Crane with derrick ballast

Abstract

To allow the use of a heavy object transport device for a ballast wagon of a crane, meet the requirements for high safety in crane operation and minimize the risk of damage to the crane system.SOLUTION: A crane comprises a movable undercarriage 12, an upper structure 14, a boom 16, a derrick boom 18, a guide 20 connected to the upper structure, and a derrick ballast 40. The derrick ballast comprises a ballast plate 42 connected to the derrick boom via a ballast bracing for stacking ballast elements 41 and to the upper structure via the guide, and a ballast wagon 44. The ballast wagon comprises a standard heavy object transport device 50 with its own driving device and its own drive control unit. In the present invention, the guide 20 is connected to the ballast plate 42 or the ballast wagon 44 via a connection device, which has a measuring device for detecting the relative movement between the ballast wagon and the guide and the forces acting against it.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a crane according to the preamble of claim 1. [Background technology]

[0002] This type of crane, also known as a derrick crane, typically has a crawler chassis. Additional derrick ballast allows these cranes to lift and move particularly heavy loads. In these cranes, the main boom (typically a lattice boom, hereafter referred to as the "boom") and derrick boom are connected to each other by an adjustable cable bracing system. The derrick boom is connected to the rear end or aft of the superstructure via an adjustable-length derrick bracing. Adjusting the derrick bracing (i.e., lengthening or shortening) sets the tilt of the derrick boom relative to the superstructure. The angle of the derrick boom typically remains constant during crane operation. The luffing movement of the main boom (raising and tilting movement) is achieved by adjusting the luffing cable system (retraction cable system, lifting cable system) between the boom and derrick boom.

[0003] Therefore, the moment that the boom exerts on the boom system due to the load it is carrying must be absorbed by the derrick boom. Moreover, the entire "crane" system must be stable. That is, the center of gravity of the entire system must be inside the tilting end. When lifting heavy loads, this cannot be achieved with ballast in the upper structure alone. For this reason, derrick ballast is required as additional ballast. The derrick ballast is connected to the free end of the derrick boom via a ballast bracing of adjustable length. The length of the ballast bracing can be adjusted, for example, using a hydraulic pull cylinder.

[0004] Derrick ballast is known in the form of suspended ballast or a ballast wagon that can be moved along the floor with stacked ballast elements. Suspended ballast generally has two operating modes: either installed on the floor or suspended with adjustable-length ballast bracing. These two modes are usually determined by the load moment to be absorbed.

[0005] The horizontal distance between the superstructure's axis of rotation or the superstructure's axis of rotation and the center of gravity of the derrick ballast is called the ballast radius. The ballast radius of a suspended ballast can be adjusted by tilting the derrick boom or by guides between the rear of the superstructure and the suspended ballast. A disadvantage of this type of suspended ballast is that the crane as a complete system can only operate or rotate when the suspended ballast is lifted off the ground. Note also that the entire mass of the suspended ballast is not "effective" while it is on the ground. The pull cylinder of the ballast tensioning system "captures" the necessary portion of the suspended ballast's total mass and sends it to the boom system. The unnecessary mass remains on the ground and does not participate in the crane's lift.

[0006] When the derrick ballast is constructed in the form of ballast wagons, which are stacked ballast elements, the derrick ballast rests on the ballast wagons, which become part of the overall derrick ballast. An added advantage over suspended ballast is that the entire crane and derrick ballast system can be moved. The crane remains rotatable and can also be moved. The role of the ballast wagons is, on the one hand, to ensure the movement of the crane and, on the other hand, to transfer the unnecessary mass of the derrick ballast to the ground.

[0007] Previously known ballast wagon solutions were typically expensive in-house designs by the crane manufacturer. These were integrated into the crane control system and were relatively easy to operate. Crane operators often have a relatively large number of standard heavy-lift equipment. These are mobile transport systems with their own drives and drive controls, capable of transporting and moving a large number of loads. For some time now, there have been efforts to use such heavy-lift equipment as ballast wagons for cranes. Summary of the Invention [Problem to be solved by the invention]

[0008] One problem here is the independent control of the heavy-lift equipment, because its drive control is not configured for the high-safety range of crane operation. The main problem is the need for a strong connection between the crane and the heavy-lift equipment. This must be able to transmit even very large forces between the crane and the heavy-lift equipment. Such large forces can pose a risk during crane operation if the crane and ballast wagon do not move in sync, and can even damage components. For this reason, operating heavy-lift equipment as ballast wagons is not currently permitted, and using them poses a risk to the crane operator.

[0009] The invention therefore aims to enable the use of heavy-lift transport equipment for ballast wagons of this type of crane, meeting the requirements for high safety in crane operation and minimizing the risk of damage to the crane system. [Means for solving the problem]

[0010] According to the invention, this object is achieved by a crane having the features of claim 1. Advantageous embodiments of the invention are specified in the dependent claims and the following description.

[0011] Therefore, a crane is proposed, which comprises a movable undercarriage, a superstructure rotatably mounted on the undercarriage, a boom connected to the superstructure for vertical movement (tilting), a derrick boom articulated to the superstructure, a crane control system, guides connected to the superstructure, and a derrick ballast. The undercarriage may have a crawler chassis. The boom is braced by the derrick boom, preferably by an adjustable-length cable bracing system as described above. The derrick boom is preferably connected to the superstructure, in particular via an adjustable-length derrick bracing as described above.

[0012] The derrick ballast comprises a ballast plate on which several ballast elements can be stacked. The ballast plate, also called a ballast pallet, is connected to the derrick boom via a ballast bracing on the one hand and to the superstructure, in particular to the rear of the superstructure, via the guide on the other hand. The ballast bracing may be of variable length and may comprise two bracing strands, each with a pull cylinder. The guide is preferably at least partially constructed as a rigid structure, for example as a lattice structure.

[0013] The derrick ballast also has a ballast wagon, which comprises at least one standard heavy-duty transporter with its own drive and drive control. Due to its own drive, the heavy-duty transporter is also called a heavy-duty vehicle. The heavy-duty transporter is in particular a multi-axle transporter, or SPMT ("self-propelled modular transporter"). Many crane operators already use a large number of such heavy-duty transporters to move heavy loads such as bridge elements or parts of excavation equipment.

[0014] In particular, the ballast plate is placed on or fixed to the carrier of a heavy-duty transport device, which may have a load capacity of more than 1000 tonnes, although it is of course also possible to use heavy-duty transport devices with smaller maximum load capacities.

[0015] A ballast wagon may comprise several linked heavy goods transport units, so that in the following references to a ballast wagon or "the" heavy goods transport unit also include the possibility of several linked heavy goods transport units or a combination of heavy goods transport units.

[0016] According to the invention, the guide is connected to the ballast plate or the ballast wagon via a connecting device, which means a mechanical connection, and the connecting device has a measuring device configured to detect a force acting against the relative movement between the ballast wagon and the guide, which force will be referred to as the control force in the following.

[0017] Control forces result from uneven or asynchronous movement of the crane or guide and ballast wagon. For example, when the superstructure rotates about its axis of rotation, the guide connected to the superstructure pivots. The ballast wagon must follow the movement of the guide, which is connected to the derrick ballast via a connecting device, with a corresponding movement to prevent excessive lateral loads on the guide or derrick boom. For example, if the ballast wagon moves too fast (i.e., the ballast wagon moves ahead of the guide) or too slow (i.e., the guide moves ahead of the ballast wagon), or if the ballast wagon hits an obstacle, relative movement will occur if there is no fixed connection between the guide and ballast wagon.

[0018] By connecting the guide obtained by the connection device according to the present invention to the ballast wagon or the ballast plate, forces resulting from this uneven or asynchronous movement are generated, which are detected by a measuring device and used to control the movement of the ballast wagon. According to the present invention, the crane control is connected to the drive control of the heavy load transport device via a control connection (which here particularly refers to a data connection) and is configured to control and / or regulate the heavy load transport device depending on the control forces detected by the measuring device. In the following, when simply referring to "control" of the heavy load transport device, it is intended to refer to control and / or regulation or closed-loop control, respectively.

[0019] Thus, according to the invention, rather than detecting changes in the position of the ballast wagon relative to the crane or guide, or the relative movement of the ballast wagon and the crane, and using this to control the heavy-lift equipment, the forces resulting from the asynchronous movement of the crane and the ballast wagon are detected. This allows for a stable and rigid connection between the guide and the derrick ballast. The actual relative movement between the guide and the ballast wagon is no longer necessary to control the ballast wagon. Therefore, steering errors and the effects of the terrain can be compensated for, and the ballast wagon or heavy-lift equipment can be "forced" onto the track.

[0020] Furthermore, in the solution according to the present invention, the control systems of the crane and the heavy load transport device are connected to each other, i.e., communication is established between the crane control system and the drive control system of the heavy load transport device. This allows the drive control system of the heavy load transport device to be integrated into the crane control system, and the heavy load transport device can be controlled solely by the crane control system. This simplifies the overall control of the crane and derrick ballast system, allowing a direct and optimal reaction to operation sequences that result in corresponding detectable control forces. This makes it possible to avoid situations in which a powerful drive of the heavy load transport device introduces excessive lateral loads into the guide or derrick boom.

[0021] The connection device preferably provides a mechanical connection between the guide and the ballast plate or the guide and the ballast wagon with at least one degree of freedom of movement, such as a relative translational movement parallel to the longitudinal axis of the guide and / or a relative rotation about a vertical axis (preferably a vertical axis when the guide and the ballast plate are in a horizontal position). The relative movement can be locked by one or more actuators to provide a fixed connection within a predetermined force range, or alternatively, the forces generated can be detected and used to control the heavy load transport device by the crane control system. Alternatively, the connection device can rigidly connect the guide and the ballast plate or the guide and the ballast wagon. In this case, it is preferable to measure only the forces generated and use them to control the heavy load transport device.

[0022] In a possible embodiment, the guides are configured such that the forces generated by the derrick ballast are divided into a first force introduced into or transmitted through the guides and a second force introduced into or transmitted through the ballast bracing. Together with the derrick boom, to which the ballast bracing is preferably connected at its free end, a force triangle is formed in which very large forces due to the mass of the derrick ballast are transmitted. These forces due to the mass of the derrick, i.e., the force components introduced into the crane via the guides and the ballast bracing, are also significantly larger than the control forces that are detected, in particular by the measuring devices, and that are the basis for the control of the heavy lift equipment by the crane control system.

[0023] To prevent these large forces from interfering with the detection of the control forces by the measuring device, the measuring device is located outside the guide and ballast bracing structures that transmit the first and second forces, i.e., outside the aforementioned force triangle. This not only enables effective detection of the control forces that are the basis for the control of the heavy lift equipment by the crane control system, but also allows the use of a simpler sensor system that does not need to be configured for such large forces. Furthermore, this configuration improves the sensitivity of the measuring device (a measuring system configured for larger forces is less accurate when detecting smaller forces).

[0024] The measuring device is preferably located below the guide and ballast bracing structure transmitting the first and second forces, and preferably below the connection means connecting the ballast bracing to the derrick ballast (i.e., in particular the guide, ballast plate or connection device). It should be noted that the designations "below," "above," "bottom," and "above" refer to the crane and derrick ballast being on a flat, horizontal surface. Furthermore, the designation "below" does not mean that the associated components must be in an overlapping position in a plan view, but simply means that the "below" component is closer to the ground than the "above" component.

[0025] External measurements, especially measurements below the aforementioned force triangle, also allow for larger ballast radii, i.e. situations where the connection means of the ballast bracing on the derrick ballast are located farther from the axis of rotation of the superstructure in plan view than the free end of the derrick boom, so that the ballast bracing extends obliquely rather than vertically, which allows for larger moments and therefore larger crane payloads with the same mass of derrick ballast.

[0026] In yet another possible embodiment, the measuring device comprises at least one first actuator, which allows for detecting a control force acting in the longitudinal direction of the guide (also referred to herein as longitudinal force). The at least one first actuator is preferably configured as a hydraulic cylinder, although other types of actuators are also possible in principle, for example hydraulic motors. In particular, the force is detected by a corresponding sensor (for example a pressure sensor) integrated into the actuator.

[0027] Preferably, the first actuator is configured to rigidly connect the guide and the ballast wagon longitudinally in a first force range where the longitudinal force is less than a predetermined limit force. In the first force range where the longitudinal force is not too large, the first actuator keeps the ballast wagon "on track" and prevents relative movement due to asynchronous operation. The resistance that the first actuator provides to this relative movement results in a corresponding force increase in the first actuator (e.g., an increase in pressure in one of the cylinder chambers of the hydraulic cylinder), which is detected by a measuring device and made available to the crane control system as a control force.

[0028] The predetermined threshold force can be obtained, for example, from a correspondingly configured or set pressure relief valve. When the pressure corresponding to the control force increases above the set threshold pressure of the pressure relief valve, the valve opens, preventing further increase in pressure or force on the first actuator, and the actuator "slips through."

