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EP2119661B1 - Dispositif de mesure d'une déviation horizontale d'un moyen de réception de charge suspendu de manière oscillante sur des câbles de portage - Google Patents

Dispositif de mesure d'une déviation horizontale d'un moyen de réception de charge suspendu de manière oscillante sur des câbles de portage Download PDF

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Publication number
EP2119661B1
EP2119661B1 EP09006210.0A EP09006210A EP2119661B1 EP 2119661 B1 EP2119661 B1 EP 2119661B1 EP 09006210 A EP09006210 A EP 09006210A EP 2119661 B1 EP2119661 B1 EP 2119661B1
Authority
EP
European Patent Office
Prior art keywords
measuring means
cable
load
load bearing
horizontal
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.)
Not-in-force
Application number
EP09006210.0A
Other languages
German (de)
English (en)
Other versions
EP2119661A3 (fr
EP2119661A2 (fr
Inventor
Jürgen KRAFT
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.)
ASRS Intralogistics Services GmbH
Original Assignee
Westfalia Intralogistic 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 Westfalia Intralogistic GmbH filed Critical Westfalia Intralogistic GmbH
Publication of EP2119661A2 publication Critical patent/EP2119661A2/fr
Publication of EP2119661A3 publication Critical patent/EP2119661A3/fr
Application granted granted Critical
Publication of EP2119661B1 publication Critical patent/EP2119661B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • 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 invention relates to a device for measuring a horizontal deflection of a pendulum suspended on suspension cables lifting device.
  • Suspended suspension cables suspended on suspension ropes are well known and serve, for example, for storing and retrieving piece goods in high-bay warehouses.
  • the load-carrying means is in this case suspended on a suspension via usually four support cables, wherein the support cables are each connected at an upper suspension point with the suspension and at a lower suspension point with the load-receiving means.
  • the suspension In order to move the load-carrying means horizontally, the suspension is horizontally movable via a suitable drive means. In the vertical direction, the load-receiving means is usually traversed by the fact that the support cables are synchronously wound or unwound by means of suitable take-up devices.
  • the load-bearing device During horizontal and / or vertical movement of the load-handling device, the load-bearing device is accelerated or decelerated with a time delay due to its inertia with respect to the suspension, as a result of which oscillating movements of the load-bearing device can occur.
  • the load-carrying means when picking up a load and when delivering a load, for example, during storage a piece goods in a compartment of a shelf storage, it is necessary that the load-carrying means is substantially at rest, so no longer performs any oscillations.
  • reflectors are arranged on the load receiving means, wherein the camera arranged on the suspension is directed downwards and determines the position of the reflector relative to the suspension. From the output signals of the camera, the deflection of the lifting device is determined.
  • a disadvantage of the known device is that it is relatively expensive to build.
  • Another disadvantage of the known device is that the measurement of the horizontal deflection of the lifting device can not be done with a sufficient temporal resolution, in particular to detect and compensate occurring during a horizontal and / or vertical movement of the lifting device pendulum vibrations relatively high frequency.
  • DE 201 08 207 U1 is a device for measuring a horizontal deflection of a pendulum suspension suspended on lifting cables load receiving means relative to a suspension of the lifting device known.
  • the known device has at least two cable length sensors which are operatively connected to an electronic data processing means, wherein the ropes of the at least two rope length sensors are arranged between the suspension of the load receiving means and the load receiving means such that a computing unit connected to the electronic data processing means the horizontal deflection of the load receiving means determined in relation to the position of the suspension over the length of the respective ropes of the rope length sensors.
  • EP 0 846 648 A1 is a device of the type mentioned in the preamble of claim 1 is known.
  • the invention has for its object to provide a device referred to in the preamble of claim 1 species, which is simplified compared to the known device in the structure and which allows a measurement of the horizontal deflection of a lifting device with high accuracy.
  • the basic idea of the teaching according to the invention is to measure the horizontal deflection of the load-carrying device directly on one of the support cables. It is based on the knowledge that the horizontal distance of a carrying cable from a point located in a vertical plane passing through the load receiving means changes during a pendulum movement, if this point lies in the vertical direction between the upper suspension points and the lower suspension points of the lifting device. On this basis, the invention provides distance measuring means for measuring the horizontal distance of at least one of the supporting cables to a reference point located in the vertical direction between an upper suspension point and a lower suspension point of the lifting device.
  • the device according to the invention Since, according to the invention, the measurement of the horizontal deflection of the lifting device can take place directly on one of the suspension cables, the device according to the invention is simplified in its construction.
  • the teaching of the invention allows a precise and timely measurement of the horizontal deflection of the lifting device.
  • the distance measuring means can measure the distance of the associated carrying cable to a reference point movable relative to the load receiving means, provided that the relative movement between the point and the load receiving means is taken into account in the evaluation compensatory, as a result, the actual Change in the distance between the reference point and the support cable is determined.
