Apparatus including crawler crane and counterweight trolley and method of operating the same

Abstract

The present invention relates to a device including a crawler crane and a counterweight trolley for additional counterweights. [Solution] The additional counterweight is connected to the upper slewing body of the crawler crane via a connecting unit 16. The connecting unit consists of a connecting frame 16a and a connecting frame 16b, where the connecting frame 16a is fixed to a support device 15a, and the connecting frame 16b has one end fixed to the upper slewing body and the other end 16ba fixed to the connecting frame 16a. To improve this device, it is proposed that the connecting frame 16a also has a substantially vertical first rotation axis Z1. The present invention also relates to a method for operating a device including a crawler crane and a counterweight trolley 2 for the additional counterweight.

Description

Technical Field

[0001] The present invention relates to an apparatus including a crawler crane and a counterweight carriage for accommodating an additional counterweight, wherein the additional counterweight is connected to an upper slewing body of the crawler crane via a connecting unit. The present invention also relates to an operating method of an apparatus including a crawler crane and a counterweight carriage for accommodating an additional counterweight, wherein the crawler crane has a crane controller and the counterweight carriage has a counterweight carriage controller.

[0002] German Utility Model Publication DE 20 2009 011 577 U1 already discloses a crawler crane having a movable lower carriage equipped with crawler tracks and an upper slewing body arranged to be rotatable about a vertical axis on the lower carriage. A boom rotatable about a horizontal axis and a derrick boom or a counter boom rotatable about a horizontal axis are attached to the upper slewing body. The upper slewing body supports a counterweight, and an additional counterweight is suspended from the tip of the counter boom. The additional counterweight is arranged on a movable counterweight carriage so that the crawler crane can be moved or rotated together with the additional counterweight when the crawler crane is discharging a load. The counterweight carriage is connected to the upper slewing body via a lattice mast type connecting unit and is designed as a standard large transport vehicle. Since the counter boom is not designed to absorb lateral forces, the connecting unit is dimensioned such that all lateral forces generated are absorbed by the connecting unit.

[0003] Large transport vehicles used as counterweights are widely known and have a proven track record for decades as a means of transporting large loads such as bridge components and excavation rig parts. Essentially, a large transport vehicle consists of a transport platform and numerous steerable wheels, at least some of which are driven by the vehicle's independent drive unit. Therefore, the vehicle can move in any direction. The vehicle is controlled by manually inputting control commands into a user interface, which is part of the vehicle's operating unit. Such vehicles are equipped with dedicated drive control devices and can feature steering programs to assist the driver, including straight-line movement, lateral movement, diagonal movement, cornering, and on-the-spot turns. Multiple large transport vehicles can be linked together and moved according to the volume of cargo being transported.

[0004] Standard heavy transport vehicles are independently moved and controlled via dedicated drive and control systems and can be used for all kinds of transport operations, but counterweight carriages can also be part of crawler cranes. Therefore, these counterweight carriages for crawler cranes are individually adjusted to each crawler crane and primarily use power and control signals from the crawler crane.

[0005] The subsequently published European Patent Specification EP 4 461 693 A1 discloses various embodiments of a crawler crane, designed as a heavy-duty transport device and connected to a ballast carriage having ballast weights, via a guide. The crane controller is connected to the drive controller of the heavy-duty transport device via a control connection, and the drive controller is controlled or adjusted by the crane controller in accordance with the force detected by a measuring device. The guide connecting the crawler crane and the heavy-duty transport device is designed as a grid-like mast structure. In one embodiment, a rotating assembly and a sliding carriage are provided between the guide and the ballast weights placed on the heavy-duty transport device, allowing the movement of the ballast plate relative to the guide.

[0006] Further European Patent Specification EP 3 925 924 A1 discloses a crawler crane connected to a self-propelled ballast carriage via a connecting beam. In this case, the connecting beam comprises a connecting tube having a connecting portion and a slide. The connecting tube is fixed to the upper slewing body of the crawler crane via the connecting portion, and the slide is rotatable on the one hand with respect to the ballast carriage about a vertically extending pivot axis, and on the other hand movable longitudinally with respect to the connecting portion, depending on the movement of the self-propelled ballast carriage.

[0007] According to German utility model DE 20 2009 011 577 U1, the drive control system of a heavy transport vehicle is affected by the movement of a crawler crane. The basic operation of the crawler crane consists of, on the one hand, the rotation of the upper slewing body, and on the other hand, the towing operation in which the heavy transport vehicle follows behind the crawler crane. In one embodiment, the heavy transport vehicle is equipped with additional control devices that automatically determine the appropriate steering center when the crawler crane is rotating and automatically generate steering, acceleration, and / or deceleration commands when towing. In another embodiment without additional automatically operating control devices, the heavy transport vehicle and crawler crane are made to stop reliably if an undesirable force is applied to the coupling unit due to a steering error of the heavy transport vehicle. For this purpose, signals from sensors within the coupling unit area are evaluated. After stopping, the heavy transport vehicle is moved to the desired position by manual operation, and then the crawler crane resumes operation.

[0008] Furthermore, German Publication DE 10 2006 010 488 A1 discloses a further modular counterweight trolley for a large crane. The counterweight trolley is connected to the upper slewing body of the large crane via connecting rods. The counterweight is divided into movable and immovable counterweights by the counterweight trolley. The movable counterweight is placed on the platform of the counterweight trolley in the form of a stack of weight plates. The immovable counterweight is also placed on a pallet in the form of a stack of weight plates. During operation, the movable and immovable counterweights are suspended from the large crane via crosspieces. For this purpose, a chain is placed between the platform of the counterweight trolley and the crosspiece, and a rod is placed between the crosspiece and the pallet of the immovable counterweight. [Overview of the project]

[0009] Therefore, an object of the present invention is to improve a device including a crawler crane and a counterweight trolley for an additional counterweight, and a method for operating the device.

[0010] This objective is achieved by an apparatus comprising a crawler crane and a counterweight trolley for additional counterweights, comprising the features of claim 1, and a method for operating the apparatus comprising the features of claim 26. Dependent claims describe advantageous embodiments of the present invention.

[0011] According to the present invention, in a device comprising a crawler crane and a counterweight trolley for an additional counterweight, the additional counterweight is connected to the upper slewing body of the crawler crane via a connecting unit, the connecting unit is composed of a connecting frame and a connecting frame, the connecting frame is fixed to a support device for the additional counterweight, and the connecting frame is fixed to the upper slewing body at one end and to the connecting frame at the other end, an improvement to the device is achieved in that the connecting frame has a substantially vertical first axis of rotation, and the connecting frame is rotatable about that axis.

[0012] In relation to the present invention, a counterweight trolley is understood, on the one hand, as a counterweight trolley for a crawler crane, individually adapted by the crane manufacturer for each crawler crane, and on the other hand, as a standard heavy transport vehicle that is independently movable and controllable via a dedicated drive and control unit and used for all kinds of transport operations. The counterweight trolley for a crawler crane is an integral part of the crawler crane, primarily using energy and control signals from the crawler crane.

[0013] In certain embodiments, the counterweight trolley consists of at least one standard heavy transport vehicle. If the crane operator already owns heavy transport vehicles that can be used for other transport operations, there is no need to purchase a counterweight trolley for the crawler crane.

[0014] From a structurally advantageous standpoint, the additional counterweight consists of a support device and additional counterweight plates stacked on top of it, and the connecting unit is directly fixed to the support device.

[0015] Structurally advantageous, the connecting unit consists of a connecting frame and another connecting frame, the connecting frame being fixed to the support device, with one end of the connecting frame fixed to the upper rotating body and the other end fixed to the connecting frame. For this purpose, the connecting frame is provided with corresponding joints, and the connecting frame as a whole is articulatedly connected to or attached to the support device.

[0016] This device is characterized in that the connecting frame has a nearly vertical first axis of rotation, and the connecting frame can be swung around this first axis of rotation, particularly in one direction of rotation and in the opposite direction. The first axis of rotation extends vertically upward and is located on a flat horizontal plane.

[0017] When the counterweight trolley moves ahead of or behind the crane, the connecting frame can also pivot around its axis of rotation in the Z direction. Changes in the rotation angle are detected by a first sensor. Based on the detected sensor signals, the counterweight trolley can be controlled or adjusted, thereby reducing or avoiding forward or backward movement, and the counterweight trolley moves as synchronously as possible with the crane.

