WO1999064341A1 - Automated tractor-driven crane - Google Patents

Automated tractor-driven crane Download PDF

Info

Publication number
WO1999064341A1
WO1999064341A1 PCT/US1999/013097 US9913097W WO9964341A1 WO 1999064341 A1 WO1999064341 A1 WO 1999064341A1 US 9913097 W US9913097 W US 9913097W WO 9964341 A1 WO9964341 A1 WO 9964341A1
Authority
WO
WIPO (PCT)
Prior art keywords
tractor
driven component
linear element
movement
course
Prior art date
Application number
PCT/US1999/013097
Other languages
French (fr)
Inventor
Michael K. Taylor
Original Assignee
Gorbel, Inc.
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 Gorbel, Inc. filed Critical Gorbel, Inc.
Priority to AU45590/99A priority Critical patent/AU4559099A/en
Publication of WO1999064341A1 publication Critical patent/WO1999064341A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14—Trolley or crane travel drives
    • 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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports

Definitions

  • Tractor-driven components of overhead bridge cranes have advantages in economy and performance over belt or cable drives for similar components. Delivering electric or other power to the on board motors of tractor-driven crane elements is less expensive than transmitting motion via belts or cables from a fixed power source.
  • bridge cranes increasingly demand automation that allows a crane to be programmed to move between predetermined positions without human intervention. This can be especially important when a crane is involved in moving parts and materials for assembly.
  • Tractor-driven crane components are generally inaccurate in their ability to stop at predetermined positions so that a control system is necessary for ensuring accurate movement of tractor- driven crane components.
  • My invention can apply to a wide variety of overhead bridge cranes and can control the movement of both bridge end trucks and trolleys, allowing bridge cranes to be automatically driven to a fine resolution in positional accuracy.
  • My control system for tractor-driven crane components connects a passive and incrementally repetitious linear element to each tractor-driven component so that the passive element transmits movement of a tractor drive to an encoder.
  • a controller in communication with the encoder then operates the tractor-driven component to reach a predetermined position.
  • My preferred arrangement of a tractor-driven component and an incrementally repetitious linear element is for free ends of the linear element to be connected to the tractor-driven component so that the linear element extends in a loop from the tractor-driven element to the far ends of a run traveled by the tractor-driven component.
  • the linear element is wrapped around an idler pulley, and at the other end of the run, the linear element is wrapped around an encoder pulley so that the linear element transmits to the encoder any movement of the tractor- driven component.
  • At least one of the ends of the linear element is preferably connected to the tractor-driven component via a tensioner.
  • a sensor is preferably arranged along the run for comparing an encoder-determined position of the tractor-driven component with an actual position of the tractor-driven component adjacent the sensor. Any error in the encoder-determined position can then be zeroed out so that the encoder otherwise accurately determines positions of the tractor-driven component elsewhere along the run.
  • Figure 1 is a partially schematic isometric view of a preferred embodiment of an automation system for tractor-driven components of a bridge crane.
  • Figure 2 is a partially schematic, cross-sectional view of the crane of FIG. 1 , taken along the line 2-2 thereof.
  • FIG. 3 is a partially schematic, enlarged fragmentary view, similar to the view of FIG. 2, showing a tractor-driven component for a bridge end truck.
  • the drawings show a preferred embodiment of a system for automating tractor-driven components of a bridge crane. These components include a pair of bridge end trucks moving opposite ends of a bridge along a pair of parallel crane runs and a similar pair of trolley end trucks moving a trolley along a pair of parallel bridge runs.
