EP0907604A1 - Procede et systeme pour eviter les oscillations en charge d'un appareil depla ant une charge suspendue et executant des mouvements rotatifs - Google Patents

Procede et systeme pour eviter les oscillations en charge d'un appareil depla ant une charge suspendue et executant des mouvements rotatifs

Info

Publication number
EP0907604A1
EP0907604A1 EP97924904A EP97924904A EP0907604A1 EP 0907604 A1 EP0907604 A1 EP 0907604A1 EP 97924904 A EP97924904 A EP 97924904A EP 97924904 A EP97924904 A EP 97924904A EP 0907604 A1 EP0907604 A1 EP 0907604A1
Authority
EP
European Patent Office
Prior art keywords
load
movement
point
suspended
suspended load
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Withdrawn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
EP97924904A
Other languages
German (de)
English (en)
Inventor
Uwe Wienkop
Christof Meier
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.)
Siemens AG
Original Assignee
Siemens AG
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 Siemens AG filed Critical Siemens AG
Publication of EP0907604A1 publication Critical patent/EP0907604A1/fr
Withdrawn legal-status Critical Current

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
    • B66C13/04—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
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Definitions

  • the invention relates to load movement devices which carry the load on a rope so that a pendulum movement is possible.
  • load movement devices which carry the load on a rope so that a pendulum movement is possible.
  • these are construction cranes with a horizontally rigid crane boom and a trolley, as well as construction cranes which have a vertically pivotable boom on which the load is movably guided.
  • the object on which the invention is based is therefore to specify an arrangement and a method by means of which pendulum vibrations of loads which are transported by suspended load movement devices which generate a rotational movement component can be avoided.
  • Another object of the invention is to provide a method and an arrangement with which a targeted control of the path of the load on such a suspended load movement device is possible.
  • a particular advantage of the method according to the invention is that the crane operator does not have to have direct visual contact with the moving load.
  • a further advantage of the method according to the invention is that the operator does not have to operate separate works of the suspended load movement device, but that it only starts from a starting point
  • this path is advantageously traversed by overlaying the respective translational and rotary motion components by suitable control of the drives in such a way that a straight path is created for the load and thus optimal and known damping methods for pendulums which are moved linearly are used can be.
  • This method is also particularly advantageously suitable for the three-dimensional entry of a start and end point, in that a side view of the work area of the suspended load movement device is advantageously used in order to display or enter the height dimension of the end point. In this way it is achieved that only two representations of the working area are necessary, which can be displayed, for example, on two separate screens or two separate windows of a computer.
  • the movement in the third dimension is also advantageously combined with the movements in the other two dimensions in such a way that a linear path is described by the suspended load.
  • a three-dimensional coordinate system is advantageously used to control the suspended load movement device and the path of the suspended load, in which the planned path is entered in the form of a target vector, which can then be processed advantageously by a multi-axis control system known from industrial applications for robots.
  • an arrangement according to the invention for avoiding load vibrations in a suspended load movement device carrying out rotary movements has suitable means in order to be able to carry out the individual features of the method according to the invention separately.
  • a camera is particularly suitable for displaying a top view and a side view.
  • a touchscreen, a computer mouse, a joystick or similar input devices are particularly suitable for entering a target point on one of the representations.
  • means are particularly advantageously provided which break down the movement into its rotational and into its translation component. Since the position of the crane and the position of the crane boom to be swiveled are known, the angle between the starting point and the destination point can be determined very easily.
  • the position of a trolley can also be determined in this way be that the difference between the position of the trolley at the starting point and the position of the trolley on the crane boom at the destination is determined.
  • the already known and currently used options for operating such a suspended load transport device are advantageously included in the calculation according to the invention when planning the path.
  • means are advantageously provided in the arrangement according to the invention which coordinate the movement according to the invention in a suitable manner so that a straight path of the suspended load to be moved is created.
  • a multi-axis control can also be provided particularly advantageously, which is known from the area of application for industrial robots, in which a target vector is entered as the path and this automatically determines the required speed components for the individual motion components.
  • Known means for damping linear pendulum movements are also advantageously used in this arrangement, since there is no development effort for new methods.
  • means are particularly advantageously provided which provide a three-dimensional representation of the working area, ie. H. thus the work space in which this load handling device is operated.
  • a three-dimensional representation by screens known from CAD application is possible with the aid of LCD shutter-controlled 3-D glasses which overlay the images of the work space from two cameras from different positions.
  • less expensive representations in the form of a top view and a side view are also possible, which can be displayed, for example, in two windows of a computer or on two separate screens.
  • the movement trajectory ie the planned course of the path, is particularly advantageous in this spatial representation Shown load so that an operator can determine whether, for example, the load collides with any obstacles while driving off the track.
  • Known means for the three-dimensional input of coordinates are preferably used for the input of the target vector.
