EP0485042A1 - Measuring device for registration of pendulum angle - Google Patents
Measuring device for registration of pendulum angle Download PDFInfo
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- EP0485042A1 EP0485042A1 EP91250272A EP91250272A EP0485042A1 EP 0485042 A1 EP0485042 A1 EP 0485042A1 EP 91250272 A EP91250272 A EP 91250272A EP 91250272 A EP91250272 A EP 91250272A EP 0485042 A1 EP0485042 A1 EP 0485042A1
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- joint
- measuring device
- measuring
- holding means
- axes
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- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 239000000725 suspension Substances 0.000 claims description 4
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 238000010521 absorption reaction Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 6
- 238000010276 construction Methods 0.000 abstract description 3
- 238000013016 damping Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 241000282326 Felis catus Species 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Classifications
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- 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
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
Definitions
- the invention relates to a measuring device for detecting the pendulum angle of a flexible holding means for lifting devices with a supporting element arranged on a lifting device, with a gimbal-type joint fastened between the supporting element and the holding means with axes arranged at right angles to one another and the joint associated with the movement-sensing transducers.
- a loading device with a movable lifting device and a measuring device for detecting the pendulum angle of a suspension cable is known.
- the measuring device is arranged on the lifting device and on an end of the supporting cable guided over a bottom block.
- the pendulum movement of the rope is transmitted to two assigned two-armed levers via two rings encompassing the rope.
- the levers are suspended in 90 o offset from one another, aligned perpendicular to the axes Seiltrum manner of a gimbal.
- Each lever is separated by a further joint with a pivot axis oriented transversely to the suspension axis of the lever. This arrangement of the joints divides the pendulum movement of the rope into two directional components.
- the levers are each provided with a toothed segment which engages in a gearwheel.
- the gear sits on an actuating shaft of a rotary potentiometer arranged parallel to the axis of the lever.
- the rotary potentiometers are connected to a signal processing system that determines the pendulum angle via the changes in resistance.
- This measuring device proves to be disadvantageous because the accuracy of the angle measurement is impaired by the play in the many bearing points of the axes and between the toothed segment and the gear, and the lack of accuracy of the rotary potentiometer. Furthermore, the friction of the pair of teeth and the rotary potentiometer prevents the rotary potentiometer from returning to the zero position and does not allow small changes in the measured variable to be recorded.
- the invention has for its object to provide a structurally simple measuring device for detecting the pendulum angle, which has a high accuracy.
- the measuring device for detecting the pendulum angle achieves measuring signals with a high degree of accuracy by using a cardan-type joint with axes arranged in a cross shape and the direct arrangement of rotary angle sensors on these axes.
- the low-play mounting of the axes of the simple universal joint and the play-free connection between the axes and the measuring shafts of the rotary angle sensors via a torsionally rigid, flexible coupling have a particularly advantageous effect on the accuracy.
- the arrangement of the rotary encoder with their measuring shafts in the extension of the associated axis prevents falsification of the measuring signal by an angular position of the axis and the shaft to each other.
- the attachment of the angle encoder via an intermediate flange with cutouts on the joint element enables the angle encoder to be set mechanically to the zero point after the coupling has been released from the outside through the intermediate flange.
- the connection between the lower joint element and the flexible holding means with a rod requires a clean initiation of the pendulum movement of the holding means in the joint.
- the use of light metal, especially aluminum, for the joint elements in connection with their almost friction-free mounting achieves a measuring device which quickly responds to a change in the measured variable due to the low inertial forces.
- the axes can also be made of plastic.
- the arrangement of the measuring device instead of on the load-bearing holding means on an additionally tensioned rope and coupled with the pendulum movement of the holding means leads, inter alia, to a more advantageous, smaller dimensioning of the joint and the rolling bearings via a lower load.
- An additional advantage of the measuring device is the arrangement of the cable break switch on the connecting rod for the flexible holding means. As a result, the coupling of the measuring device to the oscillating load is constantly monitored. The guidance of the axis in the lower joint element via a slide bearing is again carried out with little play. It is also advantageous to use an angle encoder of a known type as an angle encoder with a resolution accuracy better than 0.1 o .
- the measuring principle of the angle encoder used is based on the scanning of equidistant line markings with the help of optical sensors. The line markings are located on a disc which is connected to the measuring shaft of the rotary encoder. The accuracy of the encoder depends on the number of optical sensors and the line markings. The measurement signals from the sensors are further processed to the pendulum angle.
