US3547072A - Device for indicating the position of the platform of cranes with articulated booms,especially camera cranes - Google Patents

Device for indicating the position of the platform of cranes with articulated booms,especially camera cranes Download PDF

Info

Publication number
US3547072A
US3547072A US539159A US3547072DA US3547072A US 3547072 A US3547072 A US 3547072A US 539159 A US539159 A US 539159A US 3547072D A US3547072D A US 3547072DA US 3547072 A US3547072 A US 3547072A
Authority
US
United States
Prior art keywords
cylinder
crane
platform
movements
boom
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
US539159A
Other languages
English (en)
Inventor
Adrian Birbanescu
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.)
COMITETUL DE STAT PENTRU CULTURA SI ARTA
COMITETUL DE STAT PENTRU CULTU
Original Assignee
COMITETUL DE STAT PENTRU CULTU
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 COMITETUL DE STAT PENTRU CULTU filed Critical COMITETUL DE STAT PENTRU CULTU
Application granted granted Critical
Publication of US3547072A publication Critical patent/US3547072A/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes

Definitions

  • e lever is parallel to either nisms are operapair of levers and are I24, 135: /86: 352/34, 243: sultant horizontal and l 82/141, 2; 248/] l, 124, 125, 183; 280/9l vertical motions of the upper and lower booms.
  • the present invention relates to a mechanical device that indicates continually the position of the platform of cranes with articulated booms, more especially of camera cranes by means of a coordinate indicating system.
  • the position of the crane platform is indicated in terms of the separate movements, in the same plane, of the individual booms. In this way the trajectory traversed, by the crane platform is illustrated on a rotating cylinder.
  • Another and particularly important object of the present invention is to provide a hydraulic servomechanisrn which serves to produce rectilinear movements of the crane platform.
  • Devices which cooperate "only with a single boom and indicate only the height of the camera platform and the angle of rotation of the boom relative to its vertical axis. Also there are known devices for lifting cargo that indicate, in terms of the boom inclination i.e. of the cargo lever, the maximum load that can be lifted by the crane.
  • Devices like those mentioned above may not, however, be used with cranes having articulated booms for indicating the coordinates of the position of the platform, because said coordinates do not result from a simple movement, but from the composition of the movements of both booms.
  • Electric devices are also known that compute the spatial coordinates of a point situated at the end of two links pivotally connected to each other and movable in space, said computation being performed by vectorially adding the link move ments in terms of the link lengths and of the link inclinations relative to a given coordinate system.
  • Such devices are, how ever, used for controlling some machine tools according to a given program and they are complicatedand necessitate a separate power source.
  • the device according to the invention eliminates these disadvantages by decomposing the movements of the two booms, in the vertical plane containing them, by means of slide mechanisms into vertical and horizontal linear components; the vertical components being added separately, and the horizontal components also being added separately, said mechanisms being designed so that these sums represent at a certain scale the crane platform coordinates relative to a given y coordinate system, more particularly the platform ordinate and abscissa.
  • the camera crane of this invention is provided with booms that are driven by well-known hydraulic cylinders. These cylinders are controlled by a hydraulic servomechanism in such a way that the indicator of the coordinate which is perpendicular to the plane containing the movement remains fixed relative to the component on which the respective coordinate is measured in the indicating device.
  • the movement of the upper boom is transmitted by means of a parallelogram mechanism, consisting of three levers, to a slide provided with an indicator, while the'movement of the lower boom is transmitted by means of a shaft mounted in the lower articulation of said boom to a lever and a pin engaging the groove of a cylinder, so that said lever moves the cylinder along a vertical axis in such a way that thedistance between the final position of the indicator anda zero mark on the cylinder is proportional to the change in height of the crane platform.
  • the crane rotation is transmitted by means of a belt from a pulley situated in the verticalaxis of the crane and fixed relative to the initial vertical plane,'to a second pulley coaxial with the cylinder of the height indicating mechanism, said second pulley being able to turn said cylinder, so that the angle of rotation of the cylinder corresponds to the angle of rotation of the crane.
  • FIG. 1 is an isometric schematic view of the device of this invention
  • FIG. 2 is a vector diagram which indicatesthe mathematical principle of the device
  • FIG. 3 is an isometric schematic view of the hydraulic servomechanism designed only for producing vertical movev ments of the crane platform.
  • FIG. 4 is a block diagram of the servornechanism illustrated in FIG. 3.
  • the device according to the invention is provided with a parallelogram mechanism consisting of three links 1, 2 3, link 1 being fixed to the upper boom of a crane in such away that link 3 is parallel to said upper boom as illustrated in F I65. I and 3.
  • the link 3 drives by means of a slide mechanism a component 4 which is slidably mounted in a support member 4a and which is provided with an indicator 5.
  • the support member 4a is firmly connected to the crane pedestal member 27.
  • the component 4 is mounted in such a way that the vertical movements of the indicator 5 correspond to the vertical movements of the crane platform (not illustrated), which is operatively connected to the upper end la of the upper boom caused by the upper boom movements.
  • a shaft 6 fixed to the lower boom.
  • a lever 7 parallel to the lower boom and provided with a pin 8 that engages a disc having a groove 9, said disc being coaxially secured on the cylinder 10.
  • the cylinder lil' is slidably moving up and down a vertical shaft 11, being driven by the pin 8.