[0018] The connecting frame is preferably provided to articulate the connecting frame of the connecting unit to an additional counterweight, particularly a support device. For this purpose, the connecting frame may have a first transverse axis, a second transverse axis collinear thereto, a third transverse axis substantially parallel thereto, and a pivot axis. The second transverse axis preferably extends in the longitudinal direction of the counterweight carriage. The first and third transverse axes also preferably extend in the longitudinal direction of the counterweight carriage, as they are collinear or parallel to the second transverse axis. In this case, when the arrangement is in circular motion, the longitudinal direction of the counterweight carriage is preferably aligned laterally with respect to the longitudinal direction of the crane. In a flat horizontal region, these transverse axes are also oriented horizontally.

[0019] Therefore, the connecting frame allows all the relative motion between the connecting frame and the additional counterweight, particularly the support device for the additional counterweight, which is necessary during the movement of the apparatus consisting of the crane and the counterweight trolley. In the first embodiment, this makes it possible to rigidly connect the connecting frame to the connecting frame, particularly the components of the connecting frame, and in the second embodiment, it makes it possible to articulate the connecting frame to the connecting frame, particularly the components of the connecting frame, which is rigid in the X and Y directions and articulated in the Z direction. By detecting the relative motion of the connecting frame, particularly around its axis, it is possible to estimate the relative motion between the crane and the counterweight trolley, particularly the forward movement, lag, and / or change in distance between the counterweight trolley and the crane. Based on the relative motion detected in the connecting frame, the counterweight trolley can be controlled or adjusted to be as synchronous as possible with respect to the crane.

[0020] The connecting frame is preferably directly attached to the connecting frame and is pivotable about a second transverse axis, and in the second embodiment, is preferably rotatable about a first rotation axis. Preferably, the connecting frame is pivotable about the second transverse axis in a second rotation direction and in the opposite direction, and rotatable about the first rotation axis in a first rotation direction and in the opposite direction.

[0021] Therefore, the connecting frame preferably has a pivot element that is mounted to pivot around a second horizontal axis, and the connecting frame is attached to this pivot element. This allows the connecting frame to pivot together with the pivot element around the second horizontal axis.

[0022] More preferably, the connecting frame has a bearing element. The bearing element may be located on or within the swivel element. Preferably, the bearing element provides a first vertical axis of rotation. In a second embodiment, the connecting frame is preferably fixed to the bearing element. The connecting frame can be firmly fixed to the bearing element, for example, by screwing. As a result, the connecting frame can swivel together with the bearing element about the first vertical axis of rotation. Alternatively, the connecting frame rotates around the bearing element.

[0023] The connecting frame has a longitudinal extension, which is preferably designed to be symmetrical with respect to that longitudinal extension. When the connecting frame is attached to a configuration consisting of a crane and a counterweight trolley positioned laterally to the crane, the longitudinal extension extends laterally to the counterweight trolley. The lateral direction of the connecting frame is oriented laterally to its longitudinal extension.

[0024] In a particularly preferred embodiment, the connecting frame has a bearing position located at its rear end. In a particularly preferred embodiment, the connecting frame has exactly one bearing position located in the center of its rear end, particularly laterally to the connecting frame. It is also particularly preferred that the bearing element be located in the center of the slewing element. Furthermore, it is particularly preferred that the connecting frame be designed to be symmetrical with respect to its first axis of rotation. In a particularly preferred embodiment, when the connecting frame is fixed to the connecting frame, the connecting frame is fixed to a bearing element located in the center of the slewing element at its exact one bearing position, and due to the symmetry of the arrangement, it pivots equally in the direction of rotation or the opposite direction about the first axis of rotation of the connecting frame as the counterweight carriage moves forward or backward relative to the crane. This embodiment has fewer parts and therefore lower costs.

[0025] In a preferred embodiment, the rear end portion of the connecting frame is suspended via a turning element within the connecting frame, particularly swingably, via a second horizontal axis, and the turning element is pivotable about a first rotation axis within the connection frame. The rear end portion of the connecting frame can be quickly and easily attached to the connection frame.

[0026] The connection frame preferably has two opposing connection rods that horizontally partition the connection frame, and an outer frame disposed between the two connection rods is firmly fixed thereto. The force acting from the connecting frame to the connection frame is transmitted to the connection rods. Thereby, the outer frame gives sufficient stability to the connection frame. Thereby, it is possible to reduce, and in some cases prevent, an uncontrollable twist around the vertical axis of the connection rod caused by the force during the operation of the device consisting of the crane and the counterweight carriage.

[0027] In a preferred embodiment, the connection rods are angularly movable synchronously with respect to each other about a second horizontal axis with respect to the support device. Thereby, it is possible to correct the lateral length with respect to the longitudinal direction of the counterweight carriage of the connection unit, particularly to correct at least a slight length.

[0028] For this purpose, it is further preferred that the connection frame includes bearing parts fixed in a position-fixed state to the support, and each connection rod is pivotably attached to each bearing part about a third horizontal axis. Since the connection rods are firmly fixed to each other via the outer frame, they pivot about the third horizontal axis, particularly in the third pivoting direction and the opposite direction thereof.

[0029] The angular movable range of the connecting rod is preferably limited in both directions via a stopper supported by the support device when the maximum angle is reached in each direction. When the stopper contacts the support device when the maximum angle is reached, it is detected by a sensor, considered in the crane controller, and / or displayed as a warning to the operator. In particular, a device consisting of a crane and a counterweight carriage can be stopped when the maximum angle is reached.

[0030] The swivel element preferably extends between two connecting rods. The swivel element is preferably arranged inside the outer frame or above the outer frame. However, in principle, it can also be arranged laterally or below the outer frame. Arranging it above the outer frame has proven to be advantageous because the connecting frame can be manufactured with fewer parts, and in particular, the connecting frame can be easily attached from above.

[0031] Preferably, in the second embodiment, the rear end of the connecting frame is detachably and preferably directly fixed to a bolt-shaped bearing element, whereby the connecting frame is attached to the connecting frame. This can be done very quickly using commercially available tools. In an embodiment where there is only one bearing position of the connecting frame, the connecting frame can be fixed to the connecting frame by, for example, bolts or screws. In the first embodiment, the fixing is done indirectly via a swivel element on a frame-shaped bearing element.

[0032] In a preferred embodiment, additional guying devices are articulated and bolted to the connecting frame at the upper end of two connecting rods, each via a first transverse axis. This allows for the raising of additional counterweights, especially in the absence of a counterweight trolley. The additional guying devices preferably extend from the counter jib head of the crane's counter jib to the connecting rods. Because the connecting frame is directly connected to the counter jib via the additional guying devices and connecting rods, the relative movement of the connecting frame does not affect the radius of the counterweight. Furthermore, this improves the certainty and accuracy of determining the support load.

[0033] Preferably, the connecting frame is fixed to the connecting frame on one side and to the support device on the other side, having at least some translational degrees of freedom and at least some rotational degrees of freedom. At least some translational degrees of freedom are provided by second and third transverse axes, and rotational degrees of freedom are provided by the first rotation axis. By fixing the connecting frame to the connecting frame on one side and to the support device on the other side, having at least some translational degrees of freedom and at least some rotational degrees of freedom, relative movement between the crawler crane and the counterweight trolley can be enabled and detected. These degrees of freedom allow, for example, different slippage under the crawler crane's track and slippage under the counterweight trolley's tires, which can prevent damage to the connecting unit.

[0034] In an advantageous embodiment, at least a first sensor and a second sensor are positioned on the connecting frame, the first sensor detecting rotation around a first rotation axis and the second sensor detecting rotation around a third transverse axis. In a preferred embodiment, the first sensor is used to detect the rotation angle of the counterweight trolley relative to the upper slewing body around a vertical first rotation axis. Also in a preferred embodiment, the second sensor is used to detect the movement of the counterweight trolley and any additional counterweights placed on it, with respect to the length of the connecting unit being constant relative to the upper slewing body and in the longitudinal direction of the upper slewing body. For this purpose, it is preferable that the first and second sensors are designed as angle sensors, respectively. These sensor signals are used to verify and correct the control of the counterweight trolley. This achieves a further improvement in which the connecting frame according to the present invention directly allows relative movement and does not allow support forces. Relative movement is detected by the sensors and reduced to the minimum relative movement within the connecting frame via the crane controller.

[0035] The connecting frame can have a continuously varying length to change the effective radius of the additional counterweight. Alternatively, the connecting frame can be designed to have a fixed length or a constant length.

[0036] A structurally advantageous approach is to equip the crawler crane with a counter jib, from which additional counterweights can be suspended.

