WO2001032547A1 - System zum steuern der bewegungen einer lasthebevorrichtung - Google Patents
System zum steuern der bewegungen einer lasthebevorrichtung Download PDFInfo
- Publication number
- WO2001032547A1 WO2001032547A1 PCT/EP2000/010548 EP0010548W WO0132547A1 WO 2001032547 A1 WO2001032547 A1 WO 2001032547A1 EP 0010548 W EP0010548 W EP 0010548W WO 0132547 A1 WO0132547 A1 WO 0132547A1
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- WIPO (PCT)
- Prior art keywords
- force
- load
- sensor device
- support element
- drive
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D3/00—Portable or mobile lifting or hauling appliances
- B66D3/18—Power-operated hoists
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- 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
- B66C23/005—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 with balanced jib, e.g. pantograph arrangement, the jib being moved manually
Definitions
- the present invention relates to a system for controlling a load lifting device, in particular a crane trolley guided on a rail construction, with regard to its movements in a horizontal plane, the load lifting device having a support element oriented vertically - at least in the rest position due to gravity - and the load lifting device for executing the Movements are assigned to at least one motor drive device which can be controlled in each case as a function of a force which can be detected by means of a sensor device and which, in particular, has to be applied manually in an essentially horizontal direction, in particular.
- the invention relates to such a system in which the load lifting device has a flexible, windable, pendulum-capable support element which is oriented vertically in the rest position due to gravity.
- Crane tracks are known with a trolley that can move back and forth in only one coordinate direction (monorail) and also with a trolley that can move in two coordinate directions across an area (overhead crane).
- the trolley itself is guided on a rail, and this rail is then optionally guided on further rails with a direction of movement perpendicular to its longitudinal extent.
- the load lifting device or trolley has a flexible, windable support element, for example a support cable or a chain, which is oriented vertically in the idle state due to gravity.
- rigid, rod-like support elements are often used. With the load lifting device, a load can be raised or lowered in the vertical spatial direction by winding or unwinding the support element or moving it vertically as a whole.
- the trolley In many such crane tracks, the trolley is freely guided over corresponding free-wheel bearings, for example rollers.
- the horizontal movements of the trolley must be initiated manually by the operator via the support element by pulling or pushing the trolley with the support element or the load attached to it in the corresponding direction.
- large deflections of the support element may be required before the trolley moves at all.
- At the end of the respective movement there is often also an undesired overshoot, that is to say an undesired further movement of the trolley beyond the desired position and possibly even relatively hard against an end stop of the respective mounting rail. It is therefore often necessary for the trolley to be braked via the support element and, if necessary, even to be pulled back a little. A relatively wide reverse deflection of the support element is then required for this. All of this results in poor, cumbersome, time-consuming and laborious handling.
- Crane tracks with motorized trolleys are also known.
- the trolley drive is usually operated from a driver's cab or a manual keyboard using appropriate, e.g. controlled electrical switching means.
- Problems also arise here. Above all, result from every speed change, i.e. from each acceleration and braking process, pendulum movements of the load hanging on the support element. In unfavorable cases, such pendulum or oscillatory movements can become so strong that e.g. a free-standing crane can even tip away.
- German utility model DE 297 12 462 U1 discloses that the load lifting device for carrying out the movements is assigned at least one motor drive device which can be controlled in each case as a function of a force acting on the support element in a substantially horizontal direction. This force, which is to be applied manually in particular, is detected in the known system by means of a sensor device.
- the operator thus only needs to apply a slight manipulation force directly to the load or in the area of the load suspension device, as a result of which the lifting device moves automatically in the corresponding direction with the load.
- the load stops immediately if no force is applied.
- the load can therefore be manipulated and placed very sensitively and precisely.
- strain gauge strain gauges
- an indirect force detection is provided, especially when using a flexible and therefore pendulum-capable support element, by detecting deflections of the support element which are dependent on the respective manipulation force and which are forced relative to the vertical.
- a sensor device is provided, with which the deflections of the support element relative to the vertical are detected, and which then generates control signals for controlling the drive device of the load lifting device depending on the direction and preferably also the degree of the deflection.
- the sensor device of the known system has a measuring unit which on the one hand comprises a deflecting body connected to the support element and on the other hand comprises at least one distance sensor.
- the distance sensor is held horizontally next to the deflection body at a certain distance that can be changed by means of the manipulation force. There is thus a path-dependent force detection.
- a disadvantage of this known system is that the operating forces are load-dependent, i.e. with larger loads, e.g. for loads over 100 kg, a higher manipulation force must be applied than for smaller loads in order to deflect the support element with respect to the vertical by one and the same amount.
- the present invention has for its object to improve a control system of the type mentioned in a simple and inexpensive manner with regard to its ease of use, in particular in such a way that load-independent control can take place with high positioning accuracy and rapid positioning speed. According to the invention, this is achieved in that the sensor device is designed and arranged in relation to the support element in such a way that the force is detected without displacement. “Path-free” is understood to mean that the parts of the sensor device do not cover any macroscopically recordable paths relative to one another.