[0029] The crane control system is preferably configured to control and / or adjust the heavy load transport equipment in response to the detected longitudinal force so that the longitudinal force is minimized. Thus, in a first force range, where the longitudinal force is still relatively small, the longitudinal force is used as a control variable for controlling the heavy load transport equipment. The crane control system records the longitudinal force and determines which movement of the heavy load transport equipment must be initiated so that the longitudinal force decreases again. Due to this control range, it is generally not necessary to stop the operation of the crane or the ballast wagon. The corrective control of the heavy load transport equipment is preferably automatic, i.e., without the intervention of the crane operator. Therefore, compared to existing systems, there is much less need for manual intervention or intervention after stopping the operation of the crane. Therefore, shutdowns can be avoided in many cases.

[0030] In a further possible embodiment, the first actuator is configured to respond to the relative movement between the guide and the ballast wagon in a second force range in which the longitudinal force exceeds a predetermined limit force. Thus, if the longitudinal force becomes too great, the first actuator allows (releases) the relative movement of the ballast wagon relative to the crane or the guide resulting from the asynchronous movement, thereby preventing further increase in force and thus damage to the crane components. This relative movement can be released, for example, by a pressure relief valve that is appropriately set as described above.

[0031] The permitted relative movement is recognized by the crane control and appropriate measures are initiated. For this purpose, the measuring device preferably has a first position sensor, which can detect changes in the position of the ballast wagon relative to the guide. Preferably, changes in the length or angle of the first actuator (e.g., extension / retraction of a hydraulic cylinder) are detected directly. Alternatively, changes in the relative position of the ballast wagon and the guide can be detected at any other point. Any sensor can be used for this purpose, for example, an optical distance sensor, a magnetic proximity sensor, etc.

[0032] The crane control system is configured to stop or limit movement of the crane and / or ballast wagon in response to a change in position detected by the first position sensor, after which corrective movement of the heavy lift equipment can be taken, manually or automatically, by the crane control system to re-block the first actuator and allow movement of the crane and derrick ballast combination to continue.

[0033] For the above-mentioned control, it is preferable to take into account not only the longitudinal forces but also the forces or moments acting transverse to the longitudinal direction of the guide, which arise, for example, when the superstructure rotates if the ballast wagons do not move synchronously (for example because they collide with an obstacle or are moved ahead due to a drop in the terrain).

[0034] Therefore, in yet another possible embodiment, the measuring device comprises at least one second actuator, by means of which torques acting against the rotational movement between the ballast wagon and the guide can be detected. This torque is hereinafter also called control torque and involves control forces that do not act parallel to the longitudinal axis of the guide, and is hereinafter also called lateral forces. Such torques around the z-axis can arise, for example, during a rotation of the superstructure and the corresponding circular movement of the ballast wagon, if the center of rotation of the crane and the center of rotation of the heavy transport device deviate (for example due to a steering error of the heavy transport device), or if the crane or the heavy transport device collides with an obstacle acting off-center during a towing or parallel movement.

[0035] The at least one second actuator is preferably configured as a hydraulic cylinder, although other types of actuators, for example hydraulic motors, are also usable in principle. In particular, detection is performed via a corresponding sensor (for example a pressure sensor) integrated into the actuator. Preferably, the second actuator is configured such that the guide and the ballast wagon are rotationally rigidly connected in a first torque range in which the control torque is smaller than a predetermined limit torque. Since a control torque can be easily converted into a corresponding control force and a predetermined limit torque can be converted 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, are used interchangeably in the following. In particular, it is not important whether moments or forces are used in the control system, since the conversion can be performed using simple conversion factors.

[0036] In a first moment range, where the control torque or lateral force is not too great, the second actuator keeps the ballast wagon "on track" and prevents the relative movement resulting from the asynchronous movement. The resistance that the second actuator offers to this relative movement results in a corresponding increase in force in the second actuator (e.g. an increase in pressure in the cylinder chamber of a hydraulic cylinder), which is detected by a measuring device and provided to the crane control system as a control force or control torque.

[0037] For example, a predetermined limiting torque can be provided by a correspondingly configured or set pressure relief valve: when the pressure corresponding to the control torque rises above the limit pressure set in the pressure relief valve, the valve opens and prevents further increase in pressure or force in the second actuator.

[0038] Preferably, the crane control system is configured to control and / or adjust the heavy load handling device in response to the detected control torque so that torque resulting from asynchronous movement is minimized. The discussion regarding control / adjustment based on detected longitudinal forces applies here as well and therefore does not need to be repeated.

[0039] In principle, it is conceivable to detect and balance only longitudinal forces via at least one first actuator, or to detect only lateral forces or lateral moments via at least one second actuator, however, it is preferred that both first and second actuators are present (or a single actuator functions as both first and second actuator) and that both longitudinal and lateral forces or their moments are detected and balanced.

[0040] In yet another possible embodiment, the second actuator is configured to respond to the relative rotation between the guide and the ballast wagon in a second moment range where the detected control torque exceeds a predetermined limit torque. If the control torque or the corresponding lateral force becomes too large, the second actuator allows the ballast wagon to move, resulting from asynchronous movement relative to the crane or the guide, preventing further force buildup and therefore damage to crane components. This relative movement can be allowed, for example, by an appropriately set pressure relief valve, as described above.

[0041] The permitted relative movement is recognized by the crane control and appropriate measures are initiated. For this purpose, the measuring device preferably has a second position sensor, which can detect the change in position of the ballast cart relative to the guide in the second force range. Preferably, the change in length or angle of the second actuator (e.g., extension / retraction of a hydraulic cylinder) is detected directly. Alternatively, the change in the relative position between the ballast cart and the guide can be detected at any other point. Any sensor can be used for this purpose, such as an optical distance sensor, a magnetic proximity sensor, or an inductive sensor.

[0042] The crane control system is configured to stop or limit movement of the crane and / or ballast wagon in response to a change in position detected by the second position sensor, after which the crane control system can take manual or automatic corrective action of the heavy material handling equipment so that the second actuator can be shut off again and movement of the crane-derrick-ballast combination can continue.

[0043] In yet another possible embodiment, a connecting device is disposed between the guide and the ballast plate, the connecting device having a connection portion rigidly connected (e.g., bolted) to the guide, and is preferably part of the guide, but in certain embodiments can also be considered part of the ballast plate.

[0044] In yet another possible embodiment, the connection device has a movable element that is connected to the ballast plate. The movable element is mounted so as to be movable relative to the coupling in the longitudinal direction of the guide, thereby enabling a specific movement of the ballast wagon relative to the crane or the guide (if it is movable). If the ballast wagon or the heavy-duty transport device moves parallel to the longitudinal direction of the guide relative to the crane, a corresponding movement of the movable element relative to the coupling occurs when the movable element is released (i.e., is not blocked, for example, by an actuator). The movable element can be displaceably mounted on or in the coupling of the connection device, for example, via a rolling or plain bearing. The coupling may have corresponding guide elements or rails for guiding the movable element.

[0045] The movable element is preferably arranged below the connecting means that connects the ballast bracing to the guide. The connecting means can be arranged on the guide itself or on the linkage. This has the aforementioned advantage that the measuring device that detects the control force that opposes the movement of the movable element is arranged below the aforementioned triangular force. The movable element can be plate-shaped.

[0046] In yet another possible embodiment, at least one first actuator is connected to the movable element on the one hand and to the guide on the other hand. In particular, the first actuator is connected to the coupling. The first actuator is preferably configured as a hydraulic cylinder and is configured to prevent relative movement between the movable element and the coupling up to a predetermined limit force. On the other hand, the first actuator allows relative movement when the longitudinal force exceeds the predetermined limit force. In particular, the hydraulic cylinder is arranged parallel to the longitudinal axis of the guide.

[0047] In yet another possible embodiment, the connection device comprises a rotation device by means of which the ballast plate is connected to the guide so as to be able to rotate about a vertical axis. The term "vertical" refers to the situation in which the crane stands on a flat horizontal surface and in particular the guide is arranged in a horizontal orientation. The rotation device comprises a slewing bearing, which is preferably arranged on the movable element, in particular on the underside of the movable element facing towards the ballast wagon. As a result, the connection between the movable element and the slewing bearing allows both a relative movement between the ballast wagon and the crane in the longitudinal direction of the guide (towards or away from the crane) and a rotation of the ballast wagon relative to the crane.

[0048] In yet another possible embodiment, the slewing bearing comprises a first bearing part connected to the connecting device and a second bearing part connected to the ballast plate. The connection may be direct or indirect, respectively. For example, the second bearing part may be directly connected to the ballast plate or may be connected to an intermediate element which is, for example, connected to the ballast plate. In particular, the first bearing part is connected 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 hand. The second actuator can be coupled to the first bearing and / or the second bearing, preferably coupling both bearings together, thereby directly monitoring or detecting rotation between the two bearings and preventing said rotation if necessary. The second actuator is preferably configured as a hydraulic cylinder, but may alternatively be configured as a rotary actuator (e.g., a hydraulic motor). The second actuator is configured to prevent relative rotation between the bearings up to a predetermined limit torque and to allow rotation at a larger control torque.

[0050] In another possible embodiment, instead of the aforementioned movable elements, the connection device has at least two pivotally mounted rocker arms, via which the connection device is movably connected (directly or indirectly) to the ballast plate. The rocker arms are preferably mounted directly on the linkage. In the simplest example, each rocker arm can be pivotally mounted on the linkage and / or on the ballast wagon (or on an intermediate member connected to the ballast plate) about a horizontal pivot axis.

[0051] In this embodiment, instead of a displaceable movable element, a rocker arm allows the ballast plate to move in the longitudinal direction of the guide relative to the connection. The rocker arm can be connected directly to the ballast plate or to an intermediate member connected to the ballast plate, for example by a bolted connection. The rocker arm is preferably arranged below the connection means, by which the ballast bracing is connected to the guide. The connection means can be arranged on the guide itself or on the connection. This results in the previously explained advantage that the measuring device is arranged below the aforementioned force triangle.

[0052] The rocker arms may be of identical elongated configuration. There may be multiple rocker arms that are individually movable. Alternatively, the multiple rocker arms may be connected to one another (e.g., via a linking element articulated to the rocker arms) to provide articulation.

[0053] In yet another possible embodiment, at least one first actuator is connected on the one hand to the rocker or to an intermediate element operable by the rocker, and on the other hand to a guide, in particular a linkage. The first actuator, preferably in the form of a hydraulic cylinder, is configured to prevent pivoting of the rocker arm up to a predetermined limiting force. Thus, the at least one first actuator holds the rocker arm in a fixed position up to the predetermined limiting force, and allows pivoting or relative movement only when the longitudinal force exceeds the predetermined limiting force.

[0054] In principle, each rocker arm can be assigned a first actuator. Alternatively, one or more rocker arms themselves can be uncoupled from the first actuator. The first actuator blocks the rocker arms in the first force range, preventing the other rocker arms from moving, and thus fixing the longitudinal position of the ballast wagon relative to the crane.

[0055] Even in embodiments where longitudinal mobility of the guide is made possible by swinging, it is desirable to have a further degree of freedom of movement, in particular in the form of rotation of the ballast wagon relative to the crane or guide around a vertical axis of rotation, in order to detect moments about the z-axis and to be able to block relative rotational movements in the range of the first moment.

[0056] Thus, in yet another possible embodiment, the connection device comprises a rotation device connecting the ballast plate to the guide so as to be rotatable about a vertical axis, the rotation device comprising a slewing bearing with two bearings rotatable relative to each other and arranged on an intermediate member connecting the linkage or rocker arm to the ballast plate. As already explained for the embodiment with a moving element, the bearings can be directly connected (i.e., the actuator is directly connected to the bearing) or indirectly connected (i.e., the actuator is not directly connected at one or both ends to the respective bearing, but to an element connected to the bearing, such as an intermediate member connected to the linkage or ballast plate), and the second actuator is configured to prevent relative rotation between the bearings up to a predetermined limit torque. The rotation device is preferably arranged between the rocker arm and the ballast plate, for example on an intermediate member connected via a rocker arm to the linkage of the connection device.

[0057] In yet another possible embodiment, rotation can be enabled not by a rotation device but by the rocker arms themselves. For this purpose, at least four rocker arms are provided, which are specifically configured as individual rocker arms. The rocker arms are configured to allow rotation of the ballast plate relative to the linkage. This can be achieved, for example, by attaching the rocker arms to the linkage and / or ballast plate not via linear joints (movement around one axis) but via ball joints, universal joints, or other joint devices that allow pivotal movement around two or more axes. Alternatively, the rocker arms may have additional joints between their attachment points that allow this mobility. At least one second actuator is directly connected to at least one rocker arm or to an intermediate member connecting the rocker arm to the ballast plate.

