EP1390286A1 - System and method for measuring a horizontal deviation of a load receiving element - Google Patents

System and method for measuring a horizontal deviation of a load receiving element

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Publication number
EP1390286A1
EP1390286A1 EP02753047A EP02753047A EP1390286A1 EP 1390286 A1 EP1390286 A1 EP 1390286A1 EP 02753047 A EP02753047 A EP 02753047A EP 02753047 A EP02753047 A EP 02753047A EP 1390286 A1 EP1390286 A1 EP 1390286A1
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EP
European Patent Office
Prior art keywords
crane trolley
load
length
measuring
horizontal deflection
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.)
Granted
Application number
EP02753047A
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German (de)
French (fr)
Other versions
EP1390286B1 (en
Inventor
Gunther Lukas
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.)
Krusche Lagertechnik AG
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Krusche Lagertechnik AG
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Publication date
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Publication of EP1390286A1 publication Critical patent/EP1390286A1/en
Application granted granted Critical
Publication of EP1390286B1 publication Critical patent/EP1390286B1/en
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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 present invention is directed to a system for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load suspension device being suspended from a plurality of support ropes on the crane trolley, and to a method for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load-carrying means being arranged hanging on the crane trolley on a plurality of support cables
  • loads are regularly lifted from a location A with a height hg to a transport level h, in order to then on a certain, mostly time-optimized way to a destination B to be transported, which is at a level h ⁇
  • a so-called crane trolley is located on a crossmember, on which load-carrying means, such as gripping devices for receiving the buttons, for example containers, pallets or the like, are connected by carrying ropes. are arranged.
  • Pend darnpfungsvortechnischen from CePLuS GmbH in Magdeburg are known that use high-performance cameras with microprocessors to measure the horizontal deflection of the load suspension device. These high-performance cameras are mounted on a crane trolley and measure the load movements in order to adjust the speed of the crane trolley while driving so that no undesirable vibrations of the loads occur.
  • reflectors are attached to the load suspension device.
  • the camera mounted on the crane trolley is down, ⁇ Lh. directed towards the load suspension device and determines the position of the reflector relative to the crane trolley.
  • the deflection of the load suspension device is calculated from this position data of the reflector
  • a disadvantage of the CeSAR system from CePLuS has been that the time intervals for determining the deflection are too large for timely, dynamic control, and furthermore, the resolution with regard to the measuring accuracy of the camera measuring system also meets the requirements of timely, dynamic Regulation is not sufficient
  • the size of the CeSAR pendulum damping system has also proven to be disadvantageous, since the reflectors that have to be attached to the load suspension device have unfavorable dimensions.
  • CeSAR system Another disadvantage of the CeSAR system is the restricted field of view, if at least a certain measuring accuracy is to be achieved, since the measuring accuracy of the camera lens correlates with the field of view angle.A large field of view angle therefore requires a so-called wide-angle lens, which, however, affects the image resolution and ultimately the measuring accuracy
  • Another disadvantage of the CeSAR system is the maintenance frequency of the optical devices. Because when used in conventional storage environments, a certain degree of soiling of the shelves, the goods to be transported and thus the means of transport can be regularly expected, with the result that the optical devices, for example the camera lens, also have to be cleaned frequently.
  • a system for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load suspension device being arranged hanging on a plurality of support ropes on the crane trolley, at least two rope length transmitters are provided which are equipped with a data processing means, preferably a processor are operatively connected, the ropes of the at least two rope length transmitters being arranged between the crane trolley and the load-receiving means in such a way that a computing unit connected to the data processing means determines the horizontal deflection of the load-lifting means in relation to the position of the crane trolley over the length of the respective rope of the rope length encoder
  • the method according to the invention for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load suspension device being arranged suspended from the crane trolley on a plurality of support cables has the following steps:
  • the system according to the invention is based on the knowledge that when at least two rope length transmitters are used, which are each arranged on the crane trolley and / or respectively on the load suspension means, the horizontal deflection of the load suspension means in at least one of the rope length transmitters causes a shortening of the rope length. rend this horizontal deflection in the at least one other rope length sensor causes an extension of the rope length.
  • the at least two rope length sensors are advantageously arranged on the crane trolley or on the load suspension means in such a way that the two cables of the at least two rope length sensors cross each other.
  • Such an upper crossing of the at least two ropes is achieved in that one of the at least two rope length transmitters is arranged in a front area of the crane trolley or the load suspension device, while the other of the at least two rope length transmitters is arranged in a rear area of the load suspension device or the crane trolley and the anchoring point of the respective ropes is stretched diagonally from the respective front area into the respective rear area and from the crane trolley to the load suspension device.
  • this type of bracing it is irrelevant whether the cable length sensor is arranged on the same side of the crane trolley or the load suspension device, as long as an at least spatial crossover can be ensured.
  • the horizontal deflection of the load suspension means is determined exactly for further calculations of the by using simple trigonometric relationships, which are stored in an algorithm in a computing unit
  • Movement system crane trolley / Las taufhah means preferably the deflection angle is required, the deflection angle, which is spanned between the vertical and the Tragseüen, is determined by a second mathematical step, also using simple trigonometric relationships.
  • the deflection angle can then be an input variable for the load the following calculations of the movement system crane trolley / load suspension.
  • the two flank length transmitters are arranged in such a way that there is a maximum possible distance between the two flank length transmitters because such a maximum spacing ensures that the length difference between the two flanks is as large as possible, and thus the accuracy of the measurement result is increased .