- FIG. 1 shows a schematic diagram of the measuring device for detecting the pendulum angle a
- the measuring device is arranged between a support element 1 and a flexible holding means 2 and consists essentially of a joint 3, in particular a simple universal joint, and two rotation angle sensors 4.
- a pendulum movement of the holding means 2 is on the joint 3 with its axes 5 arranged in a cross shape transfer.
- the rotational movement of the axes 5 is detected directly by the rotary angle sensors 4 and passed on to a signal processing device (not shown) for determining the pendulum angle.
- a construction example of the measuring device according to the invention is shown in cross section.
- the measuring device is fastened to a supporting element 1, which is part of a cat, not shown, of a traveling crane, via an adjusting device 6 and a cuboid housing 7.
- the measuring device can be adjusted in the X direction (for example crane travel direction) and Y direction (for example trolley travel direction) to a perpendicular alignment of the holding means in the rest position.
- the Tragelenent 1 is additionally attached to the trolley with adjustable angle adjustment, not shown.
- the measuring device consists essentially of a joint 3 cardanic type and two rotation angle sensors 4 with a resolution accuracy of 0.025 o .
- the joint 3 is constructed from two U-shaped joint elements 8, 8 ', the open sides facing one another, which are connected to one another via two axes 5, 5' fastened to one another in a cross shape.
- a flexible holding means 2 is connected to the lower joint element 8 'via a rod 12, in particular a rope guided via a deflection roller arranged on a load-carrying means and kept under tension by a standstill motor.
- the rotary angle sensors 4 are detachably attached at the level of the bores for the mounting of the axes 5, 5' via an intermediate flange 9.
- the rotary encoder 4 are connected with their measuring shafts 11 via a torsionally rigid, flexible coupling 10 with the axes 5, 5 '.
- FIG. 3 shows an enlarged detail of FIG. 2 from the area of the joint 3.
- the intermediate flange 9 is provided with two cutouts 14.
- the recesses 14 are arranged such that the grub screws, not shown, for fastening the coupling 10 to the measuring shaft 11 and an intermediate axis 13 can be loosened or tightened from the outside through the intermediate flange 9. This allows the rotary angle encoder 4 to be set to its zero position.
- One end of the intermediate axle 13 is inserted into a bore in the axle 5 and secured against rotation by means of a screw.
- the axes 5, 5 ' are supported by ball bearings 15, in particular deep groove ball bearings, in bores of the U-shaped joint elements 8, 8'.
- a stop plate 16 is arranged by means of a screw connection, on which a spring 17 arranged around the rod 12 is supported.
- the other end of the spring 17 is supported on a projection of the joint element 8 '.
- a cable break switch 19 is arranged below the joint element 8 'and engages with its switch contact in a recess in the form of a circumferential groove in the rod 12. In the drawing, the position of the switch is shown when the rope is broken.
- the spring is designed so that the switch is actuated when the rope force is 3 30 N.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Die Erfindung betrifft eine Meßeinrichtung zur Erfassung des Pendelwinkels eines flexiblen Haltemittels für Hebeeinrichtungen mit einem an einer Hubvorrichtung angeordneten Tragelement, mit einem zwischen dem Tragelement und dem Haltemittel befestigten Gelenk kardanischer Art mit rechtwinklig zueinander angeordneten Achsen sowie dem Gelenk zugeordneten, die Bewegung abgreifenden Meßwertaufnehmern.The invention relates to a measuring device for detecting the pendulum angle of a flexible holding means for lifting devices with a supporting element arranged on a lifting device, with a gimbal-type joint fastened between the supporting element and the holding means with axes arranged at right angles to one another and the joint associated with the movement-sensing transducers.
Es ist in der Fördertechnik ein seit langem bestehendes Problem, das durch die Anfahr- und Abbremsbewegungen von Krananlagen hervorgerufene Pendeln der an Tragseilen hängenden Last zu unterdrücken. Eine Lösungsmöglichkeit besteht in der Anwendung von Regel- und Steuer-Verfahren zur Pendeldämpfung. Diese Verfahren wirken durch gezielte Katz- und Kranfahrbewegungen dem Pendeln der Last entgegen. Der Erfolg der Pendeldämpfung ist u.a. abhängig von der Meßsignalgüte des Meßwertaufnehmers. Im allgemeinen werden Genauigkeiten von mindestens 0,1o als notwendig betrachtet.It has been a long-standing problem in conveyor technology to suppress the pendulum of the load hanging on the suspension cables caused by the start-up and braking movements of crane systems. One solution is to use regulating and control methods for pendulum damping. These processes counteract the swinging of the load through targeted trolley and crane movements. The success of the pendulum damping depends, among other things, on the measurement signal quality of the transducer. Accuracies of at least 0.1 o are generally considered necessary.