[0058] In yet another possible embodiment, at least two second actuators are provided, each of which is connected on the one hand to the coupling and on the other hand to one of the rocker arms or to an intermediate element connecting the rocker arms to the ballast plate, and simultaneously acts as a first actuator. It is used here that during the rotational movement of the ballast wagon, the rocker arms deflect in different directions relative to the guide. If the rocker arms deflecting in different directions are each connected to a first actuator, these actuators will be subjected to different loads (for example, the pressure in a first pressure chamber will increase for one actuator configured as a hydraulic cylinder, and the pressure in another pressure chamber will increase for another actuator).

[0059] Therefore, the second actuator is configured to receive different loads, particularly when the ballast plate rotates relative to the connection, and the crane control system is configured to receive different loads (i.e., control torques or forces) from the measuring device and thereby control and / or adjust the heavy lift transport equipment in response to the detected load differences.

[0060] In another possible embodiment, the connecting device is not arranged between the guide and the ballast plate, but between the ballast plate and the heavy load transporting device. In this case, the relative movement between the heavy load transporting device and the ballast plate is monitored and specifically prevented or, if necessary, released (movement allowed) by the first and / or second actuator. The ballast bracing can be connected directly to the ballast plate.

[0061] The connecting device has at least one adapter element having 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 load transport device, so that the monitored and possibly blocked / blocked relative movement takes place between the two adapter parts of the at least one adapter element.

[0062] At least one first actuator, preferably configured as a hydraulic cylinder, is connected to the first and second adapter parts and configured to prevent relative movement between them up to a predetermined limit force. The adapter element and the first actuator are oriented such that their longitudinal axes are parallel to the longitudinal axis of the guide. One adapter part can be the outer adapter part, to which the other, inner adapter part, can be slidably mounted. Corresponding bearings, for example plain bearings or rolling bearings, are fitted between the adapter parts. The outer adapter part can be connected, for example, to a heavy load transport device, and the inner adapter part can be connected to a ballast plate. The reverse arrangement is also conceivable.

[0063] Even in embodiments in which the guide is movable in the longitudinal direction, which is made possible by an intermediate adapter or adapter element installed between the ballast plate and the heavy load transport device, it is preferable to have a further degree of freedom of movement, in particular in the form of rotation of the ballast plate and thus the heavy load transport device relative to the crane, in order to be able to detect moments around the z-axis and prevent relative rotational movements in the first moment range.

[0064] Thus, in yet another possible embodiment, at least two adapter elements are provided, spaced apart transversely relative to the longitudinal axis of the guide, each having at least one first actuator. The adapter elements are configured so that the second adapter part is not only displaceable relative to the first adapter part parallel to the longitudinal axis of the guide, but also pivotable laterally, particularly in a plane containing the longitudinal axis of the adapter element (particularly a plane parallel to the ballast plate or the carrier of the heavy-lift device). For this purpose, appropriately configured bearings can be installed between the first and second adapter parts, allowing such relative lateral movement of the adapter parts. Furthermore, the adapter parts or bearings must have adequate play to allow the second adapter part to move laterally. For this purpose, the bearings can be, for example, spherical. Eight or more bearing points can be provided per adapter element, for example, four bearing points at each end region of the adapter element, two at the bottom, and two at the top.

[0065] Preferably, the first actuators also function as second actuators and are arranged to be subjected to different loads when the heavy load transporting device or the ballast wagon rotates relative to the ballast plate. The crane control system is configured to control and / or adjust the heavy load transporting device depending on the detected load differences. The principle of the different loads corresponds to that explained above in relation to the embodiment with rocker arms.

[0066] In other possible embodiments, the guide has a head member with a connection part rigidly connected to the rest of the guide structure and a pivot part connected to the ballast plate. The head member can be directly connected to the superstructure. Alternatively, the head member can be connected to a link member of the guide, which in turn can be connected to the superstructure, in particular pivotally connected to the superstructure. Alternatively, one or more intermediate members of the guide can be located between the head member and the link member.

[0067] The pivoting section comprises a first pivoting element connected to the ballast plate and a second pivoting element connected to a connecting part. The connecting part may be formed directly on the second pivoting element or may be a part connected to the second pivoting element. The two pivoting elements are pivotally mounted relative to each other about a pivot axis extending parallel to the longitudinal axis of the guide. The pivoting element allows the ballast plate to rotate about said pivot axis. For example, the first pivoting element can be rotatably mounted within the second pivoting element, and corresponding bearings (e.g. plain or rolling bearings) are preferably arranged between the pivoting elements. The pivoting elements can be tubular. The ballast bracing is preferably connected directly to the ballast plate by suitable connecting means.

[0068] In an alternative embodiment, a connection device is arranged between the guide and the ballast plate. Instead of coupling the guide to a ballast cart movable in the longitudinal direction of the guide and detecting and possibly blocking the corresponding relative movement by the first and / or second actuator, a rigid connection is provided between the guide and the ballast cart in the longitudinal direction of the guide. For this purpose, the connection device has a connection device rigidly connected to the guide. The connection device and the guide or the ballast plate can be directly or indirectly connected (e.g., via one or more rigidly connected intermediate members). The measurement device has at least one force-measuring bolt, by means of which a longitudinal force acting against the relative movement between the ballast cart and the guide in the longitudinal direction of the guide can be detected, and the crane control is preferably configured to control and / or adjust the heavy-load transport device depending on the detected longitudinal force so as to minimize the longitudinal force. The longitudinal axis of the force-measuring bolt is preferably oriented perpendicular to the longitudinal axis of the guide.

[0069] Therefore, in this embodiment, the longitudinal relative movement of the guide is not released when a predetermined limit force is exceeded. Instead, the longitudinal force is detected directly by one or more force-measuring bolts that are part of the rigid bolted connection of the connecting device as a control force for controlling the corrective movement of the heavy transport device. Preferably, at least one force-measuring bolt is located below the connecting means that connects the ballast bracing to the guide.

[0070] Preferably, the connecting device comprises an intermediate member connected to the coupling by at least one force-measuring bolt, the intermediate member being connected to the ballast plate. The intermediate member may be of box-shaped construction.

[0071] In yet another possible embodiment, the connection device comprises a rotation device with two bearings rotatable relative to one another, through which the ballast plate is connected to the coupling part so as to be rotatable about a vertical axis, the bearings being preferably connected to one another directly or indirectly via at least one second actuator, which is configured to prevent rotation between the bearings up to a predetermined limit torque. Thus, the coupling part is not completely rigidly connected to the ballast plate, and there is a degree of freedom of movement in the form of rotation of the ballast wagon relative to the coupling part. The rotational connection, the detection of the control torque and the corresponding control of the heavy transport device can be configured similarly to the above-mentioned embodiments.

[0072] In yet another possible embodiment, the coupling is not only rigidly connected to the guide, but also rigidly connected (directly or indirectly) to the ballast plate, i.e. no freedom of movement is provided between the guide and the ballast wagon via the connection device. Nevertheless, to be able to detect the control torque resulting from the asynchronous movement of the ballast wagon and to control the heavy load transport equipment accordingly, at least two, preferably at least four, force measuring bolts are provided, which are arranged so that they are subjected to different loads when the ballast plate rotates relative to the guide. The crane control system is configured to control and / or adjust the heavy load transport equipment depending on the detected load differences.

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

[0074] In yet another possible embodiment, the connection has connection means for connecting the ballast bracing to the connection device or guide, and the at least one force-measuring bolt is part of a bolted connection located below said connection means, preferably part of the bolted connection of the connection to the ballast plate or to an intermediate member connected to the ballast plate. Consequently, the force-measuring bolt can be arranged outside the aforementioned force triangle and be correspondingly smaller or configured to detect smaller forces and torques.

[0075] In yet another possible embodiment, the crane comprises at least one rigging block, the rigging block having a first connection means for connecting to the ballast bracing and a second connection means for connecting to the ballast plate. Thus, the bracing block can be attached to the ballast plate as needed, and the ballast bracing can be connected to the at least one bracing block. The connection between the bracing block and the ballast bracing can be articulated to allow for pivoting movement around a horizontal axis. The ballast plate can also be detachable from the ballast wagon, and the bracing block and ballast plate are configured to allow the derrick ballast to be used as suspended ballast both when the bracing block is attached to the ballast wagon and after it is separated from the ballast wagon. Preferably, two bracing blocks are provided to keep the suspended ballast stable.

[0076] This allows the derrick ballast to be converted into a suspended ballast by attaching bracing blocks to the ballast plates, connecting the ballast bracing to the bracing block's connecting means, and separating the ballast plates from the ballast wagon or heavy-lift device so that the ballast elements can lift the stacked ballast plates. The bracing blocks can be installed with the ballast plates resting on the floor.

[0077] The hanging ballast can be used with or without guides. When used with guides attached (i.e., the guides remain connected to the ballast plate, for example, by one of the connection devices described above), the connections between the bracing block and the ballast bracing and / or the connections between the bracing block and the guides can be articulated. Alternatively, the hanging ballast can be used without guides, in which case the hanging ballast is located below the free end of the derrick boom and the ballast bracing extends substantially vertically.

[0078] In yet another possible embodiment, the guide is configured to have an adjustable length. For this purpose, the guide may, for example, have a link member connected to the upper structure and at least one intermediate member that can be detachably attached between the link member and the connecting device. The length of the guide can then be adjusted by attaching or detaching a corresponding number of intermediate members.

[0079] Alternatively or additionally, the guide may have a telescopic member with at least two sections attached so that they can be moved in and out of one another, in particular by an actuator (e.g., a telescopic cylinder), thereby allowing the length of the guide to be changed. The telescopic member may be attached directly to the superstructure, in particular by an articulated pivotal connection, instead of to the link member of the guide. It is also conceivable that the telescopic member serves as an intermediate member attached between the link member and the head member or the connecting device, which in turn connects the head member or the connecting device to the ballast plate. It is also conceivable that the telescopic member serves as the head member or the connecting device, which in turn is connected to the ballast plate. The head member or the connecting device may be arranged in one of the displaceable sections. It is also conceivable that one of the sections forms the link member, and a section slidably arranged relative to it forms the head member or the connecting device, in other words, that the telescopic part itself forms the entire guide. In the above-mentioned examples, the connecting device may be configured according to one of the above-mentioned embodiments.

[0080] In yet another possible embodiment, the ballast plate is arranged on the ballast wagon, in particular directly on the at least one heavy-duty transport device, and is detachably connected thereto by connecting elements, so that the ballast plate can be attached to various heavy-duty transport devices and can also be used as a suspended ballast without the use of a ballast wagon.

[0081] In another possible embodiment, the guide is attached to the superstructure so that it can pivot around a horizontal axis, particularly by a link member. This allows the height of the derrick ballast to be changed. Alternatively or additionally, the bracing of the crane can be configured so that the horizontal distance between the center of gravity of the derrick ballast and the rotation axis of the superstructure (i.e., the ballast radius) is greater than the horizontal distance between the tip of the derrick boom and the rotation axis of the superstructure. This increases the maximum load capacity of the crane with the same mass of derrick ballast, but also increases the load on the guide because the force applied by the derrick ballast is divided into a force component transmitted via the ballast bracing and a force component transmitted via the guide. Therefore, it is preferable to position the measuring device outside the force triangle formed by these force components and the force transmitted via the derrick boom, and in particular below this force triangle.

[0082] In yet another possible embodiment, the control connection can comprise two separate, in particular different, data connections between the crane control unit and the drive control unit of the heavy load transport device. Here, the first data connection can preferably comprise a data bus, e.g., a CAN bus, and / or the second data connection can comprise at least one safety switching device with a safety relay contact. The at least one safety switching device can be provided on the heavy load transport device and the at least one safety switching device can be provided on the crane. The second data connection can itself comprise two separate data connections, each of which is assigned to a safety switching device on the crane side or a safety switching device on the heavy load transport device side.

[0083] The safety switching device can be configured to transmit a signal to a respective receiver so that the signal (e.g., a command) transmitted via the first data connection can be accepted or verified. The receiver can be a drive control unit or a crane control unit. Thus, a command transmitted via the first data connection is only executed if a corresponding data communication takes place via the second data connection. This improves the safety of the crane control system.

[0084] In yet another possible embodiment, the control connection has two emergency stop signal chains including a first emergency stop switch located on the crane and a second emergency stop switch located on the heavy load handling device. The crane control is preferably configured to stop all movement of the crane and the heavy load handling device when one of the two emergency stop switches is activated. The heavy load handling device preferably has its own self-contained emergency stop signal chain that is electronically coupled to the crane's emergency stop signal chain via at least one safety switch device.

[0085] In yet another possible embodiment, the crane has a tilt detection device with at least one sensor for detecting the tilt of the derrick ballast, in particular the tilt of the ballast plate. The crane control system is preferably configured to control and / or adjust the heavy load transport equipment so that the current terrain tilt is corrected based on data obtained by the tilt detection device. This makes it possible, for example, to prevent the heavy load transport equipment from moving ahead of the crane on a negative slope (i.e., traveling downhill) and to prevent the heavy load transport equipment from lagging behind the crane on a positive slope (i.e., traveling uphill). In particular, the crane control is configured to increase the drive pressure of the drive unit of the heavy load transport equipment when a positive terrain gradient is detected and to decrease the drive pressure when a negative terrain gradient is detected. The drive unit may be a hydraulic drive unit.