  • the vertical movements of the cylinder 10 correspond to the vertical movements of the crane platform caused by the movements of the lower boom.
  • the shaft '11 is slidably and rotatably supported in a bearing support 1 1a.
  • the bearing support 11a is mounted on a plate 116 extending from the crane pedestal.
  • the indicator a changes the abscissa X -r ,a and a zero mark taken as origin on the rule 16 appears a distance
  • the distance AX defined as above and read on the rule 16 represents at scale Hit the change in height X of the crane platform.
  • the rod 14 will'translate mechanically this movement into a leftward movement of the valve 21, until the com-v munications with the conduits 23 and 25 are again closed,
  • the servomechanism controls the upper boom move ments in such a way that any movement of the rod 14, with its indicator a, relative to the ruler 16 is canceled, i.e. any deviation of the crane platform movement from a strictly vertical movement, deviation caused by the movement of the lower boom, is canceled by the movement of the upper boom end the crane platform travels only vertically. This movement is read against the indicator 5, on the cylinder 10.
  • FIG. 4 One suitable arrangement of the input, output and feedback signals of the above system is identified in FIG. 4.
  • the movements .of the lower boom are controlled directly, i.e. by an open loop, and are translated by means of the ruler 16 into an input signal for the valve 21 and the spool 22 controlling the hydraulic cylinder 20.
  • the movements imparted by this hydraulic cylinder to the upper boom are translated by the indicator a into a feedback signal for the valve 21 and its spool 22.
  • a servomechanism like that described above may control movements of the crane platform also in other planes, if the indicator device is so designed that it decomposes the movements of the two booms according to a suitably chosen coordinate system.
  • the characteristics of the system may be improved if besides the projections of the two boom movements as input and feedback signals there is also made use of the derivatives relative to the time of the above-mentioned projections, i.e. the projections of the velocities and of the accelerations of the two boom movements.
  • the velocities may be obtained for example by means of centrifugal tachometers or of tachometric I generators driven. by the indicators described above, through multiplying gears.
  • the accelerations may be obtained by means of accelerometers.
  • the output signals of the, velocity and acceleration transducers may be used asinputs for separate hydraulic valves whose outflow is superimposed on that of the valve controlled by the indicator device. Alternately, the outputs of the various transducers may be superimposed electrically and used as inputs for an electromagnetic valve.
  • a device for indicating information relating to theposi tion of the top end of an articulated boom mechanism having a base which isrotatably mounted about a vertical axis, comprising in combination:
  • a lower boom member being pivotally Connected at one of its ends to said base; an upper boom member pivotally connected to said lower boom member of the other end thereof; a shaft axially extending from the pivotal connection between said lower boom member and said base; a sleeve coaxially and rotatably mounted over said shafi; a first pair of levers fixedly secured to said sleeve so as to rotate jointly therewith, said first pair of levers being parallel to said upper boom member during their respective movement;
  • an indicating cylinder rotatably mounted about a vertical axis and being reciprocally movably mounted along said vertical axis, said cylinder havingannular groove means;
  • one lever of said second pair of levers having a projecting pin which extends into said annular groove means so that when said one lever rotates it moves said indicating cylinder along its vertical axis a distance'which is proportional to the vertical distance traversed by said lower boom member when it pivots about said base;
  • first slide means operatively connected to said other lever of said second pair of levers; said other lever moving said first slide means horizontally a distance which is proportional to the horizontal distance traversed by said lower boom member when it pivots about said base;
  • said second slide means includes first indicating means adapted to cooperate with said first slide means so as to indicate the resultant combined horizontal movement of said upper and lower boom members.
  • said third slide means includes second indicating means adapted to cooperate with said indicating cylinder so as to indicate thereon the resultant combined vertical movement of said upper and lower boom members.
  • first hydraulic actuating cylinder means are pivot'ally connected to said upper boom member at one of their ends and to said lower boom member at the other end;
  • hydraulic fluid cylinder distributing means fixedly secured to said second slide means so as to move horizontally jointly therewith;
  • a fluid distributing piston slidably disposed in said hydraulic fluid cylinder means, said piston being fixedly secured to said first sl ide means so as to move 'ointly therewith; first hydraulic inlet and outlet con un means operatively connecting said hydraulic fluid cylinder to said first hydraulic actuating cylinder; and second hydraulic inlet and outlet conduit means operatively connecting said hydraulic fluid cylinder distributing means to a source of hydraulic power; said hydraulic fluid cylinder distributing means and said piston slidably disposed therein being constructed and arranged so that said first hydraulic cylinder means is only hydraulically energized via said hydraulic fluid cylinder distributing means when the horizontal movements of said upper and lower boom members are not equal in sign and opposite in direction. 7.
  • second hydraulic actuating cylinder means are pivotally connected to said lower boom member for pivotally moving it with respect to said base.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mechanical Control Devices (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
US539159A 1965-04-01 1966-03-31 Device for indicating the position of the platform of cranes with articulated booms,especially camera cranes Expired - Lifetime US3547072A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
RO4952565 1965-04-01
RO4952465 1965-04-01