  • the bridge end trucks and the trolley end trucks are identical in function and principle of operation so that the same arrangement can be used for each.
  • the drawings simplify the illustration of the invention by showing detail only on one of the bridge end trucks.
  • FIG. 1 The essentials of bridge crane 10 are best shown in FIG. 1. These include a pair of crane runs 11 that support opposite ends of a bridge 12, which in turn has a pair of bridge runs 13.
  • a similar end truck 15 or pair of end trucks 15 supports each end of a trolley (not shown) for movement along bridge runs 13.
  • a tractor drive 20 is connected to each pair of end trucks 15 to provide the motive power for moving bridge 12, and a similar tractor drive 20 is connected to the individual or paired end trucks 15 that support a bridge trolley. The connection of each tractor drive 20 to one or more end trucks 15 forms a tractor-driven component.
  • Tractors 20 include a motor 22 that turns a traction wheel 21 engaging an underside of each run 1 1 or 13 from which tractor 20 is suspended by idling support rollers 22. This arrangement is preferably adjustable so that traction wheel 21 can press against a run and can propel an end truck 15 along a run.
  • the end trucks 15 that are paired for supporting each bridge run 13 are preferably connected to help keep bridge runs 13 parallel with each other and perpendicular to crane runs 11.
  • a similar arrangement of preferably paired end trucks 15 supports an unillustrated trolley for running along the length of bridge runs 13.
  • Single, or unpaired, end trucks 15 can also be arranged to use the invention, especially for support of a bridge trolley.
  • Tractor drive 20 is connected to each independent or paired set of end trucks to provide the necessary truck movements.
  • Tractor drives 20 are capable of moving each of the tractor- driven components of crane 10, but are not capable independently of ensuring that each movement is accurately made to a predetermined position.
  • I combine a passive and incrementally repetitious element 25 with each tractor-driven component.
  • Linear element or cog belt 25 is preferably arranged in an elongated loop that extends for the full length of each run or course of movement of a tractor-driven crane component.
  • Free end regions 26 of cog belt or chain 25 are attached to each tractor-driven component, and at least one of the free ends 26 is preferably attached via a tensioner 27 that can take up any slack from stretching or wear of linear element 25.
  • the loop portion of element 25 is wrapped over an idler pulley 24 at one end region of a course of movement and is wrapped over a pulley of encoder 30 at another end region of a course of travel. This leaves a length of element 25 extending between encoder 30 and pulley 24 without being connected to a driven component.
  • Element 25 then passively transmits to encoder 30 any motion of a tractor-driven component caused by a tractor drive 20.
  • a controller 40 receives positional signals from encoder 30 and sends motor drive signals to motor 22 of tractor drive 20 to move end trucks 15 to predetermined positions.
  • a sensor 41 is arranged along the course of travel of an end truck 15 to detect an actual position of end truck 15 in the vicinity of sensor 41. Controller 40 also receives a positional signal from sensor 41 and uses this as a reference for a positional signal from encoder 30. Any error in a positional determination from encoder 30 is zeroed out to match the real and actual position of an end truck 15 determined by sensor 41. This can occur each time end truck 15 passes by sensor 41. Occasional checks of positional signals from encoder 30 against a reference position signal from sensor 41 makes encoder signals 30 reliable enough for predetermining positions of end trucks 15 to within increments of accuracy of ⁇ 0.020 inches along the length of each course of motion.
  • tractor-driven crane component and passive linear element 25 as shown in the drawings, is both inexpensive and robust.
  • a crane automation system arranged in the illustrated way is relatively insensitive to environmental hazards such as dirt and grease and is easily maintained by occasional tensioning and cleaning or replacing of simple parts.
  • the positional accuracy obtainable for the investment required is very cost effective .