  • the two lakes are not crossed, but instead have a spatial “N”, the anchoring points of the respective lakes being advantageously arranged at the apex of this spatial “V”.
  • the horizontal deflection is calculated in the same way made simple trigonometric calculations
  • Figure 1 shows a preferred embodiment of the system according to the invention
  • Figure 2 shows the inventive system of Figure 1 in motion.
  • FIG. 1 shows a system according to the invention, consisting of a crane trolley 1, which is driven by a motor M for transport on the rail 11.
  • the energy supply of the motor M is not shown.
  • the control of the motor M is carried out via a control unit S, which is operatively connected to the motor M, but does not necessarily have to be arranged on the crane trolley.
  • a data processing means is preferably integrated into the control unit or at least connected to it a processor with a computing unit in which corresponding mathematical algorithms are stored.
  • two cable length transmitters 3, 4 are arranged on the crane trolley 1, the cable 8, 9 of which are stretched diagonally downward in the direction of the load-carrying means 2 and fastened there in an anchoring point 5 and 6, respectively.
  • the length of the lugs 8 and 9 is essentially the same in the rest position of FIG. 1, because, due to the force of gravity, the load suspension means 2 perpendicularly below the crane trolley hangs on the carrying lugs 10a and 10b and on the carrying lugs 10c and 10d, not shown, the length the Tragseüe 10a to 10d is also controlled by the motor M or by a separate drive.
  • rope length encoders from TR Electronic GmbH are used to measure the rope lengths, which have an absolute or incremental encoder.
  • FIG. 2 shows the position of movement of the system according to the invention at a certain point in time , in which the crane trolley has reached a speed v.
  • the computing unit specifies the deflection A as a distance of the absolute deflection, or optionally the angle ⁇ as the initial value. This value is then input into the control system for controlling the motor M and processed there accordingly, for example to suppress the pendulum of the load handler

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Details Of Television Scanning (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The aim of the invention is to provide a system and a method which surmounts the problems of prior art. According to the inventive system and method for measuring horizontal deviation of a load receiving element in relation to a position of a hoist traveling trolley, the load receiving element is suspendedly arranged on a plurality of supporting cables on the hoist traveling trolley and least two cable length sensors are provided, the sensors being operatively connected to a data processing device, preferably a processor. The cables of the at least two cable length sensors are disposed between the hoist traveling trolley and the load receiving element in such a way that a computer unit which is connected to the data processing device determines the horizontal deviation of the load receiving element in relation to the position of the hoist traveling trolley for the length of the respective cables of the cable length sensors.

Description

System und Verfahren zur Messung einer horizontalen Auslenkung eines Lastaufhahmemittels System and method for measuring a horizontal deflection of a load handler
Die vorliegende Erfindung richtet sich auf ein System zur Messung einer horizontalen Auslenkung eines Lastaufhahmemittels in Relation zu einer Position einer Krankatze, wobei das Lastaufnahme ittel an einer Vielzahl von Tragseilen an der Krankatze hängend angeordnet ist, sowie auf ein Verfahren zum Messen einer horizontalen Auslenkung eines Lastaufhahmemittels in Relation zu einer Position einer Krankatze, wobei das Lastaufnahme- ittel an einer Vielzahl von Tragseilen an der Krankatze hängend angeordnet istThe present invention is directed to a system for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load suspension device being suspended from a plurality of support ropes on the crane trolley, and to a method for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load-carrying means being arranged hanging on the crane trolley on a plurality of support cables
Während des Transports von Lasten mit einem Brücken- oder Portalkran, Schiffsentlader, Containerbrücken sowie Coil- und Stahllagerkrane werden Lasten regelmäßig von einem Standort A mit einer Niveauhöhe hg auf eine Transportniveauhöhe h, gehoben, um dann auf einen bestimmten, zumeist zeitoptimierten Weg zu einen Zielort B transportiert zu werden, der auf einem Niveau h^ liegtDuring the transport of loads with a bridge or gantry crane, ship unloader, container gantry cranes as well as coil and steel storage cranes, loads are regularly lifted from a location A with a height hg to a transport level h, in order to then on a certain, mostly time-optimized way to a destination B to be transported, which is at a level h ^
Bei allen vorgenannten Transportmitteln befindet sich eine sogenannte Krankatze auf einer Traverse, an der durch Trageseile verbunden, Lastaufhahmemitteln, wie beispielsweise Greifvorrichtungen zur Aufnahme der Tasten, beispielsweise Container, Paletten o.a. angeordnet sind.In all of the above-mentioned means of transport, a so-called crane trolley is located on a crossmember, on which load-carrying means, such as gripping devices for receiving the buttons, for example containers, pallets or the like, are connected by carrying ropes. are arranged.
Nach Aufnahme der Last am Ort A findet regelmäßig eine Horizontalbewegung der Krankatze statt, wobei, durch die Trägheit bedingt, die an den Seilen hängenden Lasten gegen- über der Krankatze zeitverzögert beschleunigt bzw. verzögert werden. Diese Beschleuni- gungs- bzw. Verzögerungsvorgänge führen zu einer horizontalen Auslenkung des Lastaufnahmemittels in Relation zu der Position der Krankatze. Während des Transports der an den Tragseilen hängenden Lasten, tritt diese Auslenkung regelmäßig auf, mit der Konse- quenz, daß bei einer gleichförmigen Bewegung der Krankatze ein unerwünschtes Pendeln der an den Tragseilen befestigten Lasten eingeleitet wird.After the load has been picked up at location A, a horizontal movement of the crane trolley takes place regularly, the loads hanging on the cables being accelerated or decelerated with a time delay compared to the crane trolley due to the inertia. These acceleration and deceleration processes lead to a horizontal deflection of the load handler in relation to the position of the crane trolley. During the transport of the loads hanging on the suspension cables, this deflection occurs regularly, with the Quenz that with a uniform movement of the crane trolley unwanted oscillation of the loads attached to the cables is initiated.
