DE102017103239A1 - CONTROL OF A HANDLING DEVICE - Google Patents

Abstract

A method of controlling a handling device for having a load suspended from one end of a suspension by applying a horizontally acting force and moving the load in the direction of the force applied to a control switch attached to the handling device by a control line, and corresponding ones Contraption.

Description

The invention relates to a method for controlling a handling device for a load suspended at one end of a suspension means by introducing a horizontally acting force and movement of the load in the direction of the force, and a corresponding handling device.

There are a variety of technical solutions known to handle loads by means of so-called manipulators. In this case, the load depends on a non-rigid flexible suspension means, usually a rope or a chain or a belt.

The devices often have control switches or operating devices for controlling the movement of the load, which are connected to the drives by radio or via control line in order to control them.

In the field of crane technology, for example, operating switches are used via which the operator controls the movements of the crane. These controls or keypads have, for example, corresponding buttons for "raise / lower" movements of the load and possibly other buttons for moving the crane in the horizontal direction, z. B. by moving a trolley.

From the DE 198 25 312 A1 For example, it is known to manually press the load suspended on the suspension element (eg rope or chain) by the operator in the desired direction of travel. A sensor arrangement in the region of the suspension of the suspension element detects the force and the deflection angle from which a controller supplies the driving means or the drive means with movement commands for the desired movement of the load.

Similar systems are out of the DE 10 2013 206 696 A1 and DE 10 2014 109 146 A1 known.

Although this solution is intuitive, it has some disadvantages. Thus, the operator must touch the load, which may not be possible (hot, oily, wet parts) or undesirable. Also, this solution is no longer practical for heavy loads greater than about 100 KG, since the force applied to the operator becomes great. To create a deflection of the suspension element, the operator must pull or push the load in the desired direction. In addition, in order to generate a clear driving signal, angle of some degrees come about. For example, with a 200kg load and a 3 ° deflection angle, the operator must already load the load with approximately 10kg of force in the horizontal direction (Fxy = 200kg x sin (3 °) = 10.47kg).

It can be seen that it can be exhausting to constantly load a load.

The object of the invention, in contrast, is to provide an intuitive and power-saving handling of loads.

This object is achieved by the method given in claim 1 or the handling device specified in claim 7 for moving a load.

According to the invention, it has been recognized that when the horizontal force is applied to a control switch suspended from the handling device by means of a control line, it is possible to monitor the control switch by means of the control line itself. The user does not have to touch the load or apply large forces because the control switch is light.

Preferably, therefore, caused by the horizontal force deflection of the control line of the control switch is monitored and determined. This then serves to further control the movement.

Thus, the control of the handling device is such that the load is moved in the direction of the determined deflection. The angle of the deflection can be designed as amplitude or strength to control the speed of movement.

It is preferred that the handling device moves the load in the direction of the determined deflection as long as the deflection exists. Alternatively, the movement of the load could be controlled by "jogging" to record the movement and a short "hold" to complete the movement.

In a useful variant, the deflection of the control line only causes a movement at a predeterminable angle threshold in order to avoid unwanted movements.

In one embodiment, the monitoring and determination of the deflection of the control line takes place hysterically. That is, a hysteresis around the zero point of the deflection is considered for the determined variables, so that the smallest deflections from the rest position do not lead to an unwanted movement or even rocking of a movement.

The invention also relates to a suitably equipped handling device for moving a load suspended at one end of a suspension means with a control switch connected via a control line for manually controlling the movement of the load into at least one horizontal direction and with at least one drive for moving the load suspended at the end of the suspension means in the at least one horizontal direction due to the control by means of the control switch and with a control for controlling the movements.

According to the invention, at least one sensor is provided for receiving a deflection of the control line of the control switch in the horizontal and the detected deflection is used in the control for controlling the movement of the load.

By evaluating the deflection in terms of angular direction and angle size, the control takes place. In this case, the suspension element will usually hang on a hoist of the handling device in the area of the hall ceiling, etc. The deflection angle on the handling device is therefore small, depending on the "length" of the suspension element.

Preferably, the control line is gimballed to the handling device and in the region of the suspension at least two sensor axes for detecting the angle of the deflection and the direction in the horizontal are provided. In other words, the at least one sensor monitors or detects angle changes and their magnitude in two spatial directions (X and Y directions of the XY plane). Particularly preferred is the use of a biaxial acceleration sensor.

To avoid unwanted movements, the signals of the at least one sensor in the controller can be evaluated by means of a hysteresis function.

Accordingly, the signals of the at least one sensor are converted in the control into drive signals for the at least one drive, the direction being adjusted on the basis of the position of the deflection angle and the speed on the basis of the size of the angle.

A preferred application is the use of single and double rail cranes, such as single-girder suspension cranes or trolleys with hoist. It is understood that in normal use, the load in the horizontal, usually referred to as XY plane, can be moved and also a lifting and lowering is possible.

