EP2179957B1 - Ascenseur incliné et son procédé de commande - Google Patents

Ascenseur incliné et son procédé de commande Download PDF

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Publication number
EP2179957B1
EP2179957B1 EP09012975A EP09012975A EP2179957B1 EP 2179957 B1 EP2179957 B1 EP 2179957B1 EP 09012975 A EP09012975 A EP 09012975A EP 09012975 A EP09012975 A EP 09012975A EP 2179957 B1 EP2179957 B1 EP 2179957B1
Authority
EP
European Patent Office
Prior art keywords
sensor
unit
control unit
sliding
distance measurement
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
EP09012975A
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German (de)
English (en)
Other versions
EP2179957A1 (fr
Inventor
Franz-Josef Paus
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.)
Hermann Paus Maschinenfabrik GmbH
Original Assignee
Hermann Paus Maschinenfabrik GmbH
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Publication date
Application filed by Hermann Paus Maschinenfabrik GmbH filed Critical Hermann Paus Maschinenfabrik GmbH
Publication of EP2179957A1 publication Critical patent/EP2179957A1/fr
Application granted granted Critical
Publication of EP2179957B1 publication Critical patent/EP2179957B1/fr
Not-in-force legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B9/00—Kinds or types of lifts in, or associated with, buildings or other structures
    • B66B9/16—Mobile or transportable lifts specially adapted to be shifted from one part of a building or other structure to another part or to another building or structure
    • B66B9/193—Mobile or transportable lifts specially adapted to be shifted from one part of a building or other structure to another part or to another building or structure with inclined liftways