  • An advantageous development of the teaching according to the invention provides that the distance measuring means measure the horizontal distance of the associated support cable to a reference point fixed to the load-receiving means. In this embodiment, the evaluation of the measurement results is simplified because in the evaluation of a relative movement between the reference point and the load-carrying means does not have to be considered.
  • the distance measuring means can be arranged on the suspension of the load-receiving means.
  • Another advantageous development of the teaching of the invention provides that the distance measuring means are arranged on the load-receiving means.
  • a particularly compact and mechanically maintenance-friendly design of the device results because only one access to the load handling device is required during maintenance.
  • the distance measuring means have optical measuring means.
  • the distance measurement can be carried out in time with high resolution, so that the control of the load receiving means associated drive means by which the load receiving means is horizontally and / or vertically movable, can be carried out with a correspondingly high temporal resolution.
  • optical measuring means and other non-contact measuring means may be used, for example, ultrasonic measuring means, provided adequate measurement accuracy and freedom from interference in the measurement is ensured.
  • the be formed optical measuring means in a variety of ways.
  • optical measuring means provides that these at least one laser, which irradiates at least one connected to the associated support cable reflection element, and at least one receiver, which receives from the reflection element reflected laser light. From output signals of the receiver, the respective horizontal deflection of the load receiving means can be determined, for example, due to the running time of the laser light between the laser, the reflection element and the receiver.
  • the distance measuring means comprise at least one laser rangefinder, in particular at least one laser interferometer.
  • laser rangefinders are well known to the skilled person with regard to their construction and their function and are therefore not explained in detail here.
  • the reflection element based on the cable axis of the associated Supporting cables is connected to the support cable substantially against rotation. In this way, measurement errors are avoided, which could result from the fact that the reflection element is rotated about the cable axis of the supporting cable.
  • the distance measuring means have mechanical measuring means.
  • the mechanical measuring means may preferably comprise at least one cable length sensor connected to the load receiving means, the measuring cable of which is connected to the associated carrying cable.
  • a suitable rope length sensor can, for example, have a measuring cable which can be developed on or from a winding element, wherein the winding element is arranged on the load receiving means in the vertical direction between an upper suspension point and a lower suspension point of the load receiving means. In a horizontal deflection of the lifting device, the rope from the winding element off or wound onto this, the resulting change in the Meßseilin between the supporting cable and the winding element can be measured.
  • Corresponding rope length sensors are produced, for example, by BR Electronic GmbH.
  • a particular advantage of this embodiment is that it is particularly simple in construction, since a single rope length sensor is sufficient to measure the horizontal deflection of the lifting device.
  • this embodiment is robust in construction.
  • the measuring cable may have a relatively small length, so that, for example due to temperature changes occurring elongations of the measuring cable in view of the measurement accuracy negligible are.
  • the horizontal deflection of the load receiving means is substantially equal to zero, ie the load receiving means is substantially at rest. In this rest position then loads can be absorbed or delivered. In such an embodiment, the process for receiving or delivering a load is only started when the load-carrying means is at rest.
  • the distance measuring means are in a data transmission connection with a control device such that the control device controls a load receiving means associated drive means by which the load receiving means is horizontally and / or vertically movable in response to output signals of the distance measuring .
  • the control device can in this case be formed in particular by an electronic data processing device, for example a control computer.
  • An advantageous development of the aforementioned embodiment provides that the control device controls the drive means such that during horizontal and / or vertical movement of the load receiving means pendulum movements are at least partially minimized during horizontal or vertical movement.
  • a trajectory which passes through the load receiving means between a load receiving location and a load discharge location, and optionally additionally the speed at which the load receiving means travels through the trajectory, be chosen so that oscillations are minimized.
  • Fig. 1 is a load-bearing device in a side view 2, which is suspended from four suspension cables, of which in Fig. 1 only two support cables 4, 6 can be seen.
  • the other suspension cables are arranged offset perpendicular to the plane of the support cables 4, 6. Subsequently, only the support cables 4, 6 are explained in detail.
  • the other suspension cables are constructed accordingly.
  • the support cables 4, 6 are connected at lower suspension points 8, 10 with the load-receiving means and at upper suspension points 12, 14 with a suspension, which is designed as a movable carriage 16 in this embodiment.