[0086] In yet another possible embodiment, the crane includes at least one actuator arranged on the ballast wagon and / or the ballast plate, which can raise or rotate the ballast plate and / or the ballast wagon relative to the ground. For example, a section of the ballast plate can be raised relative to the ballast wagon to change the inclination of the ballast plate. Alternatively, or in addition, the inclination of the ballast plate can be changed by changing the axis of the ballast wagon. This can be used, for example, to correct the inclination of the ballast plate that has deviated from the horizontal orientation. For this purpose, the crane control system is configured to control and / or adjust the at least one actuator based on data obtained by the inclination detection device so that the ballast plate is maintained in a horizontal orientation. Alternatively, the heavy load transport device can include an actuator on at least one axle for lifting the carrier relative to that axle. This can also be used to level the ballast plate attached to the heavy load transport device.

[0087] Further features, details and advantages of the invention can be obtained from the exemplary embodiments described below with reference to the figures. [Brief explanation of the drawings]

[0088] [Figure 1] FIG. 1 is a perspective view of a crane according to a first exemplary embodiment. [Figure 2] FIG. 2 is a side view of the crane derrick ballast. [Figure 3] FIG. 3 is a schematic explanatory diagram of generated and transmitted forces. [Figure 4a] Figure 4a is a plan view of the crane and derrick ballast combination, showing possible modes of movement. [Figure 4b] Figure 4b is a plan view of the crane and derrick ballast combination, showing possible modes of movement. [Figure 4c]Figure 4c is a plan view of the crane and derrick ballast combination, showing possible modes of movement. [Figure 5] FIG. 5 is a perspective view of a guide with a connecting device and a ballast plate of a crane according to a first exemplary embodiment. [Figure 6] FIG. 6 is a perspective view of the connection device of the first embodiment. [Figure 7] FIG. 7 is a perspective view different from FIG. 6 of the connection device of the first embodiment. [Figure 8] FIG. 8 is a perspective view of a movable element of the connection device of the first embodiment. [Figure 9] FIG. 9 is a cross-sectional view through the connecting device of the first embodiment along the longitudinal axis of the guide. [Figure 10] FIG. 10 is a cross-sectional view through the connecting device of the first embodiment, taken transversely to the longitudinal axis of the guide. [Figure 11] FIG. 11 is an enlarged perspective view of the ballast plate and its connection to the heavy load handling device. [Figure 12] FIG. 12 is a perspective view of a guide with a connecting device, a ballast plate and a ballast wagon according to a second exemplary embodiment. [Figure 13] FIG. 13 is a perspective view of the connection device of the second embodiment. [Figure 14] FIG. 14 is a perspective view of a guide with a connecting device, a ballast plate and a ballast wagon according to a third exemplary embodiment. [Figure 15] FIG. 15 is a perspective view of the adapter element of the third embodiment. [Figure 16] FIG. 16 is a cross-sectional view along the longitudinal axis of the adapter element of the third embodiment. [Figure 17] FIG. 17 is an overall perspective view of a crane according to a third exemplary embodiment. [Figure 18] FIG. 18 is a perspective view of a guide with a connecting device, a ballast plate and a ballast wagon according to a fourth exemplary embodiment. [Figure 19]FIG. 19 is an overall perspective view of a crane according to a fourth exemplary embodiment. [Figure 20] FIG. 20 is a side view of a guide with a connecting device, a ballast plate and a ballast wagon according to a fifth exemplary embodiment. [Figure 21] FIG. 21 is a side view of a guide with a connection device, ballast plate and ballast wagon according to a sixth embodiment in which derrick ballast is used as the hanging ballast. [Figure 22] FIG. 22 is a schematic diagram of a control system for a crane and heavy material handling equipment. [Figure 23] FIG. 22 is a schematic diagram of the data connections of the crane and heavy material handling equipment. DETAILED DESCRIPTION OF THE INVENTION

[0089] FIG. 1 is an overall perspective view showing a first exemplary embodiment of a crane 10 according to the present invention. The crane 10 is a crawler crane equipped with a lattice boom as a main boom 16 (hereinafter simply referred to as the "boom (jib)"). FIG. 1 shows only the link member of the boom 16, which is articulated to an upper structure 14 about a horizontal luffing axis (the central axis of up-and-down movement). The crane 10 has a lower carriage 12 equipped with crawler tracks. The lower carriage 12 is supported on the ground by two crawler carriers 13 laterally of the crawler lower carriage. The crane 10 is movable by the two crawler carriers 13. This movement can be performed in a straight line, and can also move forward and backward. The crawler carrier 13 can also operate the crawler tracks at different speeds so that the crane 10 can move around curves.

[0090] An upper structure 14 is mounted on the undercarriage 12 via a swivel for rotation about a vertical axis of rotation (also referred to herein as the upper structure axis of rotation). In addition to the boom 16, the crane 10 includes a derrick boom 18, which is also hinged to the upper structure 14 for rotation about a horizontal axis of rotation. A superstructure ballast 15 (divided laterally into two ballast stacks in the illustrated embodiment) is located at the rear of the upper structure. The derrick boom 18 is connected to the boom 16 via a variable-length cable bracing system (not shown). The derrick boom 18 is also connected to the rear of the upper structure via a variable-length derrick bracing 19. The connection to the upper structure 14 may be via an additional pivotally mounted bracing block 11 (also known as an A-block or SA-block) (the cable anchorage between the A-block 11 and the derrick bracing 19 is not shown in FIG. 1). An operator's cabin may be located at the front of the upper structure 14.

[0091] In addition to the superstructure ballast 15, the crane 10 also includes a derrick ballast 40 with a ballast wagon 44 movable on the ground. The derrick ballast 40 has a ballast plate 42 attached thereto, and multiple ballast elements 41 are stacked on top of the ballast plate. 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 an adjustable-length ballast bracing 30. In the exemplary embodiment shown here, the ballast bracing 30 has two parallel brace strands, each with a hydraulic pull cylinder 32. The length of each brace strand of the ballast bracing 30 can be changed by extending or retracting the hydraulic pull cylinder 32, thereby adjusting the weight acting through the derrick ballast 40.

[0092] For the function of the cable bracing system, derrick bracing 19, ballast bracing 30, and derrick ballast 40, please refer to the introduction of this specification, which also applies to the crane 10 according to the exemplary embodiment, and therefore much of the repetition will be omitted. Furthermore, in the exemplary embodiment shown herein, the derrick boom 18 is held in place against the force of the derrick bracing 30 via a fallback safety, which may be provided with two hydraulic fallback (retracted) supports 17 that follow the movement of the derrick boom 18 and apply a corresponding support force to the derrick boom 18. The boom 16 may also be provided with a corresponding fallback safety (see FIG. 17).

[0093] The ballast wagon 44 of the derrick ballast 40 comprises a standard heavy material handling machine 50 (hereinafter referred to as SPMT) known in the art, which is already available for various purposes to many crane operators and users and has its own drive with its own drive control. The ballast wagon 44 may comprise a single SPMT 50 or multiple SPMTs 50 connected to each other (or connected via ballast plates 42), the number of which is not important for the present application. In particular, the ballast plates 42 are disposed on the carrying surface or platform of the SPMT 50.

[0094] Since the drive control of the SPMT 50 is not configured for safety-related crane operation and a very strong drive of the SPMT 50 may result in excessive forces, especially lateral forces, acting on the guide 20 and the derrick boom 18, in the solution according to the invention the control systems of the crane 10 and the SPMT 50 are connected to each other so that the SPMT 50 can be controlled by the crane control 90. Furthermore, the crane 10 is provided with a connection device 60 which is part of the guide 20 or an independent device, and which has a measuring device capable of detecting forces resulting from the asynchronous movement of the crane 10 and the ballast wagon 44. These detected control forces F Sis communicated to the crane control 90 and used by the crane control 90 to control the SPMT 50, compensating for any unsynchronized or inconsistent motion to ensure the most synchronized travel motion possible.

[0095] Asynchronous operation of the ballast wagon 44 and the crane 10 can occur for a variety of reasons or in different circumstances. Figures 4a-4c are plan views showing three possible modes of operation of the crane 10 according to the present invention, where arrow 100 indicates the direction of travel of the crane 10 and arrow 200 indicates the direction of travel of the ballast wagon 44 or the SPMT 50.

[0096] Figure 4a shows the towing operation of a crane system, where the crane 10 (or undercarriage 12) and ballast wagon 44 move one behind the other in the same direction (i.e. forward or backward) parallel to the longitudinal axis of the guide 20. For example, if the ballast wagon 44 now contacts an obstacle on one side, high forces or torques may be generated without authorization, which may lead to damage to the crane components, especially the guide 20. This may lead to the generation of torques about the z-axis and / or about the y-axis (see Figure 3).

[0097] 4b shows a translational movement of the crane system, where the crane 10 (or undercarriage 12) and the ballast wagon 44 move in the same direction (i.e., forward or backward) transversely to the longitudinal axis of the guide 20, but are offset from one another. If the guide 20 is connected to the ballast wagon 44 via a rotating device, the translational movement can also be at an angle less than 90° to the longitudinal axis of the guide 20. If the ballast wagon 44 then comes into contact with an obstacle, a force acts transversely to the longitudinal axis of the guide 20, which can generate moments about the z-axis and the y-axis (see FIG. 3).

[0098] Also, Figure 4c shows the rotation of the superstructure 14 about its axis of rotation (also called circular movement). In this case, the undercarriage 12 remains stationary and the ballast wagon 44 can move around the superstructure axis of rotation as the centre of rotation or steering, at a speed adapted to the speed of rotation of the superstructure 14. Apart from the possibility that the ballast wagon 44 may come into contact with an obstacle, the centre of rotation of the ballast wagon 44 may not coincide with the superstructure axis of rotation, or the ballast wagon may move too fast or too slow. As a result, moments may be generated about the z-axis and about the y-axis (see Figure 3).

[0099] Additionally, large forces and moments can be generated during any movement if the ballast wagon 44 sinks into the ground due to the large mass of the derrick ballast 40 (e.g., increasing the normal force of the guides 20 to the maximum thrust of the crane 10) or if the ballast wagon 44 moves faster or slower than the crane 10 (in a straight line, the ballast wagon 44 moves faster / slower than the undercarriage 12; in a rotating / circular movement, the ballast wagon 44 moves faster / slower about the SPMT 50's center of rotation than the upperworks 14 rotates about its axis of rotation or the undercarriage 12 moves about its center of rotation when cornering). Torques can be generated especially about the y-axis when towing, while torques can also be generated about the z-axis when swinging / circling or moving parallel, and generally when hitting an off-center obstacle. A moment about the x-axis acts when the terrain changes slope or the ballast wagon 44 sinks. In many cases, the three axial moments are combined, with certain moments dominating depending on the type of movement and the reason for the asynchronous operation.

[0100] Figure 2 is a side view of the derrick ballast 40, with the forces generated during operation and introduced into the crane system indicated by the black arrows (the length and direction of the arrows are merely approximate and for illustrative purposes). The ballast wagon 44, and therefore the SPMT 50, is connected to the crane system through a triangle formed by the leg guides 20, ballast bracing 30, and derrick boom 18. This triangle, along with the respective forces, is shown diagrammatically in Figure 3.

[0101] "Effective" mass or gravity F from derrick ballast 40 B This "activation" is achieved via the pull cylinder 32 and the ballast bracing 30. When the pull cylinder 32 is retracted, the mass of the derrick ballast 40 is made available for use as needed, or a force F is introduced into the crane system. B The legs with the ballast bracing 30 are shortened to allow adjustment of the load. This "activation" creates a moment that prevents the crane 10 from tipping over and a force that keeps the boom assembly 14, 16 in balance. And because these forces introduced into the crane system are typically very large, it is not easy to mount a sensor system within this large stress range (i.e., on the guide 20 or ballast bracing 30) to detect the forces resulting from asynchronous operation and safely control the SPMT 50.

[0102] The guide 20 is pivotally mounted to the superstructure 14. The derrick boom 18 preferably remains stationary when the pull cylinders 32 are actuated. This minimizes vertical movement at the connection between the crane system and the derrick ballast 40. As long as the mass of the derrick ballast 40 is large enough, this movement will remain minimal and will essentially be limited by the force F arising from the mass of the derrick ballast 40 and "enabling" it via the setting of the pull cylinders 32. B In the connecting means 34 of the ballast bracing 30 that connects the ballast bracing 30 to the guide 20, this force F Bis the force F introduced into the crane system via the ballast bracing 30 A and the force F introduced into the crane system via the guide 20. F These forces are very large and, together with the forces transmitted through the derrick boom 18, form a force triangle along the legs shown in Figure 3.

