EP0485042B1 - Dispositif de mesure pour l'enregistrement de l'angle d'oscillation de pendule - Google Patents

Dispositif de mesure pour l'enregistrement de l'angle d'oscillation de pendule Download PDF

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Publication number
EP0485042B1
EP0485042B1 EP91250272A EP91250272A EP0485042B1 EP 0485042 B1 EP0485042 B1 EP 0485042B1 EP 91250272 A EP91250272 A EP 91250272A EP 91250272 A EP91250272 A EP 91250272A EP 0485042 B1 EP0485042 B1 EP 0485042B1
Authority
EP
European Patent Office
Prior art keywords
joint
measuring device
shafts
holding means
measuring
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
EP91250272A
Other languages
German (de)
English (en)
Other versions
EP0485042A1 (fr
Inventor
Eberhard Becker
Karl Knaack
Andreas Dipl.-Ing. Duhme
Wilhelm Dr.-Ing. Hesse
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Vodafone GmbH
Original Assignee
Mannesmann AG
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 Mannesmann AG filed Critical Mannesmann AG
Priority to AT91250272T priority Critical patent/ATE102168T1/de
Publication of EP0485042A1 publication Critical patent/EP0485042A1/fr
Application granted granted Critical
Publication of EP0485042B1 publication Critical patent/EP0485042B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