[0037] It is particularly advantageous for a crawler crane's crane controller to control the counterweight trolley via a counterweight trolley controller. This allows the counterweight trolley, designed as a heavy-duty transport vehicle, to be controlled directly from the crane controller via an interface. This eliminates the need for manual control of the counterweight trolley. The crane controller evaluates the signals from the first and second sensors, verifies the control, and modifies it as needed.

[0038] In a typical configuration, the counterweight trolley is equipped with a dedicated drive, a dedicated steering system, and a dedicated counterweight trolley controller.

[0039] In a device comprising a crawler crane and a counterweight trolley for additional counterweights, particularly in a method of operating the aforementioned device in which the crawler crane has a crane controller and the counterweight trolley has a counterweight trolley controller, an improvement is achieved in which the counterweight trolley is controlled by the crane controller of the crawler crane via its counterweight trolley controller. This allows the counterweight trolley, designed as a heavy-duty transport vehicle, to be controlled directly from the crane controller via an interface. Manual control of the counterweight trolley can be omitted. A monitoring system is required because manual control or tracking of the counterweight trolley imposes a large restraining force on the coupling unit very quickly. This ensures reliable control of the crane's "circular travel" and "tow travel" operations, and the operation of the counterweight trolley is automated and easier than manual operation.

[0040] According to the present invention, signals from at least a first sensor and a second sensor are evaluated by a crane controller to verify and correct the control of the counterweight trolley. Preferably, the first sensor is located in the region of the first rotation axis of the connecting frame, and the second sensor is located in the region of the third lateral axis of the connecting frame.

[0041] In a preferred embodiment, the method uses a first sensor to detect the angle at which the counterweight trolley rotates about a first axis of rotation perpendicular to the upper slewing body. In another preferred embodiment, a second sensor is used to detect the movement of the counterweight trolley on which the additional counterweight is mounted. In this case, the length of the connecting unit is constant with respect to the upper slewing body and in the longitudinal direction of the upper slewing body. The detected sensor signals enable reliable control of the arrangement, particularly so that the drive operations of the crane and the counterweight trolley are synchronized as much as possible with each other.

[0042] An advantage of the present invention is that mass-produced large transport vehicles can be used as counterweight trolleys for crawler cranes equipped with additional counterweights or super-lift counterweights. Furthermore, these large transport vehicles can also be used with various types of crawler cranes.

[0043] The present invention is also characterized by the fact that the connecting frame has multiple degrees of freedom that allow for relative motion. The connecting frame is equipped with multiple sensors that detect relative motion, and the crane controller uses these sensors to calculate specific parameters and transmit them to the counterweight trolley controller, thereby bringing the counterweight trolley as close as possible to the desired position. The connecting frame is directly connected to the counter jib via additional support ropes and connecting rods. As a result, the relative motion of the connecting frame does not affect the counterweight radius. Therefore, a counterweight radius smaller or larger than the counter jib radius can be achieved. Furthermore, the certainty and accuracy of determining the support load are improved. [Brief explanation of the drawing]

[0044] Two exemplary embodiments of the present invention will be described in more detail with reference to the following description. [Figure 1] Figure 1 shows a side view of the apparatus of the present invention, including a crawler crane and a counterweight trolley in a first embodiment. [Figure 2] Figure 2 shows an enlarged side view of the counterweight trolley shown in Figure 1. [Figure 3] Figure 3 is an enlarged front view of the counterweight trolley shown in Figure 1, without the additional counterweight plate. [Figure 4] Figure 4 is an enlarged perspective view of the area of ​​the connecting frame of the connecting unit in Figure 2. [Figure 5] Figure 5 shows a schematic diagram for controlling the counterweight trolley. [Figure 6] Figure 6 shows a side view of a further apparatus of the present invention, including an alternative crawler crane and a counterweight trolley. [Figure 7] Figure 7 shows a side view of the apparatus of the present invention, which consists of a crawler crane and a counterweight trolley in a second embodiment. [Figure 8] Figure 8 shows a side view of the counterweight trolley shown in Figure 7. [Figure 9] Figure 9 shows a plan view of the counterweight trolley shown in Figure 7. [Figure 10] Figure 10 shows a magnified view of the area of ​​the connecting frame of the connecting unit in Figure 8. [Figure 11] Figure 11 shows a plan view of the cross-section of the connecting unit. [Figure 12] Figure 12 shows a front view of the counterweight trolley shown in Figure 8. [Figure 13] Figure 13 shows a perspective view of a portion of the counterweight trolley 2 shown in Figure 8. [Modes for carrying out the invention]

[0045] Figure 1 shows a side view of the apparatus of the present invention, including a crawler crane 1 and a counterweight carriage 2 in a first embodiment. As in the conventional, the crawler crane 1 is equipped with a lower carriage 3 having two crawler tracks 4a and 4b arranged parallel to each other and movable on the ground U. The crawler tracks 4a and 4b extend parallel to the longitudinal direction X of the lower carriage 3, which extends substantially horizontally, and are spaced apart from each other in the lateral direction Y, which is perpendicular to the longitudinal direction X and extends substantially horizontally. The longitudinal direction X of the lower carriage 3 corresponds to the straight-line direction of the lower carriage 3 or the crawler crane 1. Naturally, due to the side view selected in this case, only the left crawler track 4a is visible, and the right crawler track 4b is hidden by the lower carriage 3. An upper slewing body 5 is positioned on the lower carriage 3, which is rotatable relative to the lower carriage 3 around a vertically extending axis Z. The upper slewing body 5 has a driver's cab 6 at one front end and a counterweight 7 at the opposite rear end 5a. The jib 8, in particular the main jib, which takes the form of a grid-like mast jib, is connected to the upper slewing body 5 and can luff around a horizontal luffing axis that extends parallel to the lateral direction of the upper slewing body 5. The jib 8 is luffed via a hoist-type luffing cable 9 stretched between the jib head 8a of the jib 8 and the counter jib head 10a of the counter jib 10 or derrick jib. Similar to the jib 8, the counter jib 10 is fixed to the upper slewing body 5 around a horizontal axis that extends parallel to the lateral direction of the upper slewing body 5 and is fixed to the support cable support section 12 in a conventional manner starting from the counter jib head 10a via a counter jib support cable device 11. The counter jib support cable device 11 is also designed as a luffing cable. The support rope support section 12, also called the A-frame, is articulated and fixed to the upper slewing body 5 via a horizontal axis extending parallel to the lateral direction of the upper slewing body 5. The support rope support section-support rope device 13, fixed to the rear end 5a of the upper slewing body 5, engages with the area of ​​the support rope support head 12a. Furthermore, an additional counterweight 15 is suspended from the counter jib head 10a of the counter jib 10 via an additional support rope device 14 and supported at the rear end 5a of the upper slewing body 5 via a connecting unit 16.For this purpose, the connecting unit 16 is fixed to the upper slewing body 5 on one end and to the additional counterweight 15 on the other. Furthermore, the connecting unit 16 may be of variable length or extendable so as to set the effective counterweight moment of the additional counterweight 15 by setting the radius of the additional counterweight 15 with respect to the rotation axis Z of the upper slewing body 5. This additional counterweight 15 is often also called a superlift weight.

[0046] The aforementioned luffing cable 9, counter jib support device 11, support support unit-support device 13, and additional support device 14 are each composed of a cable, chain, or rod, or a combination of parts thereof arranged front to back, or any combination thereof. A hoist-type tension adjuster can also be installed at this location.

[0047] A deflection pulley 8b of the upper block is positioned at the front free end of the jib head 8a of jib 8, and a lifting cable 17 is guided over it to a hook 18 equipped with a lower block, which lifts and moves a load that can be attached to the hook 18, and then lowers it.

[0048] Figure 1 shows the crawler crane 1 in an unloaded state, i.e., when no load is suspended from the hook 18. In this unloaded state, the additional counterweight 15 is mounted on a movable counterweight carriage 2 so that the crawler crane 1 with the additional counterweight 15 attached can be moved or rotated. In Figure 1, the counterweight carriage 2 has its longitudinal direction extending approximately in the lateral direction Y, and is therefore positioned perpendicular to the longitudinal direction X (the straight-line direction of the lower carriage 3 or crawler crane 1). The additional counterweight 15 is connected to the upper slewing body 5 via a coupling unit 16. The coupling unit 16 is composed of numerous parts and is therefore also called a coupling device, coupling system, or coupling apparatus. The coupling unit 16 may be telescopic, variable in length, or fixed in length. The additional counterweight 15 consists of a pallet-shaped lower support device 15a and one or more additional counterweight plates 15b stacked on the support device 15a. The counterweight carriage 2 is designed as a standard heavy transport vehicle.

