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EP1390286B1 - System and method for measuring a horizontal deviation of a load receiving element - Google Patents

System and method for measuring a horizontal deviation of a load receiving element Download PDF

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Publication number
EP1390286B1
EP1390286B1 EP02753047A EP02753047A EP1390286B1 EP 1390286 B1 EP1390286 B1 EP 1390286B1 EP 02753047 A EP02753047 A EP 02753047A EP 02753047 A EP02753047 A EP 02753047A EP 1390286 B1 EP1390286 B1 EP 1390286B1
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EP
European Patent Office
Prior art keywords
load receiving
receiving means
crane trolley
cable length
data processing
Prior art date
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Expired - Lifetime
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EP02753047A
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German (de)
French (fr)
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EP1390286A1 (en
Inventor
Gunther Lukas
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Krusche Lagertechnik AG
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Krusche Lagertechnik AG
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Publication of EP1390286A1 publication Critical patent/EP1390286A1/en
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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
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Definitions

  • the present invention is directed to a system for measuring a horizontal deflection of a load-carrying means in relation to a position of a trolley, wherein the load-receiving means is arranged suspended on a plurality of supporting cables on the trolley, and to a method for measuring a horizontal deflection of a load-receiving means in Relation to a position of a trolley, wherein the load-receiving means is arranged on a plurality of support cables hanging on the trolley.
  • Pendulum damping devices from the company CePLuS GmbH in Magdeburg are known, which use high-performance cameras with microprocessors to measure the horizontal deflection of the load-handling device. These high-performance cameras are mounted on a trolley and measure the load movements to adjust the speed of the trolley while driving so that no unwanted vibrations of the loads occur.
  • reflectors are mounted on the load handler.
  • the camera mounted on the trolley is down, i. directed towards the load-carrying means and determines the position of the reflector relative to the trolley. From these position data of the reflector, the deflection of the lifting device is calculated.
  • a system for measuring a horizontal deflection of a lifting device in relation to a position of a crane trolley, wherein the load receiving means is arranged suspended on a plurality of parallel support cables on the trolley, at least two rope length sensors are provided which are operative with a data processing means, preferably a processor are connected, wherein the separate ropes of the at least two rope length sensors are not arranged parallel in Katzfahrtraum between trolley and load receiving means, and wherein a data processing means connected to the computing unit determines the horizontal deflection of the load receiving means in relation to the position of the trolley over the length of the respective ropes of Seillygeber ,
  • the inventive system is based on the finding that when using at least two rope length sensors, which are each arranged on the trolley and / or each on the load receiving means, the horizontal deflection of the lifting device causes a shortening of the rope length at least one of the rope length sensor, while this horizontal deflection in which at least one other rope length sensor causes an extension of the rope length.
  • the at least two rope length sensors are advantageously arranged on the crane trolley or on the load receiving means in such a way that the two ropes of the at least two rope length sensors intersect.
  • Such a crossing of the at least two ropes is achieved in that one of the at least two rope length sensors is arranged in a front region of the crane trolley or load handling device, while the other of the at least two rope length sensors is arranged in a rear region of the load suspension device or crane trolley and the anchoring point the respective ropes is biased diagonally from the respective front area into the respective rear area and from the trolley to the load receiving means.
  • this type of bracing it is irrelevant whether the rope length sensor is arranged on the same side of the trolley or the load-carrying means, as long as an at least spatial crossover can be ensured.
  • bracing of at least two ropes and the rope length measurement of the rope length sensor is determined by applying simple trigonometric relationships, which are deposited in an algorithm in a computing unit, the horizontal deflection of the lifting device exactly.
  • the deflection angle is required, is determined by a second mathematical step, also using simple trigonometric relationships, the deflection angle, which is spanned between the vertical and the support cables. The deflection angle can then form an input variable for the subsequent calculations of the movement system crane / load receiving means.
  • the two cables are not crossed, but form a spatial "V", wherein the anchoring points of the respective ropes is advantageously arranged at the apex of this spatial "V".
  • simple trigonometric calculations are performed in the same way.
  • FIG. 1 a system according to the invention is shown, consisting of a trolley 1, which is driven by a motor M for transport on the rail 11.
  • the power supply of the motor M is not shown.
  • the control of the motor M is made via a control unit S, which is operatively connected to the motor M, but need not necessarily be arranged on the trolley.
  • a data processing means preferably a processor with a computing unit in which appropriate mathematical algorithms are stored.
  • two rope length sensors 3, 4 are arranged on the crane rake 1, the ropes 8, 9 are stretched diagonally downwards in the direction of the load-receiving means 2 and fixed there in an anchoring point 5 and 6 respectively.
  • the length of the ropes 8 and 9 is in the rest position of FIG. 1 essentially the same, because, due to gravity, the load-carrying means 2 vertically below the trolley on the support cables 10a and 10b, as well as to the support cables 10c and 10d, not shown hangs.
  • the length of the support cables 10a to 10d is also controlled by the motor M or via a separate drive.
  • rope length encoders from TR Electronic GmbH are used which have an absolute or incremental encoder.
  • the carrying cables 10a to 10d are deflected counter to the direction of movement due to the inertia by a specific value A which corresponds to a specific angle ⁇ .
  • A which corresponds to a specific angle ⁇ .
  • FIG. 2 the position of movement of the system according to the invention is shown at a certain time in which the trolley has reached a speed v.
  • the arithmetic unit After the processing of mathematical algorithms, the arithmetic unit indicates the deflection A as a path of the absolute deflection, or optionally the angle ⁇ as the output value. This value is then entered into the control system for controlling the motor M and further processed there accordingly, for example, for pendulum suppression of the lifting device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Details Of Television Scanning (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The aim of the invention is to provide a system and a method which surmounts the problems of prior art. According to the inventive system and method for measuring horizontal deviation of a load receiving element in relation to a position of a hoist traveling trolley, the load receiving element is suspendedly arranged on a plurality of supporting cables on the hoist traveling trolley and least two cable length sensors are provided, the sensors being operatively connected to a data processing device, preferably a processor. The cables of the at least two cable length sensors are disposed between the hoist traveling trolley and the load receiving element in such a way that a computer unit which is connected to the data processing device determines the horizontal deviation of the load receiving element in relation to the position of the hoist traveling trolley for the length of the respective cables of the cable length sensors.