  • the load receiving means 2 is associated with a drive means by means of which the carriage 16 in the direction of a double arrow 18 is movable. If required according to the respective requirements, the carriage 16 can additionally be moved perpendicular to the plane of the drawing. By means of the carriage 16, the load-receiving means 2 is thus movable in the horizontal direction.
  • the drive means For vertical movement of the load receiving means 2 are by means of the drive means winding drums 20, 22 rotatably driven, which serve for winding or unwinding of the support cables 4, 6.
  • the drive means drives the winding drums 20, 22 so synchronously that the load receiving means 2 is vertically movable, without performing tilting movements.
  • Fig. 1 represents the load-receiving means 2 in a position in which it is horizontally deflected relative to a rest position, the support cables 4, 6 are thus ⁇ inclined relative to the vertical at an angle.
  • the horizontal distance A for example, of the support cable 4 changes from a lying in a vertical plane reference point P at a horizontal deflection of the lifting device 2, provided that this reference point P lies in the vertical direction between the upper suspension points 12, 14 and the lower suspension points 8, 10.
  • this distance A does not change if the reference point P in a plane defined by the upper suspension points 12, 14 level 26 (in Fig. 1 symbolized by a dot-dash line) or lies in a plane defined by the lower suspension points 8, 10 level 28.
  • the horizontal deflection of the load receiving means 2 can thus be measured by the present invention, the horizontal distance, for example, the support cable 4 is measured from the reference point P in the vertical direction between the upper suspension point 12 and the lower suspension point 8 and between the upper suspension point 14 and the lower Suspension point 10 is located.
  • the distance measuring means for measuring the horizontal distance A at least one of the support cables, in the illustrated embodiment of the support cable 4, to the vertical between the upper suspension point 12 and the lower suspension point 8 and the upper suspension point 14 and the lower suspension point 14 of the lifting device 2 adjacent reference point P has.
  • the distance measuring means comprise optical measuring means in the form of a laser rangefinder 32.
  • the laser rangefinder 32 is disposed on the load receiving means 2 in the vertical direction to the plane 28 spaced so that the reference point P lies in the vertical direction between the upper suspension point 12 and the lower suspension point 8.
  • the laser rangefinder 32 has a laser, which irradiates a arranged on the support cable 4 reflection element 34, from which the laser light is reflected onto a receiver of the laser rangefinder 32.
  • the reflection element 34 is arranged on a flat iron 36, with one end of the support cable 4 is connected and the other end is pivotally connected to the load-receiving means 2, so that the flat iron 36 forms an imaginary extension of the support cable 4.
  • the flat iron 36 is connected against rotation with the support cable 4 and thus follows only the pendulum movement of the support cable 4 in the horizontal axis.
  • the laser rangefinder 32 measures the horizontal distance A between the support cable 4 and the point P and thus the deflection of the load receiving means 2 relative to the in Fig. 2 unrecognizable suspension of the lifting device 2.
  • the laser rangefinder 32 is in data transmission connection with a in Fig. 1 only schematically indicated control device 38, by means of which the load receiving means 2 associated drive means (see above to Fig. 1 ) is controllable.
  • control can also be such that oscillations between a recording and a delivery point of the load in favor of a higher speed between these places are deliberately accepted and pendulum movements are corrected, for example, or shortly before reaching the Lastabgabeortes by appropriate control of the drive device.
  • the performance of the load receiving means 2 can be substantially increased during the storage and retrieval of loads.
  • the required measurement of the respective deflection of the load receiving means 2 by means of the device 30 according to the invention in a simple and fast way with high accuracy.
  • Fig. 3 is a second embodiment of a Inventive device 30, which differs from the embodiment according to FIG Fig. 1 characterized in that the measuring means comprise mechanical measuring means which have a rope length sensor 40, the measuring cable 42 is connected to the associated supporting cable 4.
  • the rope length sensor 40 has a winding element 44, from which the measuring cable 42 can be unwound or wound up on a horizontal deflection of the load receiving means 2. Based on the change of the effective length L of the measuring cable 42 thus the horizontal distance between the reference point P and the measuring cable 4 can be measured.
  • horizontal deflections of the load receiving means 2 are detected parallel to the drawing plane by the distance measuring means according to the invention. If required in accordance with the respective requirements, horizontal deflections of the lifting device perpendicular to the drawing plane can additionally be detected by using additional distance measuring means which are offset by 90 ° from the distance measuring means shown and thus a horizontal deflection of the load receiving means 2 perpendicular to the drawing plane detected.
  • the measuring direction ie the direction in which, for example, the laser beam of a laser rangefinder or a measuring cable of a rope length sensor runs, lie horizontally.
  • the measuring direction can also be inclined to the horizontal.
  • the laser beam of a laser rangefinder or the course of a measuring cable of a rope length sensor is inclined to the horizontal.
  • the horizontal distance of the associated support cable is measured to a reference point as a result, and to a reference point, in the vertical direction between the upper suspension point and the lower suspension point of the lifting device and in a horizontal plane passing through a point at which, for example, the laser beam impinges on the supporting cable or at which the measuring cable is connected to the supporting cable.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (9)