  • these are from the CAD area 3D joysticks, light pens, trackballs or the like.
  • means are particularly advantageously provided which automatically exclude a collision of the hanging load with existing obstacles on the path trajectory.
  • Figure 1 shows an example of a suspended load movement device in
  • FIG. 2 illustrates the known method for moving a load with the help of such a device.
  • FIG. 3 illustrates the method according to the invention.
  • FIG. 1 schematically shows a lifting load movement device, here in the form of a lifting crane K.
  • This lifting crane K has a hoist HW and a jib AL, along which a trolley LK can move.
  • a suspension load SL is attached to this trolley LK by means of a lifting rope of rope length L.
  • the lifting crane K for example, a work area AB is provided.
  • loading cranes which, for example, do not have a rigid crane boom AL, but a vertically pivotable boom, as is indicated here by the angle PHI, which can be changed in such devices.
  • door cranes with a pivoting jib are also suitable for the use of the invention.
  • an operator moves the load SL over the working area AB, this is done, for example, by turning the crane K with the aid of a certain angular speed and by lifting or lowering the load SL at a specific speed of the rope or moving the barrel ⁇ cat LK, whereby, for example, the variable parameters relevant to the movement trajectories for hanging load movement of the hanging load movement device are given.
  • the rotational movement can cause undesirable and poorly damped pendulum vibrations of the suspended load.
  • a distance measuring sensor SEN should preferably point directly downwards. Further sensors could also be attached at a slight angle. Because of their preferred attachment to the trolley, these sensors are moved along with all movements of the crane. For example, sensors based on radar, ultrasound or light or infrared light and other measuring devices known and suitable from the prior art for distance measurement are conceivable. In addition, it is preferably assumed, for example, that current values about the jib height, the angle of rotation of the crane, the position of the trolley and the length of the extended rope are known.
  • this suspension load SL threatens to collide with an obstacle on its way, then, for example, a spatial distance requirement can be monitored in the form of a distance to this load, and if this distance is undershot, a warning signal is given, or one or more of the variable Parameters of the suspended load movement device can be changed.
  • the individual axes or movements of the crane i.e. Hoist, slewing gear and trolley are individually controlled by the crane operator. This results in a variety of movement options, such as linear movements (only trolley chassis involved), rotary movements (only swivel mechanism involved) as well as many possibilities of superimposition if several plants are operated at the same time without the load being leveled out.
  • FIG. 2 shows a plan view of a suspended load to be moved, here for example with a rotating crane K.
  • the starting point S and the destination point Z of the load are specified.
  • this starting point and this target point represent the position of a trolley at the outfeed AL of the slewing crane.
  • the load can be attached to this trolley with the aid of an arbitrarily long rope.
  • To transfer the load to a target To guide point Z an operator will first turn the crane along an arrow 15, the jib AL being pivoted in the direction of the arrow 15. The operator will then, for example, translate the trolley to the target point Z, which is represented by an arrow 16.
  • Common crane controls do not provide any possibilities to coordinate these movements, ie the rotation movement and the translation movement, in a coordinated manner.
  • FIG. 3 shows the example from FIG. 2, in which the method according to the invention is applied to the path of the load.
  • the method according to the invention takes advantage of the fact that when a start and destination point is entered, or a destination point when the starting point is known, the hanging load is automatically described as the destination vector.
  • This target vector is designated by 20 in FIG.
  • a computer is provided which, in a suitable manner, superimposes the rotational movement and the translational movement from FIG.
  • a direction vector or the target point for example by Cartesian target description, all axes of the crane, i.e. Swivel, trolley and hoist controlled simultaneously so that there is a linear movement in the direction of the target.
  • the crane operator should be given an effective user interface for this method so that he can specify the direction in which the crane is to move or the destination of the journey. This can be done using the following input techniques: l. (3D) joystick or similar
  • the crane operator can immediately indicate the direction in which the crane hook should move.
  • this direction vector is converted into the corresponding speeds of the swivel and trolley trolleys, with which the motors of the factories are then controlled simultaneously.
  • this operating mode can be increased in terms of its performance, since the crane operator can then immediately check whether he has taken the correct direction . This avoids directional corrections.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un procédé et un système permettant de convertir les mouvements de rotation et de translation d'une charge suspendue en un mouvement linéaire, afin que des mesures visant à supprimer les oscillations de charges déplacées linéairement suffisent pour éviter la formation d'oscillations en charge. Cette invention présente l'avantage qu'il existe d'ores et déjà des procédés relatifs à ce type de mesures visant à supprimer les oscillations. En outre, des systèmes de commande multiaxiale connus provenant d'applications industrielles peuvent s'utiliser pour assurer la commande de l'appareil déplaçant une charge suspendue. L'invention concerne également des éléments permettant de représenter l'espace de travail et d'introduire de manière appropriée les coordonnées cibles de la charge suspendue.
EP97924904A 1996-05-24 1997-05-22 Procede et systeme pour eviter les oscillations en charge d'un appareil depla ant une charge suspendue et executant des mouvements rotatifs Withdrawn EP0907604A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19621107 1996-05-24
DE19621107 1996-05-24
PCT/DE1997/001033 WO1997045357A1 (fr) 1996-05-24 1997-05-22 Procede et systeme pour eviter les oscillations en charge d'un appareil deplaçant une charge suspendue et executant des mouvements rotatifs