[0049] Figure 2 is an enlarged side view of the counterweight trolley 2 shown in Figure 1. The support device 15a, which is part of the additional counterweight 15, is positioned on the transport platform 2a of the counterweight trolley 2. Additional counterweight plates 15b, which are conventionally stacked on the support device 15a, are not shown. The support device 15 is designed in the shape of a pallet or frame and supports a connecting frame 16a, which is part of the connecting unit 16, in the center. The connecting frame 16a is responsible for articulating the connecting frame 16b of the connecting unit 16 to the support device 15a or the additional counterweight 15. For this purpose, the connecting frame 16a has a first transverse axis Y1.1, a second transverse axis Y1.2 collinear thereto, a third transverse axis Y2 substantially parallel thereto, and a first rotation axis Z1 substantially vertical. Furthermore, at its lateral upper end, the connecting frame 16a is responsible for articulating the connection of two additional support devices 14 via the two first transverse axes Y1.1. An additional support cable device 14 extends from the counter jib head 10a. The connecting frame 16b is preferably designed as a tube and particularly preferably is expandable and retractable. The connecting frame 16b can also be designed as a lattice mast structure or a box girder. A combination of tubes, lattice mast structures, or box girders is also possible.

[0050] Counterweight trolleys are generally known and designed as standard, automated heavy transport vehicles with a proven track record in transporting heavy loads for decades. These heavy transport vehicles are equipped with dedicated drive and control units, allowing them to move and be controlled independently. The counterweight trolley 2 mainly consists of a transport platform 2a mounted on a running gear frame 2b, on which numerous wheels 2c are mounted on center pivot plates 2e so as to be rotatable around a vertical axis. There are two center pivot plates 2e for each axle. Each center pivot plate 2e with wheels 2c is individually steerable, and at least some of the wheels 2c on the center pivot plates 2e are driven individually. The counterweight trolley 2 also includes a drive control module 2d, which is fixed to the running gear unit frame 2b located on the extension of the counterweight trolley 2, in the extension of the transport platform 2a. The counterweight trolley 2 can move in any direction on the ground U.

[0051] Figure 2 shows a counterweight trolley 2 in which the wheels 2c move in a circular motion. That is, all wheels 2c move along a circular trajectory determined by the distance between the wheel 2c and the pivot axis of the upper slewing body 5. However, the steering angle of each wheel 2c is very small and is hardly noticeable in Figure 2, which shows a side view of the wheels 2c. Therefore, the counterweight trolley 2 is almost always oriented so that its longitudinal direction is perpendicular to the longitudinal direction of the upper slewing body 5. The counterweight trolley 2 is controlled via a drive control module 2d. This module 2d receives corresponding control signals from the crane controller of the crawler crane 1. In this example, a total of four standard heavy transport vehicles are mechanically and control-technically linked to form the counterweight trolley 2 (see also Figure 3), to match the dimensions and weight of the additional counterweight 15 to be transported, and are moved together in master mode and slave mode. Each of these four heavy transport vehicles has six axles and is arranged in a line along the longitudinal direction of the counterweight trolley 2. Each axle is equipped with two center pivot plates 2e, to which two wheels 2c are attached. Therefore, each large transport vehicle has a total of 24 wheels. While the wheels 2c on each axle can be steered individually, only the wheels 2c on every other axle are driven. The number of driven axles can be adjusted according to the cargo being transported and other boundary conditions.

[0052] Figure 3 is an enlarged front view of the counterweight trolley 2 shown in Figure 1. For clarity of the figure and to more clearly show the connecting unit 16, including the rear of the connecting frame 16a and the linking frame 16b, the stacked additional counterweight plates 15b (see Figures 1 and 6) are not shown on the support device 15a. From this front view shown in Figure 3, it is clear that the counterweight trolley 2 consists of two large transport vehicles mechanically and control-technically connected adjacent to each other in the area of ​​two transport platforms 2a, 2a'. For clarity, the transport platform 2a on the right is shown as 2a' in Figure 3. Two more large transport vehicles are mechanically and control-technically connected front to back, as shown in Figure 2. With respect to the longitudinal direction of the two large transport vehicles, these transport vehicles are arranged parallel to each other, and the transport platforms 2a, 2a' are adjacent to each other. Thus, the support device 15a is simultaneously placed on the four transport platforms 2a, 2a' of the connected large transport vehicles. The support device 15a is not mechanically fixed to the two transport platforms 2a and 2a', but instead rests on the transport platforms 2a and 2a' solely by its own weight. To allow the support device 15a for the additional counterweight 15 to be easily positioned on the transport platforms 2a and 2a', and to prevent the additional counterweight 15 from sliding off the counterweight trolley 2 on the transport platforms 2a and 2a' in the horizontal direction (lateral direction) or the crawler crane 1 in the longitudinal direction (longitudinal direction), upwardly projecting guides 2f are provided on the transport platforms 2a and 2a'. Furthermore, guides 2f can also be provided to prevent the additional counterweight from sliding off the counterweight trolley 2 on the transport platforms 2a and 2a' in the horizontal direction (longitudinal direction). In principle, it is also possible to bolt the additional counterweight 15 to the transport platforms 2a and 2a' or their guides 2f, thereby using at least a portion of the weight of the transport platforms 2a and 2a' as the additional counterweight 15. In this case, the additional counterweight 15 is detachably connected to the transport platforms 2a and 2a'.

[0053] The connecting frame 16a is designed as a universal joint frame having rotational and translational degrees of freedom (second lateral axis Y1, 2, third lateral axis Y2, first rotation axis Z1), and comprises numerous components described later. The connecting frame 16a has two lateral and opposing connecting rods 16aa (see also Figure 4). The lower ends of the connecting rods 16aa of the connecting frame 16a are articulated to the support device 15a via a pair of lateral axes Y2, through bearing components 16ak that are fixed in a particularly fixed position on the support device 15a. In this case, the third lateral axis Y2 is oriented substantially horizontally to the longitudinal direction X and the short direction Y of the counterweight trolley 2. The connecting rods 16aa are attached to the support device 15a via the third lateral axis Y2 and are capable of angular movement of up to 5°, preferably just 2°, in the longitudinal direction X and the opposite direction. In either case, angular movement is limited in both directions by a stopper 16ah supported by the support device 15a when the maximum angle is reached. Angle movement or reaching the maximum angle can be further utilized via an angle transmitter or limit switch through the crane controller 19 of the crawler crane 1, in conjunction with the controller of the counterweight trolley 2. This allows a warning signal or shutdown signal to be sent to the crane controller 19 if the movement / rotation of the crawler crane 1 is not maximally synchronized with the movement of the counterweight trolley 2. In this case, the angle transmitter or limit switch can be positioned in the region of both third transverse axes Y2, or on only one of the third transverse axes Y2. This is because the two third transverse axes Y2 move synchronously because the connecting rods 16aa are fixedly connected to each other via the outer frame 16ab. Additional support devices 14 are articulated and bolted to the upper ends of the two connecting rods 16aa, each via another first transverse axis Y1.1. In this case, the first horizontal axis Y1.1 is parallel to the third horizontal axis Y2 and oriented in the longitudinal and lateral directions Y of the counterweight trolley 2.Furthermore, it can be seen that the rear end 16ba of the connecting frame 16b is pivotably suspended from the connecting frame 16a via a pivot element 16ac (see Figure 4) through another second horizontal axis Y1.2, which is hidden in Figure 3 (see Figure 4). In this case, only the connecting strut 16ad of the pivot element 16ac is visible. The connecting frame 16b is detachably connected to the connecting frame 16a via these connecting struts 16ad. For this reason, a bolt connection portion 16c is provided at the end of the connecting strut 16ad opposite to the connecting frame 16a. Moreover, this pivot element 16ac can also pivot within the connecting frame 16a around the first rotation axis Z1.