- Strain-free force transducers, magnetoelastic force transducers, piezoelectric force transducers or fiber-optic force transducers can advantageously be used as path-free force transducers.
- the sensor device can be designed with respect to the generation of the control signals in such a way that a movement of the load lifting device in a specific coordinate direction is brought about by an approximately rectified force of the support element which essentially corresponds to the desired direction of movement.
- the sensor device can be designed so sensitively that even a very small force, such as occurs, for example, with only a very slight deflection of a flexible support element in a maximum angular range of only about 0 to 3 ° to the vertical, triggers a motor drive in the corresponding direction ,
- the drive speed can be controlled depending on the amount of force (lower speed with lower force and higher speed with stronger force).
- the present invention is suitable for uniaxial, but preferably for biaxial, designs of crane runways.
- two drives assigned to the two coordinate directions in one plane (X, Y) are controlled individually or simultaneously, so that any overlap of the drives in directions oblique to the coordinate axes is also possible by the supporting element is also acted upon or deflected precisely in the respective desired direction of movement.
- a bracket pivotally mounted in an angular range about a vertical axis can also be provided, to which a motor drive device can also be assigned, which can be detected by means of a sensor device as a function of a sensor device that acts on the support element in a substantially horizontal direction, in particular that is to be applied manually Force can be controlled.
- this system is particularly suitable for use in combination with so-called weight balancers.
- the load lifting device is designed in such a way that the practically "floating" load hanging on the support element can be raised or lowered by small, manually applied forces in the vertical direction.
- the suspended load can be manipulated in space as required, regardless of its weight, by very low forces, i.e. be moved vertically and / or horizontally.
- Such a combined embodiment can therefore be referred to as a "three-coordinate balancer" or as a "spatial balancer”.
- FIG. 1 is a simplified perspective view of a crane runway with a load lifting device (trolley) movable along a horizontal movement axis X-X,
- Fig. 2 is a crane runway in an embodiment with in the direction of two
- FIG. 3 is an enlarged side view in the direction of arrow III of FIG. 2 with an additional representation of a load and an operator
- Fig. 4 is a vertical section through a main component of a
- FIG. 5 shows a horizontal section in the plane V-V according to FIG. 4,
- FIG. 6 shows a force / speed diagram for a preferred embodiment with progressive conversion of force into speed
- FIG. 9 shows a lateral section through a first embodiment of a boom of a control system according to the invention which can be rotated about at least one vertical axis
- FIG. 10 is a plan view of the boom shown in FIG. 9, 11 shows a side section through a second embodiment of a boom of a control system according to the invention which can be rotated about at least one vertical axis,
- FIG. 12 is a plan view of the boom shown in FIG. 11,
- FIG. 14 shows a side section through a third embodiment of a boom of a control system according to the invention which can be rotated about at least one vertical axis
- FIG. 15 is a plan view of the boom shown in FIG. 14,
- FIG. 16 shows a lateral section through a fourth embodiment of a boom of a control system according to the invention which can be rotated about at least one vertical axis
- FIG 17 shows a lateral section through a fifth embodiment of a boom of a control system according to the invention which can be rotated about at least one vertical axis.
- a crane runway 1 is initially shown by way of example as a monorail track.
- a running rail construction 2 is provided with a running rail 4 which extends horizontally and in particular in a straight line, on which a load lifting device 6, in particular a so-called trolley 8, is guided to and fro in the direction of a horizontal coordinate axis XX.
- the running rail construction 2 is fastened via holding elements 10 to a building ceiling (not shown) and / or separate stationary supports 12 (cf. FIG. 2).
- the load lifting device 6 has a flexible and therefore rollable and consequently pendulous support element 14, which is shown here by way of example as a support cable (steel cable), but can also be formed, for example, by a chain.
- the support element 14 has a load-carrying device 16, in the simplest case, for example, a hook or the like; it can also be a vacuum cleaner, gripper, pallet forks and the like.
- a motor-driven winding and unwinding device 18 is connected to the support element 14 (cf. FIG. 4).
- the load-bearing device 16 can thus be moved, ie raised or lowered, with a load 20 (FIG. 3) in the vertical spatial direction ZZ via the support element 14.
- the crane runway 1 is shown as an example in a second embodiment as a traveling crane.
- the running rail construction 2 consists on the one hand of the running rail 4 leading the load lifting device 6 in the coordinate direction XX and on the other hand of further rails 22, these further rails 22 being fixed in place via the holding elements 10, and the running rail 4 in a second horizontal coordinate direction YY to the Rails 22 is guided back and forth.
- the two coordinate directions X-X and Y-Y are arranged perpendicular to each other and form a plane X-Y.
- the load lifting device 6 can be moved as desired over the entire surface covered by the running rail construction 2.