Es gehört daher zu den ständigen Aufgaben eines Kranführers, diesen Pendelbewegungen entgegenzuwirken. Ein geübter und aufmerksamer Kranfahrer erreicht dies durch gekonntes Gegensteuem während der Transportbewegung. Ist der Bediener jedoch ungeübt oder unaufmerksam, so können sich die Transportvorgänge und Umschlagszeiten wesentlich verlängern. Ungünstigstenfalls wächst die Gefahr von Kollisionen und Unfällen.It is therefore one of the constant tasks of a crane operator to counteract these pendulum movements. A skilled and attentive crane driver achieves this by skilfully taking countermeasures during the transport movement. However, if the operator is inexperienced or inattentive, the transport processes and handling times can be significantly extended. At worst, the risk of collisions and accidents increases.
Es sind Pend darnpfungsvorrichtungen der Firma CePLuS GmbH in Magdeburg bekannt, die zur Messung der horizontalen Auslenkung des Lastaufhahmemittels Hochleistungskameras mit Mikroprozessoren verwenden. Diese Hochleistungskameras werden an einer Krankatze montiert und messen die Lastbewegungen, um während des Fahrens die Geschwindigkeit der Krankatze so anzupassen, damit keine unerwünschten Schwingungen der Lasten auftreten.Pend darnpfungsvorrichtungen from CePLuS GmbH in Magdeburg are known that use high-performance cameras with microprocessors to measure the horizontal deflection of the load suspension device. These high-performance cameras are mounted on a crane trolley and measure the load movements in order to adjust the speed of the crane trolley while driving so that no undesirable vibrations of the loads occur.
Zur Messung der Auslenkung des Lastaufhahmemittels werden auf dem Lastaufnahmemittel Reflektoren befestigt Die auf der Krankatze montierte Kamera ist nach unten, <Lh. in Richtung auf das Lastaufnahmemittel gerichtet und ermittelt die Position des Reflektors relativ zur Krankatze. Aus diesen Positionsdaten des Reflektors wird die Auslenkung des Lastaufhahmemittels berechnetTo measure the deflection of the load suspension device, reflectors are attached to the load suspension device. The camera mounted on the crane trolley is down, <Lh. directed towards the load suspension device and determines the position of the reflector relative to the crane trolley. The deflection of the load suspension device is calculated from this position data of the reflector
Als nachteilig hat sich bei dem System CeSAR der Firma CePLuS erwiesen, daß die Zeitintervalle für die Bestimmung der Auslenkung zu groß für eine zeitnahe, dynamische Rege- lung sind, sowie weiterhin, die Auflösung hinsichtlich der Meßgenauigkeit des Kamerameßsystems ebenfalls den Ansprüchen einer zeitnahen, dynamischen Regelung nicht genügt Neben diesen nachteiligen Systemdaten hat sich die Baugröße des Pendeldämpfsystems CeSAR ebenfalls als nachteilig erwiesen, da die Reflektoren, die auf dem Lastaufnahmemittel angebracht werden müssen, ungünstige Abmessungen aufweisen. Ein weiterer Nachteil des Systems CeSAR ist der eingeschränkte Sichtfeldbereich, wenn zumindest eine gewisse Meßgenauigkeit erzielt werden soll, da die Meßgenauigkeit des Kameraobjektivs mit dem Sichtfeldwinkel korreliert Ein großer Sichtfeldwinkel bedingt daher ein sog. Weitwinkelobjektiv, worunter jedoch die Bildauflösung und so schließlich die Meßgenauigkeit leidet Ein weiterer Nachteil des System CeSAR ist die Wartungsfrequenz der optischen Einrichtungen. Denn beim Einsatz in herkömmlichen Lagerumgebungen, ist eine gewisse Verschmutzung der Regale, des Transportguts und somit der Transportmittel regelmäßig zu erwarten, mit der Folge, daß auch die optischen Einrichtungen, beispielsweise das Kameraobjektiv häufig gereinigt werden müssen.A disadvantage of the CeSAR system from CePLuS has been that the time intervals for determining the deflection are too large for timely, dynamic control, and furthermore, the resolution with regard to the measuring accuracy of the camera measuring system also meets the requirements of timely, dynamic Regulation is not sufficient In addition to these disadvantageous system data, the size of the CeSAR pendulum damping system has also proven to be disadvantageous, since the reflectors that have to be attached to the load suspension device have unfavorable dimensions. Another disadvantage of the CeSAR system is the restricted field of view, if at least a certain measuring accuracy is to be achieved, since the measuring accuracy of the camera lens correlates with the field of view angle.A large field of view angle therefore requires a so-called wide-angle lens, which, however, affects the image resolution and ultimately the measuring accuracy Another disadvantage of the CeSAR system is the maintenance frequency of the optical devices. Because when used in conventional storage environments, a certain degree of soiling of the shelves, the goods to be transported and thus the means of transport can be regularly expected, with the result that the optical devices, for example the camera lens, also have to be cleaned frequently.