[0054] Figure 4 is a perspective view of a magnified portion of Figure 2 in the area of ​​the connecting frame 16a of the connecting unit 16. Here, the structure of the connecting frame 16a will be described based on this cross-sectional magnification. The outer frame 16ab is U-shaped with an open top and is positioned between two connecting rods 16aa, and can be seen to be rigidly fixed to these two connecting rods 16aa. The top of this open outer frame 16ab is closed by a lateral rod 16ae, which provides an upper support point for the bearing member 16af that is rotatable around the first vertical axis of rotation Z1. The outer frame 16ab and the lateral rod 16ae form a rectangle with a rectangular opening in which the bearing member 16af is positioned. The lower support point for the bearing member 16af is provided by the outer frame 16ab. Overall, this rectangular bearing member 16af is rotatable around the first axis of rotation Z1 within the outer frame 16ab. A rectangular rotating member 16ac is suspended from the bearing member 16af in the lateral upper region of the bearing member 16af via horizontal second transverse axes Y1.2 on both sides. The two second transverse axes Y1.2 are preferably aligned with two outer first transverse axes Y1.1. The rotating member 16ac has a central circular opening 16ag for accommodating the rear end 16ba of the connecting frame 16b without gap, and the connecting frame 16b is preferably designed in a cylindrical shape. As described above, the connecting frame 16b is detachably fixed via a connecting strut 16ad held by the rotating member 16ac. When installing the additional counterweight 15, the rear end 16ba of the connecting frame 16b is inserted into the opening 16ag of the rotating member 16ac and then connected to the connecting strut 16ad via a bolt connection 16c.

[0055] Overall, the connecting frame 16a, designed as a universal joint frame, provides a degree of freedom of rotation (first rotation axis Z1) and a degree of freedom of translation in the X direction, achieved through two degrees of rotation in the form of a second transverse axis Y1.2 and a third transverse axis Y2. Furthermore, when the support device 15a with the additional counterweight plate 15b is mounted on the counterweight trolley 2, tipping can be prevented by the two degrees of rotation of freedom in the form of a second transverse axis Y1.2 and a third transverse axis Y2 around the Y transverse axis. The connecting frame 16a is designed so that forces are transmitted in the longitudinal direction of the upper slewing body 5. This refers to the restoring force of the additional counterweight 15 arising from the inclined position of the additional guy wire device 14. Forces arising from the counterweight trolley 2 not moving in perfect synchronization with the crawler crane 1 are distributed by the degrees of freedom.

[0056] This makes it possible to position the additional counterweight 15 on the radius of the upper slewing body 5 with respect to its rotation axis Z, away from the radius of the tip of the counter jib head 10a of the counter jib 10. In addition, the connecting frame 16a allows for direct transmission of lateral forces to the upper slewing body 5.

[0057] Figure 5 shows a schematic diagram for controlling the counterweight trolley controller 20 of the counterweight trolley 2 via the crane controller 19 of the crawler crane 1. In other words, the counterweight trolley 2, in particular a mass-produced large transport vehicle, is connected, controlled, and monitored by connecting the counterweight trolley controller 20 of the counterweight trolley 2 to the crane controller 19 of the crawler crane 1 via a corresponding interface. The movement of the crawler crane 1 is initiated by the crane operator, and the crane controller 19 of the crawler crane 1 instructs the counterweight trolley controller 20 of the counterweight trolley 2 to move. Thus, the counterweight trolley controller 20 is dependent on the crane controller 19. The crane controller 19 instructs the counterweight trolley controller 20 of the counterweight trolley 2 on the speed, direction of movement, and steering direction. At least a first sensor 21a and a second sensor 21b are located on the connecting frame 16a to receive indirect feedback regarding the movement of the counterweight trolley 2. The first sensor 21a detects rotation around the first rotation axis Z1, and the second sensor 21b detects rotation around the third horizontal axis Y2. The two sensors 21a and 21b are designed as angle sensors. The crane controller 19 of the crawler crane 1 also receives feedback from the counterweight trolley controller 20 of the counterweight trolley 2 regarding the actual values ​​of the counterweight trolley 2, as needed.

[0058] The first sensor 21a is used to detect the angle at which the counterweight trolley 2 rotates around a first rotation axis Z1 perpendicular to the upper slewing body 5. The second sensor 21b is used to detect the movement of the counterweight trolley 2 and the additional counterweight 15 placed on it. The length of the connecting unit 16 is constant relative to the upper slewing body 5 and in the longitudinal direction of the upper slewing body 5. The crane controller 19 evaluates the signals from sensors 21a and 21b to verify and correct the control of the counterweight trolley 2. These signals represent the distance between the crawler crane 1 and the counterweight trolley 2, and the direction of travel of the crawler crane 1 relative to the direction of travel of the counterweight trolley 2. The speed and steering direction of the counterweight trolley 2 are corrected by the crane controller 19 based on the deviations detected from the signals from sensors 21a and 21b. In this case, the support device 15a, and therefore the additional counterweight 15, remain flat on the horizontal plane, i.e., on the transport platforms 2a, 2a', and do not tip over.

[0059] The above verification and correction ensure that the connecting frame 16a, as a suitable mechanical connection, allows specific tolerances for translational and rotational motion (third lateral axis Y2, second lateral axis Y1.2, first rotation axis Z1) detected via sensors 21a and 21b. The crane controller 19 determines the deviation of the counterweight trolley 2 from its ideal position based on signals from sensors 21a and 21b and transmits a correction signal to the counterweight trolley controller 20 of the counterweight trolley 2. Possible movements of the third lateral axis Y2, second lateral axis Y1.2, and first rotation axis Z1 should be minimized. The corresponding tolerances should be selected to ensure that deviations are reliably recognized and that measures can be taken in a timely manner to ensure that mechanical collisions and component overloads are prevented. If the signals from sensors 21a and 21b exceed the specified tolerances, the crawler crane 1 and counterweight trolley 2 will stop for safety reasons. The counterweight trolley controller 20 is also connected to the crane controller 19 via a return line 23. If a malfunction occurs in the counterweight trolley 2, the crane controller 19 is notified via the return line 23, and the function of the crawler crane 1 is limited or stopped.

[0060] The basic operation of the crawler crane 1 and counterweight trolley 2 consists of, on the one hand, the circular motion of the counterweight trolley 2 and the rotational motion of the upper slewing body 5, and on the other hand, the traction motion in which the counterweight trolley 2 follows the crawler crane 1. In order to rotate the upper slewing body 5, the rotational drive device of the upper slewing body 5 is switched to a state where the brakes are lightly applied or to a state where it is completely idle, and the upper slewing body rotates via the counterweight trolley 2. The wheels 2c of the counterweight trolley 2 are steered to perform a circular motion. In this case, the counterweight trolley 2 acts as the drive. The counterweight trolley 2 is controlled via the crane controller 19 as described above. In the traction motion, the driven counterweight trolley 2 follows the crawler crane 1 traveling ahead, and the counterweight trolley 2 and the crawler crane 1 move as synchronously as possible. During slewing and traction, the lateral direction of the additional counterweight 15, i.e., the longitudinal direction of the counterweight trolley 2, is oriented perpendicular to the longitudinal direction of the upper slewing body 5. The only difference is the steering direction of the wheels 2c of the counterweight trolley 2. When turning on a circular track, the wheels 2c are oriented approximately laterally to the crawler tracks 4a and 4b, while during towing, these wheels are oriented in the direction of the crawler tracks 4a and 4b.

[0061] In the description of the exemplary embodiments above, it is stated that at least a first sensor 21a and a second sensor 21b are sufficient to control and monitor the counterweight trolley 2. Needless to say, additional sensors may be provided, and their signals may also be processed by the crane controller 19. For example, the two existing sensors 21a and 21b may be designed redundantly, and the rotational motion of the first and second lateral axes Y1.1, Y1.2 and the length of the telescopic connecting frame 16b may be detected by additional sensors.

[0062] Figure 6 shows a side view of a further configuration of the present invention, consisting of an alternative crawler crane 1 and a counterweight trolley 2, which substantially corresponds to the configuration shown in Figure 1. Therefore, please refer to the description of Figure 1. The difference between the two crawler cranes 1 shown in Figure 1 and Figure 6 lies in the canopy configuration of the counter jib 10. In Figure 6, the canopy support configuration 13 is designed as a hoist-type luffing cable, rather than the counter jib canopy configuration 11 being designed as a luffing cable. The counter jib canopy configuration 11 consists of a cable, chain, rod, or parts positioned before and after them, or any combination thereof. Furthermore, a hoist-type tensioning device may also be provided in this position.

[0063] In the above description of the embodiment, the counterweight trolley 2 was described as a standard large transport vehicle, but it goes without saying that a conventional counterweight trolley for a crawler crane can also be used as the counterweight trolley 2.

[0064] It is also possible to lift the counterweight trolley 2 or a large transport vehicle as part of the additional counterweight 15, i.e., to lift them as well. For this purpose, the additional counterweight 15 or support device 15a needs to be connected vertically to the counterweight trolley 2.

[0065] Figure 7 shows a side view of the arrangement of a second embodiment of the present invention, consisting of a crawler crane 1 and a counterweight trolley 1. This is the same crawler crane 1 shown in Figure 1, but for clarity, the jib 8, luffing cable 9, counter jib support arrangement 11, support cable support 12, lifting cable 17, and hook 18 are not shown.