- the load lifting device 6 is assigned at least one motor drive device 23a (FIG. 1) for its movements in the direction XX and / or YY.
- a corresponding drive device 23a and 23b is provided for each of the two directions of movement XX and YY, which, however, is only shown schematically (in block form) in the drawing figures, including the corresponding operative connections (in the form of unmarked arrows) is.
- a special control system is provided in these exemplary embodiments, the or each drive device 23a, 23b depending on a forced deflection of the support element 14, starting from the vertical orientation that is automatically set in the rest position due to gravity is controllable.
- the system has a special sensor device 24, for which reference is made in particular to FIGS. 4 and 5.
- This sensor device 24 can Deflections of the support element 14 relative to the vertical 26 can be detected very sensitively.
- the sensor device 24 then generates, depending on the direction and preferably also on the degree (angular dimension) of the deflection, control signals for actuating the respective drive device 23a, 23b of the load lifting device 6.
- the sensor device 24 is preferably designed with respect to the generation of the control signals such that movement the load lifting device 6 in a certain coordinate direction, for example ⁇ X and / or ⁇ Y, is effected by an approximately rectified deflection of the support element 14 which essentially corresponds to the desired direction of movement.
- FIG. 3 This is illustrated in FIG. 3 using the arrows as an example.
- an operator 28 manually applies a manipulation force F to the support element 14 in the direction of the arrow 30 by means of the load 20 and / or the load-carrying device 16 and is thereby deflected from the vertical 26 into a slightly oblique orientation 32 in accordance with the direction of movement -Y by an angle ⁇
- the control signals generated by the sensor device 24 cause the load lifting device 6 to be driven exactly in the direction of movement -Y, ie in the direction of the arrow 34.
- a reverse force F or deflection in the direction of arrow 36 would drive in the direction of arrow 38, i.e. in the direction of movement + Y.
- the sensor device 24 has a measuring unit 40 with a housing 41.
- the measuring unit 40 has on the one hand a deflection body 42 connected to the support element 14 and on the other hand at least one of the respective coordinate axis XX or YY - and thus the associated drive device 23a, 23b - associated distance sensor 44a, 44b.
- the deflecting body 42 is longitudinally displaceable on the supporting element 14 in such a way that on the one hand the supporting element 14 is movable in the direction of the vertical axis ZZ relative to the deflecting body 42 which is essentially fixed in this axial direction for the purpose of lifting or lowering the load or the load-bearing device 16, and on the other hand the deflecting body 42 in the event of deflections of the support element 14 relative to the distance Sensors 44a, 44b is taken to change the distance that can be detected to generate the control signals. For this purpose, each distance sensor 44a, 44b is held horizontally at a certain distance next to the deflecting body 42.
- the measuring unit 40 has - as shown - two distance sensors 44a, 44b arranged at an angle of 90 ° to each other corresponding to the two coordinate axes.
- the deflecting body 42 is expediently designed as a circular cylindrical body and arranged in a hollow cylindrical receiving housing 41, the sensors 44a, 44b being held in the wall of this receiving housing 41.
- the deflecting body 42 is thereby surrounded in its rest position (exactly vertically oriented support element 14) by a uniform annular gap 46.
- the clear width of this annular gap 46 is measured by sensors 44a, 44b and then converted into the control signals.
- the distance sensors 44a, 44b are connected to a particularly schematically illustrated, in particular electronic evaluation unit 47, which in turn generates the control signals for the drive devices 23a, 23b on the basis of the respective sensor output signals.
- the measuring unit 40 has a fixed guide 48 for the support element 14 in the upper region of the receiving housing 41, so as to laterally support the support element 14 against deflections.
- the guide 48 can be formed by a feed-through opening which has an opening cross-section which is adapted to the cross-section of the support element 14 in such a way that the support element 14 is guided in a vertically relatively movable manner but horizontally in this fixed point.
- This fixed point thus forms pivot axes for the deflections of the underlying (hanging) section of the support element 14.
- Each drive device 23a, 23b is preferably designed as a speed-controlled motor, in particular with a travel drive acting on the mounting rail construction 2. It can advantageously be a friction wheel drive, for example. Alternatively, gear drives or toothed belts can of course also be provided as an alternative.
- the manipulation force F or the resulting deflection of the support element is preferably converted into the drive speed v in accordance with a progressive characteristic curve 50. This is achieved by appropriate design or programming of the electronic evaluation unit 47, which enables the characteristic curve and thus the response behavior of the system to be adapted to different load lifting tasks.
- this progressive characteristic curve 50 with a flat initial increase consist above all in a gentle, largely jerk-free starting and stopping of the load lifting device 6 and the avoidance of vibrations during starting and braking, although high speeds are still possible. If, on the other hand, the conversion were carried out using a linear characteristic curve 52, indicated by dashed lines in FIG. 6, this would result in a jerky start-up / braking which produces oscillations. A correspondingly flatter rise in a linear curve would have the disadvantage that even with a high force F only a relatively low speed could be achieved, which can lead to the system not reacting to small (short) deflections.
