EP2546185B1 - Amortisseur d'oscillations - Google Patents

Amortisseur d'oscillations Download PDF

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Publication number
EP2546185B1
EP2546185B1 EP20110173968 EP11173968A EP2546185B1 EP 2546185 B1 EP2546185 B1 EP 2546185B1 EP 20110173968 EP20110173968 EP 20110173968 EP 11173968 A EP11173968 A EP 11173968A EP 2546185 B1 EP2546185 B1 EP 2546185B1
Authority
EP
European Patent Office
Prior art keywords
linear motor
belt
vibration absorber
vibration
measuring system
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.)
Active
Application number
EP20110173968
Other languages
German (de)
English (en)
Other versions
EP2546185A1 (fr
Inventor
Gerhard Forster
Uwe Ladra
Elmar SCHÄFERS
Dietmar Stoiber
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
Priority to EP20110173968 priority Critical patent/EP2546185B1/fr
Priority to CN201210244775.4A priority patent/CN102878239B/zh
Publication of EP2546185A1 publication Critical patent/EP2546185A1/fr
Application granted granted Critical
Publication of EP2546185B1 publication Critical patent/EP2546185B1/fr
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Anticipated expiration legal-status Critical

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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 relates to a vibration damper for damping a vibration of a vibratory structure, in particular a crane.
  • the movement of the trolley moves the crane structure to a vibration in trolley travel direction.
  • the vibration amplitude may be up to one meter depending on the type and size of the crane. Since the tolerances for picking up and setting down containers are usually only in the range of a few millimeters, the crane operator must always wait until the vibration of the crane structure has decayed accordingly. This waiting for container handling costs a lot of time and causes undesirably high costs.
  • One way to reduce the vibration of a crane structure is to make the crane gantry stiffer, which is associated with great effort and material use.
  • a sufficient stiffening of the crane structure due to structural mandatory criteria is often not possible because, for example, certain requirements on the track width, the cross-sectional areas, the headroom or other features of the crane must be met.
  • vibration absorbers usually comprise a damper with spring elements and have as a central active element on an oscillating mass, which is hereinafter referred to as damper mass.
  • the damper mass is coupled in such a way with the crane structure to be damped, which oscillates in opposite directions to the crane structure.
  • the weight of the damper mass must be very high. In individual cases, the weight is up to 60 tons.
  • the present invention provides a vibration damper of the type mentioned above with a sensor device for detecting a vibration movement of the structure, a linear motor mounted on the oscillatory structure, a linear guide and along this linear guide on wheels back and forth movable, moving a damper mass
  • Linear motor car has a measuring system for detecting the actual speed and actual position of the linear motor vehicle and a control device whose Meßuccneingang is connected to the sensor device and the manipulated variable output is connected to the linear motor.
  • the basic principle of operation of the vibration damper according to the invention is that an equal, the direction of movement of the damper mass oppositely directed force is introduced into the oscillatory structure by the movement of the attached to a vibratory structure linear motor, which is used to dampen the detected via the sensor device structural vibration movement.
  • the control of the linear motor is carried out based on the data collected by the measuring system with respect to the Speed and position of the linear motor vehicle.
  • the measuring system should be designed such that only the position of the linear motor carriage in the direction of movement is measured, ie in the extension direction of the linear guide, and that it does not react to movements in the other directions in order to prevent a faulty measuring carriage position detection.
  • the measuring system has at least one provided with a pulley and held on the linear motor carriage encoder and a parallel to the linear guide of the linear motor extending on both sides firmly clamped and guided around the pulley belt.
  • both rotary encoder and belt are advantageously provided on both sides of the linear motor carriage, whereby a very stable arrangement is generated and a yawing motion is suppressed.
  • the rotary encoder is advantageously designed as an optical servomotor encoder with 2,048 strokes.
  • the measuring system preferably has belt tensioning means, in particular in the form of deflection rollers. With such belt tensioning ensures that the belt is always the for the proper functioning of the measuring system required voltage.
  • the belt comprises a magnetic material which cooperates with a magnetic, down-the-belt magnet downholder such that the downholder magnetically attracts the belt.
  • the belt is always pulled down by the hold-down, thereby preventing unnecessary belt vibrations. This is also advantageous in that very long belt lengths can be realized.
  • the hold-down is designed as a permanent magnetic hold-down, resulting in a simple structure.
  • the magnetic material may for example be integrated in the form of a steel core in the belt.
  • the wheels of the linear motor vehicle are designed as rollers, wherein each roller is provided at least on one side with a side guide.
  • the side guide should be provided on the side facing the belt driven rotary encoder.
  • the present invention provides a vibratory structure with at least one vibration damper of the type described above.
  • FIG. 1 shows in plan view a vibration damper 10, which serves to damp a vibration of a vibratory structure.