Aus der DE-OS 21 15 587 ist eine Ladevorrichtung mit einer verfahrbaren Hubvorrichtung und einer Meßeinrichtung zur Erfassung des Pendelwinkels eines Tragseils bekannt. Die Meßeinrichtung ist an der Hubvorrichtung und einem über eine Unterflasche geführten Ende des Tragseils angeordnet. Die Pendelbewegung des Seils wird über zwei das Seil umgreifende Ringe auf je einen zugeordneten zweiarmigen Hebel übertragen. Die Hebel sind in 90o zueinander versetzten, senkrecht zum Seiltrum ausgerichteten Achsen nach Art einer Kardanlagerung aufgehängt. Jeder Hebel ist durch ein weiteres Gelenk mit einer quer zur Aufhängungsachse des Hebels ausgerichteten Schwenkachse getrennt. Durch diese Anordnung der Gelenke wird die Pendelbewegung des Seils in zwei Richtungskomponenten aufgeteilt. An dem oberen Ende sind die Hebel mit je einem Zahnsegment versehen, das in ein Zahnrad eingreift. Das Zahnrad sitzt auf einer parallel zur Achse des Hebels angeordneten Betätigungswelle eines Drehpotentiometers. Die Drehpotentiometer sind an eine Signalverarbeitung angeschlossen, die über die Widerstandsänderungen den Pendelwinkel bestimmt.From DE-OS 21 15 587 a loading device with a movable lifting device and a measuring device for detecting the pendulum angle of a suspension cable is known. The measuring device is arranged on the lifting device and on an end of the supporting cable guided over a bottom block. The pendulum movement of the rope is transmitted to two assigned two-armed levers via two rings encompassing the rope. The levers are suspended in 90 o offset from one another, aligned perpendicular to the axes Seiltrum manner of a gimbal. Each lever is separated by a further joint with a pivot axis oriented transversely to the suspension axis of the lever. This arrangement of the joints divides the pendulum movement of the rope into two directional components. At the upper end, the levers are each provided with a toothed segment which engages in a gearwheel. The gear sits on an actuating shaft of a rotary potentiometer arranged parallel to the axis of the lever. The rotary potentiometers are connected to a signal processing system that determines the pendulum angle via the changes in resistance.
Diese Meßeinrichtung erweist sich als nachteilig, da die Genauigkeit der Winkelmessung durch das Spiel in den vielen Lagerstellen der Achsen und zwischen dem Zahnsegment und dem Zahnrad, sowie der mangelnden Genauigkeit des Drehpotentiometers beeinträchtigt wird. Weiterhin verhindert die Reibung der Zahnpaarung sowie des Drehpotentiometers die Rückkehr des Drehpotentiometers in die Nullage und ermöglicht keine Erfassung von kleinen Änderungen der Meßgröße.This measuring device proves to be disadvantageous because the accuracy of the angle measurement is impaired by the play in the many bearing points of the axes and between the toothed segment and the gear, and the lack of accuracy of the rotary potentiometer. Furthermore, the friction of the pair of teeth and the rotary potentiometer prevents the rotary potentiometer from returning to the zero position and does not allow small changes in the measured variable to be recorded.
Der Erfindung liegt die Aufgabe zugrunde, eine baulich einfache Meßeinrichtung zur Erfassung des Pendelwinkels zu schaffen, die eine hohe Genauigkeit aufweist.The invention has for its object to provide a structurally simple measuring device for detecting the pendulum angle, which has a high accuracy.