Description

Die vorliegende Erfindung richtet sich auf ein System zur Messung einer horizontalen Auslenkung eines Lastaufnahmemittels in Relation zu einer Position einer Krankatze, wobei das Lastaufnahmemittel an einer Vielzahl von Tragseilen an der Krankatze hängend angeordnet ist, sowie auf ein Verfahren zum Messen einer horizontalen Auslenkung eines Lastaufnahmemittels in Relation zu einer Position einer Krankatze, wobei das Lastaufnahmemittel an einer Vielzahl von Tragseilen an der Krankatze hängend angeordnet ist.The present invention is directed to a system for measuring a horizontal deflection of a load-carrying means in relation to a position of a trolley, wherein the load-receiving means is arranged suspended on a plurality of supporting cables on the trolley, and to a method for measuring a horizontal deflection of a load-receiving means in Relation to a position of a trolley, wherein the load-receiving means is arranged on a plurality of support cables hanging on the trolley.

Während des Transports von Lasten mit einem Brücken- oder Portalkran, Schiffsentlader, Containerbrücken sowie Coil- und Stahllagerkrane werden Lasten regelmäßig von einem Standort A mit einer Niveauhöhe h0 auf eine Transportniveauhöhe h1 gehoben, um dann auf einen bestimmten, zumeist zeitoptimierten Weg zu einen Zielort B transportiert zu werden, der auf einem Niveau h2 liegt.During the transport of loads with a bridge or gantry crane, ship unloaders, gantry cranes and coil and steel storage cranes loads are regularly lifted from a location A with a level height h 0 to a transport level height h 1 , then to a certain, usually time-optimized way to one Destination B to be transported, which is at a level h 2 .

Bei allen vorgenannten Transportmitteln befindet sich eine sogenannte Krankatze auf einer Traverse, an der durch Trageseile verbunden, Lastaufnahmemitteln, wie beispielsweise Greifvorrichtungen zur Aufnahme der Lasten, beispielsweise Container, Paletten o.ä. angeordnet sind.In all the aforementioned means of transport there is a so-called trolley on a traverse, connected to the carrying parts by, lifting devices, such as gripping devices for receiving the loads, such as containers, pallets, or the like. are arranged.