Abstract

A bridge crane (10) is automated by using tractor-driven end trucks (15) that move a passive loop of a cog belt or chain (25) wrapped around an encoder (30) to determine movements to predetermined positions. A controller (40) communicates with the encoder (30) and with a positional sensor (41) arranged on the course of end truck (15) movement to calibrate the encoder (30) and power the tractor drive (20) to produce positional accuracy for automation purposes.

Description

AUTOMATED TRACTOR-DRIVEN CRANE
Technical Field
Tractor-driven bridge cranes.
Background
Tractor-driven components of overhead bridge cranes have advantages in economy and performance over belt or cable drives for similar components. Delivering electric or other power to the on board motors of tractor-driven crane elements is less expensive than transmitting motion via belts or cables from a fixed power source.
The users of bridge cranes increasingly demand automation that allows a crane to be programmed to move between predetermined positions without human intervention. This can be especially important when a crane is involved in moving parts and materials for assembly.
Tractor-driven crane components are generally inaccurate in their ability to stop at predetermined positions so that a control system is necessary for ensuring accurate movement of tractor- driven crane components. Through research, comparative investigation, and testing, I have devised a simple, efficient, and accurate way of controlling tractor-driven crane components. My invention can apply to a wide variety of overhead bridge cranes and can control the movement of both bridge end trucks and trolleys, allowing bridge cranes to be automatically driven to a fine resolution in positional accuracy.
Summary of the Invention
My control system for tractor-driven crane components connects a passive and incrementally repetitious linear element to each tractor-driven component so that the passive element transmits movement of a tractor drive to an encoder. A controller in communication with the encoder then operates the tractor-driven component to reach a predetermined position.
My preferred arrangement of a tractor-driven component and an incrementally repetitious linear element is for free ends of the linear element to be connected to the tractor-driven component so that the linear element extends in a loop from the tractor-driven element to the far ends of a run traveled by the tractor-driven component. At one end of the run, the linear element is wrapped around an idler pulley, and at the other end of the run, the linear element is wrapped around an encoder pulley so that the linear element transmits to the encoder any movement of the tractor- driven component. At least one of the ends of the linear element is preferably connected to the tractor-driven component via a tensioner. A sensor is preferably arranged along the run for comparing an encoder-determined position of the tractor-driven component with an actual position of the tractor-driven component adjacent the sensor. Any error in the encoder-determined position can then be zeroed out so that the encoder otherwise accurately determines positions of the tractor-driven component elsewhere along the run.
Drawi ngs
Figure 1 is a partially schematic isometric view of a preferred embodiment of an automation system for tractor-driven components of a bridge crane.
Figure 2 is a partially schematic, cross-sectional view of the crane of FIG. 1 , taken along the line 2-2 thereof.
Figure 3 is a partially schematic, enlarged fragmentary view, similar to the view of FIG. 2, showing a tractor-driven component for a bridge end truck. Detailed Description
The drawings show a preferred embodiment of a system for automating tractor-driven components of a bridge crane. These components include a pair of bridge end trucks moving opposite ends of a bridge along a pair of parallel crane runs and a similar pair of trolley end trucks moving a trolley along a pair of parallel bridge runs. For purposes of illustrating the invention, the bridge end trucks and the trolley end trucks are identical in function and principle of operation so that the same arrangement can be used for each. With this understanding, the drawings simplify the illustration of the invention by showing detail only on one of the bridge end trucks.
The essentials of bridge crane 10 are best shown in FIG. 1. These include a pair of crane runs 11 that support opposite ends of a bridge 12, which in turn has a pair of bridge runs 13. An end truck 15, best shown in FIGS. 2 and 3, supports each run 13 of bridge 12 for movement along crane runs 11 so that end trucks 15 work in pairs to support bridge 12. A similar end truck 15 or pair of end trucks 15 supports each end of a trolley (not shown) for movement along bridge runs 13. A tractor drive 20 is connected to each pair of end trucks 15 to provide the motive power for moving bridge 12, and a similar tractor drive 20 is connected to the individual or paired end trucks 15 that support a bridge trolley. The connection of each tractor drive 20 to one or more end trucks 15 forms a tractor-driven component. Tractors 20 include a motor 22 that turns a traction wheel 21 engaging an underside of each run 1 1 or 13 from which tractor 20 is suspended by idling support rollers 22. This arrangement is preferably adjustable so that traction wheel 21 can press against a run and can propel an end truck 15 along a run.
The end trucks 15 that are paired for supporting each bridge run 13 are preferably connected to help keep bridge runs 13 parallel with each other and perpendicular to crane runs 11. A similar arrangement of preferably paired end trucks 15 supports an unillustrated trolley for running along the length of bridge runs 13. Single, or unpaired, end trucks 15 can also be arranged to use the invention, especially for support of a bridge trolley. Tractor drive 20 is connected to each independent or paired set of end trucks to provide the necessary truck movements.
Tractor drives 20 are capable of moving each of the tractor- driven components of crane 10, but are not capable independently of ensuring that each movement is accurately made to a predetermined position. For this, I combine a passive and incrementally repetitious element 25 with each tractor-driven component. For an incrementally repetitious linear element, I prefer a cog belt or chain 25, which can accurately transmit motion of a tractor-driven component to an encoder 30. Linear element or cog belt 25 is preferably arranged in an elongated loop that extends for the full length of each run or course of movement of a tractor-driven crane component. Free end regions 26 of cog belt or chain 25 are attached to each tractor-driven component, and at least one of the free ends 26 is preferably attached via a tensioner 27 that can take up any slack from stretching or wear of linear element 25. The loop portion of element 25 is wrapped over an idler pulley 24 at one end region of a course of movement and is wrapped over a pulley of encoder 30 at another end region of a course of travel. This leaves a length of element 25 extending between encoder 30 and pulley 24 without being connected to a driven component. Element 25 then passively transmits to encoder 30 any motion of a tractor-driven component caused by a tractor drive 20.
A controller 40 receives positional signals from encoder 30 and sends motor drive signals to motor 22 of tractor drive 20 to move end trucks 15 to predetermined positions. A sensor 41 is arranged along the course of travel of an end truck 15 to detect an actual position of end truck 15 in the vicinity of sensor 41. Controller 40 also receives a positional signal from sensor 41 and uses this as a reference for a positional signal from encoder 30. Any error in a positional determination from encoder 30 is zeroed out to match the real and actual position of an end truck 15 determined by sensor 41. This can occur each time end truck 15 passes by sensor 41. Occasional checks of positional signals from encoder 30 against a reference position signal from sensor 41 makes encoder signals 30 reliable enough for predetermining positions of end trucks 15 to within increments of accuracy of ± 0.020 inches along the length of each course of motion.
The preferred arrangement of tractor-driven crane component and passive linear element 25, as shown in the drawings, is both inexpensive and robust. A crane automation system arranged in the illustrated way is relatively insensitive to environmental hazards such as dirt and grease and is easily maintained by occasional tensioning and cleaning or replacing of simple parts. The positional accuracy obtainable for the investment required is very cost effective .