[0103] Therefore, the force F outside the triangle S should be used as the control force for controlling the SPMT 50. Therefore, a measuring device for detecting this force is placed outside this force triangle, in particular below the force triangle or below the connecting means 34. In this region, the control force F S is another force F A and F F Since there is no overlap, the measuring device can be configured for smaller forces.

[0104] The connection between the guide 20 and the SPMT 50 applies a purely vertical force F B is transmitted, and the connection device 60 is part of this connection according to the invention and constitutes the aforementioned measuring device, which is connected to the crane control 90 and exchanges data with the crane control. In some embodiments, the connection device 60 can be installed between the guide 20 and the ballast plate 42, or between the ballast plate 42 and the ballast wagon 44 or the SPMT 50. If the travel of the wheel set of the SPMT 50 and the crawler carrier 13 of the crane 10 is not the same, the force F B remains vertical, but the force F B Control force F transverse to or at an angle to S The connection between the ballast wagon 44 and the guide 20 has a high bending stiffness, especially at an angle of 90°, and the control force F S generates moments around the connections that are stiff in bending.

[0105] The crane system or SPMT50 detects the control force or force F S(In the following, the terms force or force range will also be used to refer to the torque resulting from asynchronous operation.) The control force F S In the first force range, where F is still relatively small, S is used as a control variable and / or adjustment variable for the movement of the SPMT 50. The crane control unit 90 uses the control force F detected from the measurement device. S receives the control force F S In this first force range, the control force F S Since F is relatively small, it is generally not necessary to stop the crane's operation; instead, the crane control system automatically executes the subsequent motion desired by the crane operator. The crane control system may, among other things, apply a control force F by accelerating or decelerating the SPMT 50 or by adjusting the speed and / or steering angle. S Simply adjust the operation of the SPMT50 so that is minimized.

[0106] In the second force range, a controlled force F is generated to prevent damage. S The second force range is greater than the predetermined limit force, and different limit forces or limit torques can be defined for different forces and torques that occur, e.g., the longitudinal control force F of the guide S There is a predetermined limit force (longitudinal force) for the control torque generated about the z-axis, and another predetermined limit force or torque (lateral force) for the control torque generated about the z-axis.

[0107] When the limit force is exceeded, i.e., when the second force range is reached, the force F Sshould remain constant, resulting in detectable movement between the ballast wagon 44 and the guide 20, which can be detected by the measurement device. While this movement is occurring, the crane control 90 preferably intervenes to stop the movement of the crane system, i.e., the undercarriage 12, the upperworks 14, and the SPMT 50. This places the crane system in a safe condition. The ballast wagon 44 can then be returned to the "safe zone" and crane operation can continue. The change or movement of the SPMT 50 into the safe zone can be done by the crane operator, supervisor, or fully automatically by the crane control 90.

[0108] In the following, several embodiments of the crane 10 will be described, in particular the implementation of the connecting device 60 and the control force F S The detection will be described with reference to FIGS.

[0109] A first exemplary embodiment is shown in Figures 5 to 10. Figure 5 is a perspective view of the interconnected guide 20, the connecting device 60 and the ballast plate 42. The ballast element 41 with the SPMT 50 and the ballast wagon 44 are not shown.

[0110] The guide includes a link member 21 pivotally connected to the rear of the superstructure about a horizontal pivot axis and an intermediate member 22 connected to the link member 21 by a bolted connection (particularly a fork finger connection). The intermediate member 22 may have a lattice structure with a plurality of longitudinal, transverse, and diagonal stiffeners. In this exemplary embodiment, a connection device 60 is bolted to the intermediate member 22 and connected to the ballast plate 42, forming part of the guide 20. The connection device 60 includes a connecting portion 23 rigidly connected to the intermediate member 22 and a movable element 62 displaceably mounted on or within the connecting portion 23 in the longitudinal direction of the guide 20; the movable element is better shown in FIGS. 6 and 7. FIG. 6 shows the top surface 34 of the connection device 60, and FIG. 7 shows the bottom surface of the connection device 60.

[0111] In this exemplary embodiment, the movable element 62 is configured as a plate-like element, which is displaceably mounted on a guide rail extending in the longitudinal direction of the guide 20 above the connecting part 23. The mobility of the movable element 62 is ensured by bearings 64, which may be, for example, plain or rolling bearings. Figure 9 shows a cross section through the connecting device 60 transverse to the longitudinal axis of the guide 20, which shows the position and shape of the guide rail, the bearings 64 and the movable element 62. Figure 10 shows a cross section along the longitudinal axis of the guide 20.

[0112] On the underside of the movable element 62 facing the ballast plate 42, a rotation device is provided that allows the ballast plate 42 to rotate relative to the guide 20 around an axis perpendicular to the extension direction of the ballast plate 42 (i.e., around the vertical axis, or around the z-axis if the guide 20 is oriented horizontally). The rotation device has a slewing bearing 66 having a first bearing part 67 connected to the movable element 62 and a second bearing part 68 that is rotatably coupled to the first bearing part 67 and forms an intermediate part bolted directly to the ballast plate 42. Alternatively, a further intermediate part may be provided between the second bearing part 68 and the ballast plate 42. Figure 8 shows an isolated bottom view of the movable element 62 with the first bearing part 67.

[0113] The connection device 60 therefore has two degrees of freedom of movement, allowing relative translational movement of the ballast plate 42 or the ballast wagon 44 attached thereto parallel to the longitudinal axis of the guide 20 (i.e., relative translational movement towards or away from the superstructure 14), and relative rotation of the ballast plate 42 or ballast wagon 44 with respect to the guide 20.

[0114] 5 and 6, the connection means 34 for the ballast bracing 30, which are configured as bolting points, are provided on the connecting member 23 and are located on its upper side. The moving element 62 and the slewing bearing 66 are therefore subjected to the large forces F arising from below the connection means 34, in particular from the derrick ballast 40. F The rod forces and the forces resulting from the tensioned ballast weight are transmitted in particular from the connecting means 34 directly to the corner tubes of the guide 20.

[0115] If the crane 10 and the ballast wagon 44 do not move in sync (for example, for one of the reasons explained with reference to Figures 4a-4c), a relative movement will occur between the ballast plate 42 and the guide 20. This movement may mean a displacement of the movable element 62 with respect to the linkage 23 and / or a rotation of the second bearing part 68 with respect to the first bearing part 67. Such relative movement should be avoided in the first force range or minimized by an appropriate counter control of the SPMT 50.

[0116] For this purpose, the connecting device 60 comprises a first actuator 1, which in the illustrated exemplary embodiment is configured as a hydraulic cylinder 1 connected on the one hand to the coupling 23 and on the other hand to the movable element 62, extending parallel to the longitudinal direction of the guide 20 (i.e., the degree of freedom of movement of the movable element 62) (see FIGS. 6-7). As shown in FIG. 10, this may be a double-acting hydraulic cylinder. In a first force range, the first actuator 1 prevents movement of the movable element 62 relative to the coupling 23. This can be achieved, for example, by a pressure relief valve (not shown) hydraulically connected to the first actuator 1, which remains closed up to a defined limit pressure and thus blocks the displacement of the piston rod. As a result, the movable element 62 is held in a central position within the first force range (see FIG. 10).

[0117] The sensors of the measuring device, in particular the pressure sensors, measure the control force F acting in the longitudinal direction of the guide 20, which acts on the first actuator 1 due to the asynchronous movement of the crane 10 and the ballast wagon 44. S or longitudinal force. If the longitudinal force is less than a predetermined limit force (resulting, for example, from a set limit pressure of the pressure relief valve), movement of the movable element 62 is prevented, and the detected longitudinal force is used by the crane control 90 to control the SPMT 50 such that the deviation in movement is compensated for and the longitudinal force is reduced, thereby preventing the crane 10 from being switched off.

[0118] The torque generated around the z-axis resulting from the asynchronous movement (=control torque) is detected via the second actuator 2. In the exemplary embodiment described here, two second actuators 2 are provided, also configured as hydraulic cylinders. Alternatively, pressure and rotation monitoring can be performed with one or more rotary actuators. The second actuator 2 is articulated to both the first bearing 67 and the second bearing 68 (see FIGS. 7 and 8), i.e., connected between the ballast plate 42 and the connecting part 23, so that a torque acts on the second actuator 2 about the rotation axis of the slewing bearing 66. Similar to the first actuator 1, the second actuator 2 blocks rotation of the second bearing 68 relative to the first bearing 67 up to a predetermined limit force or a predetermined limit torque. Here, too, the limit torque can be determined by at least one pressure relief valve. A corresponding sensor (particularly a pressure sensor) detects the force acting on the second actuator 2 due to the control torque, i.e., the corresponding lateral force, and the crane control unit 90 controls the SPMT 50 based on this, and the control torque is minimized by a corresponding corrective action.

[0119] The blocked first and second actuators 1, 2 force the ballast wagon 44 "on track" in a first force range. The first and second actuators 1, 2 are located below the force triangle shown in FIG. 3 and can therefore be significantly smaller, and the measured control force F S is a large force F Aand F F and are not superimposed.

[0120] The first and second actuators 1, 2 open when their respective force or torque thresholds are exceeded to prevent damage, allowing the corresponding relative movement of the ballast wagon 44 and the guide 20. The associated actuators 1, 2 move a certain distance. For example, if the longitudinal force exceeds a predetermined force threshold of the first actuator 1, this allows movement of the movable element 62 relative to the linkage 23, causing the piston rod to move relative to the cylinder housing of the first actuator 1 during the associated movement. This also applies to the second actuator 2. These position changes of the actuators 1, 2 are detected by corresponding position or orientation sensors in the measurement device and transmitted to the crane control unit 90. The crane control unit 90 then stops all movement of the crane 10 and the SPMT 50. Instead of detecting the movement of the actuators 1, 2, the relative movement may be detected by other means, such as position or proximity sensors located on the movable element 62, the linkage 23, the first bearing 67, and / or the second bearing 68.

[0121] In essence, the freedom of movement afforded by the connection device 60 is only permitted when the force or moment becomes too great, after which the respective actuator 1, 2 "slips" and the detected movement causes the crane control 90 to stop operation of the crane's derrick ballast assembly to allow for correction.

[0122] In particular, the ballast plate 42 is connected to the SPMT 50 via connecting elements 52. A possible example of such a detachable connection is shown in Figure 11. In this case, the ballast plate 42 can be removed from the ballast wagon 44 or the SPMT 50 by releasing the connection made by the connecting elements 52.

[0123] A second exemplary embodiment is shown in Figures 12 and 13. Here, the connection device 60 does not have a movably mounted element 62 and a pivot bearing 66, but rather has a linking member 23 with four rocker arms 70, each pivotally mounted to the linking member 23 about a pivot axis extending perpendicular to the longitudinal axis of the guide 20 (horizontal on a flat base). The independently movable rocker arms 70 can be mounted to the side of the linking member 23 as shown in Figure 12, but other arrangements are also possible, such as on the underside of the linking member 23.

[0124] In the exemplary embodiment shown, the lower end of rocker arm 70 is hinged directly to ballast plate 42. Alternatively, rocker arm 70 may be hinged to an intermediate member, which in turn is connected to ballast plate 42.

[0125] The movement of the rocker arms 70 allows the ballast plate 42 to move in the longitudinal direction of the guide 20 relative to the coupling 23, similar to the movable element 62 of the first exemplary embodiment. In a variant of the embodiment shown here, the two rocker arms 70 on the opposite sides of the coupling 23 are connected to the coupling 23 via respective hydraulic cylinders (see FIG. 13). On the other hand, these hydraulic cylinders act to control the control force F acting in the longitudinal direction of the guide 20 in the case of asynchronous movement. S 13), and thus functions as the first actuator 1. The principle of preventing relative movement in a first force range and allowing it in a second force range works in the same way as in the first exemplary embodiment. In the first force range, the first actuator 1 holds the rocker arm 70 in a central position (see FIG. 13), and again the length and force or pressure are monitored by corresponding sensors of the measuring device.

[0126] The connection means 34 for the ballast bracing 30 is again located above the first actuator 1 (specifically above the upper corner stem of the linkage 23 as shown in Figure 13), with the first actuator 1 being located below the force triangle.

[0127] In this embodiment with four individual rocker arms 70, if the rocker arms 70 have or are mounted on corresponding spherical bearings that allow them to deflect in different directions or have two degrees of freedom, the hydraulic cylinder can simultaneously function as the second actuator 2. In this case, rotation of the ballast plate 42 about the z-axis relative to the linkage 23 will cause the rocker arms 70 on different sides of the linkage 23 to deflect in different directions (or exert a control force F in the first force range). S (acting in different directions). In this case, the crane control 90 is configured, similar to the first exemplary embodiment, to recognize the different loads and derive a control torque based on which corresponding control of the SPMT 50 is performed. To accommodate this modification, at least four separate rocker arms 70 must be provided. These may be connected to the linkage 23 and / or the ballast plate 42 (or intermediate member) via, for example, spherical plain bearings, and / or may have additional joints located between the pivot points of the rocker arms 70.