Nach Aufnahme der Last am Ort A findet regelmäßig eine Horizontalbewegung der Krankatze statt, wobei, durch die Trägheit bedingt, die an den Seilen hängenden Lasten gegenüber der Krankatze zeitverzögert beschleunigt bzw. verzögert werden. Diese Beschleunigungs- bzw. Verzögerungsvorgänge führen zu einer horizontalen Auslenkung des Lastaufnahmemittels in Relation zu der Position der Krankatze. Während des Transports der an den Tragseilen hängenden Lasten, tritt diese Auslenkung regelmäßig auf, mit der Konsequenz, daß bei einer gleichförmigen Bewegung der Krankatze ein unerwünschtes Pendeln der an den Tragseilen befestigten Lasten eingeleitet wird.After picking up the load at location A, a horizontal movement of the trolley regularly takes place, whereby, due to the inertia, the loads hanging on the ropes are accelerated or delayed with respect to the trolley with a time delay. These acceleration or deceleration processes lead to a horizontal deflection of the lifting device in relation to the position of the crane trolley. During the transport of the loads on the suspension ropes, this deflection occurs regularly, with the consequence that that at a uniform movement of the trolley an unwanted oscillation of the attached to the support cables loads is initiated.

Es gehört daher zu den ständigen Aufgaben eines Kranführers, diesen Pendelbewegungen entgegenzuwirken. Ein geübter und aufmerksamer Kranfahrer erreicht dies durch gekonntes Gegensteuern während der Transportbewegung. Ist der Bediener jedoch ungeübt oder unaufmerksam, so können sich die Transportvorgänge und Umschlagszeiten wesentlich verlängern. Ungünstigstenfalls wächst die Gefahr von Kollisionen und Unfällen.It is therefore one of the constant tasks of a crane operator to counteract these oscillations. An experienced and attentive crane driver achieves this by skilful countersteering during the transport movement. However, if the operator is inexperienced or inattentive, the transport operations and turnover times can be significantly extended. At worst, the danger of collisions and accidents increases.

Es sind Pendeldämpfungsvorrichtungen der Firma CePLuS GmbH in Magdeburg bekannt, die zur Messung der horizontalen Auslenkung des Lastaufnahmemittels Hochleistungskameras mit Mikroprozessoren verwenden. Diese Hochleistungskameras werden an einer Krankatze montiert und messen die Lastbewegungen, um während des Fahrens die Geschwindigkeit der Krankatze so anzupassen, damit keine unerwünschten Schwingungen der Lasten auftreten.Pendulum damping devices from the company CePLuS GmbH in Magdeburg are known, which use high-performance cameras with microprocessors to measure the horizontal deflection of the load-handling device. These high-performance cameras are mounted on a trolley and measure the load movements to adjust the speed of the trolley while driving so that no unwanted vibrations of the loads occur.

Zur Messung der Auslenkung des Lastaufnahmemittels werden auf dem Lastaufnahmemittel Reflektoren befestigt. Die auf der Krankatze montierte Kamera ist nach unten, d.h. in Richtung auf das Lastaufnahmemittel gerichtet und ermittelt die Position des Reflektors relativ zur Krankatze. Aus diesen Positionsdaten des Reflektors wird die Auslenkung des Lastaufnahmemittels berechnet.To measure the deflection of the lifting device reflectors are mounted on the load handler. The camera mounted on the trolley is down, i. directed towards the load-carrying means and determines the position of the reflector relative to the trolley. From these position data of the reflector, the deflection of the lifting device is calculated.

Als nachteilig hat sich bei dem System CeSAR der Firma CePLuS erwiesen, daß die Zeitintervalle für die Bestimmung der Auslenkung zu groß für eine zeitnahe, dynamische Regelung sind, sowie weiterhin, die Auflösung hinsichtlich der Meßgenauigkeit des Kamerameßsystems ebenfalls den Ansprüchen einer zeitnahen, dynamischen Regelung nicht genügt. Neben diesen nachteiligen Systemdaten hat sich die Baugröße des Pendeldämpfsystems CeSAR ebenfalls als nachteilig erwiesen, da die Reflektoren, die auf dem Lastaufnahmemittel angebracht werden müssen, ungünstige Abmessungen aufweisen. Ein weiterer Nachteil des Systems CeSAR ist der eingeschränkte Sichtfeldbereich, wenn zumindest eine gewisse Meßgenauigkeit erzielt werden soll, da die Meßgenauigkeit des Kameraobjektivs mit dem Sichtfeldwinkel korreliert. Ein großer Sichtfeldwinkel bedingt daher ein sog. Weitwinkelobjektiv, worunter jedoch die Bildauflösung und so schließlich die Meßgenauigkeit leidet. Ein weiterer Nachteil des System CeSAR ist die Wartungsfrequenz der optischen Einrichtungen. Denn beim Einsatz in herkömmlichen Lagerumgebungen, ist eine gewisse Verschmutzung der Regale, des Transportguts und somit der Transportmittel regelmäßig zu erwarten, mit der Folge, daß auch die optischen Einrichtungen, beispielsweise das Kameraobjektiv häufig gereinigt werden müssen.A disadvantage has proved in the system CeSAR the company CePLuS that the time intervals for the determination of the deflection are too large for a timely, dynamic control, and furthermore, the resolution in terms of measurement accuracy of Kamerameraßsystem also the demands of timely, dynamic control not enough. In addition to these adverse system data, the size of the pendulum damping system CeSAR has also proved to be disadvantageous because the reflectors that must be mounted on the load-carrying means have unfavorable dimensions. Another disadvantage of the system CeSAR is the limited field of view area, if at least a certain accuracy of measurement is to be achieved because the accuracy of the camera lens is correlated with the field of view angle. A large field of view angle therefore requires a so-called. Wide-angle lens, which, however, the image resolution and thus ultimately suffers the measurement accuracy. One Another disadvantage of the CeSAR system is the maintenance frequency of the optical devices. Because when used in conventional storage environments, a certain contamination of the shelves, the cargo and thus the means of transport is to be expected regularly, with the result that the optical equipment, such as the camera lens must be cleaned frequently.