- the system can preferably be used in combination with a so-called weight balancer.
- a torque-controlled drive (not shown in the drawing) is preferably assigned to the support element 14 for its vertical movements in the axial direction Z-Z, which in each case generates a constant torque as a function of the load such that the load 20 is held statically in the vertical direction in any position, i.e. practically hovers.
- FIGS. 7 and 8 An embodiment of a system for controlling a load lifting device 6 according to the invention is initially shown as an example in FIGS. 7 and 8.
- a sensor device 25 is provided, which is designed and arranged in relation to the support element 14 such that the force F, which is applied to control the system, in particular an im Area one at the free, lower end of the Carrying element 14 arranged load receiving device 16 attacking force F, is detected without travel.
- the sensor device 25 again has a measuring unit, which is designated here by the reference number 39.
- the measuring unit 39 comprises a housing 41, in which, however, there is no deflecting body 42 here, but rather a measuring body 43 connected to the support element 14 and at least one, in the illustrated embodiment two each, the respective coordinate axis XX, YY or the associated drive device 23a, 23b associated force transducers 45a, 45b, 45c, 45d are (t) / (n).
- Each of the force transducers 45a, 45b, 45c, 45d is in permanent contact with the measuring body 43.
- the support element 14 is in turn a flexible, windable support element, such as a rope, which runs over three guide rollers 43a, 43b, 43c of the measuring body 43.
- the measuring body 43 is arranged stationary in the direction of the vertical axis ZZ and the support element 14 is longitudinally displaceable in the direction of the measuring body 43 for the purpose of lifting or lowering a load 20 through a central opening formed by the guide rollers 43a, 43b, 43c offset from one another by 120 ° the vertical axis ZZ movable relative to the measuring body 43.
- the further details of the mode of operation of the sensor device 25 correspond to the above-described designs of the control system.
- the measuring device 40 and the measuring device 39 are specified as alternatives in a block of the block diagram in FIG. 1.
- the force transducers 45a, 45b, 45c, 45d of the measuring device 39 according to the invention are essentially without gaps on the measuring body 43, no load-dependent manipulation force is required to generate a control signal, on the other hand the system can ensure a consistently high level of functional reliability even under harsh environmental conditions , The path-free force detection thus also ensures an increased reliability of the system in that the sensor device 25 has a lower risk of contamination - and thus the possibility of a long-term negative influence on the sensitivity. exists than in the case that the force transducer (s) 44a, 44b is / are held next to a deflecting body 42 at a certain distance (annular gap 46).
- the sensor device 25 can advantageously have at least one strain gauge force transducer.
- Strain gauge (strain gauge) force transducers are the most important representatives of electrical force transducers. In the simplest case, four strain gauges (DMS) are glued to an elastic hollow cylinder to produce such a strain gauge transducer. If the cylinder is compressed by a load, the resistance of the strain gauge changes. The four strain gauges are interconnected in a Wheatstone bridge. Instead of tubular (hollow cylindrical) deformation bodies, rod-shaped deformation bodies can also be used. It is particularly advantageous that strain gauge force transducers are suitable for static and dynamic measurements and for nominal forces in the range from 5 N to 20 MN.
- the sensor device 25 can have at least one magnetoelastic force sensor as the force sensor 45a, 45b, 45c, 45d.
- the mode of operation of such a magnetoelastic force transducer is based on the magnetoelastic effect of ferromagnetic materials, after which their permeability changes under the action of force.
- the resulting change in inductance of a coil with a core made of the ferromagnetic material, to which the force acts, directly changes a current that flows through the coil. Since the current can be measured directly, no measuring amplifiers are required, which makes such force transducers particularly suitable for use under robust operating conditions.
- Piezoelectric force transducers can also advantageously be used in the sensor device 25 as pathless force transducers 45a, 45b, 45c, 45d.
- the basis for these piezoelectric force transducers is the piezoelectric effect, according to which charges appear on certain crystals when they are mechanically stressed. Quartz crystals have the highest constancy of their properties and the best insulation, which is why they are best suited for measurement purposes. In a piezoelectric force transducer (load cell), the force acts on two piezo crystals that are mechanically one behind the other, electrically but parallel.
- the output (signal) size of a piezoelectric force transducer is a charge that is converted into a corresponding voltage by a charge amplifier.
- the sensor device 25 has at least one fiber-optic force transducer as the force transducer 45a, 45b, 45c, 45d.
- the force transducer 45a, 45b, 45c, 45d either the detection or the transmission of the measured value takes place by means of an optical fiber.
- the fiber itself serves as the sensitive element in which the measurement variable (force F) is converted into an optical signal.
- force F the measurement variable
- the primary purpose is to transmit the measured value from the measuring point to an evaluation point as free of interference as possible.
