WO2016023601A1 - Dispositif de détermination d'une ou de plusieurs parties de la longueur d'extension (l) que peut prendre un bras télescopique - Google Patents

Dispositif de détermination d'une ou de plusieurs parties de la longueur d'extension (l) que peut prendre un bras télescopique Download PDF

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Publication number
WO2016023601A1
WO2016023601A1 PCT/EP2015/001036 EP2015001036W WO2016023601A1 WO 2016023601 A1 WO2016023601 A1 WO 2016023601A1 EP 2015001036 W EP2015001036 W EP 2015001036W WO 2016023601 A1 WO2016023601 A1 WO 2016023601A1
Authority
WO
WIPO (PCT)
Prior art keywords
arm
signals
length
signal
determining
Prior art date
Application number
PCT/EP2015/001036
Other languages
German (de)
English (en)
Inventor
Horst Mannebach
Joachim Morsch
Original Assignee
Hydac Electronic Gmbh
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 Hydac Electronic Gmbh filed Critical Hydac Electronic Gmbh
Publication of WO2016023601A1 publication Critical patent/WO2016023601A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
    • G01S15/06—Systems determining the position data of a target
    • G01S15/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications

Definitions

  • the invention relates to a device for determining at least a portion of the respective retractable extension length of a telescopic arm, preferably in the form of a crane jib, mast or support arm, which is at least partially formed from a plurality of individual profile-like extensions which comprise a cavity at least partially and of which at least one Part is carried out under determination of the length of the arm extendable and retractable, and with a length measuring device for determining at least a portion of the respective assumed extension length.
  • length sensors are used to measure the extension lengths. These usually have a steel cable which is coupled to a spring-biased winding device on which a sensor device is provided. Such rope length sensors are due to the many moving mechanical parts both prone to failure and expensive to manufacture.
  • the invention has the object to provide a measuring device of the type mentioned is available, which is characterized by a simple and robust design by improved safety and accuracy of the measurement and advantageously allows the detection of the position of individual Ausschübbe ,
  • an essential feature of the invention is that in the case of a telescopic arm, such as a crane jib or the like, signal transmitters and signal receivers are arranged within the relevant arm, so that signals emitted by the respective signal generator and received by the relevant signal receiver run inside the cavity.
  • the measuring path is protected against interference from the environment and therefore from external reflection points which impair the safety and accuracy of the measurement. could be pregnant, shielded.
  • the device according to the invention can therefore also be used for safety-critical applications, in particular for crane jibs.
  • the device according to the invention is characterized by a robust design, protected against mechanical influences, so that the device can advantageously be used in equipment such as construction machines, mobile cranes, masts or the like.
  • the arrangement can advantageously be such that in the last ejection and / or the free end of the arm, a signal receiver is arranged, which receives from the signal transmitter at the other end of the arm transmitted via the cavity formed by the Ausschübbe signals. This results in a (first) total extension length in transmission measurement from the transit time between encoder and receiver.
  • the arrangement may advantageously be such that the ejections have at least partially in the direction of the signal generator and the signal receiver internal reflection points, which reflect the emitted signals, the reflection points comparable to the stepped Arrangement of the Ausschübe form a gradation, which allow interference-free signal reflection of each driven with the signals Ausschub.
  • the reflection points assigned to the extensions the position of the individual extensions can thus be determined in addition to the determination of the total extension length.
  • there is also a second / further total extension length which can be used to check and increase the safety in comparison with the first overall extension length.
  • the free cross-section of the arm cavity is advantageously dimensioned such that even in the case of deflection of the arm under its own weight or other load acting on the arm a substantially trouble-free signal transmission is possible. Due to the mentioned bending of the arm under its own weight and / or other attacking on the arm load yet the task should be solved to allow a substantially trouble-free signal transmission. This is possible with ultrasound in such a cost profile, since the cavity represents a waveguide and guides the ultrasound around the curvature. Thus, it can be advantageously ensured that a detection of all features can be carried out safely and robustly even with larger deflections.
  • the reflection points can be formed on the extensions advantageously by inwardly facing indentations of the respective hollow profile, the hollow sections of the Ausschübbe, as often provided for telescopic arms of crane cantilevers is, seen in cross-section can form substantially rectangular box structure, which is particularly preferably designed to be closed to the outside.
  • At least one reference point preferably within the measuring path, can be detectable by the signals for calibration of the measuring method by means of the evaluation device, in particular also for compensation of temperature changes.
  • a reference point which is formed by a reflector located at a fixed distance from a signal receiver, the respectively prevailing, temperature-dependent sound velocity can be determined. Determine the ability, which is the prerequisite is created that in a measurement with acoustic signals highest measurement accuracy can be achieved.
  • signal transmitters and signal receivers are each designed as transmitter / receiver (transceiver or emitter / receiver).