Die Aufgabe wird erfindungsgemäß bei einer Meßeinrichtung gemäß Gattungsbegriff des Anspruchs 1 mit den Maßnahmen des kennzeichnenden Teils des Anspruchs 1 gelöst. Weitere vorteilhafte Ausgestaltungen der Erfindung sind in den Unteransprüchen angegeben.The object is achieved in a measuring device according to the preamble of
Erfindungsgemäß erzielt die Meßeinrichtung zur Erfassung des Pendelwinkels durch die Verwendung eines Gelenkes kardanischer Art mit kreuzförmig zueinander angeordneten Achsen und die unmittelbare Anordnung von Drehwinkelgebern an diese Achsen Meßsignale mit einer hohen Genauigkeit. Besonders vorteilhaft auf die Genauigkeit wirkt sich die spielarme Lagerung der Achsen des einfachen Kreuzgelenkes aus, sowie die spielfreie Verbindung zwischen den Achsen und den Meßwellen der Drehwinkelgeber über eine torsionssteife, flexible Kupplung. Die Anordnung der Drehwinkelgeber mit ihren Meßwellen in Verlängerung der zugehörigen Achse verhindert ein Verfälschen des Meßsignals durch eine winklige Lage der Achse und der Welle zueinander. Die Befestigung des Drehwinkelgebers über einen Zwischenflansch mit Aussparungen an dem Gelenkelement ermöglicht ein mechanisches Einstellen des Drehwinkelgebers auf den Nullpunkt nach einem Lösen der Kupplung von außen durch den Zwischenflansch. Die Verbindung zwischen dem unteren Gelenkelement und dem flexiblen Haltemittel mit einer Stange bedingt eine saubere Einleitung der Pendelbewegung des Haltemittels in das Gelenk. Die Verwendung von Leichtmetall, speziell Aluminium, für die Gelenkelemente in Verbindung mit ihrer nahezu reibungsfreien Lagerung erzielt über die dadurch geringen Trägheitskräfte eine Meßeinrichtung, die schnell auf eine Änderung der Meßgröße anspricht. Im Sinne der Erfindung können die Achsen auch aus Kunststoff gefertigt werden. Die Anordnung der Meßeinrichtung anstatt an dem lasttragenden Haltemittel an einem zusätzlich gespannten und mit der Pendelbewegung des Haltemittels gekoppelten Seil führt über eine geringere Belastung zu u.a. einer vorteilhafteren, kleineren Dimensionierung des Gelenkes und der Wälzlager.According to the invention, the measuring device for detecting the pendulum angle achieves measuring signals with a high degree of accuracy by using a cardan-type joint with axes arranged in a cross shape and the direct arrangement of rotary angle sensors on these axes. The low-play mounting of the axes of the simple universal joint and the play-free connection between the axes and the measuring shafts of the rotary angle sensors via a torsionally rigid, flexible coupling have a particularly advantageous effect on the accuracy. The arrangement of the rotary encoder with their measuring shafts in the extension of the associated axis prevents falsification of the measuring signal by an angular position of the axis and the shaft to each other. The attachment of the angle encoder via an intermediate flange with cutouts on the joint element enables the angle encoder to be set mechanically to the zero point after the coupling has been released from the outside through the intermediate flange. The connection between the lower joint element and the flexible holding means with a rod requires a clean initiation of the pendulum movement of the holding means in the joint. The use of light metal, especially aluminum, for the joint elements in connection with their almost friction-free mounting achieves a measuring device which quickly responds to a change in the measured variable due to the low inertial forces. In the sense of the invention, the axes can also be made of plastic. The arrangement of the measuring device instead of on the load-bearing holding means on an additionally tensioned rope and coupled with the pendulum movement of the holding means leads, inter alia, to a more advantageous, smaller dimensioning of the joint and the rolling bearings via a lower load.
Ein zusätzlicher Vorteil der Meßeinrichtung liegt in der Anordnung des Seilabrißschalters an der Anschlußstange für das flexible Haltemittel. Hierdurch wird die Kopplung der Meßeinrichtung mit der pendelnden Last ständig überwacht. Die Führung der Achse in dem unteren Gelenkelement über ein Gleitlager ist wiederum spielarm ausgeführt. Auch vorteilhaft ist die Verwendung eines Winkelcodierers an sich bekannter Art als Drehwinkelgeber mit einer Auflösegenauigkeit besser als 0,1o. Das Meßprinzip des verwendeten Winkelcodierers beruht auf der Abtastung von äquidistanten Strichmarkierungen mit Hilfe optischer Sensoren. Die Strichmarkierungen befinden sich auf einer Scheibe, die mit der Meßwelle des Drehwinkelgebers verbunden ist. Die Genauigkeit des Winkelcodierers ist von der Anzahl der optischen Sensoren und der Strichmarkierungen abhängig. Die Meßsignale der Sensoren werden zu dem Pendelwinkel weiterverarbeitet.An additional advantage of the measuring device is the arrangement of the cable break switch on the connecting rod for the flexible holding means. As a result, the coupling of the measuring device to the oscillating load is constantly monitored. The guidance of the axis in the lower joint element via a slide bearing is again carried out with little play. It is also advantageous to use an angle encoder of a known type as an angle encoder with a resolution accuracy better than 0.1 o . The measuring principle of the angle encoder used is based on the scanning of equidistant line markings with the help of optical sensors. The line markings are located on a disc which is connected to the measuring shaft of the rotary encoder. The accuracy of the encoder depends on the number of optical sensors and the line markings. The measurement signals from the sensors are further processed to the pendulum angle.
