DE10019373A1 - Device for controling machine part has three accelerometers mounted on machine part so that they detect acceleration of machine part in three mutually perpendicular directions. - Google Patents
Device for controling machine part has three accelerometers mounted on machine part so that they detect acceleration of machine part in three mutually perpendicular directions.Info
- Publication number
- DE10019373A1 DE10019373A1 DE2000119373 DE10019373A DE10019373A1 DE 10019373 A1 DE10019373 A1 DE 10019373A1 DE 2000119373 DE2000119373 DE 2000119373 DE 10019373 A DE10019373 A DE 10019373A DE 10019373 A1 DE10019373 A1 DE 10019373A1
- Authority
- DE
- Germany
- Prior art keywords
- machine part
- machine component
- mutually perpendicular
- controling
- perpendicular directions
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
Abstract
Description
Die Erfindung betrifft eine Vorrichtung und ein Verfahren zur Steuerung eines beweglichen Maschinenbauteils.The invention relates to an apparatus and a method for Control of a moving machine component.
In der Praxis besteht das Problem, ein nicht einsehbares frei bewegliches Maschinenbauteil präzise zu steuern. Dies kann beispielsweise bei Baggerarbeiten an einer Uferböschung die Baggerschaufel sein, die unter Wasser oder in einem vom Kranführer nicht einsehbaren Bereich bewegt werden muß. Bei Bauarbeiten kann es die Kranspitze sein, die genau über be stimmten Orten positioniert werden muß, um das exakte Anhe ben oder Absenken einer Last an den erwünschten Belade- oder Abladeplätzen zu ermöglichen.In practice there is the problem of being an unobservable free to precisely control moving machine components. This can for example when dredging on a bank embankment Be an excavator bucket that is under water or in one of the Crane operator must not move the visible area. At Construction work can be the top of the crane, which is exactly above be certain locations must be positioned to the exact anhe lifting or lowering a load at the desired loading or To enable unloading points.
Der Erfindung liegt die Aufgabe zugrunde, bei derartigen, frei im Raum beweglichen Maschinenbauteilen eine Steuerung zu er möglichen, die die präzise Lokalisierung und Positionierung die ser Maschinenbauteile ermöglicht.The invention has for its object in such, freely in Space to move machine components to a controller possible, the precise localization and positioning of the machine components.
Diese der Erfindung zugrunde liegende Aufgabe wird durch eine Vorrichtung mit den Merkmalen des Anspruchs 1 und durch ein Verfahren mit den Verfahrensschritten des Anspruchs 2 gelöst.This object of the invention is achieved by a Device with the features of claim 1 and by Method with the method steps of claim 2 solved.
Die Erfindung schlägt mit anderen Worten vor, dreidimensional wirkende Beschleunigungsaufnehmer an dem frei beweglichen Maschinenbauteil vorzusehen und mit Hilfe dieser Beschleuni gungsaufnehmer die Position des Bauteils im Raum zu ermitteln.In other words, the invention proposes three-dimensional acting accelerometer on the freely movable Machine component to be provided and with the help of this acceleration sensor to determine the position of the component in the room.
Die Erfindung geht davon aus, daß die Beschleunigungsauf nehmer hochpräzise arbeiten. Dabei können entweder drei räumlich voneinander getrennte Beschleunigungsaufnehmer vorgesehen sein oder ein dreidimensional wirkender Beschleu nigungsaufnehmer, also ein Bauelement, welches drei in ver schiedenen Richtungen wirksame Beschleunigungssensoren enthält. Durch mathematische Integrationsschritte kann in einem ersten Schritt aus den Beschleunigungsdaten die Geschwindig keit des beweglichen Bauteils ermittelt werden und in einem zweiten Schritt der Weg, so daß - da die Weginformationen für sämtliche drei Raumaxen vorliegen - die exakte Position des Maschinenbauteils im Raum ermittelt werden kann.The invention assumes that the acceleration work with high precision. Either three spatially separated accelerometers be provided or a three-dimensional effect inclination sensor, that is a component which three in ver effective acceleration sensors in different directions contains. Through mathematical integration steps in one first step from the acceleration data the speed speed of the movable component can be determined and in one second step the way so that - since the way information for all three spatial axes are present - the exact position of the Machine component can be determined in the room.