Publications (1)

Publication Number Publication Date
US3547072A true US3547072A (en) 1970-12-15

Family

ID=26653481

Family Applications (1)

Application Number Title Priority Date Filing Date
US539159A Expired - Lifetime US3547072A (en) 1965-04-01 1966-03-31 Device for indicating the position of the platform of cranes with articulated booms,especially camera cranes

Country Status (5)

Country Link
US (1) US3547072A (enrdf_load_stackoverflow)
AT (1) AT284393B (enrdf_load_stackoverflow)
DE (1) DE1456431A1 (enrdf_load_stackoverflow)
GB (1) GB1130719A (enrdf_load_stackoverflow)
SE (1) SE334536B (enrdf_load_stackoverflow)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3891056A (en) * 1973-02-21 1975-06-24 Simon Eng Dudley Ltd Hydraulically elevatable platforms
US4116409A (en) * 1975-07-02 1978-09-26 Compair Construction And Mining Limited Hydraulic levelling systems for drilling machines, etc.

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2754698C2 (de) * 1977-12-08 1982-04-15 O & K Orenstein & Koppel AG Werk Lübeck, 2400 Lübeck Regelung für Drehwerks- und/oder Hubwerksantriebe eines Krans

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3891056A (en) * 1973-02-21 1975-06-24 Simon Eng Dudley Ltd Hydraulically elevatable platforms
US4116409A (en) * 1975-07-02 1978-09-26 Compair Construction And Mining Limited Hydraulic levelling systems for drilling machines, etc.

Also Published As

Publication number Publication date
AT284393B (de) 1970-09-10
SE334536B (enrdf_load_stackoverflow) 1971-04-26
DE1456431A1 (de) 1969-02-27
GB1130719A (en) 1968-10-16

Similar Documents

Publication Publication Date Title
US4078670A (en) Cable-operated power manipulator
US3817403A (en) Remote manipulator
CN104440870A (zh) 可变结构参数柔索并联机器人系统及控制方法
US4435118A (en) Method of controlling horizontal motion of a load application point on an articulated crane
US3547072A (en) Device for indicating the position of the platform of cranes with articulated booms,especially camera cranes
CN101482395B (zh) 位置测量方法
US3490015A (en) Safe load indicators for jib cranes
US1795506A (en) Warp-beaming machine
US2705371A (en) Sight line stabilizing device
US3584429A (en) Angular positioning apparatus for vehicle simulator
US2442389A (en) Device for improving manual control
US2388680A (en) Ball, disk, and drum mechanism
US2783653A (en) Variable speed turntable
US2251155A (en) Computing device
US3148659A (en) Safe load indicating devices for cranes
US4098410A (en) Safe load indicator for jib cranes
US3756423A (en) Overload warning apparatus
SU551238A1 (ru) Устройство дл уравновешивани грузового момента башенного крана с подвижным противовесом
US2559577A (en) Gyroscopically controlled hydraulic
US3889524A (en) Arrangement for checking stability of self-supported objects
CN111309059A (zh) 大型移动转台整体水平平面度调平控制系统及其工作方法
CN108267726A (zh) 一种具有护眼功能的测量精度高的激光测距仪
US4269228A (en) Device for controlling hydraulic motors
SU1469378A1 (ru) Стенд дл динамических испытаний передач
US2322100A (en) Constant rate of load testing apparatus