Die nahezu reibungs- und spielfreie Lagerung der Meßwelle des Drehwinkelgebers in Verbindung mit dem ebenfalls nahezu reibungs- und spielfreien Kardangelenk ermöglicht die Messung auch von kleinen Pendelwinkeln mit hoher Genauigkeit und die Rückkehr des Drehwinkelgebers in seine Nullage ist gewährleistet.The almost friction-free and play-free mounting of the measuring shaft of the rotary encoder in conjunction with the universal joint, which is also almost friction-free and free of play, enables the measurement of small pendulum angles with high accuracy and the return of the rotary encoder to its zero position is guaranteed.
Nachfolgend wird die Erfindung anhand der Zeichnungen, die Ausführungsbeispiele der Erfindung darstellen, erläutert. Es zeigen:
Figur 1- eine Prinzipskizze der Meßeinrichtung,
Figur 2- einen Querschnitt eines Konstruktionsbeispieles,
Figur 3- eine Ausschnittsvergrößerung von Fig. 2 aus dem Bereich des Gelenks.
- Figure 1
- a schematic diagram of the measuring device,
- Figure 2
- a cross section of a construction example,
- Figure 3
- an enlarged section of FIG. 2 from the area of the joint.
Anhand der Fig. 1, die eine Prinzipskizze der Meßeinrichtung zur Erfassung des Pendelwinkels a zeigt, wird deren Funktionsweise näher erläutert. Die Meßeinrichtung ist zwischen einem Tragelement 1 und einem flexiblen Haltemittel 2 angeordnet und besteht im wesentlichen aus einem Gelenk 3, insbesondere einem einfachen Kreuzgelenk, sowie aus zwei Drehwinkelgebern 4. Eine Pendelbewegung des Haltemittels 2 wird auf das Gelenk 3 mit seinen kreuzförmig zueinander angeordneten Achsen 5 übertragen. Die Drehbewegung der Achsen 5 wird direkt von den Drehwinkelgebern 4 erfaßt und an eine nicht dargestellte Signalverarbeitungseinrichtung zur Bestimmung des Pendelwinkels weitergeleitet.With reference to FIG. 1, which shows a schematic diagram of the measuring device for detecting the pendulum angle a, its mode of operation is explained in more detail. The measuring device is arranged between a
In Fig. 2 ist ein Konstruktionsbeispiel der erfindungsgemäßen Meßeinrichtung im Querschnitt dargestellt. An einem Tragelement 1, das z.B. Bestandteil einer nicht dargestellten Katze eines Laufkranes ist, ist über eine Einstelleinrichtung 6 und ein quaderförmiges Gehäuse 7 die Meßeinrichtung befestigt. Mit Hilfe der Einstelleinrichtung 6 ist die Meßeinrichtung in X-Richtung (z.B. Kranfahrrichtung) und Y-Richtung (z.B. Katzfahrrichtung) auf eine lotrechte Ausrichtung des Haltemittels in Ruhelage justierbar. Das Tragelenent 1 ist zusätzlich mit nicht dargestellten weiteren Einstelleinrichtungen an der Laufkatze winkelverstellbar befestigt. Die Meßeinrichtung besteht im wesentlichen aus einem Gelenk 3 kardanischer Art und zwei Drehwinkelgebern 4 mit einer Auflösegenauigkeit von 0,025o. Das Gelenk 3 ist aus zwei U-förmigen, die offenen Seiten einander zugewandten Gelenkelementen 8, 8' aufgebaut, die über zwei kreuzförmig aneinander befestigte Achsen 5, 5' miteinander verbunden sind.In Fig. 2 a construction example of the measuring device according to the invention is shown in cross section. The measuring device is fastened to a supporting
An dem unteren Gelenkelement 8' ist über eine Stange 12 ein flexibles Haltemittel 2, insbesondere ein über eine an einem Lastaufnahmemittel angeordnete Umlenkrolle geführtes und von einem Stillstandsmotor unter Spannung gehaltenes Seil, verbunden. An den Außenseiten der U-förmigen Gelenkelemente 8, 8' sind in Höhe der Bohrungen für die Lagerung der Achsen 5, 5' über einen Zwischenflansch 9 die Drehwinkelgeber 4 lösbar befestigt. Die Drehwinkelgeber 4 sind mit ihren Meßwellen 11 über eine torsionssteife, flexible Kupplung 10 mit den Achsen 5, 5' verbunden.A