[0128] Alternatively, the control torque can be detected by an additional rotating device with corresponding force and length monitoring by at least one second actuator 2, e.g., as in the first exemplary embodiment. Such a rotating device can be arranged in an intermediate member connected to the linkage 23 via a rocker arm 70.

[0129] A third embodiment is shown in Figures 14 to 17. Figure 14 shows a guide 20, a connection device 60, a ballast plate 42, and an SPMT 50 to which the ballast plate 42 is connected. Here, the guide 20 only has a link member 21 and a head member 24 connected thereto, with a coupling portion rigidly connected to the link member 21 and a pivot portion 29 connected to the ballast plate 42. In this embodiment, the pivot portion 29 has two tubular elements pivotably mounted relative to each other about the longitudinal axis of the guide 20, with the inner tubular element (=first pivot element) connected to the ballast plate 42 at corresponding connection points and the outer tubular element (=second pivot element) connected to the coupling portion. Alternatively, the outer tubular element can be connected to the ballast plate 42 via corresponding connection points. This tubular element allows the ballast plate 42 to rotate relative to the guide 20 about the longitudinal axis of the guide 20 (the axis corresponding to the X-axis when the guide 20 is oriented horizontally).

[0130] In this embodiment, the connection device 60 is located not between the guide 20 and the ballast plate 42, but between the ballast plate 42 and the ballast wagon 44 or SPMT 50. The connection device 60 has two adapter elements 80 (alternatively, only one adapter element 80, or three or more adapter elements 80 may be provided) spaced apart in the longitudinal direction of the SPMT 50 (i.e., transverse to the longitudinal axis of the guide 20), providing a corresponding degree of freedom for movement of the ballast wagon 44 relative to the guide 20.

[0131] For this purpose, each adapter element 80 has a first (outer) adapter part 81 connected to the SPMT 50 and a second (inner) adapter part 82 displaceably mounted on the outer adapter part 81. Figures 15 and 16 respectively show a single adapter element 80 in a perspective view (Figure 15) and a side cross-sectional view (Figure 16) along the longitudinal axis of the adapter element 80. The second adapter part 82 has corresponding connection elements 83 that protrude through the casing of the first adapter part 81 and are connectable to or connected to the underside of the ballast plate 42 (see Figure 15). The first adapter part 81 has corresponding connection elements for connecting to the SPMT 50. Alternatively, the first (outer) adapter part 81 may be connected to the ballast plate 42, and the second (inner) adapter part 82 may be connected to the SPMT 50.

[0132] The adapter element 80 may have a bearing arrangement to ensure that the adapter parts 81, 82 can move relative to one another, and the bearing arrangement may include a plurality of bearings 84 which may be configured as plain bearings or rolling bearings, for example. Figures 15 and 16 show possible arrangements of the bearings 84, with a lower bearing 84 and an upper bearing 84 provided on each side and each end of the second adapter part 82, resulting in a total of eight bearings 84 per adapter element 80. Of course, different arrangements or different numbers of bearings 84 (e.g. fewer or more than eight) may also be used.

[0133] The first and second adapter parts 81, 82 are connected to one another via a first actuator 1 in the form of a hydraulic cylinder (see Figure 16) so that the longitudinal forces resulting from the asynchronous movement can be detected. The principle of preventing relative movement in a first force range and allowing movement in a second force range works in the same way as for the first and second exemplary embodiments. In the first force range, the first actuator 1 holds the adapter parts 81, 82 in a central position (see Figure 16) and the length and force or pressure are monitored by corresponding sensors of the measuring device.

[0134] In this exemplary embodiment, the connection means 34 for connecting the ballast bracing 30 is arranged directly on the ballast plate 42. Thus, on the one hand, a force flow occurs from the ballast plate 42 via the connection means 34 to the ballast bracing 30, and on the other hand, a force flow occurs via the swivel 29 to the guide 20. Since the adapter element 80 of the connection device 60 is arranged below the ballast plate 42, the first actuator 1 is located below the force triangle.

[0135] To enable the adapter element 80 to detect moments about the z-axis, the adapter element 80 can be configured such that the second adapter part 82 is not only longitudinally displaceable relative to the first adapter part 81, but also laterally movable or oscillating relative to the first adapter part. In this case, different loads are applied to the first actuator 1 of the adapter element 80, from which the crane control 90 can derive control torques and control the SPMT 50 accordingly. In this case, the first actuator 1 simultaneously functions as the second actuator 2. This principle works in particular similarly to the corresponding variant of the second exemplary embodiment, which includes four rocker arms 70 and the first actuator 1 functioning as the second actuator 2. To enable this mobility, the bearing 84 can be appropriately configured and have a corresponding clearance. The bearing 84 can, for example, be spherical for this purpose. The ballast wagon 44 can then rotate about the z-axis together with the second adapter part 82 relative to the ballast plate 42 with the first adapter part 81. However, this movement is only permitted within the second force range. In the first force range, rotational motion is prevented and the SPMT 50 is controlled appropriately to compensate for the control torque and force.

[0136] FIG. 17 is an overall perspective view of the crane 10 according to the third exemplary embodiment, showing the slewing section 29 positioned between two ballast stacks stacked laterally on the ballast plate 42.

[0137] 17 also shows an example in which the superstructure 14 has an additional A-frame 11 pivotally attached to the superstructure 14 and connected to the derrick boom 18 via derrick bracing 19. The A-frame 11 is connected to the superstructure 14 via a variable length brace cable. A crane 10 according to the present invention can have such a configuration regardless of the particular configuration of the guides 20 or derrick ballast 40.

[0138] 18 illustrates a fourth embodiment, including a guide 20, a connection device 60, a ballast plate 42, and an SPMT 50 to which the ballast plate 42 is connected. Here, the guide 20 includes a link member 21 and a connection device 60 connected to the link member 21, which in turn is connected to the ballast plate 42. The connection device 60 includes a linking portion 23 bolted to the link member 21 and an intermediate member 25 bolted to the ballast plate 42. In contrast to the previous embodiments, the connection device 60 in this embodiment is not provided with any degree of freedom of movement and is rigidly connected to both the link member 21 and the ballast plate 42. The intermediate member 25 can be considered a component of the connection device 60 or the guide 20.

[0139] The intermediate element 25 is connected to the connecting part 23 by bolts, at least one of the bolts being configured as a force measuring bolt 3. In particular, the longitudinal axis of the force measuring bolt 3 extends transversely to the longitudinal axis of the guide 20. In a variant of the embodiment shown here, four bolted connections are provided, all four bolts being configured as force measuring bolts 3, the longitudinal axes of which extend transversely to the longitudinal axis of the guide 20. The force measuring bolts 3 detect longitudinal forces acting in the longitudinal direction of the guide 20, which are then converted into control forces F of the crane control 90. S A predetermined limit force is set, and up to the limit force, the control force F is applied in the same manner as in the previous embodiment, that is, without stopping the current movement of the crane. S If a predetermined limit force is exceeded, the crane control 90 can stop the operation.

[0140] In this exemplary embodiment, the connection means 34 for connecting the ballast bracing 30 is arranged at the connection part 23 in such a way that the measuring device with the force measuring bolt 3 is located below the force triangle, which allows the force measuring bolt 3 to be smaller.

[0141] The torque around the z-axis can be detected by evaluating the forces detected by the various force measuring bolts 3. For this purpose, force measuring bolts 3 configured to detect the direction of the applied force, i.e., the position of the force vector, can be used. When a torque is applied around the z-axis, the force measuring bolts 3 are subjected to different loads, from which the control torque can be deduced. The crane control 90 can initiate corresponding corrective actions of the SPMT 50.

[0142] Alternatively, the connecting device 60 may comprise a rotation device similar to that of the first exemplary embodiment, which may be provided on the intermediate member 25 or on any other component of the connecting device 60, and which allows for monitoring of the length and force via at least the second actuator 2. The functional principle for detecting the control torque is then in particular similar to that of the first exemplary embodiment.

[0143] Alternatively, the force measuring bolt 3 may be provided at the connection between the intermediate member 25 and the ballast plate 42. It is also possible to omit the intermediate member 25 and directly bolt the connecting portion 23 to the ballast plate 42 with the force measuring bolt 3.

[0144] In all of the above-described embodiments, any number of additional intermediate members 22 may be attached to the guide 20, for example, to allow the overall length of the guide 20 to be adapted to a particular level of required ballast radius or ballast torque.

[0145] 19 and 20 show a further embodiment of the guide 20, showing an overall perspective view of the crane 10 (FIG. 19) and a side view of the guide 20 (FIG. 20). Here, the guide 20 is telescopic and includes a telescopic member 26 having at least one outer section 27 and an inner section 28 slidably mounted therein. In a variation of the embodiment shown here, the telescopic member 26 itself forms the guide 20 and includes a coupling portion for connection to the upper works 14 and a connection portion for connection to the ballast plate 42 (see FIG. 20). The outer section 27 is connected to the coupling portion 74, and the inner section is connected to the connection device 60 that forms the connection portion. Alternatively, the outer section 27 can be connected to the connection device 60, and the inner section 28 can be connected to the connection device 74. By telescoping these sections 27, 28, the distance between the connection device 60 and the upper works 14, and thus the ballast radius, can be changed, allowing the ballast radius to be continuously adjusted. Three or more of these sections 27, 28 may be provided.

[0146] The connecting device 60 can be configured according to the first, second or fourth exemplary embodiment. It is also contemplated that the pivot 24 according to the third exemplary embodiment can be located at the end of the inner section 28, and the connecting device 60 can include one or more adapter elements 80.

[0147] Alternatively, the telescoping member 26 may form only one of multiple interconnectable members of the guide 20. The guide 20 may further include a link member 21 and / or one or more intermediate members 22. Notably, the telescoping member 26 may be removed if desired, and the guide 20 may be used without the telescoping member 26.

[0148] Since the maximum stroke of the telescopic member 26 represents the length of the intermediate member 22 that is also present, it is contemplated that the original gradation of length throughout the guide 20 will be essentially maintained when the continuously telescopic member 26 is used as needed. However, operation in a less than fully extended state is possible and monitored by the crane control 90.

[0149] The guide 20 may generally be modular in construction and may optionally have multiple modules or members that are connectable to one another (e.g., one or more of a link member 21, an intermediate member 22, a head member or connecting device 60, a pivot portion 24, and an extendable member 26).

[0150] If the lifting operation does not require movable ballast, the derrick ballast 40 can be configured to also be used as a suspended ballast. For this purpose, the crane 10 may have an additional bracing block 86 that can be attached to the ballast plate 42 as needed. For this purpose, first and second connection means 87, 88 are provided, through which connection to the ballast bracing 30 can be made. The first connection means 87 replaces the connection means 34 of the guide 20 or the ballast plate 42. An example of such an embodiment is shown in FIG. 21, where two bracing blocks 86 are bolted to the ballast plate 42 via the third connection means 85. The first connection means 87 articulates, in particular, the guide 20 to the ballast bracing 30, and the second connection means 88 articulates, in particular, the bracing block 86 to the guide 20, and they are located at the upper ends of the bracing blocks 86, which are essentially triangular in shape in side view.

[0151] In this case, the ballast plate 42 can be removed from the ballast wagon 44 and placed on the ground, and the bracing block 86 is mounted thereon, with the ballast bracing 30 connected to the first connection means 87 of the bracing block 86 .

[0152] The hanging ballast can also be used without the guide 20, in which case the ballast is simply held by the ballast bracing 30, which is oriented vertically (i.e., the hanging ballast is located below the free end of the derrick boom 18). Alternatively, a hanging ballast with a guide 20 attached can be used. For this purpose, a special head member 89 can be attached to or incorporated into the guide 20 (see FIG. 21) and connected, in particular, to the upper end of the bracing block 86. This is not a fixed connection to the bracing block 86, but an articulated or linked connection. This articulated connection may have a second connecting means 88. Such a head member 89 therefore provides an articulated connection between the ballast bracing 30, the guide 20, and the bracing block 86. As a result, the hanging ballast can be used with the guide 20, which in turn allows for a larger ballast radius to be realized.

[0153] The use of one or more SPMTs 50 as ballast wagons 44 generally SPMT has high load-bearing capacity (e.g., over 1000 tons), SPMT is usually available, SPMT is a tested system, SPMT can control the crane 10 (e.g. steering pole shift, travel, emergency stop, support type, lift / lower) There are several effects.

[0154] To control the SPMT 50, the crane control 90 is connected to the drive control 54 of the SPMT 50 via a control connection so that the crane and derrick ballast combination can be controlled by the crane control 90. Both the crane 10 and the SPMT 50 are equipped with appropriate interfaces for this purpose.