Aufgabe der vorliegenden Erfindung ist es daher, ein System und ein Verfahren bereitzustellen, welches die Nachteile des Standes der Technik überwindet.It is therefore an object of the present invention to provide a system and a method which overcomes the disadvantages of the prior art.

Diese Aufgabe wird durch ein erfindungsgemäßes System mit den Merkmalen des Anspruchs 1 und durch ein Verfahren mit den Merkmalen nach Anspruch 7 bzw. 8 gelöst.This object is achieved by a system according to the invention having the features of claim 1 and by a method having the features according to claims 7 and 8, respectively.

Bei einem erfindungsgemäßen System zur Messung einer horizontalen Auslenkung eines Lastaufnahmemittels in Relation zu einer Position einer Krankatze, wobei das Lastaufnahmemittel an einer Vielzahl von parallelen Tragseilen an der Krankatze hängend angeordnet ist, sind mindestens zwei Seillängengeber vorgesehen, die mit einem Datenverarbeitungsmittel, vorzugsweise einem Prozessor operativ verbunden sind, wobei die separaten Seile der mindestens zwei Seillängengeber nicht parallel in Katzfahrtrichtung zwischen Krankatze und Lastaufnahmemittel angeordnet sind, und wobei eine mit dem Datenverarbeitungsmittel verbundene Recheneinheit die horizontale Auslenkung des Lastaufnahmemittels in Relation zur Position der Krankatze über die Länge der jeweiligen Seile der Seillängegeber bestimmt.In a system according to the invention for measuring a horizontal deflection of a lifting device in relation to a position of a crane trolley, wherein the load receiving means is arranged suspended on a plurality of parallel support cables on the trolley, at least two rope length sensors are provided which are operative with a data processing means, preferably a processor are connected, wherein the separate ropes of the at least two rope length sensors are not arranged parallel in Katzfahrtrichtung between trolley and load receiving means, and wherein a data processing means connected to the computing unit determines the horizontal deflection of the load receiving means in relation to the position of the trolley over the length of the respective ropes of Seillängegeber ,

Besonders vorteilhaft sind die geringen Abmessungen der Seillängegeber und deren Verankerungspunkte, die hohe Messgenauigkeit und Abtastrate sowie die hohe Wartungsfreundlichkeit des erfindungemäßen Systems.Particularly advantageous are the small dimensions of the cable length sensors and their anchoring points, the high measurement accuracy and sampling rate and the high ease of maintenance of erfindungemäßen system.

Das erfindungsgemäße Verfahren nach Anspruch 7 zum Messen einer horizontalen Auslenkung eines Lastaufnahmemittels in Relation zu einer Position einer Krankatze, wobei das Lastaufnahmemittel an einer Vielzahl von Tragseilen an der Krankatze hängend angeordnet ist, weist folgende Schritte auf:

