EP1390286A1 - Systeme et procede pour mesurer la deviation horizontale d'un support de charge - Google Patents

Systeme et procede pour mesurer la deviation horizontale d'un support de charge

Info

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
Authority
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
Other languages
German (de)
English (en)
Other versions
EP1390286B1 (fr
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
Original Assignee
Krusche Lagertechnik 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 Krusche Lagertechnik AG filed Critical Krusche Lagertechnik AG
Publication of EP1390286A1 publication Critical patent/EP1390286A1/fr
Application granted granted Critical
Publication of EP1390286B1 publication Critical patent/EP1390286B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime 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 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)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Details Of Television Scanning (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
EP02753047A 2001-05-08 2002-05-08 Systeme et procede pour mesurer la deviation horizontale d'un support de charge Expired - Lifetime EP1390286B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10122142 2001-05-08
DE10122142A DE10122142A1 (de) 2001-05-08 2001-05-08 System und Verfahren zur Messung einer horizontalen Auslenkung eines Lastaufnahmemittels
PCT/EP2002/005102 WO2002090234A1 (fr) 2001-05-08 2002-05-08 Systeme et procede pour mesurer la deviation horizontale d'un support de charge

Publications (2)

Publication Number Publication Date
EP1390286A1 true EP1390286A1 (fr) 2004-02-25
EP1390286B1 EP1390286B1 (fr) 2008-02-13

Family

ID=7683901

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02753047A Expired - Lifetime EP1390286B1 (fr) 2001-05-08 2002-05-08 Systeme et procede pour mesurer la deviation horizontale d'un support de charge

Country Status (7)

Country Link
US (1) US6962091B2 (fr)
EP (1) EP1390286B1 (fr)
AT (1) ATE385990T1 (fr)
DE (3) DE10122142A1 (fr)
ES (1) ES2301663T3 (fr)
PT (1) PT1390286E (fr)
WO (1) WO2002090234A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2119661A2 (fr) 2008-05-14 2009-11-18 Westfalia Intralogistic GmbH Dispositif de mesure d'une déviation horizontale d'un moyen de réception de charge suspendu de manière oscillante sur des câbles de portage

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WO2002032805A1 (fr) * 2000-10-19 2002-04-25 Liebherr-Werk Nenzing Gmbh Grue ou excavateur pour retourner une charge suspendue a un cable porteur avec amortissement du mouvement pendulaire de la charge
DE10154787A1 (de) 2001-11-08 2003-05-28 Krusche Lagertechnik Ag System zum Bedienen von Lagereinheiten
DE10233875B4 (de) * 2002-07-25 2008-08-14 Siemens Ag Krananlage, insbesondere Containerkran
DE10245970B4 (de) * 2002-09-30 2008-08-21 Siemens Ag Verfahren bzw. Vorrichtung zur Erkennung einer Last eines Hebezeuges
US7656459B2 (en) * 2006-04-20 2010-02-02 Pacific Systems Solution Llc Crane hook and trolley camera system
DE102007034153A1 (de) * 2007-07-21 2009-01-29 Westfalia Logistics Technologies Gmbh & Co. Kg Transportvorrichtung zum Transportieren von Lasten zu Lagerplätzen, insbesondere in einem Hochregallager
DE102009041661A1 (de) * 2009-09-16 2011-03-24 Liebherr-Werk Nenzing Gmbh, Nenzing System zur automatischen Erfassung von Lastzyklen einer Maschine zum Umschlagen von Lasten
FI123784B (fi) * 2011-03-25 2013-10-31 Konecranes Oyj Järjestely kuormauselimen heilahduksen vaimentamiseksi nosturissa
US9096294B1 (en) * 2011-06-20 2015-08-04 The United States Of America As Represented By The Secretary Of The Navy Trolley-payload inter-ship transfer system
DE102011078310A1 (de) 2011-06-29 2013-01-03 Krones Ag System zum Bewegen einer Last
US9321614B2 (en) 2014-01-17 2016-04-26 Mi-Jack Products, Inc. Crane trolley and hoist position homing and velocity synchronization
JP2017522248A (ja) * 2014-07-31 2017-08-10 パー システムズ， インコーポレイテッド クレーン運動制御
DE102017119928A1 (de) 2016-09-27 2018-03-29 Westfalia Intralogistic Gmbh Logistiksystem
CN106744322B (zh) * 2016-12-15 2018-09-14 中国矿业大学 一种测量吊盘转动角度的方法
US10583557B2 (en) 2017-02-10 2020-03-10 GM Global Technology Operations LLC Redundant underactuated robot with multi-mode control framework
CN108910709B (zh) * 2018-06-04 2020-07-10 上海工程技术大学 一种桥式起重机防摇传感器的位置标定方法
DE102019128778A1 (de) 2019-05-29 2020-12-03 Westfalia Intralogistic Gmbh Lagersystem

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2119661A2 (fr) 2008-05-14 2009-11-18 Westfalia Intralogistic GmbH Dispositif de mesure d'une déviation horizontale d'un moyen de réception de charge suspendu de manière oscillante sur des câbles de portage
DE102008023410A1 (de) 2008-05-14 2009-11-19 Westfalia Intralogistic Gmbh Vorrichtung zur Messung einer horizontalen Auslenkung eines an Tragseilen pendelbar aufgehängten Lastaufnahmemittels

Also Published As

Publication number Publication date
EP1390286B1 (fr) 2008-02-13
ES2301663T3 (es) 2008-07-01
DE10122142A1 (de) 2002-11-21
ATE385990T1 (de) 2008-03-15
DE50211677D1 (de) 2008-03-27
US6962091B2 (en) 2005-11-08
WO2002090234A1 (fr) 2002-11-14
PT1390286E (pt) 2008-05-20
US20040149056A1 (en) 2004-08-05
DE20108207U1 (de) 2002-01-10

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