WO1997045357A1 - Verfahren und anordnung zur vermeidung vom lastschwingungen bei einem drehbewegungen ausführenden hängelastbewegungsgerät - Google Patents
Verfahren und anordnung zur vermeidung vom lastschwingungen bei einem drehbewegungen ausführenden hängelastbewegungsgerät Download PDFInfo
- Publication number
- WO1997045357A1 WO1997045357A1 PCT/DE1997/001033 DE9701033W WO9745357A1 WO 1997045357 A1 WO1997045357 A1 WO 1997045357A1 DE 9701033 W DE9701033 W DE 9701033W WO 9745357 A1 WO9745357 A1 WO 9745357A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- load
- movement
- point
- suspended
- suspended load
- Prior art date
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 invention relates to load movement devices which carry the load on a rope so that a pendulum movement is possible.
- load movement devices which carry the load on a rope so that a pendulum movement is possible.
- these are construction cranes with a horizontally rigid crane boom and a trolley, as well as construction cranes which have a vertically pivotable boom on which the load is movably guided.
- the object on which the invention is based is therefore to specify an arrangement and a method by means of which pendulum vibrations of loads which are transported by suspended load movement devices which generate a rotational movement component can be avoided.
- Another object of the invention is to provide a method and an arrangement with which a targeted control of the path of the load on such a suspended load movement device is possible.
- a particular advantage of the method according to the invention is that the crane operator does not have to have direct visual contact with the moving load.
- a further advantage of the method according to the invention is that the operator does not have to operate separate works of the suspended load movement device, but that it only starts from a starting point
- this path is advantageously traversed by overlaying the respective translational and rotary motion components by suitable control of the drives in such a way that a straight path is created for the load and thus optimal and known damping methods for pendulums which are moved linearly are used can be.
- This method is also particularly advantageously suitable for the three-dimensional entry of a start and end point, in that a side view of the work area of the suspended load movement device is advantageously used in order to display or enter the height dimension of the end point. In this way it is achieved that only two representations of the working area are necessary, which can be displayed, for example, on two separate screens or two separate windows of a computer.
- the movement in the third dimension is also advantageously combined with the movements in the other two dimensions in such a way that a linear path is described by the suspended load.
- a three-dimensional coordinate system is advantageously used to control the suspended load movement device and the path of the suspended load, in which the planned path is entered in the form of a target vector, which can then be processed advantageously by a multi-axis control system known from industrial applications for robots.
- an arrangement according to the invention for avoiding load vibrations in a suspended load movement device carrying out rotary movements has suitable means in order to be able to carry out the individual features of the method according to the invention separately.
- a camera is particularly suitable for displaying a top view and a side view.
- a touchscreen, a computer mouse, a joystick or similar input devices are particularly suitable for entering a target point on one of the representations.
- means are particularly advantageously provided which break down the movement into its rotational and into its translation component. Since the position of the crane and the position of the crane boom to be swiveled are known, the angle between the starting point and the destination point can be determined very easily.
- the position of a trolley can also be determined in this way be that the difference between the position of the trolley at the starting point and the position of the trolley on the crane boom at the destination is determined.
- the already known and currently used options for operating such a suspended load transport device are advantageously included in the calculation according to the invention when planning the path.
- means are advantageously provided in the arrangement according to the invention which coordinate the movement according to the invention in a suitable manner so that a straight path of the suspended load to be moved is created.
- a multi-axis control can also be provided particularly advantageously, which is known from the area of application for industrial robots, in which a target vector is entered as the path and this automatically determines the required speed components for the individual motion components.
- Known means for damping linear pendulum movements are also advantageously used in this arrangement, since there is no development effort for new methods.
- means are particularly advantageously provided which provide a three-dimensional representation of the working area, ie. H. thus the work space in which this load handling device is operated.
- a three-dimensional representation by screens known from CAD application is possible with the aid of LCD shutter-controlled 3-D glasses which overlay the images of the work space from two cameras from different positions.
- less expensive representations in the form of a top view and a side view are also possible, which can be displayed, for example, in two windows of a computer or on two separate screens.
- the movement trajectory ie the planned course of the path, is particularly advantageous in this spatial representation Shown load so that an operator can determine whether, for example, the load collides with any obstacles while driving off the track.
- Known means for the three-dimensional input of coordinates are preferably used for the input of the target vector.
- these are from the CAD area 3D joysticks, light pens, trackballs or the like.
- means are particularly advantageously provided which automatically exclude a collision of the hanging load with existing obstacles on the path trajectory.
- Figure 1 shows an example of a suspended load movement device in
- FIG. 2 illustrates the known method for moving a load with the help of such a device.