Fig. 3 zeigt eine Ausschnittsvergrößerung von Fig. 2 aus dem Bereich des Gelenks 3. Der Zwischenflansch 9 ist mit zwei Aussparungen 14 versehen. Die Aussparungen 14 sind derart angeordnet, daß die nicht dargestellten Madenschrauben für die Befestigung der Kupplung 10 an der Meßwelle 11 und einer Zwischenachse 13 von außen durch den Zwischenflansch 9 hindurch gelöst bzw. angezogen werden können. Hiermit ist eine Einstellung des Drehwinkelgebers 4 auf seine Nullage möglich. Die Zwischenachse 13 ist mit einem Ende in eine Bohrung der Achse 5 eingesteckt und mittels einer Schraube gegen Verdrehen gesichert. Die Achsen 5, 5' sind über Kugellager 15, insbesondere Rillenkugellager, in Bohrungen der U-förmigen Gelenkelemente 8, 8' gelagert. In dem unteren Gelenkelement 8' ist eine Stange 12, an der das Haltemittel 2 befestigt ist, über ein Gleitlager 18 geführt. An dem oberen Ende der Stange 12 ist mittels einer Verschraubung eine Anschlagplatte 16 angeordnet, an der sich eine um die Stange 12 angeordnete Feder 17 abstützt. Das andere Ende der Feder 17 ist an einem Vorsprung des Gelenkelementes 8' abgestützt. Unterhalb des Gelenkelementes 8' ist ein Seilabrißschalter 19 angeordnet, der mit seinem Schaltkontakt in eine Aussparung in Form einer umlaufenden Nut der Stange 12 eingreift. In der Zeichnung ist die Stellung des Schalters bei Seilabriß eingezeichnet. Die Feder ist etwa so ausgelegt, daR bei einer Seilkraft ³ 30 N der Schalter betätigt wird.FIG. 3 shows an enlarged detail of FIG. 2 from the area of the
Claims (8)
dadurch gekennzeichnet,
daß die Meßwertaufnehmer Drehwinkelgeber (4) sind und jeder Drehwinkelgeber (4) mit seiner Meßwelle(11) mit einer Achse (5,5') des Gelenkes (3)zur unmittelbaren Aufnahme der Drehbewegung der Achsen (5,5') verbunden ist.Measuring device for detecting the pendulum angle of a flexible holding means for lifting devices with a supporting element arranged on a lifting device, with a gimbal-type joint fastened between the supporting element and the holding means with axes arranged at right angles to one another and the joint-associated measuring transducers which take up the movement,
characterized,
that the transducers are angle encoders (4) and each angle encoder (4) is connected with its measuring shaft (11) to an axis (5,5 ') of the joint (3) for the direct absorption of the rotational movement of the axes (5,5').
dadurch gekennzeichnet,
daß die Meßwellen (11) über torsionssteife, flexible Kupplungen (10) mit den Achsen (5,5') verbunden sind.Measuring device according to claim 1,
characterized,
that the measuring shafts (11) are connected to the axles (5,5 ') via torsionally rigid, flexible couplings (10).
dadurch gekennzeichnet,
daß die Drehwinkelgeber (4) mit ihren Meßwellen (11) in Verlängerung der zugehörigen Achse (5,5') angeordnet sind.Measuring device according to claim 1 or 2,
characterized,
that the rotary encoder (4) with their measuring shafts (11) are arranged in an extension of the associated axis (5,5 ').
dadurch gekennzeichnet,
daß das Gelenk (3) ein einfaches Kreuzgelenk ist, das aus zwei bügelförmigen Gelenkelementen (8,8') besteht, deren jeweilige Enden über die Achsen (5,5') verbunden sind, die Achsen (5,5') kreuzförmig zueinander angeordnet und aneinander befestigt sind, sowie an den Enden in Wälzlagern (15) in den Gelenkelementen (8,8') gelagert sind.Measuring device according to one of claims 1 to 3,
characterized,
that the joint (3) is a simple universal joint which consists of two bow-shaped joint elements (8,8 '), the respective ends of which are connected via the axes (5,5'), the axes (5,5 ') being arranged in a cross shape with respect to one another and are fastened to one another and are mounted at the ends in roller bearings (15) in the joint elements (8, 8 ').