[0155] The control connections for the SPMT50 are: Emergency stop: Connection of emergency stop circuits of Crane 10 and SPMT50, · Force limitations, Moment limits, Force compensation: measure and counteract the resulting force, Moment compensation: Identify and counteract the generated moment. Steering modes: traction, translation, circular, rotational, and / or longitudinal; Drive: Determine the required drive force, Leveling: Compensates for slight tilt or tilt in terrain with compatible SPMT axle leveling system It covers one or more (preferably all) of the following fields and applications:

[0156] If a stoppage is caused by a force limit (entering the second force range of one or more of the first or second actuators 1, 2 or one or more of the force measuring bolts 3), an error message detailing the error condition is preferably output to the crane monitor, which may be located in the operator's cab on the superstructure and / or on a mobile device such as a tablet or mobile control unit.

[0157] A preferred exemplary embodiment of the control system connection of the drive control 54 of the SPMT 50 to the crane control 90 of the crane 10 will now be described with reference to FIG.

[0158] The control connection from the crane 10 to the SPMT 50 (or to the SPMT network if multiple SPMTs 50 are used) is realized via a first data connection 91 in the form of a Controller Area Network bus (CAN bus). In addition to the security mechanisms of the CAN protocol, data to be transmitted at the application level is preferably protected by a "live bit". In this case, the crane control 90 periodically transmits a variable value to the SPMT 50, and the SPMT (or drive control 54) must reply within a predetermined time. If the retransmission is not accurate, all operation is stopped and the crane operator is notified of the inconsistency in the data connection, for example by an error message.

[0159] All safety-related functions, such as motor on / off, steering, and travel, are performed on two channels via the CAN bus connection, each via a separate safety relay contact in the crane-side safety switching device 93. The safety relay instructs the receiver (i.e., SPMT 50) to accept commands (bidirectional and diverse execution) from the CAN bus 91. Safety-related information, such as "all steering angles correct," from the SPMT 50 to the crane 10 is also performed by another safety relay contact in the SPMT-side safety switching device 94. The data connection via the safety switching devices 93, 94 forms a second data connection 92 that exists in parallel with the CAN bus 91. The safety switching devices 93, 94 are used for safe interruption of the safety circuit. In particular, the safety relay contacts incorporated in the safety switching devices 93, 94 are redundant and reliably driven.

[0160] When the crane control 90 and the drive control 54 of the SPMT 50 are connected via control lines, the crane control 90 takes over most, and in particular all, of the control-related calculations, and the SPMT 50 carries out the necessary requests. In this operating state, the SPMT 50 or the drive control 54 can no longer perform operations independently without release from the crane control 90. For this purpose, it may be necessary to remove the existing input unit of the SPMT 50 and replace it with a connection unit to the crane 10.

[0161] In the following, Figure 23 illustrates the emergency stop function of the crane 10 according to the present invention. All safety switching devices, switching relays and their switching contacts shown in Figure 23 are shown in a de-energized state. When power is supplied to the safety switching devices, the switching state of the illustrated contacts changes to an actuated state. When current is supplied to a relay (e.g. relay K1), all contacts "K1" 107, 113, 114 change switching state. In the example of "K3", there are two normally open contacts 115, 116 and one normally closed contact 117.

[0162] The control modules 95, 96 shown in FIG. 23 correspond in particular to the control modules 95, 96 of the crane 10 of FIG.

[0163] The crane 10 and SPMT 50 are each equipped with an emergency stop switch (see crane emergency stop switch 106 and SPMT emergency stop switch 108 in Figure 23). During crane operation equipped with the SPMT 50, activating the emergency stop switch of either the crane 10 or the SPMT 50 will bring both devices to an emergency stop. Because the SPMT 50 is equipped with a self-contained emergency stop chain (chain connection), the emergency stop chains of both devices must be linked together via a safety switching device.

[0164] To connect two emergency stop chains, the following sequence must be observed in particular: 1. Do not activate the emergency stop switch 106 of the crane 10. 2. Start the control system of the crane 10. Power the safety switching device 107 (K1) from the crane 10. The safety switch contacts 113, 114 close. 3. Do not activate the emergency stop switch 108 of the SPMT 50. 4. Be sure to start the SPMT50 control unit. 5. The selector switch 110 (T1) of the SPMT 50 must be activated. When the selector switch 110 (T1) is activated, power is supplied to the switching relays 111 (K3) and 112 (K4). The switching contacts 115 and 116 close. The switching contacts 117 and 118 open, and the safety switching contact 119 is integrated into the emergency stop chain. Power is supplied to the safety switching device 109 (K2), and the safety switching contacts 119 and 120 close. 6. Both emergency stop chains are linked, and a common emergency stop chain is activated. 7. Safety switch contacts 114, 120 are used for line monitoring (switch function tested).

[0165] Actuation of any emergency stop switch 106 on the crane 10 causes an emergency stop of the crane 10. The safety switching device 107 (K1) is de-energized and opens the safety switching contact 113, thereby interrupting the emergency stop chain of the SPMT 50. Actuation of any emergency stop switch 108 on the SPMT 50 causes an emergency stop of the SPMT 50 and the safety switching device 109 (K2) is de-energized and opens the safety switching contact 119, thereby interrupting the emergency stop chain of the crane 10.

[0166] The safety switching device 107 shown in Fig. 23 can particularly correspond to the crane-side safety switching device 93 shown in Fig. 22. The safety switching device 109 shown in Fig. 23 can particularly correspond to the SPMT-side safety switching device 94 shown in Fig. 22.

[0167] The various steering modes (e.g., towing, translation, circular, longitudinal, rotation) are specified inter alia by the crane control unit 90. By transferring the ballast radius and upper structure rotation angle from the crane control unit 90 to the SPMT 50, each axle is set to the correct steering angle on the SPMT 50. The SPMT 50 preferably has a hydraulic drive motor. The corresponding drive pressure of the hydraulic drive motor of the SPMT 50 is adjusted by the crane control unit 90 for the various travelling operations. The SPMT 50 sets the required drive pressure, which is influenced by the following factors: - terrain slope, Drive speed, · Weight or mass acting on the derrick ballast 40, Steering mode, Ballast radius.

[0168] In a preferred embodiment, the slope of the terrain is measured by a sensor system that detects the current ballast tilt, for example, by sensors on the ballast plate 42. When the SPMT 50 moves up a slope, the drive pressure is increased compared to movement on level ground to ensure smooth movement. When the SPMT 50 moves down a slope, the drive pressure is decreased compared to traveling on level ground. As a result, the SPMT 50 or ballast wagon 44 is slowed down to ensure smooth traveling. The term "slope" may be understood to mean a slope angle of, for example, 1°.

[0169] In yet another embodiment, an axle leveling device can be provided. Lateral tilt of the ballast plate 42 caused by uneven terrain is detected by a sensor, for example, a sensor on the ballast plate 42, and transmitted to the crane control 90. This tilting attitude can be corrected by axle leveling of the SPMT 50. To this end, a corresponding lift / lower command is sent to the SPMT 50. The axles of the SPMT 50 can be divided into multiple axle groups, for example, a first (e.g., left) axle group and a second (e.g., right) axle group. The lift / lower command is preferably sent to the SPMT 50 for the associated axle group, for example, raise the first axle group, lower the first axle group, raise the second axle group, or lower the second axle group. It is also possible to raise one axle group while simultaneously lowering the other axle group. Additional safety relay contacts are preferably switched in parallel, and a corresponding release for leveling is provided to the SPMT 50.

[0170] It should be noted here that the aforementioned sensors on the ballast plate 42 or on the ballast plate 42 may technically belong to the crane 10 rather than the SPMT 50. [Explanation of symbols]

[0171] 1 First Actuator 2 Second Actuator 3 Force measurement bolt 10 Crane 11 Block A 12 Lower bogie 13 Crawler carrier 14 Superstructure 15. Superstructure ballast 16 Boom (main boom) 17 Fallback Support 18 Derrick Boom 19 Derrick Bracing 20 Guide 21 Link member 22 Intermediate parts 23 Connecting part 24 Head member 25 Intermediate parts 26 Elastic member 27 Section 28 Sections 29 Swivel section 30 Ballast bracing 32 Pull cylinder 34 Connection Methods 40 Derrick Ballast 41 Ballast elements 42 Ballast Plate 44 Ballast Wagon 50 Heavy Material Handling Equipment (SPMT) 52 connection elements 54 Drive control unit 60 Connection Device 62 moving elements 64 bearings 66 Slewing bearing 67 1st bearing part 68 2nd bearing part 70 rocker arm 74 Link section 80 Adapter Elements 81 First adapter part 82 Second adapter part 83 Connecting Elements 84 Bearings 85 Third connection means 86 Bracing Block 87 First connection means 88 Second connection means 89 Head component 90 Crane control unit 91 First data connection 92 Second data connection 93 Safety Switching Device 94 Safety Switching Device 95 Control Module 96 Control Module 100 Crane travel direction 106 Crane emergency stop switch 107 Safety Switch K1 108 Emergency stop switch SPMT 109 Safety Switch K2 110 Selector switch T1 111 Switching relay K3 112 Switching relay K4 113 Safety switching contacts for K1 (2xNO contacts) 114 Safety switching contact K1 (1xNO contact) 115 K3 switching contact (1xNO contact) 116 K3 switching contact (1xNO contact) 117 Switching contact of K3 (1xNC contact) 118 K4 switching contact (1xNC contact) 119 Safety switching contact of K2 (1xNO contact) 120 K2 safety switching contacts (1xNO contact) 200 Ballast wagon travel direction

Claims

1. A crane (10) comprising: a movable undercarriage (12); an upper structure (14) rotatably mounted on the lower carriage (12); a boom (16) connected to the upper structure (14) so ​​as to be able to move up and down; a derrick boom (18) pivotally connected to the upper structure (14) and reinforcing the boom (16); a crane control (90); a guide (20) connected to the upper structure (14); and a derrick ballast (40), the derrick ballast (40) having a ballast plate (42) for stacking ballast elements (41), the ballast plate (42) being connected to the derrick boom (18) via ballast bracing (30) and connected to the upper structure (14) via the guide (20), and a ballast wagon (44), the ballast wagon (44) comprising a standard heavy-lift transport device (50) having its own drive and its own drive control (54), The guide (20) is connected to the ballast plate (42) or the ballast wagon (44) via a connecting device (60), the connecting device (60) having a measuring device configured to detect a force acting against the relative movement between the ballast wagon (44) and the guide (20); and the crane control unit (90) is connected to the drive control unit (54) of the heavy load transport device (50) via a control connection and is configured to control and / or adjust the heavy load transport device (50) in response to the forces detected by the measuring device; The guide (20) is configured so that a 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), and the measuring device is disposed outside the structure of the guide (20) and the ballast bracing (30) that transmit the first force and the second force.

2. The crane (10) of claim 1, The measuring device has at least one first actuator (1) by which a longitudinal force acting in opposition to the relative movement between the ballast wagon (44) and the guide (20) in the longitudinal direction of the guide (20) can be detected, the first actuator (1) being configured to rigidly connect the guide (20) and the ballast wagon (44) in the longitudinal direction within a first force range in which the longitudinal force is smaller than a predetermined limit force, and the crane control unit (90) is configured to control and / or adjust the heavy load transport device (50) in accordance with the detected longitudinal force so that the longitudinal force is minimized.

3. The crane (10) of claim 2, The first actuator (1) is configured to respond to relative movement between the guide (20) and the ballast wagon (44) in a second force range in which the longitudinal force exceeds a predetermined threshold force, the measurement device has a first position sensor by which a change in position of the ballast wagon (44) relative to the guide (20) can be detected in the second force range, and the crane control (90) is configured to stop or limit movement of the crane (10) and / or the ballast wagon (44) in response to the change in position detected by the first position sensor.

4. The crane (10) of claim 1, The measuring device comprises at least one second actuator (2) by means of which a torque acting against the rotational movement between the ballast wagon (44) and the guide (20) can be detected, the second actuator (2) being configured to establish a rigid rotatable connection between the guide (20) and the ballast wagon (44) in a first torque range in which the torque is smaller than a predetermined limit torque, and the crane control unit (90) is configured to control and / or adjust the heavy load transport device (50) in response to the detected longitudinal force so that the torque is minimized.

5. A crane (10) according to claim 4, The second actuator (2) is configured to respond to relative rotation between the guide (20) and the ballast wagon (44) in a second moment range in which the torque exceeds a predetermined limit torque, the measuring device has a second position sensor by which a change in position of the ballast wagon (44) relative to the guide (20) can be detected in a second force range, and the crane control (90) is configured to stop or limit operation of the crane (10) and / or the ballast wagon (44) in response to the change in position detected by the second position sensor.

6. The crane (10) of claim 1, The connecting device (60) is disposed between the guide (20) and the ballast plate (42), and has a coupling portion (23) rigidly connected to the guide (20).

7. A crane (10) according to claim 6, The connection device (60) has a movable element (62) connected to the ballast plate (42), the movable element being attached to the connecting portion (23) so as to be movable in the longitudinal direction of the guide (20), and the movable element connects the ballast bracing (30) to the guide (20) and is arranged below a connection means (34) arranged on the guide (20) or the connecting portion (23) of the crane (10).