- the measurement variable is converted into an optical signal at the measurement location outside the fiber, e.g. using integrated optical or micro-optical components.
- the force to be measured can control the opening width of an aperture for a luminous flux, while another part of the luminous flux remains unchanged as a reference signal.
- the evaluation electronics then compare the two luminous fluxes and use them to generate a force display that does not affect the distance.
- the use of fiber optic transducers is particularly appropriate when the measuring conditions are “difficult”, such as strong electrical or magnetic interference fields, high temperatures, explosive or corrosive atmospheres.
- FIGS. 9 and 10 and 11 and 12 Two advantageous embodiments of the invention are also shown in FIGS. 9 and 10 and 11 and 12. It is characteristic of both versions that the system according to the invention for controlling the load lifting device one by one Angle ⁇ (Fig. 10 and 12) about a vertical axis WW (Fig. 9 and 11) pivotally mounted boom 54.
- the arm 54 can be assigned a motorized drive device 23c, which in each case is dependent on a device that acts on the support element 14 in a substantially horizontal direction, in particular manually, force F which can be detected by the sensor device 25 can be controlled.
- this drive device 23c can also advantageously be designed as a servo motor, in particular with a friction wheel, gearwheel or toothed belt drive.
- the sensor device 25 can also advantageously be designed such that a movement of the load lifting device 6 in the direction of a deflection by the angle ⁇ (arrow with the reference symbol 56) is brought about by a force F applied in approximately the same desired direction of movement.
- the drive speed v of the drive device 23c can in turn - as shown above - be controlled as a function of the magnitude of the force F applied in each case, preferably using a progressive curve 50 with a flat initial increase, as shown in FIG. 6.
- the measuring unit 39 has four path-free sensors 45a, 45b, 45c, 45d, which are arranged at an angle of 90 ° to each other according to the two coordinate axes X-X, YY, in the electronic evaluation unit 47 using the respective sensor output signals at the same time - each according to the direction of action of the acting force F in the four quadrant control signals formed by the coordinate axes XX, YY for both the linear drive devices 23a, 23b and for the drive device 23c for pivoting the boom 54.
- the housing 41 of the measuring device 39 can be rotated relative to the measuring body 43 and the measuring body 43 and the housing 41 are fastened to the cantilever 54 in such a way that when the cantilever 54 is pivoted by the angle ⁇ about the vertical axis WW the housing 41 is rotated by the same angle so that the housing 41 with the pathless force transducers 45a, 45b, 45c, 45d maintains its angular orientation relative to the running rail construction 2.
- This true-to-angle carrying of the housing 41 has the effect that a simple signal evaluation by the electronic evaluation unit 47 is possible at every angle ⁇ by which the arm 54 is pivoted, since the pairs of force transducers 45a, 45b and 45c, 45d always always have the same angle to the horizontal main axes X-X, YY of the space - for example, as is particularly clear from FIGS. 10 and 12 - are aligned on the one hand axially parallel and on the other hand at right angles to the axes XX, YY.
- a coupling rod 58 (FIGS. 9 and 10) pivotably articulated on one end on the arm 54 and at the other end on the housing 41, or also a corresponding toothed belt drive 60 (FIGS. 11 and 12) Chain drive or the like can be used.
- a toothed belt drive 60 can also be seen from the enlarged illustration in FIG. 7. It runs parallel to the arm 54 above the sensor device 25, whose housing 41 has an axial tubular extension 62 in the direction of the arm 54, which is encompassed by the toothed belt 60 and via roller bearings 64 on a likewise tubular extension 66 at the free end of the Boom 54 is held.
- the support element 14 is guided through a deflection roller 68 through the interior of the extension piece 66.
- the holding element 14 is not designed as a rope but rather rigidly - as a rod. Otherwise, the basic structure of the measuring unit 39 is essentially the same as that of the embodiment described above. In this respect, reference is made to the above explanations in this regard. However, there are differences from the above embodiment in the mounting of the rigid holding element 14 and in a special design of an operating handle 70.
- the holding element 14 is not guided over guide rollers 43a, 43b, 43c, but preferably has - as shown - two spherical thickenings 14a, 14b, which are used to support it in the measuring body 43 and in the cantilever 54.
- the tubular operating handle 70 encompasses the holding element 14 and has two sleeve-like metal parts 70a, 70b which are insulated from one another, as is also clearly evident from FIGS. 14 and 16 and 17.
- the metal parts 70a, 70b are bridged electrically by the operator 28, so that a circuit is closed that switches off a safety lock that is switched on when the system is idle.
- the control handle 70 is also designed in particular for controlling vertical movements of loads 20 suspended from the support element 14.
- a load 20 can be raised or lowered by small forces applied manually in the vertical direction 26.
- the force is detected by means of a sensor 72, by means of which a change in the distance of a sliding sleeve 74 caused by a vertical operating force is detected and a corresponding signal is sent to the electronic control unit 47.
