ballast plate (42) are configured in such a way that the derrick ballast (40) can be used as a suspended ballast when the bracing block (86) is mounted and separated from the ballast wagon (44).

22. Crane (10) according to any one of the preceding claims, wherein the guide (20) is configured to be adjustable in length, and preferably comprises a linkage piece (21) connected to the superstructure (14) and at least one intermediate piece (22) which can be detachably installed between the linkage piece (21) and the connection device (60) and / or comprises a telescopic piece (26) with at least two sections (27, 28) mounted so as to be displaceable one inside the other, and / or wherein the ballast plate (42) is placed on the ballast wagon (44), in particular directly on the at least one heavy-load transport device (50), and is detachably connected thereto via connecting elements (52).

23. Crane (10) according to any one of the preceding claims, wherein the guide (20) is mounted on the superstructure (14) so as to be pivotable about a horizontal axis and / or wherein the horizontal distance between the center of gravity of the derrick ballast (40) and the axis of rotation of the superstructure is greater than the horizontal distance between the tip of the derrick boom (18) and the axis of rotation of the superstructure.

24. Crane (10) according to any one of the preceding claims, wherein the control connection comprises two separate and in particular diverse data connections (91, 92) between the crane control (90) and the drive control (54) of the heavy-load transport device (50), wherein preferably a first data connection (91) comprises a data bus and / or a second data connection (92) comprises at least one safety switching device (93, 94) with a safety relay contact, wherein the control connection preferably comprises two emergency stop signal chains with a first emergency stop switch (106) arranged on the crane (10) and a second emergency stop switch (108) arranged on the heavy-load transport device (50), wherein the crane control (90) is preferably configured to stop all movements of the crane (10) and the heavy-load transport device (50) when one of the two emergency stop switches is actuated.

25. Crane (10) according to any one of the preceding claims, further comprising an inclination detection device with at least one sensor for detecting an inclination of the derrick ballast (40), in particular of the ballast plate (42), wherein the crane control (90) is preferably configured for controlling and / or regulating the heavy-load transport device (50) on the basis of the data provided by the inclination detection device in such a way that a current terrain inclination is compensated, in particular increasing a drive pressure of the drive of the heavy-load transport device (50) when a positive terrain inclination is detected and reducing it when a negative terrain inclination is detected, wherein the crane (30) preferably further comprises at least one actuator arranged on the ballast wagon (44) and / or on the ballast plate (42), by means of which the ballast plate (42) and / or the ballast wagon (44) can be raised or pivoted relative to the ground, wherein the crane control (90) is preferably configured to control and / or regulate the at least one actuator on the basis of the data provided by the inclination detection device in such a way that the ballast plate (42) is held in a horizontal orientation.

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