  • Messen einer ersten Diagonalstrecke zwischen einem hinteren Bereich der Krankatze und einem vorderen Bereich des Lastaufnahmemittels und gleichzeitiges Messen einer zweiten Diagonalstrecke zwischen einem vorderen Bereich der Krankatze und einem hinteren Bereich des Lastaufnahmemittels;
  • Übermitteln der beiden Meßwerte an ein elektronisches Datenverarbeitungsmittel;
  • Einsetzen der beiden Meßwerte in einen vorbestimmten Algorithmus, der in einer mit dem elektronischen Datenverarbeitungsmittel verbundenen Recheneinheit hinterlegt ist;
  • Ermitteln eines Ausgangswertes, der der horizontalen Auslenkung des Lastaufnahmemittels gegenüber der Krankatze entspricht.
The inventive method according to claim 7 for measuring a horizontal deflection of a load-receiving means in relation to a position of a trolley, wherein the load-receiving means is arranged suspended on a plurality of supporting cables on the trolley, comprises the following steps:
  • Measuring a first diagonal distance between a rear portion of the trolley and a front portion of the load receiving means and simultaneously Measuring a second diagonal distance between a front portion of the trolley and a rear portion of the load receiving means;
  • Transmitting the two measured values to an electronic data processing means;
  • Inserting the two measured values into a predetermined algorithm which is stored in a processing unit connected to the electronic data processing means;
  • Determining a starting value that corresponds to the horizontal deflection of the load-lifting device relative to the crane trolley.

Das erfindungsgemäße System basiert auf der Erkenntnis, daß bei der Verwendung von mindestens zwei Seillängengeber, die jeweils an der Krankatze und/oder jeweils an dem Lastaufnahmemittel angeordnet sind, die horizontalen Auslenkung des Lastaufnahmemittels bei mindestens einem der Seillängengeber eine Verkürzung der Seillänge bewirkt, während diese horizontale Auslenkung bei dem mindestens einen anderen Seillängengeber eine Verlängerung der Seillänge bewirkt. Hierzu sind die mindestens beiden Seillängengeber vorteilhafterweise so an der Krankatze bzw. an dem Lastaufnahmemittel angeordnet, daß sich die beiden Seile der mindestens beiden Seillängengeber überkreuzen.The inventive system is based on the finding that when using at least two rope length sensors, which are each arranged on the trolley and / or each on the load receiving means, the horizontal deflection of the lifting device causes a shortening of the rope length at least one of the rope length sensor, while this horizontal deflection in which at least one other rope length sensor causes an extension of the rope length. For this purpose, the at least two rope length sensors are advantageously arranged on the crane trolley or on the load receiving means in such a way that the two ropes of the at least two rope length sensors intersect.

Eine derartige Überkreuzung der mindestens beiden Seile wird dadurch erreicht, daß einer der mindestens zwei Seillängengeber in einem vorderen Bereich der Krankatze oder des Lastaufnahmemittels angeordnet ist, während der andere der mindestens zwei Seillängengeber in einem hinteren Bereich des Lastaufnahmemittels oder der Krankatze angeordnet ist und der Verankerungspunkt der jeweiligen Seile in diagonaler Weise von dem jeweiligen vorderer Bereich in den jeweiligen hinteren Bereich und von der Krankatze zu dem Lastaufnahmemittel gespannt wird. Bei dieser Art der Verspannung ist es unerheblich, ob die Seillängengeber auf der selben Seite der Krankatze oder des Lastaufnahmemittels angeordnet ist, solange eine zumindest räumliche Überkreuzung gewährleistet werden kann.Such a crossing of the at least two ropes is achieved in that one of the at least two rope length sensors is arranged in a front region of the crane trolley or load handling device, while the other of the at least two rope length sensors is arranged in a rear region of the load suspension device or crane trolley and the anchoring point the respective ropes is biased diagonally from the respective front area into the respective rear area and from the trolley to the load receiving means. In this type of bracing, it is irrelevant whether the rope length sensor is arranged on the same side of the trolley or the load-carrying means, as long as an at least spatial crossover can be ensured.

Durch diese erfindungsgemäße Verspannung der mindestens beiden Seile und die Seillängenmessung der Seillängengeber wird durch Anwendung einfacher trigonometrischer Beziehungen, die in einem Algorithmus in einer Recheneinheit hinterlegt sind, die horizontale Auslenkung des Lastaufnahmemittels exakt bestimmt. Da für weitere Berechnungen des Bewegungssystems Krankatze/Lastaufnahmemittel vorzugsweise der Auslenkwinkel erforderlich ist, wird durch einen zweiten mathematischen Schritt, ebenfalls unter Verwendung einfacher trigonometrischer Beziehungen, der Auslenkwinkel, der zwischen der Vertikalen und den Tragseilen aufgespannt wird, ermittelt. Der Auslenkwinkel kann sodann eine Eingangsgröße für die nachfolgenden Berechnungen des Bewegungssystems Krankatze/Lastaufnahmemittel bilden.By this inventive bracing of at least two ropes and the rope length measurement of the rope length sensor is determined by applying simple trigonometric relationships, which are deposited in an algorithm in a computing unit, the horizontal deflection of the lifting device exactly. As for further calculations of the Movement system crane / load receiving means preferably the deflection angle is required, is determined by a second mathematical step, also using simple trigonometric relationships, the deflection angle, which is spanned between the vertical and the support cables. The deflection angle can then form an input variable for the subsequent calculations of the movement system crane / load receiving means.