- This signal can be converted there into a control signal for a drive device for the vertical movement of the load 20 in an analogous manner to the signals of the path-free sensors 45a, 45b, 45c, 45d.
- Such drive devices are shown in FIGS. 14, 15 and 17 with the reference symbol 23d.
- FIG. 13 contains an example in the form of action arrows to illustrate the described signal flow from the handle 70, in particular starting from its sensor 72, to the electronic control unit 47
- FIG. 14 also shows the signal flow as an example in the form of an action arrow from the electronic control unit 47 to the vertical drive 23d.
- a hook is provided as the load-carrying device 16, which is located directly under the operating handle 70.
- Another possible embodiment of the measuring device 39 is to also arrange the sensor device 25 for detecting the control forces F for the horizontal movement directly in the operating handle 70.
- Four path-free sensors 45a, 45b, 45c, 45d for quadrant-precise detection of the forces F can preferably be formed by strain gauges.
- 14 and 15 again show a control system according to the invention in two different views, with a third embodiment of the rotatable arm 54 and with the second embodiment of the measuring unit 39.
- the illustrations in the drawing are analogous to those of the first embodiment (FIG. 9 and 10) and the second embodiment (FIGS. 11 and 12).
- the most important difference of the third embodiment compared to the variants described above is that the arm 54 consists of two articulated arms 54a, 54b.
- the first arm 54a is - as shown in FIGS. 10 and 12 for the arm 54 - pivotable by an angle ⁇ between the arm 54a and the XX axis about the vertical axis WW
- the second arm 54b is pivotable by an angle ⁇ 1 between the arm 54b and Arm 54a pivotable about a vertical axis W1-W1.
- the sensor device 25 is mechanically tracked in such a way that the pathless force transducers 45a, 45b, 45c, 45d maintain their angular alignment relative to the rail construction 2 or to the axes of the XY plane .
- a toothed belt drive 60 is provided for mechanical tracking, as in the second embodiment of the arm 54, two toothed belts 60a, 60b, one for each arm 54a, 54b of the arm 54 being used here.
- the cantilever 54 is guided in a vertically movable manner on a rod 76 connected to the trolley 8 in a rotationally fixed manner, wherein a special drive 23d can be provided for movement in the ZZ direction, which, as already mentioned, can be controlled and, for example, similarly to FIG Flexible support element 14 shown - can be connected to a motorized winding and unwinding device 18 for a rope 78.
- a special drive 23d can be provided for movement in the ZZ direction, which, as already mentioned, can be controlled and, for example, similarly to FIG Flexible support element 14 shown - can be connected to a motorized winding and unwinding device 18 for a rope 78.
- the arm 54 (in a fourth embodiment) is likewise formed from two arms 54a, 54b.
- the vertical mobility of the load 20 is achieved here, however, in that the first arm 54a does not just move about the vertical axis WW in the horizontal direction, but is also pivotable in the vertical direction.
- the arm 54a consists of two pivot levers 80a, 80b which are arranged parallel to one another and which are pivotally articulated at one end to a holding part 82 connected to the trolley 8 and at the other end to a holding part 84 connected to the second arm 54b.
- the signals corresponding to the swivel angles ⁇ , ⁇ 1 of the arms 54a, 54b are fed to the electronic evaluation unit 47, where a resultant angle value for an actuator 23e for tracking the pathless sensors 45a, 45b, 45c, 45d is calculated by addition or subtraction.
- This actuator 23e can preferably be a stepper motor.
- the tracking can advantageously be e.g. via a toothed belt drive 60 acting on the measuring unit 39, but also acting directly from the actuator 23e on the measuring unit 39.
- the swivel joints of the arms 54a, 54b on the vertical axes WW, W1-W1 or the swivel levers 80a, 80b on the horizontal axes can preferably be braked when the travel drives 23a, 23b are actuated, so that they do not slow down when moving due to the inertia of the parts mentioned, an unwanted spontaneous movement occurs.
- the activation of parking brakes located on the swivel joints which bring about a rigid relative position of the arms 54a, 54b or 80a, 80b with respect to one another, can also advantageously be implemented via the control handle 70, in particular by the operator 28 by hand overlapping the two
- the above-described insulated sleeve-like metal parts 70a, 70b are electrically bridged, as a result a corresponding activation circuit is closed. Incidentally, this is possible in all embodiments in which rotary joints are provided.
- FIG. 17 A further embodiment of a control system according to the invention with a boom 54 rotatable about a vertical axis W-W is shown in FIG. 17.
- This embodiment has several similarities with the embodiment shown in FIGS. 14 and 15, but the arm 54 is rotatably articulated directly on the trolley 8 via the axis WW and not rotatably on the vertical rod 76.
- a vertical rod 76 is also present , on which, however, the load suspension device 16 - in this case a fork - is guided vertically.
