EP0918956A1 - Control device for balancing and/or positioning any load of variable weight or not, in non-uniform movement - Google Patents

Control device for balancing and/or positioning any load of variable weight or not, in non-uniform movement

Info

Publication number
EP0918956A1
EP0918956A1 EP97902397A EP97902397A EP0918956A1 EP 0918956 A1 EP0918956 A1 EP 0918956A1 EP 97902397 A EP97902397 A EP 97902397A EP 97902397 A EP97902397 A EP 97902397A EP 0918956 A1 EP0918956 A1 EP 0918956A1
Authority
EP
European Patent Office
Prior art keywords
balancing
positioning
load
uniform movement
variable weight
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Withdrawn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
EP97902397A
Other languages
German (de)
French (fr)
Inventor
Claude Guttmann
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.)
CIM MANUTIQUE S.A.
Original Assignee
Cim Manutique SA
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 Cim Manutique SA filed Critical Cim Manutique SA
Publication of EP0918956A1 publication Critical patent/EP0918956A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
    • B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
    • B66D5/04—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes actuated by centrifugal force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/54—Safety gear

Definitions

  • the present invention relates to a device for balancing and / or positioning any load of variable weight or not, in non-uniform movement, as well as the detection of a dangerous accelerating movement.
  • the device of the invention makes it possible to remedy these drawbacks balancing and / or positioning in movement and memorizing in movement 2
  • the detection of the acceleration also makes it possible to control a system for immobilizing the movement in the event of dangerous acceleration
  • the corrected information is then transmitted to the actuator of the balancing and / or positioning system, which then only compensates for the actual weight of the load.
  • This actuator can be electric, hydraulic or pneumatic on a rigid system or not
  • Figures 1 to 3 illustrate applications (eg manipulator arm Fig 1, vertical mast Fig 2, pendulum Fig 3, etc.) with the position of the detection ⁇ and a non-rigid type of connection (chain, cable, strap, etc.) ⁇ for pendulum G)
  • applications eg manipulator arm Fig 1, vertical mast Fig 2, pendulum Fig 3, etc.
  • a non-rigid type of connection chain, cable, strap, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position Or Direction (AREA)
  • Manipulator (AREA)

Abstract

The invention concerns a device for balancing and/or positioning any load of variable weight (1) or not, in non-uniform movement characterised in that it comprises an accelerometer (2) and a force sensor (3) whose combined data (4, 5) ensure the control of an actuator (6).

Description

DESCRIPTION DESCRIPTION
DISPOSITIF DE CONTROLE POUR EQUILIBRAGE ET/OU POSITIONNEMENT DE TOUTE CHARGE DE POIDS VARIABLE OU NON, EN MOUVEMENT NON UNIFORMECONTROL DEVICE FOR BALANCING AND / OR POSITIONING OF ANY VARIABLE OR NON-WEIGHT LOAD, IN NON-UNIFORM MOVEMENT
La présente invention concerne un dispositif pour équilibrer et/ou positionner toute charge de poids variable ou non, en mouvement non uniforme, ainsi que la détection d'un mouvement accélère dangereuxThe present invention relates to a device for balancing and / or positioning any load of variable weight or not, in non-uniform movement, as well as the detection of a dangerous accelerating movement.
1 L'équilibrage et/ou le positionnement de ces charges est traditionnellement réalisé par une mesure avec un mouvement faiblement non uniforme ou à l'arrêt1 The balancing and / or positioning of these loads is traditionally carried out by a measurement with a slightly non-uniform movement or at standstill
Lorsque l'équilibrage est réalisé en mouvement il n'est pas tenu compte de l'accélération et la mémorisation de la charge n'est donc pas possibleWhen balancing is carried out in motion, acceleration is not taken into account and storage of the load is therefore not possible
Le dispositif de l'invention permet de remédier à ces inconvénients équilibrage et/ou positionnement en mouvement et mémorisation en mouvement 2 La détection de l'accélération permet en outre de commander un système d'immobilisation du mouvement en cas d'accélération dangereuseThe device of the invention makes it possible to remedy these drawbacks balancing and / or positioning in movement and memorizing in movement 2 The detection of the acceleration also makes it possible to control a system for immobilizing the movement in the event of dangerous acceleration
Il comporte en effet un acceleromètre permettant de mesurer l'accélération et donc de corriger la valeur du poids mesuré par un capteur de forceIt indeed includes an accelerometer allowing to measure the acceleration and therefore to correct the value of the weight measured by a force sensor
L'information corrigée est alors transmise à l'actionneur du système d'équilibrage et/ou positionnement qui ne compense alors que le poids réel de la chargeThe corrected information is then transmitted to the actuator of the balancing and / or positioning system, which then only compensates for the actual weight of the load.
Cet actionneur peut être électrique, hydraulique ou pneumatique sur un système rigide ou nonThis actuator can be electric, hydraulic or pneumatic on a rigid system or not
Les figures 1 a 3 illustrent des applications (ex bras manipulateur Fig 1 , mât vertical Fig 2, pendulaire Fig 3, etc ) avec la position de la détection © et un type de liaison non rigide (chaîne, câble, sangle, etc ) © pour le pendulaire G)Figures 1 to 3 illustrate applications (eg manipulator arm Fig 1, vertical mast Fig 2, pendulum Fig 3, etc.) with the position of the detection © and a non-rigid type of connection (chain, cable, strap, etc.) © for pendulum G)
La Fig 4, illustre l'inventionFig 4 illustrates the invention
© Charge ou élément solidaire de la charge© Load or element integral with the load
© Acceleromètre© Accelerometer
Φ Capteur de force © DétectionΦ Force sensor © Detection
© Traitement© Treatment
© Actionneur © Actuator