  • the vibration damper 10 includes an in FIG. 1 Not shown sensor device for detecting a vibration movement of the structure.
  • a linear motor 12 which can be mounted on the oscillatory structure is provided, which has a rail-like linear guide 14, which is formed by two rails 14a and 14b, and a linear motor carriage 18 which can move back and forth on wheels 16 along this linear guide 14 and moves a damper mass.
  • Further components of the vibration damper 10 form a measuring system 20 for detecting the actual speed and the actual position of the linear motor carriage 18 and a in FIG. 1 Control device, not shown, whose measured value input is connected to the sensor device and whose manipulated variable output is connected to the linear motor 12, as described below with reference to FIG FIG. 4 will be explained in more detail.
  • the measuring system 20 comprises a separate measuring carriage 22 with integrated measuring electronics which can be moved back and forth along the linear guide 14. Furthermore, the measuring system 20 has a parallel to the linear guide 14 of the linear motor 12 arranged guide rail 24 with integrated tape measure. Along the guide rail 24 a mounted on the measuring carriage 22 scanning head 26 is guided, the position information based detected on the integrated in the guide rail 24 tape measure.
  • the measuring carriage 22 and the linear motor carriage 18 are firmly connected to each other via a coupling 28.
  • the coupling 28, which in the present case is formed by an elastic rod, is such that it is designed to be rigid in the direction of movement of the measuring carriage 22 and elastically transversely to the direction of movement of the measuring carriage 22.
  • the coupling 28 transmits only forces in the direction of movement of the measuring carriage 22 or in the direction of extension of the linear motor 12.
  • transverse forces arising, for example, by yawing of the linear motor carriage 18 are not transmitted, so that they can not adversely affect the measurement result of the measuring system 20.
  • FIGS. 2 and 3 show a vibration damper 30 according to an embodiment of the present invention, which serves to damp a vibration of a vibratory structure.
  • the vibration damper 30 includes one in the FIGS. 2 and 3 Not shown sensor device for detecting a vibration movement of the structure and a mountable on the oscillatory structure linear motor 32 having a rail-like linear guide 34 and along this linear guide 34 on wheels 36 movable back and forth, a damper mass moving linear motor carriage 38. Further, a measuring system 40 for detecting the actual speed and the actual position of the linear motor carriage 38 and one in the Figures 3 and 4 Not shown control device provided whose Meßuccneingang is connected to the sensor device and the manipulated variable output is connected to the linear motor 32, which is also below with reference to FIG. 4 will be explained in more detail.
  • the measuring system 40 has a provided with a pulley 42 and held on the linear motor carriage 38 encoder 44 and a parallel to the linear guide 34 of the linear motor 32 extending, at the end portions 46 and 48 of the linear guide 34 firmly clamped and guided around the pulley 42 belt 50 on.
  • the rotary encoder 44 is designed as an optical servomotor encoder with 2,048 strokes.
  • two deflection rollers 52 and 54 are attached to the linear motor carriage 38, around which the belt 50 is guided.
  • a hold-down 56 which is formed by a plurality of permanent magnetic hold-down elements 58.
  • the hold-down device 56 interacts magnetically with a steel core (not illustrated in detail) integrated in the belt 50 such that the belt 50 is pulled in the direction of the hold-down 56. In this way, fluttering of the belt 50 is surely prevented even with large belt lengths.
  • a torque arm 60 is also provided.
  • vibration damper 30 is characterized in that yaw movements of the linear motor carriage 38 thanks to the belt-driven rotary encoder 44 does not adversely affect the detection of the actual position of the linear motor carriage 38 by the measuring system 40.
  • FIG. 4 shows a swingable structure 70 in the form of a crane with a crane frame 72 and a boom 76 which is provided with a balance weight 74.
  • a jib 78 is reciprocable along the boom 76 and contains a gripper 80 for gripping a container 82 stops.
  • the movement of the trolley 78 along the boom 76 excites the crane to vibrate in the trolley travel direction.
  • a vibration damper according to the invention is arranged on the crane 70, as shown in FIGS FIGS. 2 and 3 is shown.
  • the sensor device 84 of the vibration damper 30 is mounted on the crane frame such that it determines the vibration of the crane 70 excited by the movement of the trolley 78 detected.
  • the linear guide 34 extends along a portion of the boom 76.
  • the measured variable input of the regulating device 88 of the vibration damper 30 is connected to the sensor device 84 via a filter 90.
  • a manipulated variable output of the regulating device 88 is connected to the linear motor 32 and serves to transmit a speed setpoint value vM to a speed controller integrated in the linear motor 32.
  • the filter 90 is tuned to an oscillation frequency spectrum of the crane 70 and serves to condition the measured signals detected by the sensor device 84.
  • the control device 88 determines a drive signal for the linear motor 32, which then moves the damper mass 86 such that one of the oscillatory motion of the crane 70 counteracting compensation force is introduced via the boom 76 in the crane 70, which leads to the damping of the oscillatory motion. Yaw movements of the linear motor carriage 38 remain disregarded in the detection of the actual speed and the actual position of the linear motor carriage 38 thanks to the design of the measuring system 40.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Claims (8)