- the vertical guidance and control of the load-carrying device 16 takes place in the same way as in the embodiment shown in FIGS. 14 and 15 via a vertical drive 23d acting on an unwinding device 18 for a rope 78, which in turn can be controlled by the electronic evaluation device 47.
- This receives its control signals from the measuring device 39 with the pathless sensors 45a, 45b, 45c, 45d and from the control handle 70, in which a sensor 72 for the vertical control is located.
- the control handle 70 and the measuring device 39 also form a unit here, as in the embodiments described above, but in this case it is fastened to the vertical rod 76 which is pivotably articulated on the trolley 8.
- a mechanical tracking of sensors 45a, 45b, 45c, 45d or tracking in the manner of an electrical shaft can also be provided for this embodiment.
- the invention is not limited to the exemplary embodiments shown, but also includes all embodiments having the same effect in the sense of the invention. This applies in particular to the sensor device 25; Any other embodiment is also suitable here, with which forces on the support element 14 can be detected without a path and converted into control signals.
- the drives 23a, 23b, 23c provided can be designed as electrical, pneumatic and / or hydraulic motors.
- the electronic evaluation unit 47 which is only shown schematically in the examples, can preferably be integrated into a mobile part of the system, such as the trolley 8.
- the invention is not limited to the combination of features defined in claim 1, but can also be defined by any other combination of specific features of all the individual features disclosed overall. This means that in principle practically every single feature of claim 1 can be omitted or replaced by at least one single feature disclosed elsewhere in the application. In this respect, claim 1 is only to be understood as a first attempt at formulation for an invention.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Control Of Position Or Direction (AREA)
- Jib Cranes (AREA)
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT00969555T ATE246661T1 (de) | 1999-10-30 | 2000-10-26 | System zum steuern der bewegungen einer lasthebevorrichtung |
US10/129,246 US7070061B1 (en) | 1999-10-30 | 2000-10-26 | System for controlling movements of a load lifting device |
DE50003221T DE50003221D1 (de) | 1999-10-30 | 2000-10-26 | System zum steuern der bewegungen einer lasthebevorrichtung |
EP00969555A EP1224145B1 (de) | 1999-10-30 | 2000-10-26 | System zum steuern der bewegungen einer lasthebevorrichtung |
AU79232/00A AU7923200A (en) | 1999-10-30 | 2000-10-26 | System for controlling movements of a load lifting device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE29919136.2 | 1999-10-30 | ||
DE29919136U DE29919136U1 (de) | 1999-10-30 | 1999-10-30 | System zum Steuern der Bewegungen einer Lasthebevorrichtung |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001032547A1 true WO2001032547A1 (de) | 2001-05-10 |
Family
ID=8080994
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2000/010548 WO2001032547A1 (de) | 1999-10-30 | 2000-10-26 | System zum steuern der bewegungen einer lasthebevorrichtung |
Country Status (7)
Country | Link |
---|---|
US (1) | US7070061B1 (de) |
EP (1) | EP1224145B1 (de) |
AT (1) | ATE246661T1 (de) |
AU (1) | AU7923200A (de) |
DE (2) | DE29919136U1 (de) |
ES (1) | ES2203522T3 (de) |
WO (1) | WO2001032547A1 (de) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003095352A1 (en) * | 2002-05-08 | 2003-11-20 | The Stanley Works | Methods and apparatus for manipulation of heavy payloads with intelligent assist devices |
EP2626326A1 (de) * | 2012-02-10 | 2013-08-14 | Rinke Handling-Systems GmbH | Bedieneinrichtung |
WO2014098571A1 (en) * | 2012-12-21 | 2014-06-26 | Type22 B.V. | Balanced support device |
US9308645B2 (en) | 2012-03-21 | 2016-04-12 | GM Global Technology Operations LLC | Method of inferring intentions of an operator to move a robotic system |
DE102013206696B4 (de) | 2012-04-18 | 2018-11-22 | Eb-Invent Gmbh | Vorrichtung und ein Verfahren zur Steuerung einer Handhabungseinrichtung |
US10407183B2 (en) | 2013-09-16 | 2019-09-10 | Vanderlande Industries B.V. | Installation for the manipulation of items of luggage |