Definitions

  • the invention relates to a measuring device for detecting the pendulum angle of a flexible holding means for lifting devices with a supporting element arranged on a lifting device, with a gimbal-type joint fastened between the supporting element and the holding means with axes arranged at right angles to one another and the joint associated with the movement-sensing transducers.
  • pendulum damping It has been a long-standing problem in conveyor technology to suppress the pendulum of the load hanging on the suspension cables caused by the start-up and braking movements of crane systems.
  • One possible solution is to use regulating and control methods for pendulum damping. These processes counteract the swinging of the load through targeted trolley and crane movements.
  • the success of pendulum damping is i.a. depending on the measurement signal quality of the sensor. Accuracies of at least 0.1 ° are generally considered necessary.
  • the DD patent specification 275 035 A 1 specifies a structurally simple measuring device for detecting the pendulum angle of a flexible holding means for lifting devices, in which the transducers are rotary angle transmitters whose axes of rotation are perpendicular to one another and one of the rotary angle transmitters with its measuring shaft is fixed to the axis of the last one Rope pulley is connected.
  • a loading device with a movable lifting device and a measuring device for detecting the pendulum angle of a suspension cable is known.
  • the measuring device is arranged on the lifting device and on an end of the supporting cable guided over a bottom block.
  • the pendulum movement of the rope is transmitted to two assigned two-armed levers via two rings encompassing the rope.
  • the levers are suspended in axes that are offset at 90 ° to each other and aligned perpendicular to the rope run in the manner of a gimbal.
  • Each lever is separated by a further joint with a pivot axis oriented transversely to the suspension axis of the lever. This arrangement of the joints divides the pendulum movement of the rope into two directional components.
  • the levers are each provided with a toothed segment which engages in a gearwheel.
  • the gear sits on an actuating shaft of a rotary potentiometer arranged parallel to the axis of the lever.
  • the rotary potentiometers are connected to a signal processing system that determines the pendulum angle via the changes in resistance.
  • This measuring device proves to be disadvantageous because the accuracy of the angle measurement is impaired by the play in the many bearing points of the axes and between the toothed segment and the gear, and the lack of accuracy of the rotary potentiometer. Furthermore, the friction between the tooth pair and the rotary potentiometer prevents the rotary potentiometer from returning to the zero position and does not allow small changes in the measured variable to be recorded.
  • the invention has for its object to provide a structurally simple measuring device for detecting the pendulum angle, which has a high accuracy.
  • the measuring device for detecting the pendulum angle achieves measurement signals with a high degree of accuracy by using a gimbal-type joint with axes arranged in a cross shape and the direct arrangement of rotary angle sensors on these axes.
  • the low-play mounting of the axes of the simple universal joint and the play-free connection between the axes and the measuring shafts of the rotary angle sensors via a torsionally rigid, flexible coupling have a particularly advantageous effect on the accuracy.
  • the arrangement of the rotary encoder with their measuring shafts in the extension of the associated axis prevents falsification of the measuring signal by an angular position of the axis and the shaft to each other.
  • the attachment of the angle encoder via an intermediate flange with recesses on the joint element enables the angle encoder to be set mechanically to the zero point after the coupling has been released from the outside through the intermediate flange.
  • the connection between the lower joint element and the flexible holding means with a rod requires a clean initiation of the pendulum movement of the holding means in the joint.
  • the use of light metal, especially aluminum, for the joint elements in connection with their almost friction-free mounting achieves a measuring device which responds quickly to a change in the measured variable due to the low inertial forces.
  • the axes can also be made of plastic.
  • the arrangement of the measuring device instead of on the load-bearing holding means on an additionally tensioned rope and coupled with the pendulum movement of the holding means leads, inter alia, to a more advantageous, smaller dimensioning of the joint and the rolling bearings via a lower load.
  • An additional advantage of the measuring device lies in the arrangement of the cable break switch on the connecting rod for the flexible holding means. As a result, the coupling of the measuring device with the oscillating load is constantly monitored. The guidance of the axis in the lower joint element via a slide bearing is again carried out with little play. It is also advantageous to use an angle encoder of a known type as an angle encoder with a resolution accuracy better than 0.1 °.
  • the measuring principle of the angle encoder used is based on the scanning of equidistant line markings with the help of optical sensors. The line marks are located on a disc which is connected to the measuring shaft of the rotary encoder. The accuracy of the encoder depends on the number of optical sensors and the line markings. The measurement signals from the sensors are further processed to the pendulum angle.
  • the measuring device is arranged between a support element 1 and a flexible holding means 2 and essentially consists of a joint 3, in particular a simple universal joint, and two rotation angle sensors 4.
  • An oscillating movement of the holding means 2 is on the joint 3 with its axes 5 arranged in a cross shape transfer.
  • the rotational movement of the axes 5 is detected directly by the rotary angle sensors 4 and passed on to a signal processing device (not shown) for determining the pendulum angle.
  • Fig. 2 a construction example of the measuring device according to the invention is shown in cross section.
  • the measuring device is fastened to a support element 1, which is part of a cat, not shown, of a traveling crane, via an adjusting device 6 and a cuboid housing 7.
  • the measuring device can be adjusted in the X direction (for example crane travel direction) and Y direction (for example trolley travel direction) to a perpendicular alignment of the holding means in the rest position.
  • the Tragelenent 1 is additionally attached to the trolley with adjustable angle adjustment, not shown.
  • the measuring device consists essentially of a joint 3 of cardanic type and two rotation angle sensors 4 with a resolution accuracy of 0.025 °.
  • the hinge 3 is constructed from two U-shaped hinge elements 8, 8 'facing the open sides, which are connected to one another via two axes 5, 5' fastened in a cross shape.
  • a flexible holding means 2 in particular a rope guided via a deflection roller arranged on a load-carrying means and held under tension by a standstill motor, is connected to the lower joint element 8 '.
  • the rotary angle sensors 4 are detachably fastened via an intermediate flange 9.
  • the rotary encoder 4 are connected with their measuring shafts 11 via a torsionally rigid, flexible coupling 10 with the axes 5, 5 '.
  • FIG. 3 shows an enlarged detail of FIG. 2 from the area of the joint 3.
  • the intermediate flange 9 is provided with two cutouts 14.
  • the recesses 14 are arranged such that the grub screws, not shown, for fastening the coupling 10 to the measuring shaft 11 and an intermediate axis 13 can be loosened or tightened from the outside through the intermediate flange 9. This enables the rotary angle encoder 4 to be set to its zero position.
  • One end of the intermediate axis 13 is inserted into a bore in the axis 5 and secured against rotation by means of a screw.
  • the axes 5, 5 ' are supported by ball bearings 15, in particular deep groove ball bearings, in bores of the U-shaped joint elements 8, 8'.
  • a stop plate 16 is arranged by means of a screw connection, on which a spring 17 arranged around the rod 12 is supported.
  • the other end of the spring 17 is supported on a projection of the joint element 8 '.
  • a cable break switch 19 is arranged below the joint element 8 'and engages with its switch contact in a recess in the form of a circumferential groove in the rod 12. In the drawing, the position of the switch is shown when the rope is broken.
  • the spring is designed so that the switch is operated when the rope force is ⁇ 30 N.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • A Measuring Device Byusing Mechanical Method (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Claims (7)