Durch die erfindungsgemäße Vorrichtung bzw. die vorgeschla gene Verfahrensweise können beispielsweise Manipulatoren bzw. Roboter automatisch gesteuert werden. Weiterhin sind derartige Steuerungen einsetzbar, um Sicherheitsschaltungen ein- bzw. auszuschalten, d. h. Bewegungsgeschwindigkeiten des beweglichen Maschinenbauteils in bestimmten Bereichen zu verlangsamen oder ganz anzuhalten.By the device according to the invention or the proposal Genetic procedure can be manipulators, for example or robots can be controlled automatically. Furthermore are such controls can be used to safety circuits turn on or off, d. H. Movement speeds of the moving machine component in certain areas slow down or stop completely.
Die vorgeschlagene Steuerung bzw. das vorgeschlagene Ver fahren weist den Vorteil auf, daß es preisgünstig und mit ein fachsten Mitteln zu realisieren ist, da lediglich drei Beschleuni gungssensoren bzw. ein einziger Beschleunigungsaufnehmer, der in den drei Raumrichtungen wirksam ist, angeordnet und verkabelt werden muß bzw. können die Daten gegebenenfalls auch drahtlos zu einer Steuerungselektronik übertragen werden.The proposed control or the proposed Ver driving has the advantage that it is inexpensive and with a most specialized means can be realized, since only three accelerations acceleration sensors or a single accelerometer, which is effective in the three spatial directions, arranged and the data must or can be wired if necessary can also be transmitted wirelessly to control electronics.
Zusätzlich zu dieser Installation ergibt sich der Vorteil, daß die tatsächliche Bewegung des Maschinenbauteils erfaßt wird. Windlasten beispielsweise wirken sich unmittelbar auf die Be wegung des Maschinenbauteils aus und werden ebenso unmit telbar erfaßt und berücksichtigt, so daß die Steuerung des Ma schinenbauteils sehr viel präziser erfolgen kann, da beispiels weise bei dem Erreichen oder Überschreiten von Grenzwerten, beispielsweise einer zulässigen Geschwindigkeit oder bei An näherung an einen bestimmten örtlichen Bereich, die tatsächli che Geschwindigkeit bzw. der tatsächliche Ort des Maschinenbauteils unmittelbar erfaßt wird, so daß dementsprechende Si cherheitsschaltungen zuverlässig und rechtzeitig aktiviert wer den können, beispielsweise um das Bauteil abzubremsen.In addition to this installation, there is the advantage that the actual movement of the machine component is detected. For example, wind loads have a direct impact on the load movement of the machine component and become equally telbar recorded and taken into account, so that the control of Ma machine component can be done much more precisely, for example wise when limit values are reached or exceeded, for example, a permissible speed or at on Approaching a certain local area, the actual speed or the actual location of the machine component is detected directly, so that Si safety circuits can be activated reliably and in good time can, for example, to brake the component.