8. A crane (10) according to claim 7, the measuring device has at least one first actuator (1) by means of which a longitudinal force acting against the relative movement between the ballast wagon (44) and the guide (20) in the longitudinal direction of the guide (20) can be detected, the first actuator (1) being configured to rigidly connect the guide (20) and the ballast wagon (44) in the longitudinal direction in a first force range in which the longitudinal force is smaller than a predetermined limit force, and the crane control unit (90) being configured to control and / or adjust the heavy load transporting device (50) in response to the detected longitudinal force so as to minimize the longitudinal force; A crane (10) comprising at least one first actuator (1) connected to a movable element (62) on the one hand and to a guide (20) on the other hand, the first actuator (1) being configured as a hydraulic cylinder configured to prevent relative movement between the movable element (62) and the connecting part (23) up to a predetermined limit force.

9. A crane (10) according to claim 7, The connection device (23) is connected to the guide (20) so that the ballast plate (42) has a rotation device by which the ballast plate (42) can rotate around a vertical axis, and the rotation device has a slewing bearing (66) arranged on the movable element (62) of the crane (10).

10. A crane (10) according to claim 9, the measuring device comprises at least one second actuator (2) by means of which a torque acting against the rotational movement between the ballast wagon (44) and the guide (20) can be detected, the second actuator (2) being configured to provide a rigid rotatable connection between the guide (20) and the ballast wagon (44) in a first torque range in which the torque is less than a predetermined limit torque, and the crane control (90) being configured to control and / or adjust the heavy transport device (50) in response to the detected longitudinal force so that the torque is minimized; The crane (10) has a first bearing part (67) connected to the connecting device (60) and a second bearing part (68) connected to the ballast plate (42), and at least one second actuator (2) is connected to the movable element (62) on the one hand and to the ballast plate (42) on the other hand, the second actuator (2) being configured as a hydraulic cylinder or a motor configured to prevent relative rotation between the bearing parts (67, 68) up to a predetermined limit torque.

11. A crane (10) according to claim 6, The connection device (60) has at least two pivotally mounted rocker arms (70) through which the connection device (60) is movably connected to the ballast plate (42), the rocker arms (70) allowing movement of the ballast plate (42) relative to the connection portion (23) in the longitudinal direction of the guide (20) and directly connected to the ballast plate (42) or an intermediate member connected to the ballast plate (42), the rocker arms (70) connecting the ballast bracing (30) to the guide (20) and arranged below connection means (34) arranged on the guide (20) or the connection portion (23).

12. A crane (10) according to claim 11, the measuring device has at least one first actuator (1) by means of which a longitudinal force acting against the relative movement between the ballast wagon (44) and the guide (20) in the longitudinal direction of the guide (20) can be detected, the first actuator (1) being configured to rigidly connect the guide (20) and the ballast wagon (44) in the longitudinal direction in a first force range in which the longitudinal force is smaller than a predetermined limit force, and the crane control unit (90) being configured to control and / or adjust the heavy load transporting device (50) in response to the detected longitudinal force so as to minimize the longitudinal force; The crane (10) includes at least one first actuator (1) connected to a rocker arm (70) or an intermediate member operable by the rocker arm (70) on the one hand, and connected to the guide (20) on the other hand, the first actuator (1) being configured as a hydraulic cylinder configured to prevent the rocker arm (70) from pivoting up to a predetermined limit force.

13. A crane (10) according to claim 11, the measuring device comprises at least one second actuator (2) by means of which a torque acting against the rotational movement between the ballast wagon (44) and the guide (20) can be detected, the second actuator (2) being configured to provide a rigid rotatable connection between the guide (20) and the ballast wagon (44) in a first torque range in which the torque is less than a predetermined limit torque, and the crane control (90) being configured to control and / or adjust the heavy transport device (50) in response to the detected longitudinal force so that the torque is minimized; The connecting device (60) includes a rotation device that rotatably connects the ballast plate (42) to the guide (20) about a vertical axis, and the rotation device includes a slewing bearing (66) that is arranged on the coupling portion (23) or an intermediate member that connects the rocker arm (70) to the ballast plate (42) and has two bearing portions (67, 68) that are rotatable relative to each other, and the bearing portions (67, 68) are directly or indirectly connected to each other via at least one second actuator (2), and the second actuator is configured to prevent relative rotation between the bearing portions (67, 68) up to a predetermined limit torque.

14. A crane (10) according to claim 11, the measuring device comprises at least one second actuator (2) by means of which a torque acting against the rotational movement between the ballast wagon (44) and the guide (20) can be detected, the second actuator (2) being configured to provide a rigid rotatable connection between the guide (20) and the ballast wagon (44) in a first torque range in which the torque is less than a predetermined limit torque, and the crane control (90) being configured to control and / or adjust the heavy transport device (50) in response to the detected longitudinal force so that the torque is minimized; The connection device (60) has at least four rocker arms (70) configured to allow rotation of the ballast plate (42) relative to the coupling portion (23), and the coupling portion (23) is connected to at least one rocker arm (70) or an intermediate member connecting the rocker arm (70) to the ballast plate (42) via at least one second actuator (2).

15. A crane (10) according to claim 14, the measuring device has at least one first actuator (1) by means of which a longitudinal force acting against the relative movement between the ballast wagon (44) and the guide (20) in the longitudinal direction of the guide (20) can be detected, the first actuator (1) being configured to rigidly connect the guide (20) and the ballast wagon (44) in the longitudinal direction in a first force range in which the longitudinal force is smaller than a predetermined limit force, and the crane control unit (90) being configured to control and / or adjust the heavy load transporting device (50) in response to the detected longitudinal force so as to minimize the longitudinal force; The crane (10) comprises at least two second actuators (2), each connected to the coupling (23) on the one hand and to one of the rocker arms (70) on the other hand, and simultaneously functioning as a first actuator (1), the second actuators (2) being configured to apply different loads to the ballast plate (42) when it rotates relative to the coupling (23), and the crane control unit (90) being configured to control and / or adjust the heavy load transport device (50) in response to the detected load differences.

16. The crane (10) of claim 1, The crane (10) includes: a connecting device (60) arranged between the ballast plate (42) and the heavy load transporting device (50); and at least one adapter element (80) having 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); and at least one first actuator (1) configured as a hydraulic cylinder is connected to the first and second adapter parts (81, 82) and configured to prevent relative movement between the adapter parts (81, 82) up to a predetermined limit force.

17. A crane (10) according to claim 16, the measuring device comprises at least one second actuator (2) by means of which a torque acting against the rotational movement between the ballast wagon (44) and the guide (20) can be detected, the second actuator (2) being configured to provide a rigid rotatable connection between the guide (20) and the ballast wagon (44) in a first torque range in which the torque is less than a predetermined limit torque, and the crane control (90) being configured to control and / or adjust the heavy transport device (50) in response to the detected longitudinal force so that the torque is minimized; a crane (10) comprising at least two adapter elements (80) spaced apart transversely relative to the longitudinal axis of the guide (20) and each having at least one first actuator (1), the adapter elements (80) being configured so that the second adapter parts (82) can pivot laterally relative to each first adapter part (81), the first actuators (1) simultaneously functioning as the second actuators (2) and being arranged to apply different loads to the ballast plate (42) when the ballast wagon (44) rotates, and the crane control (90) being configured to control and / or adjust the heavy load transporting device (50) in response to the detected load differences.

18. A crane (10) according to claim 16, The crane (10) includes a head member (24) having a connection portion rigidly connected to the remainder of the structure of the guide (20) and a swivel portion (29) connected to a ballast plate (42), the swivel portion (29) having a first swivel element connected to the ballast plate (42) and a second swivel element connected to the connection portion, the first and second swivel elements being pivotally mounted to each other about a pivot axis extending parallel to the longitudinal axis of the guide (20) and allowing rotation of the ballast plate (42) about the pivot axis, and the ballast bracing (30) is directly connected to the ballast plate (42) by a connection means (34).

19. The crane (10) of claim 1, The connecting device (60) is arranged between the guide (20) and the ballast plate (42) and has a coupling part (23) firmly connected to the guide (20), the measuring device has at least one force measuring bolt (3) by which a longitudinal force acting against the relative movement between the ballast wagon (44) and the guide (20) in the longitudinal direction of the guide (20) can be detected, and the crane control part (90) is configured to control and / or adjust the heavy load transporting device (50) in accordance with the detected longitudinal force so that the longitudinal force is minimized.

20. 20. The crane (10) of claim 19, the measuring device comprises at least one second actuator (2) by means of which a torque acting against the rotational movement between the ballast wagon (44) and the guide (20) can be detected, the second actuator (2) being configured to provide a rigid rotatable connection between the guide (20) and the ballast wagon (44) in a first torque range in which the torque is less than a predetermined limit torque, and the crane control (90) being configured to control and / or adjust the heavy transport device (50) in response to the detected longitudinal force so that the torque is minimized; The crane (10) includes a connecting device (60) having a rotation device with two bearings (67, 68) rotatable relative to each other, through which the ballast plate (42) is connected to the coupling part (23) rotatably about a vertical axis, and the bearings (67, 68) are directly or indirectly connected to each other via at least one second actuator (2), which is configured to prevent rotation between the bearings (67, 68) up to a predetermined limit torque.

21. 20. The crane (10) of claim 19, A crane (10) in which the coupling portion (23) is rigidly connected to the ballast plate (42), the measuring device has at least two force measuring bolts (3), the force measuring bolts (3) are arranged so that different loads are applied when the ballast plate (42) rotates relative to the guide (20), and the crane control unit (90) is configured to control and / or adjust the heavy load transport device (50) in response to the detected load difference.

22. 20. The crane (10) of claim 19, A crane (10) in which the connection part (23) has a connection means (34) that connects the ballast bracing (30) to a connection device (60), and at least one force-measuring bolt (3) is part of a bolted connection located below the connection means (34), part of a bolted connection of the connection part (23) to the ballast plate (42), or part of a bolted connection of the connection part (23) to an intermediate member (25) connected to the ballast plate (42).

23. The crane (10) of claim 1, The crane (10) further comprises at least one bracing block (86), and first and second connection means (87, 88) for connecting a ballast bracing (30) to the at least one bracing block (86) and / or the guide (20) in an articulated manner, and further comprises third connection means (85) for attaching the at least one bracing block (86) to the ballast plate (42), the ballast plate (42) being detachable from the ballast wagon (44), and the at least one bracing block (86) and the ballast plate (42) being configured so that the derrick ballast (40) can be used as a hanging ballast when the bracing block (86) is attached and when it is separated from the ballast wagon (44).

24. The crane (10) of claim 1, The guide (20) is configured to be adjustable in length, and the guide (20) has a link member (21) connected to the upper structure (14) and at least one intermediate member (22) that can be detachably installed between the link member (21) and the connecting device (60), and / or a crane (10) having an extension member (26) with at least two sections (27, 28) that are displaceably mounted one inside the other.

25. The crane (10) of claim 1, The crane (10) has a ballast plate (42) that is placed directly on the ballast wagon (44) and detachably connected thereto by a connecting element (52).

26. The crane (10) of claim 1, The crane (10) is such that the guide (20) is attached to the upper structure (14) so ​​as to be rotatable about a horizontal axis, and / or the horizontal distance between the center of gravity of the derrick ballast (40) and the rotation axis of the upper structure is greater than the horizontal distance between the tip of the derrick boom (18) and the rotation axis of the upper structure.

27. The crane (10) of claim 1, A crane (10) in which the control connection has two separate data connections (91, 92) between the crane control (90) and a drive control (54) of a heavy load transport device (50), the first data connection (91) having a data bus and / or the second data connection (92) having at least one safety switching device (93, 94) with safety relay contacts.

28. 28. The crane (10) of claim 27, The control connection has 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), and the crane control unit (90) is configured to stop all operations of the crane (10) and the heavy load transport device (50) when one of the two emergency stop switches is activated.

29. The crane (10) of claim 1, The crane (10) further comprises a tilt detection device having at least one sensor for detecting the tilt of the derrick ballast (40), and the crane control unit (90) is configured to control and / or adjust the heavy load transporting device (50) so that the current slope of the terrain is corrected based on data obtained by the tilt detection device, and to increase the drive pressure of the drive unit of the heavy load transporting device (50) when a positive slope of the terrain is detected, and to decrease the drive pressure when a negative slope of the terrain is detected.

30. 30. The crane (10) of claim 29, The crane (10) further comprises at least one actuator disposed on the ballast wagon (44) and / or the ballast plate (42), the actuator being capable of raising or rotating the ballast plate (42) and / or the ballast wagon (44) relative to the ground, and the crane control unit (90) being configured to control and / or adjust the at least one actuator based on data obtained by the tilt detection device so that the ballast plate (42) is maintained in a horizontal orientation.

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