  1. Dispositif de mesure pour détecter l'angle d'oscillation d'un moyen de maintien souple (2) pour des dispositifs de levage, comportant un élément de support (1) agencé sur un dispositif de levage, une articulation (3) du type à la Cardan fixée entre l'élément de support (1) et le moyen de maintien (2), présentant des axes (5,5') agencés orthogonalement l'un par rapport à l'autre, ainsi que des capteurs (4) de valeurs de mesure mesurant le mouvement et associés à l'articulation (3),
    caractérisé en ce que l'articulation (3) est un simple joint de Cardan, qui est constitué de deux éléments d'articulation (8,8') en forme d'étrier, dont les extrémité respectives sont reliées par l'intermédiaire des axes (5,5'), les axes (5,5') étant agencés l'un par rapport à l'autre en forme de croix et fixés l'un à l'autre, ainsi que montés, aux extrémités, dans des paliers à roulement (15) dans les éléments d'articulation (8,8'), en ce que les capteurs de valeur de mesure sont des capteurs d'angle de rotation (4) et chaque capteur d'angle de rotation (4) est relié, par son arbre de mesure (11), à un axe (5,5') de l'articulation (3) pour recevoir directement le mouvement de rotation des axes (5,5').
  2. Dispositif de mesure selon la revendication 1,
    caractérisé en ce que les arbres de mesure (11) sont reliés aux axes (5,5') par l'intermédiaire de couplages souples (10) rigides à la torsion .
  3. Dispositif de mesure selon la revendication 1 ou 2,
    caractérisé en ce que les capteurs d'angle de rotation (4) sont agencés, avec leurs arbres de mesure (11), dans le prolongement de l'axe respectif (5,5').
  4. Dispositif de mesure selon une des revendications 1 à 3,
    caractérisé en ce que le capteur d'angle de rotation (4), avec son boîtier (7), est fixé par une bride intermédiaire (9) à l'élément d'articulation (8), et la bride intermédiaire (9) présente, en direction axiale, au niveau de la fixation du couplage (10) aux axes (5,13), des évidements.
  5. Dispositif de mesure selon une des revendications 1 à 4,
    caractérisé en ce que, sur le dispositif de mesure, s'engage un câble tendu (2) en plus du moyen de maintien portant la charge, qui, d'une part, est stationnaire et, d'autre part, est guidé par l'intermédiaire d'un rouleau de renvoi agencé sur un moyen de réception de charge et est tendu par l'intermédiaire d'un moteur d'arrêt.
  6. Dispositif de mesure selon une des revendications 1 à 5,
    caractérisé en ce que, entre le moyen de maintien (2) et l'articulation (3), est agencée une barre (12), la barre (12) est guidée en direction du moyen de maintien (2) par l'intermédiaire d'un palier à glissement (18) dans l'élément d'articulation (8,8') et est appuyée par l'intermédiaire d'un ressort (17) sur l'élément d'articulation (8') et, sur l'élément d'articulation (8') au niveau d'une gorge périphérique sur la barre, est agencé un commutateur de rupture de câble (19), un passage de la charge à la décharge du moyen de maintien (2) actionnant le commutateur de rupture de câble (19) par l'intermédiaire de la gorge ou du reste de la barre (12).
  7. Dispositif de mesure selon une des revendications 1 à 6, caractérisé en ce que les éléments d'articulation (8,8') sont réalisés en métal léger.
EP91250272A 1990-10-09 1991-10-04 Dispositif de mesure pour l'enregistrement de l'angle d'oscillation de pendule Expired - Lifetime EP0485042B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT91250272T ATE102168T1 (de) 1990-10-09 1991-10-04 Messeinrichtung zur erfassung des pendelwinkels.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4032332 1990-10-09
DE4032332A DE4032332C2 (de) 1990-10-09 1990-10-09 Meßeinrichtung zur Erfassung des Pendelwinkels