  • each measurement process can be carried out by means of a first and a second measurement, with emitter and receiver exchanging the roles in a second measurement. This checks the first measurement for consistency (redundancy) and, by offsetting the individual results, the determination of the total extension length and the position of the individual extensions becomes even more accurate.
  • Laser light can be used to form the optical signals, and ultrasound can be used to form the acoustic signals with particular advantage.
  • the device when using commercially available ultrasonic I transceiver, the device can be implemented easily and inexpensively.
  • the invention also provides a method for determining, in particular when using a device according to the invention, the extension length of an arm formed at least partially from extendable and retractable extensions, the method having the features of patent claim 10.
  • FIG. 1 shows, in the manner of a functional sketch, a sectional representation of a crane jib drawn in a highly schematically simplified manner, which with an exemplary embodiment of the invention Device is provided, wherein a measuring process is illustrated with signal arrows, and one of the Fig. 1 corresponding representation, wherein the signal arrows, a second measurement process is illustrated.
  • a left side in the drawing first arm part 2 and telescopic extension 4 and 6, which are relative to the arm part 2 to a desired total extension length of the arm extendable, in the figures with L is designated.
  • Arm part 2 as well as push-out 4 and 6 are formed by hollow profile body, which usually have a polygonal cross-sectional shape, for example, square or hexagonal. It will be understood that instead of the two extensions 4 and 6, as shown in the simplified illustration of the figures, a far greater number of extensions can be provided in modern crane jibs, such as mobile cranes.
  • the profile shape of the hollow profile is usually closed, except for special designs, such as masts, in which * - may be provided an axial slot opening of the profile.
  • the measuring process is based on the transit time determination of acoustic signals by means of ultrasound devices.
  • transceivers are provided in the present example, which can perform both the function of an emitter emitting ultrasound pulses and the function of a receiver recognizing the signals.
  • a first transceiver 8 is arranged at the free end 10 of the arm part 2 forming the base of the crane jib.
  • a second transceiver 12 is located at the crane tip. More precisely, that is second transceiver 12 connected to the outer end 14 of the last Ausschubes 6, is therefore in a total extension length L indicative position.
  • the transceivers 8, 12 are ultrasound signals in the profile cavity 16 of the crane jib out-send and out of the cavity 16 out signals receivable.
  • FIG. 1 illustrates a first measurement process in which the transceiver 8 located at the end 10 of the arm part 2 acts as an emitter which, as indicated by a broadly drawn signal arrow 18, emits ultrasonic pulses into the cavity 16, that of the second transceiver 12 at the end 14 of the crane tip are received.
  • Both transceivers 8 and 12 are networked via signal connections 20 and 22 to an electronic control unit 24.
  • the total extension length L can be calculated in a transmission measurement from the pulse transit time between the transceiver 8 and the transceiver 12.
  • the Ausschübbe 4 and 6 have at their ends facing the arm part 2 each have an inner reflector 26 and 28, which form reflection points for the running in the cavity 16 ultrasonic pulses, in a position corresponding to the respective Ausschubes 4, 6, stepped axial position are located.
  • the reflectors 26, 28 are formed by inwardly facing indentations of the hollow profile of the Ausschübbe 4 and 6.
  • ultrasound pulses reflected from the extensions 4 and 6 return to the transceiver 8, which recognizes them in receiver function.
  • the respective position of the extensions 4 and 6 can be calculated.
  • FIG. 2 illustrates a second measurement process in which transceiver 8 and transceiver 12 exchange their roles as emitters and receivers.
  • the pulse delivery s. Signal arrow 18, from the transceiver 12 at the end 14 of the crane tip.
  • the total extension length L can be calculated.
  • Reflection arrows 30 the position of the push-out 4 and 6 calculable.
  • the measurement process takes place redundantly, in each case in the form of a transmission measurement for determining the total extension length L and a reflection measurement for determining the position of the extensions 4, 6.
  • both the determination of the total extension length L and the positions of the extension 4,6 become more accurate.
  • the advantageous possibility of further clarifying the measurement result by taking into account in the calculation of the temperature-related fluctuations of the speed of sound compensating factor.
  • the reflector 28 is in fixed positional relationship with the transceiver 12, so that the reflected pulses passing to the transceiver, indicated by the signal arrows 30 in FIG. 2, can be used to determine the speed of sound.
  • the transceivers 8 and 12 may be connected to each other and to the control unit 24 via the signal lines 20 and 22.
  • a radio link can also be provided, so that a cable connection to the transceiver 12 located at the crane tip is eliminated in an advantageous manner.
  • a transceiver 12 located at the crane tip can be supplied with energy by an accumulator which, when the arm is fully retracted, enters a contact position for a charging process.
  • the separately arranged in the embodiment shown control unit 24 may also be integrated into a transceiver, advantageously in the stationary transceiver 8.
  • an optical method for example by means of laser light can be provided with the same functional principle.
  • corresponding laser-optical components are also commercially available in accordance with the state of the art.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)