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US6634515B2 (en) | 2000-12-05 | 2003-10-21 | Demag Cranes & Components Gmbh | Lifting apparatus for implementing a rectilinear movement of a handling device |
DE10061343A1 (de) * | 2000-12-05 | 2002-06-13 | Demag Cranes & Components Gmbh | Hubvorrichtung zum geradlinigen Bewegen eines Handhabungsmittels |
ITUD20040226A1 (it) * | 2004-12-03 | 2005-03-03 | Scaglia Indeva Spa | Apparato per il sollevamento e la movimentazione di oggetti |
KR101608693B1 (ko) * | 2007-02-14 | 2016-04-05 | 가부시끼가이샤 고고우 | 이동 조작 장치 |
US8317453B2 (en) * | 2008-05-15 | 2012-11-27 | Ray Givens | Compound-arm manipulator |
ES2364359B1 (es) * | 2008-12-05 | 2012-09-14 | Consejo Superior De Investigaciones Científicas (Csic) | Brazo manipulador de cargas con pares de actuacion reducidos. |
US8644980B2 (en) | 2009-11-30 | 2014-02-04 | GM Global Technology Operations LLC | Sensor for handling system |
FR2957147B1 (fr) * | 2010-03-04 | 2012-11-23 | Peugeot Citroen Automobiles Sa | Dispositif de mesure de force a appliquer a un manipulateur d'objets |
DE102012217241A1 (de) * | 2012-09-25 | 2014-03-27 | Schaeffler Technologies Gmbh & Co. Kg | Lagerelement für zwei Raumrichtungen |
EP2989042B1 (de) * | 2013-04-26 | 2020-12-09 | J. Schmalz GmbH | Vorrichtung zum handgeführten bewegen von lasten |
CN105092224A (zh) * | 2015-06-23 | 2015-11-25 | 吴江万工机电设备有限公司 | 一种消极式开口凸轮形状和制造精度的试验装置 |
FI127713B (fi) * | 2017-03-30 | 2018-12-31 | Konecranes Global Oy | Nostoköyden pystysuuntaisen liikkeen ohjaus |
CN114787071A (zh) * | 2019-10-21 | 2022-07-22 | 株式会社开道 | 卷扬机及卷扬机的驱动控制方法 |
RU2744647C1 (ru) * | 2020-07-16 | 2021-03-12 | Федеральное государственное бюджетное образовательное учреждение высшего образования Иркутский государственный университет путей сообщения (ФГБОУ ВО ИрГУПС) | Способ адаптивного управления мостовым краном |
CN113979315B (zh) * | 2021-10-28 | 2023-10-31 | 承德石油高等专科学校 | 一种天车定位偏差补偿装置 |
CN114348868B (zh) * | 2022-03-11 | 2022-05-24 | 太原矿机电气股份有限公司 | 一种用于煤矿单轨吊机车的伸缩式起吊梁 |
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- 2000-10-26 AU AU79232/00A patent/AU7923200A/en not_active Abandoned
- 2000-10-26 US US10/129,246 patent/US7070061B1/en not_active Expired - Lifetime
- 2000-10-26 AT AT00969555T patent/ATE246661T1/de not_active IP Right Cessation
- 2000-10-26 WO PCT/EP2000/010548 patent/WO2001032547A1/de active IP Right Grant
- 2000-10-26 DE DE50003221T patent/DE50003221D1/de not_active Expired - Lifetime
- 2000-10-26 EP EP00969555A patent/EP1224145B1/de not_active Expired - Lifetime
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US4348634A (en) * | 1979-08-02 | 1982-09-07 | Association Des Ouvriers En Instruments De Precision | Manual control means for controlling the movements of a motor-driven element |
GB2110428A (en) * | 1981-11-25 | 1983-06-15 | Offshore Syst Eng Osel | Control system for a manipulator arm |
WO1986007042A1 (en) * | 1985-05-31 | 1986-12-04 | Kahlman Innovation Ab | Arrangement for a goods hoist |
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WO2003095352A1 (en) * | 2002-05-08 | 2003-11-20 | The Stanley Works | Methods and apparatus for manipulation of heavy payloads with intelligent assist devices |
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US9308645B2 (en) | 2012-03-21 | 2016-04-12 | GM Global Technology Operations LLC | Method of inferring intentions of an operator to move a robotic system |
DE102013204789B4 (de) * | 2012-03-21 | 2018-01-11 | GM Global Technology Operations LLC (n. d. Gesetzen des Staates Delaware) | Verfahren zum folgern von absichten eines bedieners zum bewegen eines robotersystems |
DE102013206696B4 (de) | 2012-04-18 | 2018-11-22 | Eb-Invent Gmbh | Vorrichtung und ein Verfahren zur Steuerung einer Handhabungseinrichtung |
WO2014098571A1 (en) * | 2012-12-21 | 2014-06-26 | Type22 B.V. | Balanced support device |
US9863579B2 (en) | 2012-12-21 | 2018-01-09 | Vanderlande Industries B.V. | Balanced support device |
US10407183B2 (en) | 2013-09-16 | 2019-09-10 | Vanderlande Industries B.V. | Installation for the manipulation of items of luggage |
Also Published As
Publication number | Publication date |
---|---|
EP1224145A1 (de) | 2002-07-24 |
DE50003221D1 (de) | 2003-09-11 |
EP1224145B1 (de) | 2003-08-06 |
AU7923200A (en) | 2001-05-14 |
ATE246661T1 (de) | 2003-08-15 |
DE29919136U1 (de) | 2001-03-08 |
ES2203522T3 (es) | 2004-04-16 |
US7070061B1 (en) | 2006-07-04 |
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