Publications (2)

Publication Number Publication Date
EP0485042A1 EP0485042A1 (fr) 1992-05-13
EP0485042B1 true EP0485042B1 (fr) 1994-03-02

Family

ID=6416113

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91250272A Expired - Lifetime EP0485042B1 (fr) 1990-10-09 1991-10-04 Dispositif de mesure pour l'enregistrement de l'angle d'oscillation de pendule

Country Status (3)

Country Link
EP (1) EP0485042B1 (fr)
AT (1) ATE102168T1 (fr)
DE (2) DE4032332C2 (fr)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4217607C2 (de) * 1992-05-27 1995-04-27 Asm Automation Sensorik Messte Seilzug-Wegaufnehmevorrichtung
KR970000175B1 (ko) * 1993-09-02 1997-01-06 한국원자력연구소 크레인 무진동 조업용 진동각 측정장치
DE4408056C2 (de) * 1994-03-07 1997-04-30 Mannesmann Ag Winkelmeßvorrichtung
DE10023196C2 (de) * 2000-05-11 2003-04-03 Orenstein & Koppel Ag Vorrichtung zur Erfassung des Drehwinkels zwischen zwei Bauteilen
RU2268231C1 (ru) * 2004-05-14 2006-01-20 ВКТИмонтажстроймеханизация Государственный конструкторско-технологический институт по механизации монтажных и специальных строительных работ Способ контроля безопасной эксплуатации подъемно-транспортных машин и устройство для его осуществления
DE102007039408A1 (de) 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Kransteuerung, Kran und Verfahren
CN102249153B (zh) * 2011-07-15 2013-08-28 上海三一科技有限公司 回转角度检测装置及控制方法及包括该装置的起重机
KR101714080B1 (ko) * 2011-11-15 2017-03-08 현대자동차주식회사 차량용 드라이브샤프트의 등속조인트 절각 측정장치 및 방법
CN112758849B (zh) * 2021-01-18 2022-06-17 全南县瑞隆科技有限公司 一种电积铜检测用的起吊装置
CN113701699B (zh) * 2021-09-01 2024-08-02 烟台清科嘉机器人联合研究院有限公司 便于环式虎克铰对称度检测的系统

Family Cites Families (8)

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Publication number Priority date Publication date Assignee Title
DE1271942B (de) * 1964-03-28 1968-07-04 Siemens Ag Anordnung zum Daempfen von Pendelbewegungen einer an einem Seil eines Kranes oder eines anderen Hebezeuges haengenden Last
DE1756441A1 (de) * 1968-05-21 1970-04-30 Demag Ag Pendelausgleichregelung
US3608384A (en) * 1969-01-03 1971-09-28 Skagit Corp Apparatus for rotationally positioning a supported load
DE2005323A1 (de) * 1969-02-24 1970-09-03 General Electric Company, Schenectady, N.Y. (V.St.A.) Motorsteuerungssystem für hängend beförderte Lasten
DE2115587A1 (de) * 1971-03-31 1972-10-05 Siemens Ag Ladevorrichtung, insbesondere für selbsttätigen Ladebetrieb
DD154288A1 (de) * 1980-11-12 1982-03-10 Juergen Pietzsch Einrichtung zur ueberwachung der seilspannung an tragseilen
DD275035A1 (de) * 1988-08-29 1990-01-10 Univ Dresden Tech Vorrichtung zur messung des pendelwinkels
DD278123A1 (de) * 1988-12-19 1990-04-25 Verlade Transportanlagen Einrichtung zur erfassung der pendel-, kipp- und drehwinkel eines greifers

Also Published As

Publication number Publication date
DE4032332A1 (de) 1992-04-16
DE4032332C2 (de) 1994-01-20
EP0485042A1 (fr) 1992-05-13
DE59101094D1 (de) 1994-04-07
ATE102168T1 (de) 1994-03-15

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