  1. Dispositif de mesure d'une déviation horizontale d'un moyen de support de charge (2) suspendu de façon pendulaire à des câbles porteurs (4,6), par rapport à une suspension (16) du moyen de support de charge,
    avec des moyens de mesure de distance pour la mesure de la distance horizontale d'au moins un des câbles porteurs (4) à un point de référence (P) situé dans la direction verticale entre un point de suspension (12) ou respectivement (14) supérieur et un point de suspension (8) ou respectivement (10) inférieur du moyen de support de charge (2), les moyens de mesure de distance présentant des moyens de mesure optiques,
    caractérisé en ce que
    les moyens de mesure optiques présentent au moins un laser qui éclaire au moins un élément de réflexion (34) raccordé aux câbles porteurs affectés et au moins un récepteur qui reçoit la lumière laser réfléchie par l'élément de réflexion (34).
  2. Dispositif selon la revendication 1, caractérisé en ce que les moyens de mesure de distance mesurent la distance horizontale (A) du câble porteur (4) affecté à un point de référence (P) stationnaire par rapport au moyen de support de charge (2).
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que les moyens de mesure de distance sont disposés sur le moyen de support de charge (2).
  4. Dispositif selon la revendication 1, caractérisé en ce que les moyens de mesure optiques présentent au moins un télémètre à laser (32), en particulier au moins un interféromètre à laser.
  5. Dispositif selon la revendication 1 ou 4, caractérisé en ce que l'élément de réflexion (34) est, par rapport à l'axe de câble du câble porteur (4) affecté, raccordé au câble porteur (4) essentiellement de façon solidaire en rotation.
  6. Dispositif selon une des revendications précédentes, caractérisé en ce que les moyens de mesure de distance présentent des moyens de mesure mécaniques.
  7. Dispositif selon la revendication 6, caractérisé en ce que les moyens de mesure mécaniques présentent au moins un indicateur de longueur de câble (40) qui est de préférence raccordé au moyen de support de charge (2) et dont le câble de mesure (42) est raccordé au câble porteur (4) affecté.
  8. Dispositif selon une des revendications précédentes, caractérisé en ce que les moyens de mesure de distance sont en liaison de transmission de données avec un dispositif de commande (38) de telle sorte que le dispositif de commande pilote un dispositif d'entraînement qui est affecté au moyen de support de charge (2), et au moyen duquel le moyen de support de charge (2) peut être déplacé horizontalement et/ou verticalement en fonction de signaux de sortie des moyens de mesure de distance.
  9. Dispositif selon la revendication 8, caractérisé en ce que le dispositif de commande (38) pilote le dispositif d'entraînement de telle sorte que, lors du déplacement horizontal et/ou vertical du moyen de support de charge (2), des mouvements pendulaires sont minimisés au moins par tronçons pendant le mouvement horizontal et/ou vertical.
EP09006210.0A 2008-05-14 2009-05-07 Dispositif de mesure d'une déviation horizontale d'un moyen de réception de charge suspendu de manière oscillante sur des câbles de portage Not-in-force EP2119661B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008023410A DE102008023410A1 (de) 2008-05-14 2008-05-14 Vorrichtung zur Messung einer horizontalen Auslenkung eines an Tragseilen pendelbar aufgehängten Lastaufnahmemittels