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2000119373 DE10019373A1 (en) | 2000-04-18 | 2000-04-18 | Device for controling machine part has three accelerometers mounted on machine part so that they detect acceleration of machine part in three mutually perpendicular directions. |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE2000119373 DE10019373A1 (en) | 2000-04-18 | 2000-04-18 | Device for controling machine part has three accelerometers mounted on machine part so that they detect acceleration of machine part in three mutually perpendicular directions. |
Publications (1)
Publication Number | Publication Date |
---|---|
DE10019373A1 true DE10019373A1 (en) | 2001-10-31 |
Family
ID=7639297
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE2000119373 Ceased DE10019373A1 (en) | 2000-04-18 | 2000-04-18 | Device for controling machine part has three accelerometers mounted on machine part so that they detect acceleration of machine part in three mutually perpendicular directions. |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE10019373A1 (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011064259A1 (en) | 2009-11-24 | 2011-06-03 | Basf Se | Method for isolating an alkanol from an aqueous biotransformation mixture |
WO2011064404A1 (en) | 2009-11-30 | 2011-06-03 | Pharmazell Gmbh | NOVEL 7β-HYDROXYSTEROID DEHYDROGENASES AND THEIR USE |
WO2017140909A1 (en) | 2016-02-19 | 2017-08-24 | Basf Se | Enzymatic cyclization of homofarnesylic acid |
EP3470515A2 (en) | 2010-11-17 | 2019-04-17 | Basf Se | Method for the biocatalytic cyclisation of terpenes and cyclase mutants which can be used in same |
WO2019185926A1 (en) | 2018-03-29 | 2019-10-03 | Firmenich Sa | Method for producing vanillin |
WO2020079223A1 (en) | 2018-10-19 | 2020-04-23 | Firmenich Sa | Lipoxygenase-catalyzed production of unsaturated c10-aldehydes from polyunsaturated fatty acids (pufa) |
WO2021005097A1 (en) | 2019-07-10 | 2021-01-14 | Firmenich Sa | Biocatalytic method for the controlled degradation of terpene compounds |
WO2021105236A2 (en) | 2019-11-27 | 2021-06-03 | Firmenich Sa | Novel polypeptides for producing albicanol and/or drimenol compounds |
WO2021214283A1 (en) | 2020-04-24 | 2021-10-28 | Pharmazell Gmbh | Enantioselective chemo-enzymatic synthesis of optically active amino amide compounds |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4390641C2 (en) * | 1992-02-21 | 1997-10-16 | Novatron Oy | Method for determining the position of an elongated part |
-
2000
- 2000-04-18 DE DE2000119373 patent/DE10019373A1/en not_active Ceased
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4390641C2 (en) * | 1992-02-21 | 1997-10-16 | Novatron Oy | Method for determining the position of an elongated part |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011064259A1 (en) | 2009-11-24 | 2011-06-03 | Basf Se | Method for isolating an alkanol from an aqueous biotransformation mixture |
WO2011064404A1 (en) | 2009-11-30 | 2011-06-03 | Pharmazell Gmbh | NOVEL 7β-HYDROXYSTEROID DEHYDROGENASES AND THEIR USE |
EP3470515A2 (en) | 2010-11-17 | 2019-04-17 | Basf Se | Method for the biocatalytic cyclisation of terpenes and cyclase mutants which can be used in same |
EP4112727A2 (en) | 2010-11-17 | 2023-01-04 | Basf Se | Method for the biocatalytic cyclisation of terpenes and cyclase mutants which can be used in same |
WO2017140909A1 (en) | 2016-02-19 | 2017-08-24 | Basf Se | Enzymatic cyclization of homofarnesylic acid |
EP3816297A1 (en) | 2016-02-19 | 2021-05-05 | Basf Se | Biocatalytic cyclising polyunsaturated carboxylic acid compounds |
WO2019185926A1 (en) | 2018-03-29 | 2019-10-03 | Firmenich Sa | Method for producing vanillin |
WO2020079223A1 (en) | 2018-10-19 | 2020-04-23 | Firmenich Sa | Lipoxygenase-catalyzed production of unsaturated c10-aldehydes from polyunsaturated fatty acids (pufa) |
WO2021005097A1 (en) | 2019-07-10 | 2021-01-14 | Firmenich Sa | Biocatalytic method for the controlled degradation of terpene compounds |
WO2021105236A2 (en) | 2019-11-27 | 2021-06-03 | Firmenich Sa | Novel polypeptides for producing albicanol and/or drimenol compounds |
WO2021214283A1 (en) | 2020-04-24 | 2021-10-28 | Pharmazell Gmbh | Enantioselective chemo-enzymatic synthesis of optically active amino amide compounds |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
OP8 | Request for examination as to paragraph 44 patent law | ||
8127 | New person/name/address of the applicant |
Owner name: PFREUNDT GMBH, 46354 SUEDLOHN, DE |
|
8131 | Rejection |