Als besonders vorteilhaft hat sich erwiesen, wenn die beiden Seillängengeber so angeordnet werden, daß ein maximal möglicher Abstand zwischen beiden Seillängengebern besteht Denn durch eine solche maximale Beabstandung wird erzielt, daß die Längendifferenz der beiden Seile möglichst groß, und somit die Genauigkeit des Messergebnisses erhöht wird.Particularly advantageous has proven to be when the two rope length sensors are arranged so that a maximum possible distance between two rope length sensors is because by such a maximum spacing is achieved that the length difference of the two ropes as large as possible, and thus the accuracy of the measurement result is increased ,

Bei einer anderen Ausführungsform des erfindungsgemäßen Systems werden die beiden Seile nicht überkreuzt geführt, sondern bilden ein räumliches "V", wobei die Verankerungspunkte der jeweiligen Seile vorteilhafterweise im Scheitelpunkts dieses räumlichen "V" angeordnet ist. Zur Berechnung der horizontalen Auslenkung werden in gleicher Weise einfache trigonometrische Berechnungen angestellt.In another embodiment of the system according to the invention, the two cables are not crossed, but form a spatial "V", wherein the anchoring points of the respective ropes is advantageously arranged at the apex of this spatial "V". To calculate the horizontal deflection, simple trigonometric calculations are performed in the same way.

Neben den Eingangs erwähnten Einsatzgebieten des Standes der Technik ist ein Einsatz des erfindungsgemäßen Systems in der Hochregeltechnik besonders vorteilhaft.In addition to the aforementioned fields of application of the prior art, use of the system according to the invention in the vertical control technique is particularly advantageous.

Eine bevorzugte Ausführungsform der vorliegenden Erfindung wird anhand nachfolgender Figuren näher erläutert:

Figur 1
zeigt eine bevorzugte Ausführungsform des erfindungsgemäßen Systems;
Figur 2
zeigt das erfindungsgemäße System der Figur 1 in Bewegung.
A preferred embodiment of the present invention will be explained in more detail with reference to the following figures:
FIG. 1
shows a preferred embodiment of the system according to the invention;
FIG. 2
shows the inventive system of FIG. 1 moving.

In Figur 1 wird ein erfindungsgemäßes System gezeigt, bestehend aus einer Krankatze 1, die über einen Motor M zum Transport auf der Schiene 11 angetrieben wird. Die Energiezufuhr des Motors M ist nicht dargestellt. Die Steuerung des Motors M wird über eine Steuerungseinheit S vorgenommen, die operativ mit dem Motor M verbunden ist, jedoch nicht zwingendermaßen an der Krankatze angeordnet sein muß. In die Steuerungseinheit integriert oder zumindest damit verbunden ist ein Datenverarbeitungsmittel, vorzugsweise ein Prozessor mit einer Recheneinheit, in dem entsprechende mathematische Algorithmen hinterlegt sind. In der in Figur 1 dargestellten bevorzugten Ausführungsform sind an der Krankatze 1 zwei Seillängengeber 3, 4 angeordnet, deren Seile 8, 9 diagonal nach unten in Richtung auf das Lastaufnahmemittel 2 hingespannt und dort in einem Verankerungspunkt 5 bzw. 6 befestigt sind. Die Länge der Seile 8 und 9 ist in der Ruheposition der Figur 1 im wesentlichen gleich, da, aufgrund der Schwerkraft, das Lastaufnahmemittel 2 lotrecht unterhalb der Krankatze an den Tragseilen 10a und 10b, sowie an den nicht dargestellten Tragseilen 10c und 10d hängt. Die Länge der Tragseile 10a bis 10d wird ebenfalls über den Motor M gesteuert oder über einen gesonderten Antrieb.In FIG. 1 a system according to the invention is shown, consisting of a trolley 1, which is driven by a motor M for transport on the rail 11. The power supply of the motor M is not shown. The control of the motor M is made via a control unit S, which is operatively connected to the motor M, but need not necessarily be arranged on the trolley. Integrated in the control unit or at least connected to it is a data processing means, preferably a processor with a computing unit in which appropriate mathematical algorithms are stored. In the in FIG. 1 illustrated preferred embodiment, two rope length sensors 3, 4 are arranged on the crane rake 1, the ropes 8, 9 are stretched diagonally downwards in the direction of the load-receiving means 2 and fixed there in an anchoring point 5 and 6 respectively. The length of the ropes 8 and 9 is in the rest position of FIG. 1 essentially the same, because, due to gravity, the load-carrying means 2 vertically below the trolley on the support cables 10a and 10b, as well as to the support cables 10c and 10d, not shown hangs. The length of the support cables 10a to 10d is also controlled by the motor M or via a separate drive.