dadurch gekennzeichnet,
daß der Drehwinkelgeber (4) mit seinem Gehäuse (7) über einen Zwischenflansch (9) an dem Gelenkelement (8) befestigt ist und der Zwischenflansch (9) in Achsrichtung gesehen auf Höhe der Befestigung der Kupplung (10) an den Achsen (5,13) Aussparungen aufweist.Measuring device according to one of claims 1 to 4,
characterized,
that the rotary encoder (4) with its housing (7) is attached to the joint element (8) via an intermediate flange (9) and the intermediate flange (9) seen in the axial direction at the level of the attachment of the coupling (10) to the axles (5, 13) has recesses.
dadurch gekennzeichnet,
daß an die Meßeinrichtung ein Seil (2) angreift, das einerseits ortsfest und andererseits über eine an einem Lastaufnahmemittel angeordnete Umlenkrolle geführt und über einen Stillstandsmotor gespannt ist.Measuring device according to one of claims 1 to 5,
characterized,
that a rope (2) acts on the measuring device, which on the one hand is stationary and on the other hand is guided over a deflection roller arranged on a load suspension device and is tensioned via a standstill motor.
dadurch gekennzeichnet,
daß zwischen dem Haltemittel (2) und dem Gelenk (3) eine Stange (12) angeordnet ist, die Stange (12) in Richtung des Haltemittels (2) über ein Gleitlager (18) in dem Gelenkelement (8,8') geführt und über eine Feder (17) auf dem Gelenkelement (8') abgestützt ist, sowie an dem Gelenkelement (8') in Höhe einer umlaufenden Nut an der Stange ein Seilabrißschalter (19) angeordnet ist, wobei ein Wechsel zwischen Be- und Entlastung des Haltemittels (2) den Seilabrißschalter (19) über die Nut oder den Rest der Stange (12) betätigt.Measuring device according to one of claims 1 to 6,
characterized,
that between the holding means (2) and the joint (3) a rod (12) is arranged, the rod (12) in the direction of the holding means (2) via a slide bearing (18) in the joint element (8,8 ') and is supported by a spring (17) on the joint element (8 '), and a cable break switch (19) is arranged on the joint element (8') at the level of a circumferential groove on the rod, with a change between loading and unloading the holding means (2) the cable break switch (19) operated via the groove or the rest of the rod (12).
dadurch gekennzeichnet,
daß die Gelenkelemente (8,8') aus Leichtmetall sind.Measuring device according to one of claims 1 to 7,
characterized,
that the joint elements (8,8 ') are made of light metal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT91250272T ATE102168T1 (en) | 1990-10-09 | 1991-10-04 | MEASURING DEVICE FOR DETECTING THE PENDULUM ANGLE. |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4032332 | 1990-10-09 | ||
| DE4032332A DE4032332C2 (en) | 1990-10-09 | 1990-10-09 | Measuring device for detecting the pendulum angle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0485042A1 true EP0485042A1 (en) | 1992-05-13 |
| EP0485042B1 EP0485042B1 (en) | 1994-03-02 |
Family
ID=6416113
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP91250272A Expired - Lifetime EP0485042B1 (en) | 1990-10-09 | 1991-10-04 | Measuring device for registration of pendulum angle |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP0485042B1 (en) |
| AT (1) | ATE102168T1 (en) |
| DE (2) | DE4032332C2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102249153A (en) * | 2011-07-15 | 2011-11-23 | 上海三一科技有限公司 | Device for detecting rotating angle, control method thereof and crane comprising same |
| KR20130053129A (en) * | 2011-11-15 | 2013-05-23 | 현대자동차주식회사 | Apparatus and method for measuring tiltable maximum angle of constant velocity joint for vehicle |
| CN112758849A (en) * | 2021-01-18 | 2021-05-07 | 全南县瑞隆科技有限公司 | Hoisting accessory that electrodeposited copper detected usefulness |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4217607C2 (en) * | 1992-05-27 | 1995-04-27 | Asm Automation Sensorik Messte | Cable displacement device |