[0066] As in conventional designs, the crawler crane 1 is equipped with a lower traveling carriage 3 having two crawler tracks 4a and 4b arranged parallel to each other and movable on the ground U. The crawler tracks 4a and 4b extend parallel to the longitudinal direction X of the lower traveling carriage 3, perpendicular to the longitudinal direction X, and are spaced apart from each other in the lateral direction Y, which extends approximately horizontally. The longitudinal direction X of the lower traveling carriage 3 corresponds to the straight-line direction of the crawler crane 1. An upper slewing body 5 is provided on the lower traveling carriage 3, which is capable of swiveling relative to the lower traveling carriage 3 around a vertically extending rotation axis Z. The upper slewing body 5 has a driver's cab 6 at the front and a counterweight 7 at the rear end. The counter jib 10 is fixed to the upper slewing body 5 around a horizontal axis that extends parallel to the lateral direction of the upper slewing body 5, and is fixed in a conventional manner from the counter jib head 10a through the counter jib support column 11 (not shown) to the support column support part 12 (not shown).

[0067] The additional counterweight 15 is suspended from the counter jib head 10a of the counter jib 10 via an additional guy wire device 14 and supported at the rear end 5a of the upper slewing body 5 via a connecting unit 16. For this purpose, the connecting unit 16 is fixed to the upper slewing body 5 on one side and to the additional counterweight 15 on the other.

[0068] As shown in Figure 7, when the crawler crane 1 is unloaded, an additional counterweight 15 is positioned on the movable counterweight carriage 2 so that the crawler crane 1 can be moved or rotated. In Figure 7, the counterweight carriage 2 has a longitudinal extension that extends substantially in the lateral direction Y, and is positioned perpendicular to the straight-line direction of the lower carriage 3. The additional counterweight 15 is connected to the upper slewing body 5 via a connecting unit 16.

[0069] In this embodiment, the additional counterweight 15 is also substantially composed of a support device 15a and an additional counterweight plate 15b stacked on the support device 15a. In this case as well, the counterweight trolley 2 is designed as a standard large transport vehicle.

[0070] In this second embodiment, the connecting unit 16 includes a connecting frame 16b in addition to the connecting frame 16a. The connecting frame 16b is designed in this case as a lattice-like mast frame and has a number of supports (not shown), in particular vertical supports, horizontal supports, and diagonal supports, which are connected to each other in a lattice-like manner. The connecting frame 16b has a number of connecting elements 16b1 to 16b5 that can be arranged side by side. At least one connecting element 16b1 is designed to articulate the connecting frame 16b to the upper slewing body 5. Furthermore, at least one last connecting element 16b5 (see Figure 11) is designed to connect the connecting frame 16b to the connecting frame 16a. The connecting elements 16b1 to 16b5 may each have different lengths, or they may be the same length. The connecting elements 16b1 to 16b5 are selected according to the size of the crawler crane, the load capacity of the crawler crane, the length of the jib 8 and / or counter jib 10, the required additional counterweight 15, and other factors, particularly those determining the center of gravity of the crane 1, and are arranged side by side to form a variable-length connecting frame 16b. For this purpose, the connecting elements 16b1 to 16b5 can be detachably fastened to each other by fastening means 16bb (see Figure 9), such as screws, bolts, and pins. In the installed state, the connecting frame 16b is attached to the crawler crane 1 and preferably its length does not change. The length of the connecting frame 16b is set to determine the radius of the additional counterweight 15 with respect to the rotation axis Z of the upper slewing body 5. The length of the connecting frame 16b can be set so that the counterweight moment generated by the additional counterweight 15 is effective and optimized for the crawler crane 1.

[0071] In principle, to variably adjust the length of the connecting frame 16b, it is also possible to provide an expandable connecting element (not shown) that can be installed on the lattice mast structure of the connecting frame 16b, or an expandable connecting element (not shown) that replaces the lattice mast structure.

[0072] Figure 8 shows a side view of the counterweight trolley 2, and Figure 9 shows a top view of the counterweight trolley 2, both of which are the same as those shown in Figure 7.

[0073] The plan view in Figure 9 shows that the counterweight trolley 2 is composed of multiple large transport vehicles, which are adjacent to each other and connected front to back. In Figure 9, for clarity, the transport platform 2a at the bottom of the plan view is denoted as 2a'. The arrangement of two large transport vehicles adjacent to each other is also shown in Figure 12. With respect to the longitudinal direction of the large transport vehicles, the vehicles are arranged parallel to each other, and the transport platforms 2a and 2a' are adjacent to each other.

[0074] The support device 15a, which is part of the additional counterweight 15, is placed on the transport platforms 2a, 2a' of the counterweight trolley 2. An additional counterweight plate 15b, which is also part of the additional counterweight 15 and is stacked on the support device 15a in a conventional manner, is not shown.

[0075] The support device 15a is designed in the shape of a pallet or frame and supports the connecting frame 16a, which is part of the connecting unit 16, particularly in the center. The connecting frame 16a is responsible for articulating the connecting frame 16b of the connecting unit 16 to the additional counterweight 15, particularly the support device 15a. For this purpose, the connecting frame 16a has a second transverse axis Y1.2, a third transverse axis Y2 substantially parallel thereto, and a first rotation axis Z1 substantially perpendicular thereto. Furthermore, the connecting frame 16a is responsible for articulating the additional support device 14, particularly at its upper transverse end. To articulate the additional support device 14, the connecting frame 16a has a first transverse axis Y1.1 collinear with the second transverse axis Y1.2. Each additional support cable device 14 is mounted on the connecting frame 16a so as to be able to rotate about a second horizontal axis Y1.2, and each extends from the counter jib head 10a to the connecting frame 16a, and in particular to the connecting rod 16aa of the connecting frame 16aa.

[0076] The counterweight trolley 2 is designed as a standard, fully automated, large transport vehicle. Such a large transport vehicle is equipped with a dedicated drive and control unit, which is not shown here (see Figure 2 for details). Therefore, these vehicles can move and be controlled independently. The counterweight trolley 2 mainly consists of transport platforms 2a, 2a' mounted on a running gear frame 2b. Numerous wheels 2c are mounted on center pivot plates 2e so as to be rotatable around a vertical axis on the transport platforms 2a, 2a'. There are two center pivot plates 2e for each axle. Each center pivot plate 2e with wheels 2c is individually steerable, and at least some of the wheels 2c on the center pivot plate 2e are driven individually. As a result, the counterweight trolley 2 can move in any direction on the ground U.

[0077] Figure 8 shows a side view of the counterweight trolley 2. The counterweight trolley 2 moves along a circular track. This circular track is determined by the distance between the wheels 2c and the pivot axis of the upper slewing body 5. However, the steering angle of the wheels 2c is very small and is not noticeable in the side view. This circular track movement is achieved by rotating the crawler crane 1. As a result, the longitudinal direction of the counterweight trolley 2 becomes perpendicular to the longitudinal direction of the upper slewing body 5. The counterweight trolley 2 is controlled via a drive control module 2d that receives corresponding control signals from the crane controller 19 of the crawler crane 1.

[0078] The counterweight trolley 2 shown in Figures 8 and 9 also comprises a total of four standard heavy transport vehicles, which are mechanically and control-technically interconnected to match the dimensions and weight of the additional counterweight 15 to be transported. These heavy transport vehicles can be moved in conjunction in master / slave mode. Similar to the counterweight trolley 2 in Figure 2, each of the four heavy transport vehicles has six axles arranged front to back in the longitudinal direction of the counterweight trolley 2, with two center pivot plates assigned to each axle, and two wheels 2c mounted on each center pivot plate. These wheels 2c can also be steered individually via the center pivot plates, in which case only every other axle is driven. The number of driven axles can be adjusted to match the cargo to be transported and other boundary conditions.

[0079] Figure 10 shows a partially enlarged view of the area of ​​the connecting frame 16a of the connecting unit 16 in Figure 8, and Figure 11 shows a plan view of the cross section of the connecting unit 16. The structure of the connecting frame 16a will be described below based on these figures.