Definitions

  • the invention relates to an inclined lift and a method for controlling it according to the preamble of claim 1.
  • Inclined lifts have been known for a long time ( DE 12 07 570 A transport carriage is guided by a drive having a corresponding control into a respective starting or end position on this movable loading platform or the like.
  • hydraulic cable winch drives have prevailed as drive devices ( DE 35 11 940 C1 ).
  • DE 86 09 045.3 an inclined elevator with hydraulically driven Auslegeierin is proposed, in which as a result of detected by means of an inductive displacement measuring position information, the hydraulic fluid supply in the range of a hydraulic motor can be controlled by a proportional valve and in DE 298 08 064 U1 the system is equipped with a proximity switch, which is used for carriage control.
  • a generic skew elevator is proposed which may be provided on a chassis so that this unit can be used efficiently overall for roofer work or relocation.
  • the control of this ladder-slide unit is characterized by the fact that several displacement and speed sensors are used in a system.
  • respective cable drums with incremental encoders are connected so that sen sensors at the upper end of a package of Auslegeierin can be dispensed with, since the sensors are arranged for the position of the transport carriage relative to the conductor arrangement at the bottom of the bottom ladder.
  • the entire system comprises at least four sensors, wherein a sensor for the travel and speed measurement of the cable drum is provided, a second sensor for a speed measurement in a second cable drum is arranged and also two in the region of the package of Auslegeimplantation position sensors respective reference points for the respective Create position of the transport carriage on the ladder package.
  • a force sensor is also installed on the lever mechanism of the extension elements, and a control unit which receives all measured values of the sensors can additionally be equipped with a radio remote control.
  • EP 0 244 576 A1 discloses an inclined elevator, wherein the telescoping guide rails are brought into a position of use. The position of the furniture platform is determined only in the end of the last upper guide rail by means of a radio transmitter.
  • US 4,706,779 A discloses an inclined elevator, wherein the telescoping guide rails are brought into a position of use. In the case of slippage of the support means an automatic emergency brake is actuated.
  • the invention is concerned with the problem of providing a particular equipped with a chassis inclined elevator, which is improved with little technical effort in the application, has a user-friendly handling in the control and allows for quick positioning in the position of use largely automated workflow.
  • the invention solves this problem with a method for controlling an inclined lift with the features of claim 1 and an arrangement with the features of claim 10. Further advantageous embodiments emerge from the claims 2 to 9 or 11 to 18.
  • the control method according to the invention for the assemblies of the inclined elevator characterized by the fact that already obtained by a single electronic distance measurement data only one transducer are sufficient to optimally workflow and corrective movements of the system control and thus surprisingly reduce the technical effort in the equipment and operation of the inclined elevator.
  • the inclined elevator equipped for carrying out the method thus has, in the region of its displaceable subassemblies, only one transducers provided for an electronic distance measurement.
  • the contactless distance meter according to the invention-for the first time in such an inclined lift system -performs a determination of distances or distance measurements by means of a respective transit time measurement of measuring devices using electromagnetic or acoustic waves.
  • a laser sensor as a selected lidar base assembly of this measuring device is also conceivable to realize the electronic distance measurement by a radar device or a sonar device using ultrasonic waves.
  • This having the laser sensor measuring device can be positioned in structurally variable mounting positions on a base assembly in the field of Auslegeimplantation on the inclined elevator, wherein a corresponding reflector is arranged to track the movement in the transport carriage on this.
  • the function of the inclined elevator with only one laser sensor is guaranteed even when the extension length of the extension elements reached during the raising operation is manually entered in the area of the control unit, so that subsequently for the electronic distance measurement a corresponding limit value is defined as system-internal reference quantity. Due to the concept of "direct tracking" of the transport carriage and the hydraulic drive system of the inclined elevator with less control components is cheaper executable because additional control components, for example, to compensate for changes in position during loading, are unnecessary.
  • a second laser sensor is integrated into the package of Auslegeimplantation.
  • their displacement can be tracked so that in particular the necessary for controlling the system output information can be quickly provided, transmitted to the control unit and combined with the distance measurement on the transport carriage.
  • Fig. 1 is a generally designated 1 inclined elevator shown, which is provided in particular as a mobile assembly with a chassis 2.
  • chassis 2 respective positioning elements 4, 5, 6 which can be positioned in a retracted packing position in a base element 3 are provided, wherein these are connected by means of a cable pull 7 (FIG. Fig. 2 ) from the packing position to the in Fig. 1 .
  • Fig. 4 and Fig. 5 shown use position are telescopic.
  • the system is activated in total, wherein by means of the control unit 10 at least one in the range of the cables 7, 8 provided hydraulic drive 13, 14 (FIG. Fig. 3 ) is controllable.
  • the inventive concept of the inclined elevator 1 provides that this in the region of its displaceable assemblies 4, 5, 6; 9 is provided with at least one electronic distance measurement by means of electromagnetic or acoustic waves causing transducer W.