Aufgabe der vorliegenden Erfindung ist es daher, ein System und ein Verfahren bereitzustellen, welches die Nachteile des Standes der Technik überwindetThe object of the present invention is therefore to provide a system and a method which overcomes the disadvantages of the prior art
Diese Aufgabe wird durch ein erfindungsgemäßes System mit den Merkmalen des Anspruchs 1 und durch ein Verfahren mit den Merkmalen nach Anspruch 8 bzw. 9 gelöstThis object is achieved by an inventive system with the features of claim 1 and by a method with the features of claims 8 and 9, respectively
Bei einem erfindungsgemäßen System zur Messung einer horizontalen Auslenkung eines Lastaufhahmemittels in Relation zu einer Position einer Krankatze, wobei das Lastaufήah- memittel an einer Vielzahl von Tragseilen an der Krankatze hängend angeordnet ist, sind mindestens zwei Seillängengeber vorgesehen, die mit einem Datenverarbeitungsmittel, vorzugsweise einem Prozessor operativ verbunden sind, wobei die Seile der mindestens zwei Seillängengeber so zwischen Krankatze und Lastaufhahmemittel angeordnet sind, daß eine mit dem Datenverarbeitungsmittel verbundene Recheneinheit die horizontale Auslenkung des Lastaufhahmemittels in Relation zur Position der Krankatze über die Länge der jeweiligen Seile der Seillängegeber bestimmtIn a system according to the invention for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load suspension device being arranged hanging on a plurality of support ropes on the crane trolley, at least two rope length transmitters are provided which are equipped with a data processing means, preferably a processor are operatively connected, the ropes of the at least two rope length transmitters being arranged between the crane trolley and the load-receiving means in such a way that a computing unit connected to the data processing means determines the horizontal deflection of the load-lifting means in relation to the position of the crane trolley over the length of the respective rope of the rope length encoder
Besonders vorteilhaft sind die geringen Abmessungen der Seillängegeber und deren Verankerungspunkte, die hohe Messgenauigkeit und Abtastrate sowie die hohe Wartungsfreund- lichkeit des erfindungemäßen Systems.The small dimensions of the rope length sensors and their anchoring points, the high measuring accuracy and sampling rate and the high ease of maintenance of the system according to the invention are particularly advantageous.
Das erfindungsgemäße Verfahren zum Messen einer horizontalen Auslenkung, eines Last- aufnahmemittels in Relation zu einet Position einer Krankatze, wobei das Lastaufnahmemittel an einer Vielzahl von Tragseilen an der Krankatze hängend angeordnet ist, weist folgende Schritte auf:The method according to the invention for measuring a horizontal deflection of a load suspension device in relation to a position of a crane trolley, the load suspension device being arranged suspended from the crane trolley on a plurality of support cables, has the following steps:
Messen einer ersten Diagonalstrecke zwischen einem hinteren Bereich der Krankatze und einem vorderen Bereich des ILastaufnahmemittels und gleichzei- tiges Messen einer zweiten Diagonalstrecke zwischen einem vorderen Bereich der Krankatze und einem hinteren Bereich des Lastaufhahmemittels; Übermitteln der beiden Meßwerte an ein elektronisches Datenverarbeitungsmit- tehMeasuring a first diagonal distance between a rear area of the crane trolley and a front area of the I load receiver and at the same time measuring a second diagonal distance between a front area of the crane trolley and a rear area of the load-carrying means; Transmission of the two measured values to an electronic data processing center
Einsetzen der beiden Meßwerte in einen vorbestimmten Algorithmus, der in einer mit dem elektronischen Datenverarbeitungsmittel verbundenen Recheneinheit hinterlegt istInserting the two measured values into a predetermined algorithm, which is stored in a computing unit connected to the electronic data processing means
Ermitteln eines Ausgangswertes, der der horizontalen Auslenkung des Lastaufhahmemittels gegenüber der Krankatze entsprichtDetermining an initial value which corresponds to the horizontal deflection of the load suspension device relative to the crane trolley
Das erfindungsgemäße System basiert auf der Erkenntnis, daß bei der Verwendung von mindestens zwei Seillängengeber, die jeweils an der Krankatze und/oder jeweils an dem Lastaufhahmemittel angeordnet sind, die horizontalen Auslenkung des Lastaufnahmemittels bei mindestens einem der Seillängengeber eine Verkürzung der Sefllänge bewirkt, wäh- rend diese horizontale Auslenkung bei dem mindestens einen anderen Seillängengeber eine Verlängerung der Seillänge bewirkt Hierzu sind die mindestens beiden Seülängengeber vorteilhafterweise so an der Krankatze bzw. an dem Lastaufhahmemittel angeordnet, daß sich die beiden Seile der mindestens beiden Seülängengeber überkreuzen.The system according to the invention is based on the knowledge that when at least two rope length transmitters are used, which are each arranged on the crane trolley and / or respectively on the load suspension means, the horizontal deflection of the load suspension means in at least one of the rope length transmitters causes a shortening of the rope length. rend this horizontal deflection in the at least one other rope length sensor causes an extension of the rope length. For this purpose, the at least two rope length sensors are advantageously arranged on the crane trolley or on the load suspension means in such a way that the two cables of the at least two rope length sensors cross each other.
