EP0638510A1 - Installation pour amortir activement les oscillations de/et positionner des charges suspendues - Google Patents

Installation pour amortir activement les oscillations de/et positionner des charges suspendues Download PDF

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Publication number
EP0638510A1
EP0638510A1 EP94112079A EP94112079A EP0638510A1 EP 0638510 A1 EP0638510 A1 EP 0638510A1 EP 94112079 A EP94112079 A EP 94112079A EP 94112079 A EP94112079 A EP 94112079A EP 0638510 A1 EP0638510 A1 EP 0638510A1
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EP
European Patent Office
Prior art keywords
guide
load
damping
pendulum
crane
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.)
Withdrawn
Application number
EP94112079A
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German (de)
English (en)
Inventor
Wolfgang Dipl. Bender
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Original Assignee
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV filed Critical Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Publication of EP0638510A1 publication Critical patent/EP0638510A1/fr
Withdrawn legal-status Critical Current

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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 positioning and damping device for damping the pendulum movement of pendulum suspended loads during movement of the suspension point according to the preamble of the main claim.
  • a device for preventing vibratory movements of a mounting part for a load, which is suspended from a crane by means of hoisting ropes is known.
  • cable drums are running out Guide ropes provided.
  • the rope drums have winding springs and friction brakes.
  • the springs ensure that the guide cables are wound up when lifting, the friction brakes increase the cable force in the cable, which becomes longer during a pendulum process.
  • the friction brakes are rendered ineffective by freewheels. Due to the diagonally positioned rope drums, damping in both pendulum vibration levels is achieved with four ropes.
  • a disadvantage of the design is that the friction brakes do not allow any change in the force in the guide rope. The result is permanent pendulum deflections.
  • a missing bearing in the hoist detects the weight load due to the attached load.
  • the spring travel is converted into an increase in the pressing force of a friction clutch on the traction motor, so that the acceleration of the crane is automatically reduced at low loads.
  • AS 12 07 578 describes a switching angle-dependent switching on and off of drive motors.
  • the pendulum deflection is recorded with the aid of a pendulum angle measuring device and the traction motor is switched off at a certain moment while the brake is still ventilated. If the load is exactly perpendicular under the trolley during its subsequent vibration in the direction of travel, the drive motor is switched on again. This is said to be during the Ride a calm commute arise.
  • the object of the present invention is to provide a device for damping the oscillation of loads suspended in an oscillating manner during movements of the suspension point, which the above-mentioned. Avoids disadvantages of the known solutions. In addition, the device should allow fine positioning of the load.
  • the guide rope drums are located on a frame suspended from the crane or crane trolley. They are permanently loaded with a tensile force that always acts against the oscillation of the load and is regulated by a drive unit, the output force or torque of which is independent of the guide rope drum speed.
  • the size of the maximum guide rope force or the tensile force loading the guide rope depends on the geometric conditions on the crane, such as: distance of the force generators and lifting height, the acceleration behavior of the crane drives and the mechanical load capacity of the trolley and can therefore be individually determined for each crane.
  • the device acts in such a way that on the drive unit from which the load moves away, the tractive force is increased in a precisely defined manner. In the simplest case, the maximum tractive force is set during this movement phase.
  • Improvements are achieved by taking into account several movement variables such as pendulum angle, pendulum speed and acceleration as well as a jerk-minimized force curve.
  • pendulum angle By increasing the tensile force in one of the two guide ropes belonging to a vibration level, a force is transmitted to the oscillating load via the guide ropes, which counteracts the oscillation and thereby dampens it.
  • the size of the pulling force in addition to the current rope length of the suspension ropes and the horizontal distance between the drive units on the pedestal under the cat, has a decisive influence on the size of the damping.
  • With a large guide rope force there is a smaller maximum pendulum angle than with a small guide rope force. Accordingly, after a crane or trolley acceleration with a high pulling force in the guide ropes, there are fewer pendulum deflections until the pendulum is completely relaxed than with a small guide rope force.
  • At least two guide ropes are required for each of the two levels of pendulum vibration (e.g. trolley and bridge travel direction). Even slight tolerance deviations when fastening the guide ropes, but also eccentric loads would cause torsional vibrations of the load. It is particularly advantageous if a total of four guide ropes run from the platform under the trolley to the load handler in one of the two pendulum vibration levels. This effectively prevents the load from rotating due to the above-mentioned forces. In addition, the reaction moment of a slewing gear arranged in the travery can be supported by different forces in the guide ropes of a common rope drum.
  • a two-strand cable drive with a total of four cables resting on two drums can also be used to stabilize the rotational position for the other pendulum vibration level. With the same control forces, this corresponds to a doubling of the permissible external torque.
  • a particular advantage of the invention is that this optimally adjusted setting can be used both to prevent the rotation of the load and to dampen the vibration of the load or to fine-position the load with respect to a transfer position even during the operation of the crane.
  • the specifications therefore do not have to be made at the start of the movement, they can be adjusted as required during the operation of the crane. For example, only the minimum control force in the two double-stranded guide rope drives is increased during the turning operations during the actual rotation.
  • an angle encoder is attached to measure the length of the guide rope.
  • the pendulum angle of the load relative to the vertical can be determined by comparing the angles of rotation of two drums, the guide cables of which lie in a vibration plane. If these angles of rotation are constantly the same, the load hangs underneath the hoist without swinging. This applies regardless of whether the hoist is at rest or switched on. With the help of both rope lengths, the current lifting height can also be calculated. If the angles of rotation of the guide rope drums of a vibration level are not the same, then lies a pendulum deflection before and the tensile force in the guide ropes is set appropriately.
  • the tensile force it is possible to set it to a calculable value and to keep it constant during a half-vibration. In this way, the load remains exactly perpendicular under the trolley if, when this position is reached, the pulling force is immediately reduced to the minimum value that is set in the other guide rope.