[0080] The connecting frame 16a has two connecting rods 16aa that are spaced apart from each other in the longitudinal direction X of the counterweight carriage 15. The connecting rods 16aa of the connecting frame 16a are articulated to bearing components 16ak that are fixed in position to the support device 15a, and are in particular rotatable about a third transverse axis Y2. The third transverse axis Y2 is oriented substantially horizontally to the longitudinal direction X of the counterweight carriage 2. The longitudinal direction X of the counterweight carriage 2 is substantially aligned with the short direction Y of the crawler crane 1. The connecting rods 16aa are fixedly connected to each other via the outer frame 16ab and are therefore slightly angularly movable relative to the support device 15a, particularly about the second transverse axis Y1.2, and particularly about one of each bearing component 16ak, especially synchronously with each other. Thus, the connecting rods 16aa are swivelable in the longitudinal direction X of the crawler crane 1 and in the opposite direction, particularly by a maximum of 5°, preferably just 2°. In all cases, angular movement is limited in both directions via a stopper 16ah supported by the support device 15a when the maximum angle is reached. Angular movement or reaching each maximum angle is controlled by the crane controller 19 of the crawler crane 1 via an angle transmitter or limit switch linked to the controller of the counterweight carriage 2, and a warning signal or shutdown signal can be sent to the crane controller 19 if the movement and rotation of the crawler crane 1 are not synchronized as much as possible with the movement of the counterweight carriage 2. In this case, the angle transmitter or limit switch can be located in the region of both third horizontal axes Y2, or it can be located on only one third horizontal axis Y2, since the two third horizontal axes Y2 move synchronously.

[0081] Two additional support cable devices 14 are articulated and bolted to the upper ends of the two connecting rods 16aa, each via a separate first horizontal axis Y1.1. In this case, the first horizontal axis Y1.1 is parallel to the third horizontal axis Y2 and is positioned along the longitudinal direction X of the counterweight trolley 2.

[0082] The outer frame 16ab is positioned between two connecting rods 16aa and is firmly fixed to them. In this embodiment of the connecting frame 16a, a pivot element 16ac is provided between the two connecting rods 16aa, which is rotatable about a second transverse axis Y1.2. In this case, the pivot element 16ac is positioned above the outer frame 16ab. Positioning the pivot element 16ac above the outer frame 16ab means that the pivot element 16ac is positioned further away from the support device 15a than the outer frame 16ab. However, in principle, it is also possible to position the pivot element 16ac within or below the region of the outer frame 16ab. In the pivot element 16ac, the connecting frame 16b is supported by a bearing element 16af. Therefore, the connecting frame 16b is rotatable together with the pivot element 16ac about the second transverse axis Y1.2. Furthermore, the bearing element 16af is provided so as to be rotatable about a first vertical rotation axis Z1. This allows the connecting frame 16b to rotate around the first vertical rotation axis Z1. When the additional counterweight 15 is installed, the connecting frame 16b is detachably connected to the rear end 16ba of the bearing element 16af, for example, via a bolt connection.

[0083] In one possible embodiment of the bearing element 16af, a bolt tab connection is provided. The rear end 16ba of the connecting frame 16b is provided with an upper tab and a lower tab having mutually aligned holes for a connecting bolt. The connecting bolt is further guided through a sleeve located in the center of the swivel element 16ac. The sleeve is provided with a sliding bearing for the connecting bolt. The connecting bolt is connected to rotate in conjunction with the upper tab of the rear end 16ba of the connecting frame 16b and is inserted conventionally through the upper tab, sleeve and lower tab according to the form of a bolt tab connection. Overall, the rear end 16ba of the connecting frame 16b can be swiveled by the connecting bolt with respect to the swivel element 16ac via the sleeve.

[0084] Overall, the connecting frame 16a also provides rotational degrees of freedom via the first vertical rotation axis Z1, and translational degrees of freedom in the X direction, achieved particularly through two rotational degrees of freedom in the form of a second horizontal axis Y1.2 and a third horizontal axis Y2, which are oriented horizontally. The connecting frame 16a is designed so that forces are transmitted to the upper slewing body 5 in the longitudinal direction X and in the opposite direction. This refers to the restoring force of the additional counterweight 15 due to the inclined position of the additional guy wire device 14. Forces arising from the counterweight carriage 2 not moving in perfect synchronization with the crawler crane 1 are distributed by these degrees of freedom.

[0085] This makes it possible to position the additional counterweight 15 on the radius of the upper slewing body 5 with respect to its rotation axis Z, away from the radius of the tip of the counter jib head 10a of the counter jib 10. In addition, the connecting frame 16a allows for the direct transmission of force to the upper slewing body 5 in the lateral direction Y.

[0086] Figure 12 shows an enlarged front view of the counterweight trolley 2 of Figure 7. The stacked additional counterweight plates 15b are only schematically shown by dotted lines on the support device 15a. As is clear from the front view shown in Figure 12, the counterweight trolley 2 consists of two heavy transport vehicles mechanically and control-technically adjacent to each other in the area of ​​two transport platforms 2a, 2a'. For clarity, transport platform 2a located on the right side of the drawing is also shown as 2a' in this figure. The arrangement of the two heavy transport vehicles mechanically and control-technically adjacent to each other is shown in Figures 8 and 9. With respect to the longitudinal direction of the two heavy transport vehicles, the heavy transport vehicles are arranged parallel to each other, and the transport platforms 2a, 2a' are adjacent to each other. Thus, the support device 15a is simultaneously placed on the four transport platforms 2a, 2a' of the connected heavy transport vehicles. The support device 15a is not mechanically fixed to the two transport platforms 2a, 2a', but rests on the transport platforms 2a, 2a' by its own weight. To facilitate the positioning of the support device 15a of the additional counterweight 15 on the transport platforms 2a, 2a', and to prevent the additional counterweight 15 from sliding horizontally or laterally on the counterweight trolley 2 on the transport platforms 2a, 2a', corresponding to the longitudinal direction X of the crawler crane 1, an upwardly projecting guide 2f is provided on the transport platforms 2a, 2a'. Furthermore, a guide 2f can also be provided to prevent the additional counterweight 15 from sliding horizontally or longitudinally on the transport platforms 2a, 2a'. In this embodiment, since the additional counterweight 15 is bolted to the transport platforms 2a, 2a' or their guides 2f, at least a portion of the weight of the transport platforms 2a, 2a' can also be used as the additional counterweight 15. In this case, the additional counterweight 15 is detachably connected to the transport platforms 2a, 2a'. Alternatively, the additional counterweight 15 can be installed on the transport platform 2a, 2a by lateral guidance alone, without the need for connecting parts.

[0087] The counterweight trolley 2 of this second embodiment (see Figures 7-13) is controlled in the same manner as described above (see Figures 1-5).

[0088] Figure 13 is a perspective view showing a portion of the counterweight trolley 2 of Figure 8. It can be seen, particularly near the center of the counterweight trolley 2, that the connecting frame 16a is articulatedly fixed to the support device 15a of the additional counterweight plate 15b via bearing component 16ak. Furthermore, Figure 13 shows that the connecting rods 16aa are fixedly connected to each other via the outer frame 16ab. The distance (not shown) between the stopper 16ah of the connecting rod 16aa and the support device 15a of the additional counterweight 15 is also clear, and this distance allows the connecting rods 16aa to move angularly relative to the support device 15a about the lateral direction Y of the counterweight trolley 2 and the opposite direction, i.e., the third lateral axis Y2. Also shown is a pivot element 16ac that is positioned above the outer frame 16ab, i.e., further away from the support device 15a than the outer frame 16ab, and extends between the connecting rods 16aa. The pivot element 16ac extends in the direction of the second transverse axis Y1.2 and is attached to the connecting rod 16aa, and is rotatable about the transverse axis. Finally, Figure 13 shows that the rear end 16ba of the connecting frame 16b is fixed to the pivot element 16ac via the bearing element 16af. The rear end 16ba of the connecting frame 16b is rotatable about the first rotation axis Z1 together with the bearing element 16af. Therefore, when the connecting frame 16b pivots about the first rotation axis Z1, only the bearing element 16af in the connecting frame 16a rotates. For this purpose, the connecting frame 16b is fixed to the bearing element 16af, which is located in the center of the pivot element 16ab, at exactly one bearing position (not specified) located at the rear end 16ba.

[0089] The connecting frame 16b in both embodiments described (Figures 1 and 7) absorbs both the longitudinal X force of the crawler crane 1 and the force opposite to the longitudinal X force of the crawler crane 1. This allows for additional guy wires 14 that do not extend vertically, eliminating the need to position the counterweight carriage 2 vertically below the counter jib head 10a, and instead allowing it to be positioned further away from the crawler crane 1. The restoring force of the additional counterweight 15 resulting from the inclined position of the additional guy wire 14 can be dissipated through the connecting frame 16b. When the counterweight carriage 2 is positioned further away from the crawler crane 1, a smaller additional counterweight 15 is required compared to when the counterweight carriage 2 is positioned vertically below the counter jib head 10a, or a crawler crane 1 with a larger maximum support load can be moved with the same additional counterweight 15.