Eine derartige Oberkreuzung der mindestens beiden Seile wird dadurch erreicht, daß einer der mindestens zwei Seillängengeber in einem vorderen Bereich der Krankatze oder des Lastaufhahmemittels angeordnet ist, während der andere der mindestens zwei Seülängengeber in einem hinteren Bereich des Lastaufhahmemittels oder der Krankatze angeordnet ist und der Verankerungspunkt der jeweiligen Seile in diagonaler Weise von dem jeweiligen vorderer Bereich in den jeweiligen hinteren Bereich und von der Krankatze zu dem Lastaufnahmemittel gespannt wird. Bei dieser Art der Verspannung ist es unerheblich, ob die Seülängengeber auf der selben Seite der Krankatze oder des Lastaufhahmemittels angeordnet ist, solange eine zumindest räumliche Überkreuzung gewährleistet werden kann.Such an upper crossing of the at least two ropes is achieved in that one of the at least two rope length transmitters is arranged in a front area of the crane trolley or the load suspension device, while the other of the at least two rope length transmitters is arranged in a rear area of the load suspension device or the crane trolley and the anchoring point of the respective ropes is stretched diagonally from the respective front area into the respective rear area and from the crane trolley to the load suspension device. With this type of bracing, it is irrelevant whether the cable length sensor is arranged on the same side of the crane trolley or the load suspension device, as long as an at least spatial crossover can be ensured.
Durch diese erfindungsgemäße Verspannung der mindestens beiden Seile und die Seillängenmessung der Seülängengeber wird durch Anwendung einfacher trigonometrischer Beziehungen, die in einem Algorithmus in einer Recheneinheit hinterlegt sind, die horizontale Auslenkung des Lastaufnahmemittels exakt bestimmt Da für weitere Berechnungen des Bewegungssystems Krankatze/Las taufhah emittel vorzugsweise der Auslenkwinkel erforderlich ist, wird durch einen zweiten mathematischen Schritt, ebenfalls unter Verwendung einfacher trigonometrischer Beziehungen, der Auslenkwinkel, der zwischen der Vertikalen und den Tragseüen aufgespannt wird, ermittelt Der Auslenkwinkel kann sodann eine Ein- gangsgröße für die nachfolgenden Berechnungen des Bewegungssystems Krankat- ze/Lastaufnahme ittel büden.By this tensioning of the at least two ropes according to the invention and the rope length measurement of the rope length sensor, the horizontal deflection of the load suspension means is determined exactly for further calculations of the by using simple trigonometric relationships, which are stored in an algorithm in a computing unit Movement system crane trolley / Las taufhah means preferably the deflection angle is required, the deflection angle, which is spanned between the vertical and the Tragseüen, is determined by a second mathematical step, also using simple trigonometric relationships. The deflection angle can then be an input variable for the load the following calculations of the movement system crane trolley / load suspension.
Als besonders vorteilhaft hat sich erwiesen, wenn die beiden Seülängengeber so angeordnet werden, daß ein maximal möglicher Abstand zwischen beiden Seülängengebern besteht Denn durch eine solche maximale Beabstandung wird erzielt, daß die Längendifferenz der beiden Seüe möglichst groß, und somit die Genauigkeit des Messergebnisses erhöht wird.It has proven to be particularly advantageous if the two flank length transmitters are arranged in such a way that there is a maximum possible distance between the two flank length transmitters because such a maximum spacing ensures that the length difference between the two flanks is as large as possible, and thus the accuracy of the measurement result is increased .
Bei einer anderen Ausfuhrungsform des erfindungsgemäßen Systems werden die beiden Seüe nicht überkreuzt geführt, sondern büden ein räumliches „N", wobei die Veranke- rungspunkte der jeweiligen Seüe vorteilhafterweise im Scheitelpunkts dieses räumlichen „V" angeordnet ist Zur Berechnung der horizontalen Auslenkung werden in gleicher Weise einfache trigonometrische Berechnungen angestelltIn another embodiment of the system according to the invention, the two lakes are not crossed, but instead have a spatial “N”, the anchoring points of the respective lakes being advantageously arranged at the apex of this spatial “V”. The horizontal deflection is calculated in the same way made simple trigonometric calculations
Neben den Eingangs erwähnten Einsatzgebieten des Standes der Technik ist ein Einsatz des erfindungsgemäßen Systems in der Hochregdtechnik besonders vorteilhaft.In addition to the fields of application of the prior art mentioned at the outset, use of the system according to the invention in high-rise technology is particularly advantageous.
Eine bevorzugte Ausfuhrungsform der vorliegenden Erfindung wird anhand nachfolgender Figuren näher erläutertA preferred embodiment of the present invention is explained in more detail with reference to the following figures
Figur 1 zeigt eine bevorzugte Ausführungsform des erfindungsgemäßen Systems;Figure 1 shows a preferred embodiment of the system according to the invention;
Figur 2 zeigt das erfindungsgemäße System der Figur 1 in Bewegung.Figure 2 shows the inventive system of Figure 1 in motion.