  1. Amortisseur ( 30 ) d'oscillations pour amortir une oscillation d'une structure ( 70 ) susceptible d'osciller, notamment d'une grue, comprenant un dispositif ( 84 ) formant capteur pour la détection d'un mouvement d'oscillation de la structure ( 70 ), un moteur ( 32 ) linéaire, pouvant être monté sur la structure ( 70 ) susceptible d'osciller et ayant un guidage ( 34 ) linéaire, et un chariot ( 38 ) à moteur linéaire pouvant aller et venir sur des roues ( 36 ) le long de ce guidage ( 34 ) linéaire et mettant en déplacement un lest ( 86 ) d'amortisseur, un système ( 40 ) de mesure pour la détection de la vitesse réelle et de la position réelle du chariot ( 38 ) à moteur linéaire et un dispositif de régulation ( 88 ) dont l'entrée de grandeur de mesure est reliée au dispositif ( 84 ) formant capteur et dont la sortie de grandeur de mesure est reliée au moteur ( 32 ) linéaire, le système ( 40 ) de mesure ayant au moins un indicateur ( 44 ) de rotation muni d'une poulie ( 42 ) et retenu au chariot ( 38 ) à moteur linéaire et au moins une courroie ( 50 ), s'étendant parallèlement au guidage ( 34 ) linéaire du moteur ( 32 ) linéaire, tendue solidement des deux côtés et passant sur la poulie ( 42 ).
  2. Amortisseur ( 30 ) d'oscillations suivant la revendication 1,
    caractérisé en ce que
    l'indicateur ( 44 ) de rotation est réalisé sous la forme d'un indicateur optique à servomoteur ayant 2048 traits.
  3. Amortisseur ( 30 ) d'oscillations suivant la revendication 1 ou 2,
    caractérisé en ce que
    le système ( 40 ) de mesure a des moyens de tension de courant, notamment sous la forme de galets ( 52, 54 ) de renvoi.
  4. Amortisseur ( 30 ) d'oscillations suivant l'une des revendications précédentes,
    caractérisé en ce que
    la courroie ( 50 ) a un matériau magnétique, qui coopère avec un dispositif ( 56 ) magnétique de maintien vers le bas, s'étendant dessous de la courroie ( 50 ), de manière à ce que le dispositif ( 56 ) de maintien vers le bas attire magnétiquement la courroie.
  5. Amortisseur ( 30 ) d'oscillations suivant la revendication 4,
    caractérisé en ce que
    le dispositif ( 56 ) de maintien vers le bas est réalisé en dispositif de maintien vers le bas à magnétisme permanent.
  6. Amortisseur ( 30 ) d'oscillations suivant la revendication 4 ou 5,
    caractérisé en ce que
    le matériau magnétique est intégré à la courroie ( 50 ) sous la forme d'une lame en acier.
  7. Amortisseur ( 30 ) d'oscillations suivant l'une des revendications précédentes,
    caractérisé en ce que
    les roues ( 36 ) du chariot ( 38 ) à moteur linéaire sont constituées sous la forme de galets de roulement, chaque galet de roulement étant pourvu, au moins d'un côté, d'un guidage latéral.
  8. Structure ( 70 ) susceptible d'osciller ayant au moins un amortisseur ( 30 ) d'oscillations suivant l'une des revendications précédentes.
EP20110173968 2011-07-14 2011-07-14 Amortisseur d'oscillations Active EP2546185B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20110173968 EP2546185B1 (fr) 2011-07-14 2011-07-14 Amortisseur d'oscillations
CN201210244775.4A CN102878239B (zh) 2011-07-14 2012-07-13 减振器