  • the tensile forces required for this type of control in the guide ropes are always calculated with the current values for the parameters influencing the vibration. These parameters are essentially the length of the suspension cables, the pendulum angle at the beginning of the half-vibration and the bracing angle of the guide cables. In this case it is necessary that the actual pulling force corresponds very precisely with the calculated target value.
  • the device according to the invention can be used in addition to the pendulum damping also for fine positioning of the load-carrying means relative to a fixed transfer position, such as a machine or a transfer place.
  • the control of the Lead rope forces performed depending on the path difference between the target and actual position of the load handler.
  • the path difference is detected, for example, by an encoder on the load suspension device, an encoder on the transfer station or by an image sensor system.
  • the relevant guide ropes are then shortened or lengthened in such a way that the actual position comes as close to the target value as the resolution of the measuring systems used (displacement or rotary encoder) allow.
  • the crane's trolley or bridge drives are therefore not used for fine positioning.
  • the distance between the drive units for the guide cables should be large. As a result, short damping times and high positioning accuracy can be achieved with small control forces. It is envisaged that if there is insufficient space directly under the crane trolley, the support frame with the guide rope drums should be arranged below the bridge girders. It is particularly advantageous if the distance between the two guide rope drums can be adjusted to one another. It is then possible to avoid a reduction in approach dimension.
  • the pendulum damping is not adversely affected by the one-sided retraction of the adjustment frame, that when approaching an edge of the hall predominantly lies the one behind in the direction of travel Guide rope is required for damping and the rope drum is in the rearmost position.
  • the asymmetrical operating position of the frame is sketched in Fig. 1.
  • the guide rope drums of the other vibration level can also be arranged on adjustment frames in order to be able to adapt their bracing angle to the requirements.
  • Another concept variant is not to generate the horizontal forces required for the pendulum damping by means of additional guide ropes, but to deflect the lifting ropes directly at the level of the substructure. This can be done using linear drives of any type.
  • the power transmission can e.g. by means of rollers in order to decouple the vertical movements of the cable drive from the horizontal force transmission to the pendulum damping when the hoist is switched on.
  • the horizontal distance between two rollers corresponds to the diameter of the suspension cable, so that the displacement path of the rollers corresponds to an equally large displacement path of the suspension cable.
  • the structure of the pendulum angle from the rest position corresponds to a movement of the corresponding displacement plate, the drive of which then builds up a force which counteracts this displacement.
  • the direct detection of the pendulum angle is not necessary since the sliding plates, which support the roller arrangement, are equipped with a measuring device for the linear sliding path.
  • this variant does not require any design changes or additions to the load suspension device or to a crossbar.
  • the end position of the rollers is fixed by the construction dimensions of the hoist and the trolley. There is only a small travel distance.
  • the travel range must be correspondingly larger.
  • the size of the attached load can be calculated directly.
  • a particular advantage of the device according to the invention is the possibility of active fine positioning of the load suspension device, which is decoupled from the crane or the trolley, or also a stable load suspension of eccentric loads within defined limits without any horizontal movement due to rope elasticities.
  • the damping and positioning device has a movable crane trolley 1, connection carrier 2, a support frame 3 and adjustment frame 4a, b.
  • the supporting frame 3 is attached to the supporting structure of the crane trolley 1 which can be moved on the crane bridge 9 by means of the connecting supports 2.
  • the two linearly displaceable adjustment frames 4a, b are attached to the frame 3.
  • the adjustment frame 4a is shown retracted, while the adjustment frame 4b is shown in the extended position.
  • Each of these adjustment frames 4a, b carries two guide rope drums 5, which are mechanically coupled by a shaft 8.
  • the control cables 6, which each run in pairs and in parallel from coupled cable drums 5, are guided to a cross member 7 and articulated there.
  • control cables 6a-6d With the help of the control cables 6a-6d, the oscillation or fine positioning of the crossbeam 7 with the attached load is influenced in the direction of bridge travel, the control cables 6e-6h are used to influence the Pendulum or fine positioning in the direction of trolley travel.
  • the drive motors of the cable drums 5 are not shown for simplification.
  • FIGS. 2a-2c illustrate the spatial arrangement of the guide ropes 6.
  • the choice of different cable distances and the arrangement of the articulation points 10 on the cross member 7 ensure that the guide ropes 6 do not touch one another.
  • the frame 15 is suspended from a crane trolley 11, which drives on a trolley rail 12 of the crane bridge 13, by means of the connecting supports 14.
  • the lifting cable 16 runs from a lifting cable drum 17 through the center of the frame 15.
  • a lower displacement plate 18 supported in linear guides 17 is supported on the frame 15.
  • the lower displacement drive 20 is used for their linear adjustment.
  • On the lower sliding plate 19, an upper sliding plate 21 is also rotated by 90 ° and is mounted in linear guides 18.
  • the upper displacement drive 22 is used to displace them.
  • Shift rollers 23 and 24 serve to actively displace the suspension cable. They are set so that their horizontal distance corresponds to the cable diameter.
  • a displacement of one or both displacement plates 19, 21 thus causes a horizontal displacement of the suspension cable in one or both directions.
  • the design size of the respective adjustment path depends on the specific application. In one of the two directions, however, the adjustment path is fundamentally larger, since the hook migration must be compensated for by the cable drum due to the change in the run-off point of the suspension cable.
  • Fig. 5 the operation of the positioning and damping device in the variant of the suspension cable displacement is shown in more detail.
  • the pendulum angle is denoted by ⁇
  • the pendulum angular velocity is denoted by ⁇ '.
  • a horizontal force is preferably applied to the supporting rope via a roller arrangement constructed according to FIG. 3, 4 below the trolley or the lifting mechanism.
  • the size of the force depends on the current size, direction and rate of change of the pendulum angle or the position deviation of the load at the target point.
  • the pendulum movement of the load is dampened, or any positional deviation of the load remaining after the crane or trolley travel has been compensated.
  • the adjustment path can be increased in one of the two vibration directions in order to allow the rope to move on the lifting drum without influencing the pendulum damping.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP94112079A 1993-08-02 1994-08-02 Installation pour amortir activement les oscillations de/et positionner des charges suspendues Withdrawn EP0638510A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4325946 1993-08-02
DE19934325946 DE4325946C2 (de) 1993-08-02 1993-08-02 Dämpfungs- und Positioniereinrichtung zur aktiven Dämpfung der Pendelung von an Kranen aufgehängten Lasten