Zur Messung der Seillängen werden beispielsweise Seillängengeber der Firma TR Electronic GmbH verwendet, die über einen Absolut- oder Inkremetal-Encoder verfügen.To measure the cable lengths, for example, rope length encoders from TR Electronic GmbH are used which have an absolute or incremental encoder.

Erreicht die Krankatze einen bestimmten Geschwindigkeits- oder Beschleunigungswert, werden die Tragseile 10a bis 10d entgegen der Bewegungsrichtung aufgrund der Trägheit um einen bestimmten Wert A ausgelenkt, der einem bestimmten Winkel α entspricht. In Figur 2 ist die Bewegungslage des erfindungsgemäßen Systems in einem bestimmten Zeitpunkt dargestellt, in dem die Krankatze eine Geschwindigkeit v erreicht hat. Als Folge der horizontalen Auslenkung des Lastaufnahmemittels 2 um den Betrag A bzw. den Winkel α tritt eine Längenveränderung der Seile 8 und 9 der Seillängengeber 3 und 4 auf. Diese Änderung der Seillängen wird von den Seillängengebern 3 und 4 gemessen und an die in dem elektronischen Datenverarbeitungsmittel S vorgesehenen Recheneinheit übermittelt. Nach dem Abarbeiten von mathematischen Algorithmen gibt die Recheneinheit die Auslenkung A als Strecke der absoluten Auslenkung, oder wahlweise den Winkel α als Ausgangswert an. Dieser Wert wird sodann in das Steuersystem zur Steuerung des Motors M eingegeben und dort entsprechend, beispielsweise zur Pendelunterdrückung des Lastaufnahmemittels weiter verarbeitet.If the trolley reaches a certain speed or acceleration value, the carrying cables 10a to 10d are deflected counter to the direction of movement due to the inertia by a specific value A which corresponds to a specific angle α. In FIG. 2 the position of movement of the system according to the invention is shown at a certain time in which the trolley has reached a speed v. As a result of the horizontal deflection of the load receiving means 2 by the amount A or the angle α occurs a change in length of the ropes 8 and 9 of the rope length sensors 3 and 4. This change in the cable lengths is measured by the rope length sensors 3 and 4 and transmitted to the computer provided in the electronic data processing means S. After the processing of mathematical algorithms, the arithmetic unit indicates the deflection A as a path of the absolute deflection, or optionally the angle α as the output value. This value is then entered into the control system for controlling the motor M and further processed there accordingly, for example, for pendulum suppression of the lifting device.

Claims (10)