• 1 eine schematische Draufsicht auf einen erfindungsgemäß ausgestalteten Zweischienenkran mit einer Laufkatze und einem Hebezeug;
• 2 eine schematische Seitenansicht auf die Laufkatze und das Hebezeug aus 1 und
• 3 eine schematische Ansicht auf eine Steuerung für den erfindungsgemäß ausgestalteten Zweischienenkran aus 1.

Further features and details of the invention will become apparent from the following description of the drawing. Show it:

• 1 a schematic plan view of an inventively designed two-rail crane with a trolley and a hoist;
• 2 a schematic side view of the trolley and the hoist off 1 and
• 3 a schematic view of a controller for the inventively designed two-rail crane 1 ,

In the figures, a designated as a whole with 1 two-rail crane with a trolley 2 and a hoist 3 shown.

The trolley 2 has a side rail 4 (a so-called crane bridge) on, which at each end a driven chassis 5A , B, on corresponding parallel running, elevated above a working surface rails 6A , B a method of trolley 2 in the longitudinal direction of the rail 6 , the so-called Y-direction, allow.

On the side member 4 is the hoist 3 movably arranged, what this a Katzfahrmodul 7 that involves moving the hoist 3 along the longitudinal member 4, the so-called X-direction allowed.

The hoist 3 is configured in the usual embodiment with a rope winch driven for lifting and lowering and a rope wound thereon as a support means and an attached hook for a load.

Moving or moving the trolley 2 or of the hoist 3 as well as the raising and lowering is via a control switch 8th controlled or manually operated.

The control switch 8th is via a control switch line 9 with a controller 10 for the two-rail crane 1 designed. The control switch 8th allows to raise and lower the load on the hook with the corresponding buttons.

The control switch line 9 is via a gimbal mounting 11 connected to the hoist 3. In the area of gimbal mounting 11 is at the control switch line 9 a sensor module 12 arranged, which has a biaxial acceleration sensor 13 includes.

The sensor module 12 or the biaxial acceleration sensor 13 is oriented so that a recording of a deflection of the control switch line 9 and their extent in the horizontal, so XY-level is possible.

The signals of the sensor module 12 or the biaxial acceleration sensor 13 be in an evaluation module 14 the controller 10 monitored to the caused by a horizontal force deflection of the control switch line 9 of the control switch 8th to investigate.

Thus, it is simply possible to move the load on the hook, the control switch 8th to move in the desired direction, causing the control switch line 9 in the desired direction of movement on the suspension 11 is deflected (compared to the decommissioned rest position).

As stated, this deflection is from the sensor module 12 recorded and in the evaluation module 14 the controller 10 in driving signals 15 . 16 for the corresponding drives of the chassis 5A , B (Y direction) and / or Katzfahrmoduls 7 (X direction) implemented.

The extent of the deflection, ie the size of the deflection angle is evaluated as amplitude and the speed of the driving signals 15 . 16 implemented. The larger the angle, the higher the speed.

To avoid unwanted movements of the crane, the deflection is hysteretically processed when converting into driving signals. In the area of the zero point, therefore, a small deflection does not lead to a movement. Only when a threshold value is exceeded, a desired driving movement is assumed. Then, however, a driving signal of higher speed is generated increasing with the size of the deflection angle.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 19825312 A1 [0005]
• DE 102013206696 A1 [0006]
• DE 102014109146 A1 [0006]

Claims (10)

Method for controlling a handling device for a load suspended at one end of a suspension by introducing a horizontally acting force and movement of the load in the direction of the force, characterized in that the horizontal force is applied to a control switch attached to the handling device by means of a control line. Method according to Claim 1 , characterized in that the displacement caused by the horizontal force of the control line of the control switch is monitored and determined. Method according to Claim 2 , characterized in that the handling device is controlled to move the load in the direction of the determined deflection. Method according to Claim 2 or 3 , characterized in that the handling device moves the load in the direction of the determined deflection as long as the deflection exists. Method according to one of Claims 2 to 4 , characterized in that the deflection of the control line only from a predetermined angular threshold causes movement. Method according to one of Claims 2 to 5 , characterized in that the deflection of the control line is evaluated hysterically. A handling device for moving a load suspended at one end of a suspension means with a control switch connected via a control line for controlling the movement of the load in at least one horizontal direction and at least one drive for moving the load suspended at the end of the suspension means into the at least one horizontal one Direction due to the control by means of the control switch and with a control for controlling the movements, characterized in that at least one sensor for receiving a deflection of the control line of the control switch is provided in the horizontal and uses the detected deflection in the control for controlling the movement of the load becomes. Handling device after Claim 7 , characterized in that the control line is gimballed to the handling device and at least two sensor axes are provided in the region of the suspension for detecting the angle of deflection in the horizontal. Handling device after Claim 7 or 8th , characterized in that the signals of the at least one sensor in the controller are evaluated by means of a hysteresis function. Handling device according to one of Claims 7 to 9 , characterized in that the signals of the at least sensor in the control are converted into driving signals for the at least one drive, wherein the direction due to the position of the deflection angle and the speed are adjusted due to the size of the angle.

Images