[0090] In this case, the terms “vertical” and “horizontal” are understood to refer, respectively, to a crawler crane 1 or counterweight trolley 2 installed on a horizontally extending, flat ground surface. [Explanation of Symbols]

[0091] 1 Crawler crane 2 Counterweight trolley 2a, 2a' Transportation Platform 2b Traveling device unit frame 2c wheels 2D drive and control module 2e Center Pivot Plate 2F Guide 3 Get off 4a Left crawler track 4b Right crawler track 5. Upper rotating body 5a rear end 6. Driver's seat 7 Counterweights 8 jibs 8a Jib Head 8b Deflection pulley 9. Laughing Cable 10 Counter Jib 10a Counter jib head 11 Counter jib support cable device 12. Support 12a Support head for cable 13. Support Cables - Support Cable Configuration 14. Additional support cable device 15 Additional counterweights 15a Support device 15b Additional counterweight plate 16 connecting units 16a Connection Frame 16aa connecting rod 16ab outer frame 16ac Rotating element 16ad connecting strut 16ae horizontal bar 16af bearing element 16ag center opening 16ah Stopper 16al bearing parts 16b Connecting frame 16ba rear end 16bb fixing means 16b1~16b5 Connecting elements 16c bolt connection 17 Lifting Cables 18 hooks 19. Crane Controller 20 Counterweight Trolley Controller 21a First sensor 21b Second sensor 22 control lines 23 Return Line U Ground X Longitudinal direction Y (horizontal direction) Y1.1 First horizontal axis Y1.2 Second horizontal axis Y2 Third horizontal axis Z axis of rotation Z1 1st rotation axis

Claims

1. An apparatus comprising a crawler crane (1) and a counterweight trolley (2) for an additional counterweight (15), wherein the additional counterweight (15) is connected to the upper slewing body (5) of the crawler crane (1) via a connecting unit (16), the connecting unit (16) comprises a connecting frame (16a) and a connecting frame (16b), the connecting frame (16a) being fixed to a support device (15a) of the additional counterweight (15), the connecting frame (16b) being fixed to the upper slewing body (5) at one end and to the connecting frame (16a) at the other rear end (16ba), and the connecting frame (16a) having a substantially vertical first pivot axis (Z1) around which the connecting frame (16b) is rotatable.

2. The apparatus according to claim 1, characterized in that the connecting frame (16b) is attached to the connecting frame (16a) so as to be able to rotate around the first pivot axis (Z1).

3. The apparatus according to claim 1 or 2, characterized in that the connecting frame (16b) is attached to the connecting frame (16a) so as to be rotatable around a second horizontal axis (Y1.2).

4. The apparatus according to any one of claims 1 to 3, characterized in that the connecting frame (16a) has two opposing connecting rods (16aa) that divide the connecting frame (16a) in the lateral direction, and an outer frame (16ab) is positioned between the two connecting rods (16aa) and rigidly connected to them.

5. The apparatus according to claim 4, characterized in that the connecting rods (16aa) are each movable in the angular direction synchronously with respect to the support device (15a) around the third horizontal axis (Y2).

6. The apparatus according to claim 4 or 5, characterized in that the connecting frame (16a) includes bearing components (16ak) that are fixed in position to the support device (15a), and the connecting rod (16aa) is attached to one of the bearing components (16ak) so that it can rotate around the third horizontal axis (Y2).

7. The apparatus according to any one of claims 4 to 6, characterized in that the angular range of motion of the connecting rod (16aa) is restricted in both directions via a stopper (16ah) supported by the support device (15a) when each reaches its maximum angle.

8. The apparatus according to any one of claims 4 to 7, characterized in that a rotating element (16ac) extends between the two connecting rods (16aa) and is mounted so as to be rotatable around the second horizontal axis (Y1.2), and the connecting frame (16b) is attached to the rotating element (16ac).

9. The apparatus according to claim 8, characterized in that the rotating element (16ac) is located within or above the outer frame (16ab).

10. The apparatus according to claim 8 or 9, characterized in that a bearing element (16af) is disposed in or within the rotating element (16ac) and is provided to be able to rotate around the first vertical pivot axis (Z1), and the connecting frame (16b) is attached to the bearing element (16af).

11. The apparatus according to claim 10, characterized in that the rear end (16ba) of the connecting frame (16b) is detachably fixed to the bearing element (16af).

12. The apparatus according to any one of claims 4 to 11, characterized in that the additional support cable device (14) is bolted to the connecting frame (16a) at the upper ends of the two connecting rods (16aa) via the first horizontal axis (Y1.1) to form an articulation.

13. The apparatus according to claim 12, characterized in that the additional support cable device (14) extends from the counter jib head (10a) of the counter jib (10) of the crane (1) to the connecting rod (16aa).

14. The apparatus according to any one of claims 8 to 13, characterized in that the rear end (16ba) of the connecting frame (16b) is suspended via the pivot element (16ac) in the connecting frame (16a) so as to swing particularly via the second horizontal axis (Y1.2), and the pivot element (16ac) is rotatable within the connecting frame (16a) about the first pivot axis (Z1).

15. The apparatus according to any one of claims 1 to 14, characterized in that the connecting frame (16a) is fixed to the connecting frame (16b) on one side and to the support device (15a) on the other side with at least a certain degree of translational freedom and a certain degree of rotational freedom (second horizontal axis Y1,2, third horizontal axis Y2, first rotation axis Z1).

16. The apparatus according to claim 15, characterized in that at least a first sensor (21a) and a second sensor (21b) are arranged on the connecting frame (16a), the first sensor (21a) confirms rotation around the first pivot axis (Z1), and the second sensor (21b) confirms rotation around the third horizontal axis (Y2).

17. The apparatus according to any one of claims 13 and 14, characterized in that the first sensor (21a) is used to detect the relative rotation angle of the counterweight trolley (2) with respect to the upper rotating body (5) around the first vertical rotation axis (Z1).

18. The apparatus according to any one of claims 13 to 15, characterized in that the second sensor (21b) is used to detect the movement of the counterweight trolley (2) and the additional counterweight (15) placed thereon, and the length of the connecting unit (16) is constant relative to the upper slewing body (5) and in the longitudinal direction (X) of the upper slewing body (5).

19. The apparatus according to any one of claims 13 to 16, characterized in that the two sensors (21a, 21b) are each designed as angle sensors.

20. The apparatus according to any one of claims 1 to 19, characterized in that the connecting frame (16) has a variable length.

21. The apparatus according to any one of claims 1 to 20, characterized in that the crawler crane (1) has a counter jib (10) from which the additional counterweight (15) is suspended.

22. The apparatus according to any one of claims 1 to 21, characterized in that the crane controller (19) of the crawler crane (1) controls the counterweight trolley (2) via the counterweight trolley controller (20).

23. The apparatus according to claim 22, characterized in that the crane controller (19) controls the counterweight trolley (2) by evaluating the signals from the first sensor (21a) and the second sensor (21b).

24. The apparatus according to any one of claims 1 to 23, characterized in that the counterweight trolley (2) has a dedicated drive unit, a dedicated steering system, and a dedicated counterweight trolley controller (20).

25. The apparatus according to any one of claims 1 to 24, characterized in that the counterweight trolley (2) includes at least one load-bearing transport vehicle.

26. A method for operating a device comprising a crawler crane (1) and a counterweight trolley (2) for an additional counterweight (15) as described in any one of the preceding claims 1 to 25, wherein the crawler crane (1) has a crane controller (19), the counterweight trolley (2) has a counterweight trolley controller (20), the counterweight trolley (2) is controlled by the crane controller (19) of the crawler crane (1) via the counterweight trolley controller (20), signals from a first sensor (21a) and a second sensor (21b) are evaluated by the crane controller (19) to verify and correct the control of the counterweight trolley (2), the signals representing the distance between the crawler crane (1) and the counterweight trolley (2) and the direction of movement of the crawler crane (1) with respect to the direction of movement of the counterweight trolley (2).

27. The method according to claim 26, characterized in that the first sensor (21a) is used to detect the relative rotation angle of the counterweight trolley (2) with respect to the upper rotating body (5) around the first vertical rotation axis (Z1).

28. The method according to claim 26 or 27, characterized in that the second sensor (21b) is used to detect the movement of the counterweight trolley (2) on which the additional counterweight (15) is mounted, and the length of the connecting unit (16) is constant relative to the upper slewing body (5) and in the longitudinal direction of the upper slewing body (5).

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