Publications (1)

Publication Number Publication Date
EP0638510A1 true EP0638510A1 (fr) 1995-02-15

Family

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Application Number Title Priority Date Filing Date
EP94112079A Withdrawn EP0638510A1 (fr) 1993-08-02 1994-08-02 Installation pour amortir activement les oscillations de/et positionner des charges suspendues

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EP (1) EP0638510A1 (fr)
DE (1) DE4325946C2 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997008094A1 (fr) * 1995-08-30 1997-03-06 Kci Konecranes International Oy Procede et dispositif de commande de l'element de chargement et de la charge d'une grue
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
EP1894881A2 (fr) * 2006-08-29 2008-03-05 Abb Ab Dispositif de controle de charge pour une grue
CN108249276A (zh) * 2017-12-29 2018-07-06 中铁大桥局集团第八工程有限公司 一种旋转吊装系统及起吊重物时旋转重物的方法
DE10245868B4 (de) * 2002-09-30 2019-10-10 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Positionierung einer Last
CN117945314A (zh) * 2024-03-27 2024-04-30 国网湖北省电力有限公司电力科学研究院 一种用于输电线路高处作业的智能升降工作平台系统

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19721136A1 (de) * 1997-05-21 1998-11-26 Noell Stahl Und Maschinenbau G Lasthub-System
DE19732451C2 (de) * 1997-07-23 1999-08-05 Mannesmann Ag Seilanordnung zur Aufhängung eines Anschlagmittels an einem Hubwerk, insbesondere für Laufkrane oder Laufkatzen
DE10257107B3 (de) * 2002-12-05 2004-05-19 EISENMANN Maschinenbau KG (Komplementär: Eisenmann-Stiftung) Regalbediengerät
DE102004040663A1 (de) 2004-08-20 2006-03-02 Gottwald Port Technology Gmbh Hubwerk, insbesondere dessen Seilanordnung
EP2902356B1 (fr) * 2014-01-29 2016-03-23 Siemens Aktiengesellschaft Grue avec amortissement actif des mouvements d'oscillation de la charge
EP2977343B1 (fr) * 2014-07-24 2016-11-30 Siemens Aktiengesellschaft Grue avec amortissement actif des mouvements d'oscillation de la charge
CN113636454B (zh) * 2021-10-13 2021-12-10 南通杰品起重设备有限公司 一种具有防摇摆功能的起重机