| KR970000175B1 (en) * | 1993-09-02 | 1997-01-06 | 한국원자력연구소 | Vibration angle measuring device for crane-free vibration operation |
| DE4408056C2 (en) * | 1994-03-07 | 1997-04-30 | Mannesmann Ag | Angle measuring device |
| DE10023196C2 (en) * | 2000-05-11 | 2003-04-03 | Orenstein & Koppel Ag | Device for detecting the angle of rotation between two components |
| DE102007039408A1 (en) | 2007-05-16 | 2008-11-20 | Liebherr-Werk Nenzing Gmbh | Crane control system for crane with cable for load lifting by controlling signal tower of crane, has sensor unit for determining cable angle relative to gravitational force |
| CN113701699B (en) * | 2021-09-01 | 2024-08-02 | 烟台清科嘉机器人联合研究院有限公司 | System convenient for detecting symmetry degree of ring-type hook hinge |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1940375A1 (en) * | 1969-01-03 | 1970-07-23 | Skagit Corp | Device for setting a freely rotatably supported load in a certain rotational position |
| DE2115587A1 (en) * | 1971-03-31 | 1972-10-05 | Siemens Ag | Charging device, in particular for automatic charging |
| DD154288A1 (en) * | 1980-11-12 | 1982-03-10 | Juergen Pietzsch | DEVICE FOR MONITORING THE ROPE TENSION ON WEAD ROPES |
| DD275035A1 (en) * | 1988-08-29 | 1990-01-10 | Univ Dresden Tech | DEVICE FOR MEASURING THE PENDULUM ANGLE |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1271942B (en) * | 1964-03-28 | 1968-07-04 | Siemens Ag | Arrangement for damping pendulum movements of a load hanging on a rope of a crane or other lifting device |
| DE1756441A1 (en) * | 1968-05-21 | 1970-04-30 | Demag Ag | Pendulum compensation regulation |
| DE2005323A1 (en) * | 1969-02-24 | 1970-09-03 | General Electric Company, Schenectady, N.Y. (V.St.A.) | Motor control system for suspended loads |
| DD278123A1 (en) * | 1988-12-19 | 1990-04-25 | Verlade Transportanlagen | DEVICE FOR DETECTING THE PENDULUM, TILTING AND TURNING ANGLE OF A GRIPPER |
-
1990
- 1990-10-09 DE DE4032332A patent/DE4032332C2/en not_active Expired - Fee Related
-
1991
- 1991-10-04 DE DE91250272T patent/DE59101094D1/en not_active Expired - Fee Related
- 1991-10-04 EP EP91250272A patent/EP0485042B1/en not_active Expired - Lifetime
- 1991-10-04 AT AT91250272T patent/ATE102168T1/en not_active IP Right Cessation
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1940375A1 (en) * | 1969-01-03 | 1970-07-23 | Skagit Corp | Device for setting a freely rotatably supported load in a certain rotational position |
| DE2115587A1 (en) * | 1971-03-31 | 1972-10-05 | Siemens Ag | Charging device, in particular for automatic charging |
| DD154288A1 (en) * | 1980-11-12 | 1982-03-10 | Juergen Pietzsch | DEVICE FOR MONITORING THE ROPE TENSION ON WEAD ROPES |
| DD275035A1 (en) * | 1988-08-29 | 1990-01-10 | Univ Dresden Tech | DEVICE FOR MEASURING THE PENDULUM ANGLE |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102249153A (en) * | 2011-07-15 | 2011-11-23 | 上海三一科技有限公司 | Device for detecting rotating angle, control method thereof and crane comprising same |
| CN102249153B (en) * | 2011-07-15 | 2013-08-28 | 上海三一科技有限公司 | Device for detecting rotating angle, control method thereof and crane comprising same |
| KR20130053129A (en) * | 2011-11-15 | 2013-05-23 | 현대자동차주식회사 | Apparatus and method for measuring tiltable maximum angle of constant velocity joint for vehicle |
| CN112758849A (en) * | 2021-01-18 | 2021-05-07 | 全南县瑞隆科技有限公司 | Hoisting accessory that electrodeposited copper detected usefulness |
| CN112758849B (en) * | 2021-01-18 | 2022-06-17 | 全南县瑞隆科技有限公司 | Hoisting accessory that electrodeposited copper detected usefulness |
Also Published As
| Publication number | Publication date |
|---|---|
| ATE102168T1 (en) | 1994-03-15 |
| DE4032332C2 (en) | 1994-01-20 |
| DE59101094D1 (en) | 1994-04-07 |
| DE4032332A1 (en) | 1992-04-16 |
| EP0485042B1 (en) | 1994-03-02 |
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