  • This determination of distances by means of a transit time measurement of electromagnetic or acoustic waves can be realized by a sonar sensor (sonic or ultrasonic waves), a radar sensor (electromagnetic waves) or a lidar sensor (light or laser). It has been found that the use of a commercially available laser sensor 15 for the application to the assemblies of the inclined elevator 1 is particularly suitable, while a surprisingly efficient control concept can be realized with little effort on the inclined elevator 1.
  • direct tracking of largely arbitrary displacements of the transport carriage 9 is provided with only one laser sensor 15 in such a way that an optimum control concept can be derived from its positional parameters.
  • a measuring beam M emanating from the stationary laser sensor 15 is reflected in the region of the displaceable transport carriage 9 and returned to the base assembly of the laser measuring system.
  • the determination of the laser sensor 15 can be provided on the base element 3 of the Auslegeieri.
  • a support member 16 for receiving the laser sensor 15 is provided, and the associated reflector 17 may be held directly on the support floor 18 of a rail part 9 'having transport carriage 9 ( Fig. 4 . Fig. 5 ).
  • the support member 16 is in the illustrated embodiment ( Fig. 2, Fig.
  • the reflector 17 is provided on a carrier plate 19 held on the transport carriage 9 and aligned substantially perpendicular to the base element 3. This can be optimally adapted in a corresponding mounting position to the course of the measuring beam M, including the adjustability of the reflector 17 causing adjusting elements (not shown) on the carriage 9 and the support plate 19 are conceivable.
  • FIG. 3 illustrates an expanded version of the above-described measuring system, wherein in addition to the effective in the transport carriage 9 laser sensor 15, a second sensor 20 as a displacement transducer W 'in the region of the Auslegemaschine 4, 5, 6 is positioned.
  • the second sensor 20 is also provided as a laser sensor for path recording W '.
  • the laser sensor 20 can define a measuring path M 'running within the package of the delivery elements 4, 5, 6 ( Fig. 3 ), which has a particular on the front extension element 6 reflector 17 '.
  • this second sensor 20 is an in Fig. 1 provided with D record as output information for the control unit 10.
  • a known sensor 20 '( Fig. 1 ) for example, an incremental encoder, as a second Wegmessbaury to install and connect to the control unit 10.
  • the output information about the travel length L 'containing a maximum travel path of the transport carriage 9 can be recorded by the operator and entered into the control unit 10 as a processable data record by means of the operating panel 12.
  • the data of the respective current distance measurement W can then be related to the entered maximum value and, in the event of deviations from preprogrammed target specifications, the hydraulic drive 13, 14 or the like can be activated for position correction.
  • the method can be designed so that by means of only one of the distance measurements W carrying transducer and respective intermediate positions, cable tension u. Like. Load-dependent changes in the area of the transport carriage 9 and the Auslegeieri 4, 5, 6 are detected. In the event that deviates from a predetermined setpoint, a quick correction is also possible here by means of the hydraulic drive 13, 14. This is the case in particular if, for example, in an upper loading phase (arrow G,
  • the operation of the inclined elevator 1 is designed in a further variant of the method so that a respective actual position L "(in the region of the control panel 12 in the area of the control panel 12 by means of a control element 10 in the erecting operation of the inclined elevator 1 effective control element Fig. 4 ) of the transport carriage 9 is activated or stored and then respective position changes A, A 'or deflections of the system and / or unwanted changes in position by the measurement signals of the distance measurement W receiving control unit 10 in cooperation with the hydraulic drive 13, 14 are compensated.
  • the laser sensor 15 provided for direct tracking of the transport carriage 9 is provided in the region of the control unit 10 with a second sensor 20 (FIG. Fig. 3 ) cooperates.
  • this second sensor 20 at least the position information required as output information for activating the laser sensor 15 for the position of the delivery elements 4, 5, 6 can be provided as an electronic data record so that an automatic work function is achieved independently of the operator.
  • the transport carriage 9 can be driven by the permanently processed in the control unit 10 distance or position data in an automatic mode. In this case, it may be necessary for the transport carriage 9 to interact with a plurality of controllers in the area of the control unit 10 (not shown) in order to implement this automatic operation.
  • the distance measurement W on the inclined elevator 1 is provided for normalization of the system that the ready for delivery to the user system - with switched measuring technology and appropriate activation of the control unit 10 - in the field of Auslegeieri 4, 5, 6 successively in an upper and lower operating position E, E 'and thus the maximum extension length L' (in relation to a measuring path L '', Fig. 5 ) is included in the system.
  • the travel L 'of the transport carriage 9 can be adopted by a manufacturer's calibration in the control unit 10, so that in subsequent applications of the system at the user's usual learning trips are unnecessary and the ease of use is improved.
  • the movement of the transport carriage 9 is likewise regulated by means of the distance measurement W, wherein at the same time an elongation or shortening of the conveying cable 21 moving the transport carriage 9 is compensated.
  • an unillustrated pressure sensor may be connected to the hydraulic system 13, 14 or the control unit 10 at the inclined elevator 1 and an additional rotation angle sensor in the area of the driven transport rollers 23, 24 or the Auslegeieri 4, 5, 6 is conceivable to the controller to further optimize by means of the laser sensor 15.
  • the data determined with these additional sensors are also recorded in the program P of the control unit 10, wherein in the area additionally a useful for the evaluation of workloads on the inclined elevator 1 trip counter can be integrated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Indicating And Signalling Devices For Elevators (AREA)
  • Elevator Control (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Manipulator (AREA)

