DE102013219279A1 - Load-bearing damper and lifting device for suspended loads - Google Patents

Abstract

The invention relates to a load motion damper 3, 30 with a first sensor 22 for detecting a load rotation or load acceleration about a load axis of rotation. It is a load motion damper 3, 30 can be achieved, which can effectively prevent or attenuate unwanted load rotation, but is relatively easy to use and manufacture. For this purpose, it is proposed that the load motion damper 3, 30 has such a oriented, first flywheel 26, 31, so that a rotational movement of the flywheel 26, 31 counteracts the load rotation. Furthermore, the invention includes a lifting device, in particular a crane, with such a load motion damper 3, 30.

Description

Field of the invention

The invention relates to a load motion damper with a first sensor for detecting a load rotation or load acceleration about a load axis of rotation. Furthermore, the invention relates to a lifting device with such a load motion damper.

Background of the invention

Hanging loads occur in technical fields such as transportation or construction. In construction, for example, building materials, tools and other materials are moved to construction sites by means of cranes or other lifting devices or conveyed to great heights or depths. In this case, freely suspended loads are attached to a cable, in particular a steel cable, wherein a controlled extension or shortening of the cable leads to a lifting movement of the load.

The suspension on ropes is critical insofar as environmental influences during the lifting process can influence the positioning of the load. For example, containers are placed in a container harbor precisely in a holding device or other anchorages, for example, to not slip in the hold of a ship during transport. Even in the port exact positioning is required, so that a classification system of the container can be maintained. However, by suspending ropes during lifting, there is a risk that the load will rotate in an uncontrollable manner about an axis, so that the desired positioning is no longer possible or must be tediously brought about using other tools.

Out DE 198 26 695 A1 For example, a method and a device for regulating a twist angle of a load are known, with which a rotary control deviation can be detected and compensated. The load can thus be kept in balance with respect to its load axis of rotation, as required for optimal positioning of the load.

Out DE 10 2007 039 408 A1 Alternatively, a construction with a plurality of cables is proposed, which can specify a positioning of the load or counteract environmental influences.

The previous solutions of the prior art is problematic that it operates a very gruff effort, which makes a variety of feeding ropes required especially for cranes and thus usually leads to a very costly solution for accurate positioning of suspended loads.

Object of the invention

The object of the invention is to improve load vibration damper to the effect that for the positioning of suspended loads a lesser effort must be operated to achieve the required positioning accuracy.

Description of the invention

The object is achieved in a load motion damper of the type mentioned above in that the load motion damper has such an oriented, first flywheel, which counteracts a rotational movement of the flywheel of the load rotation. To counteract the load rotation which has been caused by environmental influences, it is necessary that the rotational movement of the flywheel takes place about an axis which is not arranged exclusively perpendicular to the load axis of rotation. Once both axes are directed at least component wise, or for example, only form a small angle with each other, at least one component of the rotational movement of the flywheel can be transferred to the suspended load. In this case, the principle of angular momentum conservation is applied, wherein the first flywheel generates an angular momentum which is absorbed by the suspended load.

Since the first flywheel advantageously has a lower mass than the suspended load, it is also possible that the first flywheel performs a faster rotational movement than the suspended load in a compensation or damping movement.

The first sensor is intended to detect a load rotation or even a load acceleration. If it detects an unwanted load rotation or an unwanted load acceleration, by generating an angular momentum by means of the first flywheel counter-rotation can be generated, which compensates for the unwanted load rotation or unwanted load acceleration. Alternatively, the load acceleration may be measured, with the suspended load performing no load rotation, but the compensation or damping of the load acceleration is ensured. This can be prevented that the suspended load is placed in a damped vibration, which can still be questionable in terms of the positioning of the load. Instead, the load rotation no longer takes place, because they already does not even arise due to the compensation of the load acceleration.