  1. A system for measuring a horizontal deflection of a load receiving means (2) in relation to a position of a crane trolley (1), wherein said load receiving means (2) is arranged to suspend on a plurality of parallel supporting cables (10a, 10b, 10c, 10d) from said crane trolley (1), consisting of an electronic data processing device (S), a computing unit connected with said electronic data processing device (S), and at least two cable length sensors (3, 4) that are operatively connected with said electronic data processing device (S), wherein the separate cables (8, 9) of said at least two cable length sensors (3, 4) are not arranged in parallel in driving direction of the crane trolley between said crane trolley (1) and said load receiving means (2), and wherein the computing unit that is connected with said electronic data processing device (S) determines the horizontal deflection (A) of said load receiving means (2) in relation to the position of said crane trolley (1) for the length of the respective cables (8, 9) of said cable length sensors (3, 4).
  2. The system according to claim 1, wherein said at least two cable length sensors (3, 4) are arranged such that their cables (8, 9) cross each other.
  3. The system according to claims 1 or 2, wherein at least one of said cable length sensors (3, 4) is arranged on said crane trolley.
  4. The system according to claims 1 or 2, wherein at least one of said cable length sensors (3, 4) is arranged on said load receiving means.
  5. The system according to any of the preceding claims, wherein said cable length sensors (3, 4) are not arranged on the same side of said crane trolley (1) or of said load receiving means (2).
  6. The system according to any of the preceding claims, wherein one of said at least two cable length sensors (3) is arranged in a front region of said crane trolley (1) and the cable (8) thereof extends substantially diagonally into an anchoring point (5) in a rear region of said load receiving means (2) while the other of said at least two cable length sensors (4) is arranged in a rear region of said crane trolley (1) and the cable (9) thereof extends substantially diagonally into an anchoring point (6) in a front region of said load receiving means (2).
  7. A method for measuring a horizontal deflection (A) of a load receiving means (2) in relation to a position of a crane trolley (1), wherein said load receiving means (2) is arranged to suspend on a plurality of parallel supporting cables (10a, 10b, 10c, 10d) from said crane trolley (1), in particular by using a system according to any of the preceding claims, the method comprising the steps of:
    - measuring a first diagonal distance between a rear region of said crane trolley (1) and a front region of said load receiving means (2), and simultaneously measuring a second diagonal distance between a front region of said crane trolley (1) and a rear region of said load receiving means;
    - transmitting the two measurements to an electronic data processing device;
    - inserting the two measurements in a predetermined algorithm that is stored in a computing unit connected with said electronic data processing device;
    - determining an output value that corresponds to the horizontal deflection (A) of said load receiving means (2) vis-à-vis said crane trolley (1).
  8. A method for measuring a horizontal deflection (A) of a load receiving means (2) in relation to a position of a crane trolley (1), wherein said load receiving means (2) is arranged to suspend on a plurality of parallel supporting cables (10a, 10b, 10c, 10d) from said crane trolley (1), in particular by using a system according to any of the preceding claims, the method comprising the steps of:
    - measuring a first distance between a rear region of said crane trolley (1) and a central region of said load receiving means (2), and simultaneously measuring a second distance between a front region of said crane trolley (1) and the central region of said load receiving means;
    - transmitting the two measurements to an electronic data processing device;
    - inserting the two measurements in a predetermined algorithm that is stored in a computing unit connected with the electronic data processing device;
    - determining an output value that corresponds to the horizontal deflection (A) of said load receiving means (2) vis-à-vis said crane trolley (1).
  9. The method according to claims 8 or 9, wherein the output value is an angle value (α).
  10. Use of at least two cable length sensors for measuring a horizontal deflection (A) of a load receiving means (2) in relation to a position of a crane trolley (1), wherein said load receiving means (2) is arranged to suspend on a plurality of parallel supporting cables (10a, 10b, 10c, 10d) from said crane trolley (1), wherein said at least two cable length sensors (3, 4) are operatively connected with an electronic data processing device (S), wherein the separate cables (8, 9) of said at least two cable length sensors (3, 4) are not arranged in parallel in driving direction of the crane trolley between said crane trolley (1) and said load receiving means (2), and wherein a computing unit that is connected with the electronic data processing device (S) determines the horizontal deflection (A) of said load receiving means (2) in relation to the position of said crane trolley (1) for the length of the respective cables (8, 9) of said cable length sensors (3, 4).
EP02753047A 2001-05-08 2002-05-08 System and method for measuring a horizontal deviation of a load receiving element Expired - Lifetime EP1390286B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10122142 2001-05-08
DE10122142A DE10122142A1 (en) 2001-05-08 2001-05-08 System and method for measuring a horizontal deflection of a load handler
PCT/EP2002/005102 WO2002090234A1 (en) 2001-05-08 2002-05-08 System and method for measuring a horizontal deviation of a load receiving element

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EP1390286A1 EP1390286A1 (en) 2004-02-25
EP1390286B1 true EP1390286B1 (en) 2008-02-13

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EP02753047A Expired - Lifetime EP1390286B1 (en) 2001-05-08 2002-05-08 System and method for measuring a horizontal deviation of a load receiving element

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US (1) US6962091B2 (en)
EP (1) EP1390286B1 (en)
AT (1) ATE385990T1 (en)
DE (3) DE10122142A1 (en)
ES (1) ES2301663T3 (en)
PT (1) PT1390286E (en)
WO (1) WO2002090234A1 (en)

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Also Published As

Publication number Publication date
ATE385990T1 (en) 2008-03-15
WO2002090234A1 (en) 2002-11-14
EP1390286A1 (en) 2004-02-25
ES2301663T3 (en) 2008-07-01
US6962091B2 (en) 2005-11-08
DE20108207U1 (en) 2002-01-10
DE50211677D1 (en) 2008-03-27
US20040149056A1 (en) 2004-08-05
PT1390286E (en) 2008-05-20
DE10122142A1 (en) 2002-11-21

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