Claims (18)

  1. Procédé de commande d'un ascenseur incliné (1) avec un chariot de transport (9), sachant qu'au moins des positions respectives (E, E') du chariot de transport (9) mobile en position d'utilisation sur des éléments en porte-à-faux (4, 5, 6) télescopiques sont détectées de manière sensorielle et des données mises à disposition sont transmises à une unité de commande (10) coopérant avec un entraînement hydraulique (13, 14) de l'ascenseur incliné (1), caractérisé en ce qu'au moins l'un des éléments en porte-à-faux (4, 5, 6) est déployé en position d'utilisation, une mesure obtenue de la longueur de déploiement (L, L') est mise à disposition comme information de départ, celle-ci est reprise dans un programme (P) de l'unité de commande (10) et chaque déplacement (A, A') du chariot de transport (9) n'est ensuite commandé qu'à l'aide d'une mesure de distance électronique (W).
  2. Procédé selon la revendication 1, caractérisé en ce qu'un capteur sonar, radar ou lidar est utilisé comme capteur de déplacement pour la mesure de distance électronique (W).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'en position d'utilisation de l'ascenseur incliné (1), une position de départ respective du chariot de transport (9) sur les éléments en porte-à-faux (4, 5, 6) est détectée sans course d'apprentissage et en mode de travail suivant du chariot de transport (9), sa position prévue est corrigée en permanence par des mesures de distance (W) du capteur de déplacement.
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'information de départ contenant une voie maximale du chariot de transport (9) est saisie à l'aide d'un tableau de commande (12) dans l'unité de commande (10) comme enregistrement, puis celle-ci est traitée conjointement avec les données de la mesure de distance (W) dans un programme de commande (P) et en cas d'écarts de valeurs de consigne programmables, l'entraînement hydraulique (13, 14) de l'ascenseur incliné (1) est activé à des fins de correction de la position.
  5. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le capteur de déplacement réalisant seulement l'une des mesures de distance (W) permet de détecter des positions intermédiaires respectives, des tensions de câble et modifications (G) similaires dépendant des charges dans la zone du chariot de transport (9) ou des éléments en porte-à-faux (4, 5, 6), de les traiter dans le programme de commande (P) de l'unité de commande (10) et de les corriger à l'aide de l'entraînement hydraulique (13, 14).
  6. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce qu'à l'aide d'un commutateur actionnable dans la zone de l'unité de commande (10) lors du mode de montée de l'ascenseur incliné (1), une position réelle respective (L") du chariot de transport (9) est enregistrée et des modifications de position (A, A') respectives, des déviations et/ou des modifications de position du système sont compensées par l'unité de commande (10) recevant les signaux mesurés de la mesure de distance (W) ou l'entraînement hydraulique (13, 14) coagissant avec celle-ci.
  7. Procédé selon l'une quelconque des revendications 1 à 6, caractérisé en ce que le capteur de déplacement prévu pour la poursuite directe du chariot de transport (9) coagit dans la zone de l'unité de commande (10) avec un second capteur (20) de telle manière qu'au moins les informations de départ soient mises à disposition en tant qu'enregistrement (D) électronique avec ce deuxième capteur (20).
  8. Procédé selon l'une quelconque des revendications 1 à 7, caractérisé en ce que le chariot de transport (9) est déplacé dans un mode automatique par les données de distance ou de position pouvant être traitées en permanence dans l'unité de commande (10).
  9. Procédé selon la revendication 8, caractérisé en ce qu'en mode automatique du chariot de transport (9), plusieurs régulateurs sont actionnés dans la zone de l'unité de commande (10).
  10. Ascenseur incliné destiné à la mise en oeuvre du procédé selon l'une quelconque des revendications 1 à 9, sachant que l'ascenseur incliné (1) est pourvu en particulier d'un châssis (2) qui porte plusieurs éléments en porte-à-faux (4, 5, 6) télescopiques à l'aide d'un premier câble (7) d'une position pliée à une position d'utilisation, sur lesquels est prévu un panier de charge ou chariot de transport similaire (9) pouvant être déplacé à l'aide d'un second câble (8) dans des positions de commande respectives et des positions du chariot de transport (9) peuvent être saisies dans une unité de commande (10) reliée à des capteurs, sachant qu'au moins un entraînement hydraulique (13, 14) peut être commandé avec celle-ci dans la zone des câbles (7, 8), où l'ascenseur incliné (1) est pourvu, dans la zone de ses ensembles (4, 5, 6 ; 9) mobiles, d'au moins un capteur de déplacement provoquant une mesure de distance électronique (W, W') à l'aide d'ondes électromagnétiques ou acoustiques.
  11. Ascenseur incliné selon la revendication 10, caractérisé en ce qu'un dispositif de mesure présentant un capteur laser (15) est prévu pour la mesure de distance (W, W').
  12. Ascenseur incliné selon la revendication 10 ou 11, caractérisé en ce qu'un seul capteur laser (15) est prévu pour une poursuite directe des déplacements du chariot de transport (9) de telle manière qu'un faisceau de mesure (M) partant du capteur laser fixe (15) puisse être réfléchi dans la zone du chariot de transport (9) mobile et renvoyé au capteur laser (15).
  13. Ascenseur incliné selon l'une quelconque des revendications 10 à 12, caractérisé en ce que le capteur laser (15) est fixé pour la mesure de distance (W) sur une partie de base fixe (3) du paquet d'éléments en porte-à-faux (4, 5, 6) et un réflecteur associé (17) est prévu sur le fond d'appui (18) du chariot de transport (9).
  14. Ascenseur incliné selon la revendication 13, caractérisé en ce que le capteur laser (15) est maintenu sur un composant d'appui (16) à distance de l'élément de base (3).
  15. Ascenseur incliné selon la revendication 13, caractérisé en ce que le réflecteur (17) est prévu sur une plaque porteuse (19) orientée verticalement à l'élément de base (3).
  16. Ascenseur incliné selon l'une quelconque des revendications 10 à 15, caractérisé en ce qu'outre le capteur laser (15) dans la zone du chariot de transport (9), au moins un second capteur (20) est prévu, à l'aide duquel la longueur de déploiement (L) respective peut être détectée dans la zone des éléments en porte-à-faux (4, 5, 6).
  17. Ascenseur incliné selon la revendication 16, caractérisé en ce que le second capteur (20) est aussi constitué par un capteur laser prévu pour la mesure de distance (W').
  18. Ascenseur incliné selon la revendication 16 ou 17, caractérisé en ce que le second capteur laser (20) définit une distance de mesure (M') s'étendant dans le paquet des éléments en porte-à-faux (4, 5, 6).
EP09012975A 2008-10-21 2009-10-13 Ascenseur incliné et son procédé de commande Not-in-force EP2179957B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102008052556A DE102008052556A1 (de) 2008-10-21 2008-10-21 Schrägaufzug und Verfahren zu dessen Steuerung