In Figur 1 wird ein erfindungsgemäßes System gezeigt, bestehend aus einer Krankatze 1, die über einen Motor M zum Transport auf der Schiene 11 angetrieben wird. Die Energie- zufuhr des Motors M ist nicht dargestellt Die Steuerung des Motors M wird über eine Steuerungseinheit S vorgenommen, die operativ mit dem Motor M verbunden ist, jedoch nicht zwingendermaßen an der Krankatze angeordnet sein muß. In die Steuerungseinheit integriert oder zumindest damit verbunden ist ein Datenverarbeitungsmittel, vorzugsweise ein Prozessor mit einer Recheneinheit, in dem entsprechende mathematische Algorithmen hinterlegt sind. In der in Figur 1 dargestellten bevorzugten Ausführungsform sind an der Krankatze 1 zwei Seülängengeber 3, 4 angeordnet, deren Seüe 8, 9 diagonal nach unten in Richtung auf das Lastaufhahmemittel 2 hingespannt und dort in einem Verankerungspunkt 5 bzw. 6 befestigt sind. Die Länge der Seüe 8 und 9 ist in der Ruheposition der Figur 1 im wesentlichen gleich, da, aufgrund der Schwerkraft, das Lastaufhahmemittd 2 lotrecht unterhalb der Krankatze an den Tragseüen 10a und 10b, sowie an den nicht dargestellten Tragseüen 10c und lOd hängt Die Länge der Tragseüe 10a bis lOd wird ebenfalls über den Motor M gesteuert oder über einen gesonderten Antrieb.1 shows a system according to the invention, consisting of a crane trolley 1, which is driven by a motor M for transport on the rail 11. The energy supply of the motor M is not shown. The control of the motor M is carried out via a control unit S, which is operatively connected to the motor M, but does not necessarily have to be arranged on the crane trolley. A data processing means is preferably integrated into the control unit or at least connected to it a processor with a computing unit in which corresponding mathematical algorithms are stored. In the preferred embodiment shown in FIG. 1, two cable length transmitters 3, 4 are arranged on the crane trolley 1, the cable 8, 9 of which are stretched diagonally downward in the direction of the load-carrying means 2 and fastened there in an anchoring point 5 and 6, respectively. The length of the lugs 8 and 9 is essentially the same in the rest position of FIG. 1, because, due to the force of gravity, the load suspension means 2 perpendicularly below the crane trolley hangs on the carrying lugs 10a and 10b and on the carrying lugs 10c and 10d, not shown, the length the Tragseüe 10a to 10d is also controlled by the motor M or by a separate drive.
Zur Messung der Seillängen werden beispielsweise Seülängengeber der Firma TR Electronic GmbH verwendet, die über einen Absolut- oder Inkremetal-Encoder verfügen.For example, rope length encoders from TR Electronic GmbH are used to measure the rope lengths, which have an absolute or incremental encoder.
Erreicht die Krankatze einen bestimmten Geschwindigkeits- oder Beschleunigungswert, werden die Tragseüe 10a bis lOd entgegen der Bewegungsrichtung aufgrund der Trägheit um einen bestimmten Wert A ausgelenkt,- der einem bestimmten Winkel α entspricht In Figur 2 ist die Bewegungslage des erfindungsgemäßen Systems in einem bestimmten Zeitpunkt dargestellt, in dem die Krankatze eine Geschwindigkeit v erreicht hat Als Folge der horizontalen Auslenkung des Lastaufhahmemittels 2 um den Betrag A bzw. den Winkel <X tritt eine Längenveränderung der Seüe 8 und 9 der Seülängengeber 3 und 4 auf. Diese Änderung der Seillangen wird von den Seillängengebern 3 und 4 gemessen und an die in dem elektronischen Datenverarbeitungsmittd S vorgesehenen Recheneinheit übermittelt Nach dem Abarbeiten von mathematischen Algorithmen gibt die Recheneinheit die Auslenkung A als Strecke der absoluten Auslenkung, oder wahlweise den Winkd α als Ausgangswert an. Dieser Wert wird sodann in das Steuersystem zur Steuerung des Motors M eingegeben und dort entsprechend, beispielsweise zur Penddunterdrückung des Lastaufnahmemittels wdter verarbdtet If the crane trolley reaches a certain speed or acceleration value, the support lugs 10a to 10d are deflected against the direction of movement due to the inertia by a certain value A, which corresponds to a certain angle α. FIG. 2 shows the position of movement of the system according to the invention at a certain point in time , in which the crane trolley has reached a speed v. As a result of the horizontal deflection of the load-carrying means 2 by the amount A or the angle <X, a change in the length of the surface 8 and 9 of the surface length transmitter 3 and 4 occurs. This change in the rope lengths is measured by the rope length sensors 3 and 4 and transmitted to the computing unit provided in the electronic data processing means S. After mathematical algorithms have been processed, the computing unit specifies the deflection A as a distance of the absolute deflection, or optionally the angle α as the initial value. This value is then input into the control system for controlling the motor M and processed there accordingly, for example to suppress the pendulum of the load handler

Claims

Patentansprüche claims
1. System zur Messung einer horizontalen Auslenkung (A) eines Lastaufhahmemittels (2) in Relation zu einer Position einer Krankatze (1), wobd das Lastaufhahmemittel1. System for measuring a horizontal deflection (A) of a load suspension device (2) in relation to a position of a crane trolley (1), the load suspension device wobd
