EP1390286B1 - System und verfahren zur messung einer horizontalen auslenkung eines lastaufnahmemittels - Google Patents

System und verfahren zur messung einer horizontalen auslenkung eines lastaufnahmemittels Download PDF

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Publication number
EP1390286B1
EP1390286B1 EP02753047A EP02753047A EP1390286B1 EP 1390286 B1 EP1390286 B1 EP 1390286B1 EP 02753047 A EP02753047 A EP 02753047A EP 02753047 A EP02753047 A EP 02753047A EP 1390286 B1 EP1390286 B1 EP 1390286B1
Authority
EP
European Patent Office
Prior art keywords
load receiving
receiving means
crane trolley
cable length
data processing
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.)
Expired - Lifetime
Application number
EP02753047A
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German (de)
English (en)
French (fr)
Other versions
EP1390286A1 (de
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
Application filed by Krusche Lagertechnik AG filed Critical Krusche Lagertechnik AG
Publication of EP1390286A1 publication Critical patent/EP1390286A1/de
Application granted granted Critical
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Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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-carrying means in relation to a position of a trolley, wherein the load-receiving means is arranged suspended on a plurality of supporting cables on the trolley, and to a method for measuring a horizontal deflection of a load-receiving means in Relation to a position of a trolley, wherein the load-receiving means is arranged on a plurality of support cables hanging on the trolley.
  • Pendulum damping devices from the company CePLuS GmbH in Magdeburg are known, which use high-performance cameras with microprocessors to measure the horizontal deflection of the load-handling device. These high-performance cameras are mounted on a trolley and measure the load movements to adjust the speed of the trolley while driving so that no unwanted vibrations of the loads occur.
  • reflectors are mounted on the load handler.
  • the camera mounted on the trolley is down, i. directed towards the load-carrying means and determines the position of the reflector relative to the trolley. From these position data of the reflector, the deflection of the lifting device is calculated.
  • a system for measuring a horizontal deflection of a lifting device in relation to a position of a crane trolley, wherein the load receiving means is arranged suspended on a plurality of parallel support cables on the trolley, at least two rope length sensors are provided which are operative with a data processing means, preferably a processor are connected, wherein the separate ropes of the at least two rope length sensors are not arranged parallel in Katzfahrtraum between trolley and load receiving means, and wherein a data processing means connected to the computing unit determines the horizontal deflection of the load receiving means in relation to the position of the trolley over the length of the respective ropes of Seillygeber ,
  • the inventive system is based on the finding that when using at least two rope length sensors, which are each arranged on the trolley and / or each on the load receiving means, the horizontal deflection of the lifting device causes a shortening of the rope length at least one of the rope length sensor, while this horizontal deflection in which 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 receiving means in such a way that the two ropes of the at least two rope length sensors intersect.
  • Such a crossing of the at least two ropes is achieved in that one of the at least two rope length sensors is arranged in a front region of the crane trolley or load handling device, while the other of the at least two rope length sensors is arranged in a rear region of the load suspension device or crane trolley and the anchoring point the respective ropes is biased diagonally from the respective front area into the respective rear area and from the trolley to the load receiving means.
  • this type of bracing it is irrelevant whether the rope length sensor is arranged on the same side of the trolley or the load-carrying means, as long as an at least spatial crossover can be ensured.
  • bracing of at least two ropes and the rope length measurement of the rope length sensor is determined by applying simple trigonometric relationships, which are deposited in an algorithm in a computing unit, the horizontal deflection of the lifting device exactly.
  • the deflection angle is required, is determined by a second mathematical step, also using simple trigonometric relationships, the deflection angle, which is spanned between the vertical and the support cables. The deflection angle can then form an input variable for the subsequent calculations of the movement system crane / load receiving means.
  • the two cables are not crossed, but form a spatial "V", wherein the anchoring points of the respective ropes is advantageously arranged at the apex of this spatial "V".
  • simple trigonometric calculations are performed in the same way.
  • FIG. 1 a system according to the invention is shown, consisting of a trolley 1, which is driven by a motor M for transport on the rail 11.
  • the power supply of the motor M is not shown.
  • the control of the motor M is made via a control unit S, which is operatively connected to the motor M, but need not necessarily be arranged on the trolley.
  • a data processing means preferably a processor with a computing unit in which appropriate mathematical algorithms are stored.
  • two rope length sensors 3, 4 are arranged on the crane rake 1, the ropes 8, 9 are stretched diagonally downwards in the direction of the load-receiving means 2 and fixed there in an anchoring point 5 and 6 respectively.
  • the length of the ropes 8 and 9 is in the rest position of FIG. 1 essentially the same, because, due to gravity, the load-carrying means 2 vertically below the trolley on the support cables 10a and 10b, as well as to the support cables 10c and 10d, not shown hangs.
  • the length of the support cables 10a to 10d is also controlled by the motor M or via a separate drive.
  • rope length encoders from TR Electronic GmbH are used which have an absolute or incremental encoder.
  • the carrying cables 10a to 10d are deflected counter to the direction of movement due to the inertia by a specific value A which corresponds to a specific angle ⁇ .
  • A which corresponds to a specific angle ⁇ .
  • FIG. 2 the position of movement of the system according to the invention is shown at a certain time in which the trolley has reached a speed v.
  • the arithmetic unit After the processing of mathematical algorithms, the arithmetic unit indicates the deflection A as a path of the absolute deflection, or optionally the angle ⁇ as the output value. This value is then entered into the control system for controlling the motor M and further processed there accordingly, for example, for pendulum suppression of the lifting device.