In an advantageous embodiment, the load motion damper on a second flywheel, wherein the second flywheel is arranged such that it also counteracts the load rotation. The second flywheel may for example be used such that the second axis of rotation of the second flywheel is arranged perpendicular to the first axis of rotation of the first flywheel. In this way, load rotations can be compensated, which can be arranged in one plane. Therefore, it is conceivable to perform a load motion damping, in which the load assumes different shapes and the respective load axis of rotation is oriented differently.

Alternatively, it is conceivable for particularly massive loads to arrange the second flywheel so that the first axis of rotation and the second axis of rotation of the two flywheels are arranged parallel to each other. In this case, it is prevented that the flywheels must be accelerated to particularly high frequencies. Thus, the effect of the first flywheel is supported by means of the second flywheel.

In an advantageous embodiment, the first and second flywheel on axes of rotation, which together span an angle, in particular are mutually perpendicular. In this way, it is possible to flexibly counteract a multiplicity of environmental influences, optionally of chaotic origin.

In an advantageous embodiment, by means of the first and optionally by means of a second sensor, an actual position of the load can be detected and compared with a desired position. Thus, it is possible to determine what effect the environmental influences on the suspended load have already had to determine the strength of the outstanding damping or compensation by means of the first and / or second flywheel. In this case, the discrepancy of the actual position with the target position can be used or the time that was required to move from the desired position to the actual position.

Advantageously, the load motion damper is intended to stabilize the suspended load in the desired position. The load motion damper thus acts automatically as a function of the sensor signal of the first sensor and possibly as a function of a plurality of sensor signals. From the sensor signal or from the sensor signals, the operating conditions for the first flywheel and / or the second flywheel can be determined in order to achieve a stabilization in the desired position. A stabilization can be done in particular in that either the first and / or second flywheel during the positioning of the load have a certain speed / and the present angular momentum is used to stabilize the load or in that the first and / or the second flywheel first is then accelerated when an environmental impact, such as a gust of wind or the like, acts on the load.

Advantageously, the first and / or the second flywheel is accelerated before the load rotation or load acceleration or accelerated during load rotation or load acceleration. The acceleration before the load rotation or load acceleration uses the principle of a stabilization in space by the gyro effect, as it is used for example in inertial measurement. By a high inertia to changes in position in space, the stabilization is achieved by the flywheel, which can also be regarded as a gyroscope.

The acceleration of the first and / or second flywheel during load rotation or load acceleration uses the principle of angular momentum conservation when the angular momentum from the respective flywheel is transmitted to the load to stabilize it in space.

In an advantageous embodiment, the energy for accelerating the first and / or second flywheel comes from an accumulator, wherein kinetic energy of the first and / or second flywheel is stored as electrical energy in the accumulator. It is thus possible to implement a braking of the first and / or second flywheel while saving energy. The accumulator may be the only source of energy that is charged prior to deployment of the load mover and alternately discharges and charges as it continues to operate. Consequently, it is advantageous to provide a connection for electrical charging on the load motion damper, so that the load motion damper is stored in the accumulator at least in the initial phase of operation energy.

In an advantageous embodiment of the load vibration damper is designed as a module which attenuates the load rotation or the load acceleration about an arbitrary axis or even prevented. In this case, the module can be fastened to a load such that a specific direction of load rotation is effectively suppressed by the module. Thus, the load-vibration damping module can be used for a load rotation axis selected by placing the module with a corresponding orientation on the load is attached and the axis of rotation of the first flywheel can be optimally aligned.

In an advantageous embodiment of the load vibration damper is intended to be attached to a load or a lifting device. This can be done for example by a screw or alternatively by a correspondingly strong magnet, which establishes a coupling between the load vibration damper and the load.

The object is further achieved by a lifting device, in particular a crane with a load vibration damper according to the invention. It is not absolutely necessary that the load vibration damper can be flexibly attached to the lifting device or to the load, but the load vibration damper can also be integrated into the lifting device. It is only necessary that during the lifting operation of the load vibration damper at least indirectly coupled to the load so it is fixed to transmit an angular momentum can.