(2) an einer Vielzahl von Tragseüen (10a, 10b, 10c, lOd) an der Krankatze (1) hängend angeordnet ist, bestehend aus mindestens zwd Seülängengebern (3, 4), die mit einem elektronischen Datenverarbdtungsmittd (S) operativ verbunden sind, und die Seüe (8, 9) der mindestens zwd Seülängengeber (3, 4) so zwischen Krankatze (1) und Lastaufhahmemittd (2) angeordnet sind, daß eine mit dem elektronischen Datenverarbdtungsmittd (S) verbundene Recheneinheit die horizontale Auslenkung (A) des Lastaufhahmemittels (2) in Relation zur Position der Krankatze (1) über die Länge der jeweiligen Seüe (8, 9) der Seülängengeber (3, 4) bestimmt(2) is attached to a plurality of support lugs (10a, 10b, 10c, lOd) hanging from the crane trolley (1), consisting of at least two cable length transmitters (3, 4) which are operatively connected to an electronic data processing means (S), and the sea (8, 9) of the at least two rope length transmitters (3, 4) are arranged between the crane trolley (1) and the load receiving means (2) in such a way that a computing unit connected to the electronic data processing means (S) detects the horizontal deflection (A) of the load receiving means (2) in relation to the position of the crane trolley (1) over the length of the respective Seüe (8, 9) of the flank length sensor (3, 4) determined
2. System nach Anspruch 1, wobd die Se e (8, 9) der mindestens zwd Seülängengebern (3, 4) so angeordnet sind, daß sich die Länge des Seils (8) des ersten Seillängengebers (3) aufgrund einer horizontalen Auslenkung des Lastaufhahmemittels gegenüber dem Zustand ohne horizontaler Ausrichtung verkürzt, während sich gleichzeitig die Länge des Seils (9) des zwdten2. System according to claim 1, wobd the Se e (8, 9) of the at least two rope length sensors (3, 4) are arranged so that the length of the rope (8) of the first rope length sensor (3) due to a horizontal deflection of the load receiving means shortened compared to the state without horizontal alignment, while at the same time the length of the rope (9) of the second
Seillängengebers (4) verlängertRope length sensor (4) extended
3. System nach Anspruch 2, wobd die mindestens zwd Seülängengeber (3, 4) so angeordnet sind, daß sich deren Seüe (8, 9) überkreuzen.3. System according to claim 2, wobd the at least two length sensors (3, 4) are arranged so that their saue (8, 9) cross each other.
4. System nach einem der Ansprüche 1 bis 3, wobd zumindest einer der Seülängengeber (3, 4) an der Krankatze angeordnet ist4. System according to one of claims 1 to 3, wobd at least one of the cable length transmitters (3, 4) is arranged on the crane trolley
5. System nach einem der Ansprüche 1 bis 3, wobd zumindest einer der Seülängengeber (3, 4) an dem Lastaufhahmemittd angeordnet ist 5. System according to one of claims 1 to 3, wherein at least one of the cable length sensors (3, 4) is arranged on the load receiving means
6. System nach einem der vorherigen Ansprüche, wobd die Seülängengeber (3, 4) nicht auf der selben Sdte der Krankatze (1) oder des Lastaufhahmemittels (2) angeordnet sind.6. System according to one of the preceding claims, the rope length sensors (3, 4) not being arranged on the same south of the crane trolley (1) or of the load suspension means (2).
7. System nach einem der Ansprüche 1 bis 6, wobd einer der mindestens zwd7. System according to any one of claims 1 to 6, one of the at least two
Seülängengeber (3) in einem vorderen Berdch der Krankatze (1) angeordnet ist und sich dessen Seü (8) im wesentlichen diagonal bis in einen Verankerungspunkt (5) in einen hinteren Berdch des Lastaufnahmemittels (2) erstreckt während der andere der mindestens zwd Seülängengeber (4) in einem hinteren Berdch der Krankatze (1) angeordnet ist und sich dessen Seü (9) im wesentlichen diagonal bis in einenThe length indicator (3) is arranged in a front area of the crane trolley (1) and its face (8) extends essentially diagonally to an anchoring point (5) in a rear area of the load-carrying device (2), while the other of the at least two length indicators ( 4) is arranged in a rear area of the crane trolley (1) and its section (9) is essentially diagonal into one
Verankerungspunkt (6) in einem vorderen Berdch des Lastaufhahmemittels (2) erstrecktAnchoring point (6) extends in a front region of the load-carrying means (2)
8. Verfahren zum Messen einer horizontalen Auslenkung (A) eines Lastaufhahmemittels (2) in Relation zu einer Position einer Krankatze (1), wobd das Lastaufhahmemittd (2) an einer Vielzahl von Tragseüen (10a, 10b, 10c, lOd) an der Krankatze (1) hängend angeordnet ist, insbesondere unter Verwendung eines System nach einem der vorherigen Ansprüche, bestehend aus den Schritten: Messen einet ersten Diagonalstrecke zwischen einem hinteren Bereich der Krankatze (1) und einem vorderen Berdch des Lastaufnahmemittels (2) und gldchzdtiges Messen einer zwdten Diagonalstrecke zwischen einem vorderen Berdch der Krankatze (1) und einem hinteren Berdch des Lastaufnahmemittels; Übermitteln der bdden Meßwerte an ein dektronisch.es Datenverarbdtungsmittd; Einsetzen der bdden Meßwerte in einen vorbestimmten Algorithmus, der in einer mit dem dektronischen Datenverarbdtungsmittd verbundenen Recheneinhdt hinterlegt ist;8. A method for measuring a horizontal deflection (A) of a load suspension device (2) in relation to a position of a crane trolley (1), the load suspension device (2) on a plurality of support lugs (10a, 10b, 10c, lOd) on the crane trolley (1) is arranged in a hanging manner, in particular using a system according to one of the preceding claims, comprising the steps: measuring a first diagonal distance between a rear region of the crane trolley (1) and a front area of the load-carrying device (2) and measuring a second one as soon as possible Diagonal distance between a front area of the crane trolley (1) and a rear area of the load handling device; Transmission of the measured values to a dektronisch.es Datenverarbdtungsmittd; Inserting the measured values in a predetermined algorithm, which is stored in a computing unit connected to the electronic data processing means;