Publications (3)

Publication Number Publication Date
EP2119661A2 EP2119661A2 (fr) 2009-11-18
EP2119661A3 EP2119661A3 (fr) 2012-05-09
EP2119661B1 true EP2119661B1 (fr) 2013-07-17

Family

ID=40902717

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09006210.0A Not-in-force EP2119661B1 (fr) 2008-05-14 2009-05-07 Dispositif de mesure d'une déviation horizontale d'un moyen de réception de charge suspendu de manière oscillante sur des câbles de portage

Country Status (2)

Country Link
EP (1) EP2119661B1 (fr)
DE (1) DE102008023410A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017119928A1 (de) 2016-09-27 2018-03-29 Westfalia Intralogistic Gmbh Logistiksystem
WO2020239462A1 (fr) 2019-05-29 2020-12-03 Westfalia Intralogistic Gmbh Système de stockage

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202016008626U1 (de) 2016-11-15 2018-09-14 Josef Morosin Anordnung mit einem Kran
DE102019109448B4 (de) 2019-04-10 2022-09-08 Josef Morosin Anordnung mit einem Kran

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3150636B2 (ja) * 1996-12-06 2001-03-26 三菱重工業株式会社 クレーンの巻き下げ衝突防止装置
DE19836103A1 (de) 1998-08-10 2000-02-24 Siemens Ag Vorrichtung und Verfahren zur zweidimensionalen Bestimmung von Lastpendelungen und/oder -rotationen an einem Kran
DE20108207U1 (de) 2001-05-08 2002-01-10 Krusche Lagertechnik AG, 85435 Erding System zur Messung einer horizontalen Auslenkung eines Lastaufnahmemittels

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017119928A1 (de) 2016-09-27 2018-03-29 Westfalia Intralogistic Gmbh Logistiksystem
WO2018060177A1 (fr) 2016-09-27 2018-04-05 Westfalia Intralogistic Gmbh Système logistique
WO2020239462A1 (fr) 2019-05-29 2020-12-03 Westfalia Intralogistic Gmbh Système de stockage

Also Published As

Publication number Publication date
DE102008023410A1 (de) 2009-11-19
EP2119661A3 (fr) 2012-05-09
EP2119661A2 (fr) 2009-11-18

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