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)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Details Of Television Scanning (AREA)
EP02753047A 2001-05-08 2002-05-08 System und verfahren zur messung einer horizontalen auslenkung eines lastaufnahmemittels Expired - Lifetime EP1390286B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10122142A DE10122142A1 (de) 2001-05-08 2001-05-08 System und Verfahren zur Messung einer horizontalen Auslenkung eines Lastaufnahmemittels
DE10122142 2001-05-08
PCT/EP2002/005102 WO2002090234A1 (de) 2001-05-08 2002-05-08 System und verfahren zur messung einer horizontalen auslenkung eines lastaufnahmemittels

Publications (2)

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

Family

ID=7683901

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02753047A Expired - Lifetime EP1390286B1 (de) 2001-05-08 2002-05-08 System und verfahren zur messung einer horizontalen auslenkung eines lastaufnahmemittels

Country Status (7)

Country Link
US (1) US6962091B2 (pt)
EP (1) EP1390286B1 (pt)
AT (1) ATE385990T1 (pt)
DE (3) DE20108207U1 (pt)
ES (1) ES2301663T3 (pt)
PT (1) PT1390286E (pt)
WO (1) WO2002090234A1 (pt)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017119928A1 (de) 2016-09-27 2018-03-29 Westfalia Intralogistic Gmbh Logistiksystem
WO2020239462A1 (de) 2019-05-29 2020-12-03 Westfalia Intralogistic Gmbh Lagersystem

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DK1326798T3 (da) * 2000-10-19 2006-08-14 Liebherr Werk Nenzing Kran eller gravemaskine til omladning af en i et lasttov hængende last med lastpenduldæmpning
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
DE102008023410A1 (de) 2008-05-14 2009-11-19 Westfalia Intralogistic Gmbh Vorrichtung zur Messung einer horizontalen Auslenkung eines an Tragseilen pendelbar aufgehängten Lastaufnahmemittels
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
KR20170045209A (ko) * 2014-07-31 2017-04-26 피에이알 시스템즈, 인코포레이티드 크레인 움직임 제어
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

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DE1756441A1 (de) * 1968-05-21 1970-04-30 Demag Ag Pendelausgleichregelung
US3638211A (en) * 1969-10-08 1972-01-25 Litton Systems Inc Crane safety system
US3740534A (en) * 1971-05-25 1973-06-19 Litton Systems Inc Warning system for load handling equipment
US3997071A (en) * 1975-08-14 1976-12-14 Laserplane Corporation Method and apparatus for indicating effective digging depth of a backhoe
US4352460A (en) * 1977-07-18 1982-10-05 Tri-Matic, Inc. Automatic furrow guide
JPS5861429A (ja) * 1981-10-07 1983-04-12 Toshiba Corp 移動マイクロホン装置
JPS58162811A (ja) * 1982-03-23 1983-09-27 Mitsubishi Heavy Ind Ltd トランスフア−クレ−ン走行位置検出方法
KR100218902B1 (ko) * 1993-12-29 1999-10-01 캐빈엠.리어든 상하역 장비의 경사각도 표시장치
KR970003508B1 (ko) * 1994-03-25 1997-03-18 한국원자력연구소 크레인의 진동방지를 위한 속도 제어 방법
US5785191A (en) * 1996-05-15 1998-07-28 Sandia Corporation Operator control systems and methods for swing-free gantry-style cranes
US5961563A (en) * 1997-01-22 1999-10-05 Daniel H. Wagner Associates Anti-sway control for rotating boom cranes
US6496765B1 (en) * 2000-06-28 2002-12-17 Sandia Corporation Control system and method for payload control in mobile platform cranes
DE60324783D1 (de) * 2002-05-08 2009-01-02 Stanley Works Methode und vorrichtung zur lasthandhabung mit einem intelligenten hilfssystem

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017119928A1 (de) 2016-09-27 2018-03-29 Westfalia Intralogistic Gmbh Logistiksystem
WO2018060177A1 (de) 2016-09-27 2018-04-05 Westfalia Intralogistic Gmbh Logistiksystem
WO2020239462A1 (de) 2019-05-29 2020-12-03 Westfalia Intralogistic Gmbh Lagersystem

Also Published As

Publication number Publication date
EP1390286A1 (de) 2004-02-25
PT1390286E (pt) 2008-05-20
ATE385990T1 (de) 2008-03-15
US20040149056A1 (en) 2004-08-05
DE20108207U1 (de) 2002-01-10
DE50211677D1 (de) 2008-03-27
WO2002090234A1 (de) 2002-11-14
ES2301663T3 (es) 2008-07-01
US6962091B2 (en) 2005-11-08
DE10122142A1 (de) 2002-11-21

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