Ermitteln eines Ausgangwertes, der der horizontalen Auslenkung (A) des Lastaufhahmemittels (2) gegenüber der Krankatze (1) entsprichtDetermining an initial value which corresponds to the horizontal deflection (A) of the load suspension means (2) relative to the crane trolley (1)
9. Verfahren zum Messen einer horizontalen Auslenkung (A) eines Lastaufhahmemittds (2) in Relation zu einer Position einer Krankatze (1), wobd das Lastaufhahmemittd (2) an einer Vielzahl von Tragseüen (10a, 10b, 10c, lOd) an der Krankatze (1) hängend angeordnet ist, insbesondere unter Verwendung eines System nach einem der vorherigen Ansprüche, bestehend aus den Schritten: Messen einer ersten Strecke zwischen einem hinteren Berdch der Krankatze (1) und einem Zentralberdch des Lastaufhahmemittels (2) und gldchzdtiges Messen einer zwdten Strecke zwischen einem vorderen Bereich der Krankatze (1) und dem9. A method for measuring a horizontal deflection (A) of a load pick-up device (2) in relation to a position of a crane trolley (1), the load pick-up device (2) being attached to a plurality of support lugs (10a, 10b, 10c, lOd) the crane trolley (1) is arranged in a hanging manner, in particular using a system according to one of the preceding claims, comprising the steps: measuring a first distance between a rear area of the crane trolley (1) and a central area of the load-carrying means (2) and measuring one at a time between the front area of the crane trolley (1) and the
Zentralberdch des Lastaufhahmemittels;Central area of the lifting device;
Übermitteln der bdden Meßwerte an ein elektronisches Datenverarbdtungsmittel; Einsetzen der bdden Meßwerte in einen vorbestimmten Algorithmus, der in einer mit dem elektronischen Datenverarbdtungsmittd verbundenen Recheneinhdt hinterlegt ist;Transmission of the measured values to an electronic data processing means; Inserting the measured values into a predetermined algorithm which is stored in a computing unit connected to the electronic data processing means;
Ermitteln eines Ausgangwertes, der der horizontalen Auslenkung (A) des Lastaufhahmemittels (2) gegenüber der Krankatze (1) entsprichtDetermining an initial value which corresponds to the horizontal deflection (A) of the load suspension means (2) relative to the crane trolley (1)
10. Verfahren nach Anspruch 8 oder 9, wobd der Ausgangswert ein Winkdwert (α) ist10. The method according to claim 8 or 9, wherein the output value is an angle value (α)
11. Verwendung von mindestens zwd Seülängengebern, insbesondere nach einem Verfahren der Ansprüche 8 oder 9, zur Messung einer horizontalen Auslenkung (A) eines Lastaufhahmemittels (2) in Relation zu einer Position einer Krankatze (1), wobd das Lastaufhahmemittd (2) an einer Vielzahl von Tragseüen (10a, 10b, 10c, lOd) an der Krankatze (1) hängend angeordnet ist, bestehend aus mindestens zwd11. Use of at least two cable length transmitters, in particular according to a method of claims 8 or 9, for measuring a horizontal deflection (A) of a load suspension device (2) in relation to a position of a crane trolley (1), the load suspension device (2) on one A plurality of Tragseüen (10a, 10b, 10c, lOd) is arranged hanging on the crane trolley (1), consisting of at least two
Seülängengebern (3, 4), die mit einem dektronischen Datenverarbdtungsmittd (S) operativ verbunden sind, und die Seüe (8, 9) der mindestens zwd Seülängengeber (3, 4) so zwischen Krankatze (1) und Lastaufnahmemittd (2) angeordnet sind, daß eine mit dem dektronischen Datenverarbeitungsmittd (S) verbundene Recheneinhdt die horizontale Auslenkung (A) des Lastaufhahmemittels (2) inLength sensors (3, 4), which are operatively connected to a electronic data processing means (S), and the channels (8, 9) of the at least two length sensors (3, 4) are arranged between the crane trolley (1) and the load receiver (2), that a computing unit connected to the electronic data processing means (S) detects the horizontal deflection (A) of the load-carrying means (2) in
Relation zur Position der Krankatze (1) über die Länge der jeweiligen Seüe (8, 9) der Seülängengeber (3, 4) bestimmt Relation to the position of the crane trolley (1) over the length of the respective Seüe (8, 9) of the flank length transmitter (3, 4) determined
EP02753047A 2001-05-08 2002-05-08 System and method for measuring a horizontal deviation of a load receiving element Expired - Lifetime EP1390286B1 (en)

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DE10122142 2001-05-08
DE10122142A DE10122142A1 (en) 2001-05-08 2001-05-08 System and method for measuring a horizontal deflection of a load handler
PCT/EP2002/005102 WO2002090234A1 (en) 2001-05-08 2002-05-08 System and method for measuring a horizontal deviation of a load receiving element

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AT (1) ATE385990T1 (en)
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DE10122142A1 (en) 2002-11-21
PT1390286E (en) 2008-05-20
EP1390286B1 (en) 2008-02-13
ATE385990T1 (en) 2008-03-15
US20040149056A1 (en) 2004-08-05
ES2301663T3 (en) 2008-07-01
WO2002090234A1 (en) 2002-11-14
US6962091B2 (en) 2005-11-08
DE50211677D1 (en) 2008-03-27
DE20108207U1 (en) 2002-01-10

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