Claims

REVENDICATIONS
1) Dispositif pour équilibrer et/ou positionner toutes charges de poids variables ou non, en mouvement non uniforme caractérisé en ce qu'il comporte un acceleromètre et un capteur de force dont les informations combinées permettent de commander un actionneur. 1) Device for balancing and / or positioning all loads of variable weight or not, in non-uniform movement characterized in that it comprises an accelerometer and a force sensor whose combined information makes it possible to control an actuator.
EP97902397A 1995-09-14 1997-01-29 Control device for balancing and/or positioning any load of variable weight or not, in non-uniform movement Withdrawn EP0918956A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9510890A FR2738808B1 (en) 1995-09-14 1995-09-14 BALANCING AND / OR POSITIONING OF ANY VARIABLE OR NON-VARIABLE WEIGHT LOAD, IN NON-UNIFORM MOVEMENT
PCT/FR1997/000172 WO1998032990A1 (en) 1995-09-14 1997-01-29 Control device for balancing and/or positioning any load of variable weight or not, in non-uniform movement

Publications (1)

Publication Number Publication Date
EP0918956A1 true EP0918956A1 (en) 1999-06-02

Family

ID=26232212

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97902397A Withdrawn EP0918956A1 (en) 1995-09-14 1997-01-29 Control device for balancing and/or positioning any load of variable weight or not, in non-uniform movement

Country Status (3)

Country Link
EP (1) EP0918956A1 (en)
FR (1) FR2738808B1 (en)
WO (1) WO1998032990A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6547220B2 (en) 2000-01-31 2003-04-15 Wilmington Research And Development Corporation Open loop control with velocity threshold for pneumatic hoist
IT1398858B1 (en) * 2009-12-15 2013-03-21 Vassilli Srl SAFETY AND FALL PROTECTION DEVICE.

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4110605A (en) * 1977-02-25 1978-08-29 Sperry Rand Corporation Weight and balance computer apparatus for aircraft
NL7809720A (en) * 1978-09-25 1980-03-27 Heemaf Nv BRIDGE CRANE CONTROL.
JP2713899B2 (en) * 1987-03-30 1998-02-16 株式会社日立製作所 Robot equipment
JP2715491B2 (en) * 1988-03-03 1998-02-18 日本電気株式会社 Semiconductor integrated circuit
JPH0683976B2 (en) * 1988-03-15 1994-10-26 インターナシヨナル・ビジネス・マシーンズ・コーポレーシヨン Compliance control method
GB2252295B (en) * 1991-01-31 1994-08-03 James Daniel Davidson Offshore crane control system
GB9203586D0 (en) * 1992-02-20 1992-04-08 Rolls Royce & Ass A crane and a lifting frame for a crane
JPH05329788A (en) * 1992-05-27 1993-12-14 Nippon Telegr & Teleph Corp <Ntt> Master slave manipulator system control device
JP3115147B2 (en) * 1993-03-12 2000-12-04 富士通株式会社 Robot controller and controller
US5443566A (en) * 1994-05-23 1995-08-22 General Electric Company Electronic antisway control
JPH08169325A (en) * 1994-12-20 1996-07-02 Mitsubishi Motors Corp Integrated control device for trailer brake force

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO9832990A1 *

Also Published As

Publication number Publication date
FR2738808A1 (en) 1997-03-21
WO1998032990A1 (en) 1998-07-30
FR2738808B1 (en) 1997-10-24

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Legal Events

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PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

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