- FIG. 3 illustrates the method according to the invention.
- FIG. 1 schematically shows a lifting load movement device, here in the form of a lifting crane K.
- This lifting crane K has a hoist HW and a jib AL, along which a trolley LK can move.
- a suspension load SL is attached to this trolley LK by means of a lifting rope of rope length L.
- the lifting crane K for example, a work area AB is provided.
- loading cranes which, for example, do not have a rigid crane boom AL, but a vertically pivotable boom, as is indicated here by the angle PHI, which can be changed in such devices.
- door cranes with a pivoting jib are also suitable for the use of the invention.
- an operator moves the load SL over the working area AB, this is done, for example, by turning the crane K with the aid of a certain angular speed and by lifting or lowering the load SL at a specific speed of the rope or moving the barrel ⁇ cat LK, whereby, for example, the variable parameters relevant to the movement trajectories for hanging load movement of the hanging load movement device are given.
- the rotational movement can cause undesirable and poorly damped pendulum vibrations of the suspended load.
- a distance measuring sensor SEN should preferably point directly downwards. Further sensors could also be attached at a slight angle. Because of their preferred attachment to the trolley, these sensors are moved along with all movements of the crane. For example, sensors based on radar, ultrasound or light or infrared light and other measuring devices known and suitable from the prior art for distance measurement are conceivable. In addition, it is preferably assumed, for example, that current values about the jib height, the angle of rotation of the crane, the position of the trolley and the length of the extended rope are known.
- this suspension load SL threatens to collide with an obstacle on its way, then, for example, a spatial distance requirement can be monitored in the form of a distance to this load, and if this distance is undershot, a warning signal is given, or one or more of the variable Parameters of the suspended load movement device can be changed.
- the individual axes or movements of the crane i.e. Hoist, slewing gear and trolley are individually controlled by the crane operator. This results in a variety of movement options, such as linear movements (only trolley chassis involved), rotary movements (only swivel mechanism involved) as well as many possibilities of superimposition if several plants are operated at the same time without the load being leveled out.
- FIG. 2 shows a plan view of a suspended load to be moved, here for example with a rotating crane K.
- the starting point S and the destination point Z of the load are specified.
- this starting point and this target point represent the position of a trolley at the outfeed AL of the slewing crane.
- the load can be attached to this trolley with the aid of an arbitrarily long rope.
- To transfer the load to a target To guide point Z an operator will first turn the crane along an arrow 15, the jib AL being pivoted in the direction of the arrow 15. The operator will then, for example, translate the trolley to the target point Z, which is represented by an arrow 16.
- Common crane controls do not provide any possibilities to coordinate these movements, ie the rotation movement and the translation movement, in a coordinated manner.
- FIG. 3 shows the example from FIG. 2, in which the method according to the invention is applied to the path of the load.
- the method according to the invention takes advantage of the fact that when a start and destination point is entered, or a destination point when the starting point is known, the hanging load is automatically described as the destination vector.
- This target vector is designated by 20 in FIG.
- a computer is provided which, in a suitable manner, superimposes the rotational movement and the translational movement from FIG.
- a direction vector or the target point for example by Cartesian target description, all axes of the crane, i.e. Swivel, trolley and hoist controlled simultaneously so that there is a linear movement in the direction of the target.
- the crane operator should be given an effective user interface for this method so that he can specify the direction in which the crane is to move or the destination of the journey. This can be done using the following input techniques: l. (3D) joystick or similar
- the crane operator can immediately indicate the direction in which the crane hook should move.
- this direction vector is converted into the corresponding speeds of the swivel and trolley trolleys, with which the motors of the factories are then controlled simultaneously.
- this operating mode can be increased in terms of its performance, since the crane operator can then immediately check whether he has taken the correct direction . This avoids directional corrections.
Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP97924904A EP0907604A1 (de) | 1996-05-24 | 1997-05-22 | Verfahren und anordnung zur vermeidung vom lastschwingungen bei einem drehbewegungen ausführenden hängelastbewegungsgerät |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19621107 | 1996-05-24 | ||
DE19621107.7 | 1996-05-24 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1997045357A1 true WO1997045357A1 (de) | 1997-12-04 |
Family
ID=7795314
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE1997/001033 WO1997045357A1 (de) | 1996-05-24 | 1997-05-22 | Verfahren und anordnung zur vermeidung vom lastschwingungen bei einem drehbewegungen ausführenden hängelastbewegungsgerät |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP0907604A1 (de) |
WO (1) | WO1997045357A1 (de) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1834920A1 (de) * | 2006-03-15 | 2007-09-19 | Liebherr-Werk Nenzing GmbH | Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner |
DE102006052956A1 (de) * | 2006-11-09 | 2008-05-21 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Bewegen einer freischwingenden Last von einem Start- zu einem Zielpunkt |
US7627393B2 (en) | 2000-10-19 | 2009-12-01 | Liebherr-Werk Nenzing Gmbh | Crane or digger for swinging a load hanging on a support cable with damping of load oscillations |
US7831333B2 (en) | 2006-03-14 | 2010-11-09 | Liebherr-Werk Nenzing Gmbh | Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner |
EP2272784A1 (de) * | 2009-07-08 | 2011-01-12 | Liebherr-Werk Nenzing GmbH | Kran zum Umschlagen einer an einem Lastseil hängenden Last |
DE102013006258A1 (de) * | 2013-04-11 | 2014-10-16 | Liebherr-Components Biberach Gmbh | Kran |
EP2896590A1 (de) * | 2014-01-16 | 2015-07-22 | Caporali Roberto Paolo Luigi | Verfahren und einrichtung zur open-loop steuerung der schwingung einer nutzlast für drehkräne |
DE102013012019B4 (de) | 2013-07-19 | 2019-10-24 | Tadano Faun Gmbh | Kran, insbesondere Mobilkran |
WO2019229751A1 (en) * | 2018-05-30 | 2019-12-05 | Syracuse Ltd. | System and method for transporting a swaying hoisted load |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0394147A1 (de) * | 1989-04-14 | 1990-10-24 | Reel S.A. | Einrichtung zur automatischen Überwachung der Lage und der Schwingungen einer hängenden Last während ihres Transports durch eine Hubvorrichtung |
-
1997
- 1997-05-22 WO PCT/DE1997/001033 patent/WO1997045357A1/de not_active Application Discontinuation
- 1997-05-22 EP EP97924904A patent/EP0907604A1/de not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0394147A1 (de) * | 1989-04-14 | 1990-10-24 | Reel S.A. | Einrichtung zur automatischen Überwachung der Lage und der Schwingungen einer hängenden Last während ihres Transports durch eine Hubvorrichtung |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7627393B2 (en) | 2000-10-19 | 2009-12-01 | Liebherr-Werk Nenzing Gmbh | Crane or digger for swinging a load hanging on a support cable with damping of load oscillations |
US7831333B2 (en) | 2006-03-14 | 2010-11-09 | Liebherr-Werk Nenzing Gmbh | Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner |
EP1834920A1 (de) * | 2006-03-15 | 2007-09-19 | Liebherr-Werk Nenzing GmbH | Verfahren zum automatischen Umschlagen von einer Last eines Kranes mit Lastpendelungsdämpfung und Bahnplaner |
DE102006052956B4 (de) | 2006-11-09 | 2019-07-04 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Bewegen einer freischwingenden Last von einem Start- zu einem Zielpunkt |
DE102006052956A1 (de) * | 2006-11-09 | 2008-05-21 | Kuka Roboter Gmbh | Verfahren und Vorrichtung zum Bewegen einer freischwingenden Last von einem Start- zu einem Zielpunkt |
EP2272784A1 (de) * | 2009-07-08 | 2011-01-12 | Liebherr-Werk Nenzing GmbH | Kran zum Umschlagen einer an einem Lastseil hängenden Last |
US8839967B2 (en) | 2009-07-08 | 2014-09-23 | Liebherr-Werk Nenzing Gmbh | Crane for handling a load hanging on a load cable |
DE102013006258A1 (de) * | 2013-04-11 | 2014-10-16 | Liebherr-Components Biberach Gmbh | Kran |
US9969600B2 (en) | 2013-04-11 | 2018-05-15 | Liebherr-Components Biberach Gmbh | Remote-controlled crane |
US10662033B2 (en) | 2013-04-11 | 2020-05-26 | Liebherr Components Biberach Gmbh | Remote-controlled crane |
DE102013012019B4 (de) | 2013-07-19 | 2019-10-24 | Tadano Faun Gmbh | Kran, insbesondere Mobilkran |
EP2896590A1 (de) * | 2014-01-16 | 2015-07-22 | Caporali Roberto Paolo Luigi | Verfahren und einrichtung zur open-loop steuerung der schwingung einer nutzlast für drehkräne |
WO2019229751A1 (en) * | 2018-05-30 | 2019-12-05 | Syracuse Ltd. | System and method for transporting a swaying hoisted load |
Also Published As
Publication number | Publication date |
---|---|
EP0907604A1 (de) | 1999-04-14 |
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