Further advantageous embodiments and preferred developments of the invention can be taken from the description of the figures and / or the subclaims.

In the following the invention will be described and explained in more detail with reference to the embodiments illustrated in the figures.

Brief description of the drawings

Show it:

1 a hanging load with stabilizer,

2 a second hanging load with sensor and flywheel,

3 a stabilizer with two flywheels,

4A an illustration of an actual position and a desired position of a suspended load after a load rotation,

4B a flow chart of a stabilization control.

Detailed description of the drawings

1 shows a hanging load 1 , as it occurs, for example, in container terminals or construction sites when using load cranes. The hanging load 1 is by means of a steel cable 2 kept in the air and also moved.

The stabilizer 3 was before picking up the load 1 attached thereto and includes a first sensor and at least a first flywheel. It is the stabilizer 3 around a load motion damper 3 , which does not even let the unwanted movement, but already at the load acceleration recognizes which forces on the load 1 act to compensate for this with an angular momentum generated in the first not shown) flywheel.

Basically, the hanging load can 1 rotate about at least one of the body axes X, Y, Z shown. The hanging load 1 selected axis of rotation with one of said body axes of rotation X, Y, Z be identical or is composed of these vectorially. Due to the suspension by the steel cable 2 will pass through a load axis of rotation, which is directed substantially as the body axis Z. This is due to the geometry of the steel cable 2 in conjunction with the substantially central suspension at the top of the load 1 caused. In addition, the axis of rotation is determined by the respective environmental influence, which can vary in direction and strength, for example, think of a gust of wind or the like.

The stabilizer 3 is also designed as a module, which also includes a power supply that must apply to spend the drive energy for the first flywheel. Furthermore, the stabilizer module has 3 Attachment means that allow the stabilizer module 3 at any load 1 sufficiently secure. For metal containers, for example, offers a strong magnet. Alternatively, positive fastening methods or other non-positive fastening methods, such as a screw connection or the like, are possible.

2 shows a lifting device with a container 20 , which is intended to receive loads. The container 20 forms part of the lifting device and has at its top a first sensor 22 on, every rotation of the container 20 registered and forwarded to a not shown control unit. The control unit operates the first flywheel 26 , which by means of a base 21 firmly with the container 20 connected is. The first flywheel 26 consists of one in relation to the container 20 fixed axis 25 , wherein the rolling elements 23 the movable outer ring 24 on the named axis 25 rotatably store. This binds the outer ring 24 the moving part of the flywheel 26 but may alternatively have another flywheel or be connected to such a flywheel. The mass of the outer ring 24 and that of the flywheel affects the Speed with which the flywheel 26 must be driven in order to exert the desired effect on the load rotation.

The container 20 can now be loaded differently and is still stabilized as a hanging load in its respective hanging position.

3 shows a load motion damper 30 , the two flywheels 31 . 32 includes, which are each mounted for rotation about an axis X and an axis Z arranged perpendicular to the axis Z.

This load motion damper 30 is able to react to differently oriented load rotations and counteract them. A controller decides how fast the respective flywheel 31 . 32 must be driven to counteract a load rotation in the plane defined by the axes X and Z plane.

4a and 4b show an actual position 41 , which by the rotation angle α from the target position 40 deviates and a flowchart of the associated control mechanism.

It is a target position definable, which is required or desired for optimum positioning of the suspended load. The target position 40 thus represents the optimal position for the suspended load and can be obtained despite unwanted environmental influences. However, if there is an actual position 41 due to a rotation about a rotation angle α, a control of the control unit starts to regulate the rotation angle α back to 0 °.