Publications (1)

Publication Number Publication Date
EP0907604A1 true EP0907604A1 (fr) 1999-04-14

Family

ID=7795314

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97924904A Withdrawn EP0907604A1 (fr) 1996-05-24 1997-05-22 Procede et systeme pour eviter les oscillations en charge d'un appareil depla ant une charge suspendue et executant des mouvements rotatifs

Country Status (2)

Country Link
EP (1) EP0907604A1 (fr)
WO (1) WO1997045357A1 (fr)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE322454T1 (de) 2000-10-19 2006-04-15 Liebherr Werk Nenzing Kran oder bagger zum umschlagen von einer an einem lastseil hängenden last mit lastpendelungsdämpfung
US7831333B2 (en) 2006-03-14 2010-11-09 Liebherr-Werk Nenzing Gmbh Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner
DE502006005975D1 (de) * 2006-03-15 2010-03-11 Liebherr Werk Nenzing Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner
DE102006052956B4 (de) * 2006-11-09 2019-07-04 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen einer freischwingenden Last von einem Start- zu einem Zielpunkt
DE102009032267A1 (de) * 2009-07-08 2011-01-13 Liebherr-Werk Nenzing Gmbh, Nenzing Kran zum Umschlagen einer an einem Lastseil hängenden Last
DE102013006258A1 (de) 2013-04-11 2014-10-16 Liebherr-Components Biberach Gmbh Kran
DE102013012019B4 (de) 2013-07-19 2019-10-24 Tadano Faun Gmbh Kran, insbesondere Mobilkran
EP2896590A1 (fr) * 2014-01-16 2015-07-22 Caporali Roberto Paolo Luigi Procede et dispositif pour contrôler en boucle ouverte l'oscillation de la charge pour engin rotatif de levage
EP3802395A4 (fr) * 2018-05-30 2022-03-16 Syracuse Ltd. Système et procédé de transport d'une charge hissée balançante

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2645846B1 (fr) * 1989-04-14 1991-10-04 Reel Sa Dispositif de controle de la position et des oscillations d'une charge suspendue durant son transfert au moyen d'un appareil de levage

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9745357A1 *

Also Published As

Publication number Publication date
WO1997045357A1 (fr) 1997-12-04

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