Claims

I Claim:
1 . A system of automating a crane having a tractor-driven component moving along a course of travel, the system comprising: a. an incrementally repetitious linear element connected to the tractor-driven component to form a loop extending along the length of the course of travel; b. the linear element at an end of the loop being wrapped around a drive for a rotary encoder so that movement of the tractor-driven component along the course of travel moves the linear element, which rotates the encoder; and c. a controller operating the tractor-driven component to reach a position determined by the encoder along the course of travel.
2. The system of claim 1 including an idler pulley at an end of the loop opposite the encoder.
3. The system of claim 1 including a tensioner for the linear element.
4. The system of claim 3 wherein the tensioner is movable with the tractor-driven component.
5. The system of claim 1 wherein the tractor-driven component is arranged to operate as a bridge end truck.
6. The system of claim 1 wherein the tractor-driven component is arranged to operate as a bridge trolley.
7. The system of claim 1 wherein the linear element is a cog belt.
8. The system of claim 1 wherein free ends of the linear element are connected to the tractor-driven component.
9. The system of claim 8 including at least one belt tensioner arranged on the tractor-driven component for tensioning at least one of the free ends of the linear element.
1 0. The system of claim 1 including a sensor arranged along the course of travel for sensing a position of the tractor-driven component when the tractor-driven component is proximate to the sensor, and the sensor being in communication with the controller which matches an encoder-determined position with a sensor- determined position.
1 1 . A system for moving a tractor-driven crane component to a predetermined position along a course of movement, the system comprising: a. an incrementally repetitious linear element connected to the tractor-driven component to extend in both directions from the tractor-driven component along the course of movement; b. at one end region of the course of movement, the linear element being wrapped around a drive element that rotates an encoder; c. at an opposite end region of the course of movement, the linear element being wrapped around an idler pulley; d. a length of the linear element extending between the encoder drive and the idler pulley without being connected to the tractor-driven component; and e. a controller for the tractor-driven component communicating with the encoder and moving the tractor- driven component to the predetermined position identified by the encoder from movement of the linear element.
12. The system of claim 11 including a tensioner for the linear element.
13. The system of claim 12 wherein the tensioner is arranged on the tractor-driven component.
14. The system of claim 1 1 wherein the tractor-driven component is arranged to operate as a bridge end truck.
15. The system of claim 11 wherein the tractor-driven component is arranged to operate as a bridge trolley.
16. The system of claim 11 wherein the linear element is a cog belt.
17. The system of claim 11 wherein free ends of the linear element are connected to the tractor-driven component, and a tensioner arranged on the tractor-driven component tensions one of the free ends.
1 8. The system of claim 11 wherein a sensor in communication with the controller is positioned on the course of movement to sense a position of the tractor-driven component, and the controller matches an encoder-determined position with a sensor-determined position of the tractor-driven component.
1 9. An automated system for a tractor-driven crane component movable to a predetermined position along a course of movement, the automated system comprising: a. a loop of an incrementally repetitious linear element extending along the course of movement; b. the linear element being connected to the tractor-driven component to move with the tractor-driven component along the course of movement; c. movement of the linear element in response to movement of the tractor-driven component being transmitted to an encoder arranged at an end region of the course of movement; and d. a controller determining the predetermined position from rotation of the encoder in response to movement of the linear element as the tractor-driven component approaches the predetermined position.
20. The system of claim 19 wherein free ends of the linear element are connected to the tractor-driven component.
21 . The system of claim 20 including a linear element tensioner arranged on the tractor-driven component.
22. The system of claim 19 wherein the linear element is a cog belt.
23. The system of claim 19 wherein the tractor-driven component is arranged to operate as a bridge end truck.
24. The system of claim 19 wherein the tractor-driven component is arranged to operate as a bridge trolley.
25. The system of claim 19 wherein an actual position of the tractor-driven component on the course of movement is communicated to the controller by a sensor on the course of movement, and the controller matches an encoder-determined position with the actual position.
PCT/US1999/013097 1998-06-12 1999-06-10 Automated tractor-driven crane WO1999064341A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU45590/99A AU4559099A (en) 1998-06-12 1999-06-10 Automated tractor-driven crane