Abstract

L'invention concerne un dispositif destiné à déterminer une ou plusieurs parties de la longueur d'extension (L) que peut prendre un bras télescopique (2, 4, 6), de préférence sous la forme d'une flèche de grue, d'une structure de levage ou d'un bras de support, qui se compose au moins en partie de plusieurs éléments extensibles profilés (4, 6) qui renferment au moins partiellement une cavité (16) et dont au moins une partie est guidée de façon déployable et rétractable par détermination de la longueur du bras (2, 4, 6). Le dispositif comporte un moyen de mesure de longueur (8, 12) servant à déterminer une ou plusieurs parties de la longueur d'extension prise à chaque fois. Le moyen de mesure de longueur (8, 12) émet des signaux optiques ou acoustiques (18) d'un ou de plusieurs émetteurs de signaux (8, 12) dans la cavité (16) dans laquelle un ou plusieurs récepteurs de signaux (8, 12) sont disposés pour recevoir les signaux (18) des émetteurs de signaux (8, 12). Un moyen d'évaluation (24) permet de convertir le temps de propagation des signaux (18), entre l'émetteur (8, 12) respectif et le récepteur (8, 12) respectif associé, en une mesure de la longueur d'extension (L) respective du bras (2, 4, 6).
PCT/EP2015/001036 2014-08-12 2015-05-21 Dispositif de détermination d'une ou de plusieurs parties de la longueur d'extension (l) que peut prendre un bras télescopique WO2016023601A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014011924.6A DE102014011924A1 (de) 2014-08-12 2014-08-12 Vorrichtung zur Bestimmung zumindest eines Teils der jeweils einnehmbaren Ausfahrlänge eines teleskopierbaren Armes
DE102014011924.6 2014-08-12

Publications (1)

Publication Number Publication Date
WO2016023601A1 true WO2016023601A1 (fr) 2016-02-18

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PCT/EP2015/001036 WO2016023601A1 (fr) 2014-08-12 2015-05-21 Dispositif de détermination d'une ou de plusieurs parties de la longueur d'extension (l) que peut prendre un bras télescopique

Country Status (2)

Country Link
DE (1) DE102014011924A1 (fr)
WO (1) WO2016023601A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10118806B2 (en) * 2014-11-18 2018-11-06 Gordon Charles Leicester Stabiliser

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5483261A (en) * 1977-12-16 1979-07-03 Tadano Tekkosho:Kk Multistage stretchable boom length detector
EP0921091A2 (fr) * 1997-12-05 1999-06-09 Grove U.S. LLC Vérin intélligent
DE102006025002A1 (de) * 2006-05-30 2007-12-06 Pat Gmbh Mobile oder stationäre Arbeitsvorrichtung mit teleskopierbaren Auslegerelementen, deren Position zueinander mittels RFID-Technik erfasst wird
DE102008048307A1 (de) * 2008-07-09 2010-01-21 Moba-Mobile Automation Ag Vorrichtung und Verfahren zur Bestimmung einer Ausfahrlänge von einem ausfahrbaren Maschinenteil
DE102008036994A1 (de) * 2008-08-08 2010-02-11 Ifm Electronic Gmbh Schiebeholm mit integrierter Ausfahrmessung

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5195059A (en) * 1991-03-27 1993-03-16 Tokyo Gas Co., Ltd. Acoustic pipe length measuring apparatus
DE19625775A1 (de) * 1996-06-27 1998-01-08 Daimler Benz Ag Weggeber zur Erfassung eines Stellhubes
DE19859202A1 (de) * 1998-12-21 2000-07-13 Trw Automotive Electron & Comp Vorrichtung zur Abstandsmessung
DE102011107287A1 (de) 2011-07-15 2013-01-17 Hydac Electronic Gmbh Verfahren und Vorrichtung zur Positionsermittlung mittels eines magnetostriktiven Sensorsystems

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5483261A (en) * 1977-12-16 1979-07-03 Tadano Tekkosho:Kk Multistage stretchable boom length detector
EP0921091A2 (fr) * 1997-12-05 1999-06-09 Grove U.S. LLC Vérin intélligent
DE102006025002A1 (de) * 2006-05-30 2007-12-06 Pat Gmbh Mobile oder stationäre Arbeitsvorrichtung mit teleskopierbaren Auslegerelementen, deren Position zueinander mittels RFID-Technik erfasst wird
DE102008048307A1 (de) * 2008-07-09 2010-01-21 Moba-Mobile Automation Ag Vorrichtung und Verfahren zur Bestimmung einer Ausfahrlänge von einem ausfahrbaren Maschinenteil
DE102008036994A1 (de) * 2008-08-08 2010-02-11 Ifm Electronic Gmbh Schiebeholm mit integrierter Ausfahrmessung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10118806B2 (en) * 2014-11-18 2018-11-06 Gordon Charles Leicester Stabiliser

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