The flowchart of 5 has a query 42 on, which includes the reading of the first sensor or other sensors, whereby first the value of the rotation angle α can be determined. If α does not correspond to the desired position, namely 0 °, then an operating parameter, such as the speed of a first or second flywheel, becomes a regulatory action 43 changed so that the competent flywheel to be transmitted angular momentum can be transferred to the load and reduces the angle of rotation. The query 42 is repeated at regular intervals, the angle of rotation α is measured. Realistically, instead of a desired value, namely the 0 °, a desired value interval can be set, within which no control should take place. Thus, a stabilizer or load motion damper is able to self-react and promptly correct a load on a rope or other suspension in position. Advantageously, for example, a crane operator can then concentrate on other things without unnecessarily losing time with a manual rotational correction.

In summary, the invention relates to a load motion damper 3 . 30 with a first sensor 22 for detecting a load rotation or load acceleration about a load axis of rotation. It's supposed to be a load-motion damper 3 . 30 achieved, which can effectively prevent or dampen unwanted load rotation, but is relatively easy to use and manufacture. For this it is suggested that the load motion damper 3 . 30 such an oriented, first flywheel 26 . 31 has, so that a rotational movement of the flywheel 26 . 31 counteracts the load rotation. Furthermore, the invention includes a lifting device, in particular a crane, with such a load motion damper 3 . 30 ,

LIST OF REFERENCE NUMBERS

α

angle of rotation

φ ₁

angle of rotation

φ ₂

angle of rotation

φ ₃

angle of rotation

X, Y, Z

body axes

1

hanging load

2

steel cable

3

Last motion damper

20

container

21

base

22

first sensor

23

rolling elements

24

outer ring

25

fixed axis

26

flywheel

30

Last motion damper

31

first flywheel

32

second flywheel

40

Nominal position

41

Actual position

42

query

43

instructions

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• DE 19826695 A1 [0004]
• DE 102007039408 A1 [0005]

Claims (10)

Load motion damper ( 3 . 30 ) with a first sensor ( 22 ) for detecting a load rotation or load acceleration about an axis of rotation, characterized in that the load motion damper ( 3 . 30 ) such a oriented, first flywheel ( 26 . 31 ) that a rotational movement of the first flywheel ( 26 . 31 ) counteracts the load rotation. Load motion damper ( 3 . 30 ) with a second flywheel ( 32 ), wherein the second flywheel ( 32 ) is arranged such that it also counteracts the load rotation. Load motion damper ( 3 . 30 ) according to claim 2, wherein the first and second flywheel ( 26 . 31 . 32 ) Axes of rotation (X, Z), which together span an angle, in particular perpendicular to each other. Load motion damper ( 3 . 30 ) according to one of the preceding claims, wherein by means of the first sensor ( 22 ) and optionally by means of a second sensor an actual position of the load ( 1 ) and with a desired position ( 40 ) is comparable. Load motion damper ( 3 . 30 ) according to claim 4, wherein the load motion damper ( 3 . 30 ) is intended to reduce the load ( 1 ) in the desired position ( 40 ) to stabilize. Load motion damper ( 3 . 30 ) according to one of the preceding claims, wherein the first and / or the second flywheel ( 26 . 31 . 32 ) was accelerated before the load rotation or load acceleration or is accelerated during the load rotation or load acceleration. Load motion damper ( 3 . 30 ) according to one of the preceding claims, wherein an energy for accelerating the first and / or second flywheel ( 26 . 31 . 32 ) comes from an accumulator, wherein kinetic energy of the first and / or second flywheel ( 25 . 31 . 32 ) repeatedly as electrical energy in the accumulator can be stored. Load motion damper ( 3 . 30 ) according to one of the preceding claims, wherein the load motion damper ( 3 . 30 ) is designed as a module which dampens or prevents the load rotation about a selectable axis. Load motion damper ( 3 . 30 ) according to one of the preceding claims, wherein the load motion damper ( 3 ) is provided to a load ( 1 . 20 ) or a lifting device to be attached. Lifting device, in particular crane, with a load motion damper ( 3 . 30 ) according to any one of the preceding claims.

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