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US9694998A 1998-06-12 1998-06-12
US09/096,949 1998-06-12

Publications (1)

Publication Number Publication Date
WO1999064341A1 true WO1999064341A1 (en) 1999-12-16

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PCT/US1999/013097 WO1999064341A1 (en) 1998-06-12 1999-06-10 Automated tractor-driven crane

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WO (1) WO1999064341A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103145046A (en) * 2013-02-17 2013-06-12 中国葛洲坝集团机械船舶有限公司 Automatic safety control apparatus of bridge crane under complex condition, and method thereof
EP3056077A1 (en) * 2015-02-13 2016-08-17 Cornelis Hendricus Liet A device for separating feed for livestock

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2254285A (en) * 1939-04-12 1941-09-02 American Mono Rail Company Automatic control for monorail systems
US2942736A (en) * 1959-06-18 1960-06-28 United States Atomic Energy Commission Crane positioning apparatus
US4499541A (en) * 1981-03-31 1985-02-12 Kabushiki Kaisha Toyoda Jidoh Shokki Seisakusho Input circuit of a fork lift truck control system for a fork lift truck
US4600358A (en) * 1982-05-18 1986-07-15 Fraunhofer-Gesellschaft z.Ford.der angew. Forschung Manipulating device operating in two directions
US5011358A (en) * 1988-10-25 1991-04-30 Andersen Eric T Height indicator for a fork lift truck
US5023434A (en) * 1988-07-23 1991-06-11 R. Stahl Fordertechnik Gmbh Position indicating apparatus for transporters on tracks
US5445282A (en) * 1989-02-17 1995-08-29 Erikkila Ky Transport means for transporting pieces three-dimensionally

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2254285A (en) * 1939-04-12 1941-09-02 American Mono Rail Company Automatic control for monorail systems
US2942736A (en) * 1959-06-18 1960-06-28 United States Atomic Energy Commission Crane positioning apparatus
US4499541A (en) * 1981-03-31 1985-02-12 Kabushiki Kaisha Toyoda Jidoh Shokki Seisakusho Input circuit of a fork lift truck control system for a fork lift truck
US4600358A (en) * 1982-05-18 1986-07-15 Fraunhofer-Gesellschaft z.Ford.der angew. Forschung Manipulating device operating in two directions
US5023434A (en) * 1988-07-23 1991-06-11 R. Stahl Fordertechnik Gmbh Position indicating apparatus for transporters on tracks
US5011358A (en) * 1988-10-25 1991-04-30 Andersen Eric T Height indicator for a fork lift truck
US5445282A (en) * 1989-02-17 1995-08-29 Erikkila Ky Transport means for transporting pieces three-dimensionally

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103145046A (en) * 2013-02-17 2013-06-12 中国葛洲坝集团机械船舶有限公司 Automatic safety control apparatus of bridge crane under complex condition, and method thereof
EP3056077A1 (en) * 2015-02-13 2016-08-17 Cornelis Hendricus Liet A device for separating feed for livestock
NL2014296B1 (en) * 2015-02-13 2016-10-13 Hendricus Liet Cornelis Device for loosening feed.
US10609870B2 (en) 2015-02-13 2020-04-07 Cornelis Hendricus Liet Material handling device for separating feed for livestock

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