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1926447A1 (de) * 1969-05-23 1971-03-11 Kocks Gmbh Friedrich Einrichtung zur Vermeidung von Pendel- und/oder Drehbewegungen von an einem Hubwerk haengenden Lasten
DE2115587A1 (de) * 1971-03-31 1972-10-05 Siemens Ag Ladevorrichtung, insbesondere für selbsttätigen Ladebetrieb
FR2164504A1 (fr) * 1971-12-23 1973-08-03 Casteran Jean
GB1424870A (en) * 1973-04-17 1976-02-11 Kone Oy Crane load positioning device
GB1539191A (en) * 1976-04-23 1979-01-31 Karritainers Ltd Anti-sway apparatus

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE558263C (de) * 1929-08-26 1932-09-03 Josef Machart Aufhaengung und Fuehrung der zur Aufnahme der Last dienenden, an gespreizten Hubseilpaaren haengenden Traverse eines Kranes
US3375938A (en) * 1966-07-11 1968-04-02 Pacific Coast Eng Co Anti-sway device
US3532324A (en) * 1968-05-23 1970-10-06 Paceco Inc Antisway mechanism
DE2033977C2 (de) * 1970-07-08 1982-12-16 Tax, Hans, 8000 München Mit Pendeldämpfungsvorrichtung versehene Seilaufhängung eines Lastaufnahmemittels
SE361869B (fr) * 1972-04-14 1973-11-19 Asea Ab
AU471953B2 (en) * 1972-12-29 1976-05-06 Ishikawajima-Harima Jukogyo K.K. Device for preventing the swaying ofthe suspending means ina crane
DE2917588C2 (de) * 1979-04-30 1983-12-01 Tax, Hans, 8000 München Lasthubsystem
DE3312174C2 (de) * 1983-04-02 1994-02-24 Vulkan Kocks Gmbh Laufkatzen-Seilhubwerk mit Pendeldämpfung
DE3727329C2 (de) * 1987-08-17 1996-02-01 Noell Gmbh Lasthub- und Lastpendeldämpfungs-System

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1926447A1 (de) * 1969-05-23 1971-03-11 Kocks Gmbh Friedrich Einrichtung zur Vermeidung von Pendel- und/oder Drehbewegungen von an einem Hubwerk haengenden Lasten
DE2115587A1 (de) * 1971-03-31 1972-10-05 Siemens Ag Ladevorrichtung, insbesondere für selbsttätigen Ladebetrieb
FR2164504A1 (fr) * 1971-12-23 1973-08-03 Casteran Jean
GB1424870A (en) * 1973-04-17 1976-02-11 Kone Oy Crane load positioning device
GB1539191A (en) * 1976-04-23 1979-01-31 Karritainers Ltd Anti-sway apparatus

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997008094A1 (fr) * 1995-08-30 1997-03-06 Kci Konecranes International Oy Procede et dispositif de commande de l'element de chargement et de la charge d'une grue
US5769250A (en) * 1995-08-30 1998-06-23 Kci Konecranes International Corporation Method and apparatus for controlling the loading element and load of a crane
CN1093082C (zh) * 1995-08-30 2002-10-23 Kci国际有限公司 用于控制吊车的承载部件和负载的方法和设备
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
DE10245868B4 (de) * 2002-09-30 2019-10-10 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Positionierung einer Last
EP1894881A2 (fr) * 2006-08-29 2008-03-05 Abb Ab Dispositif de controle de charge pour une grue
EP1894881A3 (fr) * 2006-08-29 2011-11-30 Abb Ab Dispositif de controle de charge pour une grue
CN108249276A (zh) * 2017-12-29 2018-07-06 中铁大桥局集团第八工程有限公司 一种旋转吊装系统及起吊重物时旋转重物的方法
CN108249276B (zh) * 2017-12-29 2019-07-09 中铁大桥局集团第八工程有限公司 一种旋转吊装系统及起吊重物时旋转重物的方法
CN117945314A (zh) * 2024-03-27 2024-04-30 国网湖北省电力有限公司电力科学研究院 一种用于输电线路高处作业的智能升降工作平台系统

Also Published As

Publication number Publication date
DE4325946C2 (de) 1998-04-09
DE4325946A1 (de) 1995-02-09

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