Publications (2)

Publication Number Publication Date
EP2179957A1 EP2179957A1 (fr) 2010-04-28
EP2179957B1 true EP2179957B1 (fr) 2011-11-23

Family

ID=41510608

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09012975A Not-in-force EP2179957B1 (fr) 2008-10-21 2009-10-13 Ascenseur incliné et son procédé de commande

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EP (1) EP2179957B1 (fr)
AT (1) ATE534603T1 (fr)
DE (1) DE102008052556A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3258218B1 (fr) * 2016-06-17 2019-01-09 SICK STEGMANN GmbH Systeme de transport de marchandises et/ou de personnes

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE1207570B (de) 1962-03-09 1965-12-23 Paul Rinck Schraegaufzug
DE3511940C1 (de) * 1985-04-01 1986-10-30 Albert Böcker GmbH & Co KG, 4712 Werne Steuervorrichtung fuer die Betaetigung hydraulischer Seilwindenantriebe fuer einen Schraegaufzug
IT1183935B (it) * 1985-09-02 1987-10-22 Francesco Bono Montacarichi autotrasportabile con braccio telescopico binato
DE8609045U1 (de) 1986-04-04 1988-09-01 Albert Böcker GmbH & Co KG, 4712 Werne Schrägaufzug
DE3611242C1 (de) * 1986-04-04 1987-11-19 Boecker Albert Gmbh & Co Kg Steuerung eines seilgezogenen Lastaufnahmemittels an den Fuehrungsschienen eines mehrere Teleskopschuesse aufweisenden Schraegaufzuges
DE19521421C2 (de) 1995-06-14 1999-12-30 Hoffmeister Helmut Steuerbarer Schrägaufzug
DE29705980U1 (de) * 1997-04-04 1997-06-26 Theodor Klaas GmbH & Co KG, 59387 Ascheberg Dachdeckerschrägaufzug mit Drehgeber an der Schlittenwinde
DE29808064U1 (de) 1998-05-05 1998-08-06 Theodor Klaas GmbH & Co KG, 59387 Ascheberg Schrägaufzug mit Näherungsschalter
US6437315B1 (en) * 2000-05-31 2002-08-20 Otis Elevator Company Radiation-based contactless position reference system and method for elevators

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Publication number Publication date
EP2179957A1 (fr) 2010-04-28
DE102008052556A1 (de) 2010-04-29
ATE534603T1 (de) 2011-12-15

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