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP20110173968 EP2546185B1 (fr) 2011-07-14 2011-07-14 Amortisseur d'oscillations

Publications (2)

Publication Number Publication Date
EP2546185A1 EP2546185A1 (fr) 2013-01-16
EP2546185B1 true EP2546185B1 (fr) 2014-03-19

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ID=44910338

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Application Number Title Priority Date Filing Date
EP20110173968 Active EP2546185B1 (fr) 2011-07-14 2011-07-14 Amortisseur d'oscillations

Country Status (2)

Country Link
EP (1) EP2546185B1 (fr)
CN (1) CN102878239B (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE538479C2 (sv) 2013-06-20 2016-07-26 Uhlin Per-Axel Vibrationssensor för registrering av vibrationer i vibrationssensorns vertikala och horisontella led
CN104534994A (zh) * 2014-12-26 2015-04-22 长沙中联重科环卫机械有限公司 用于清洁车辆的管线收放检测设备及位置检测方法

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58220083A (ja) * 1982-06-16 1983-12-21 株式会社日立製作所 クレ−ンの振れ止め装置
JPS63183187U (fr) * 1987-05-15 1988-11-25
JPH01207574A (ja) * 1988-02-15 1989-08-21 Mitsubishi Electric Corp 構造物の制振装置
JP2668990B2 (ja) * 1988-10-06 1997-10-27 石川島播磨重工業株式会社 構造物制振装置
US5255764A (en) * 1989-06-06 1993-10-26 Takafumi Fujita Active/passive damping apparatus
JP2561715Y2 (ja) * 1990-08-22 1998-02-04 カヤバ工業株式会社 構造物の制振制御装置
JP3359976B2 (ja) * 1994-04-22 2002-12-24 カヤバ工業株式会社 制振装置
US5638420A (en) * 1996-07-03 1997-06-10 Advanced Research And Applications Corporation Straddle inspection system
JPH10139367A (ja) * 1996-11-07 1998-05-26 Mitsubishi Heavy Ind Ltd 吊荷の振れ変位検出装置
CN101592557B (zh) * 2009-06-30 2011-12-28 华南理工大学 汽车侧滑检测仪及侧滑的检测方法
EP2327651B1 (fr) * 2009-11-30 2012-08-01 Siemens Aktiengesellschaft Système d'amortissement d'une oscillation d'une grue de conteneur

Also Published As

Publication number Publication date
CN102878239A (zh) 2013-01-16
EP2546185A1 (fr) 2013-01-16
CN102878239B (zh) 2016-01-06

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