EP2546185A1 - Vibration absorber - Google Patents

Vibration absorber Download PDF

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Publication number
EP2546185A1
EP2546185A1 EP11173968A EP11173968A EP2546185A1 EP 2546185 A1 EP2546185 A1 EP 2546185A1 EP 11173968 A EP11173968 A EP 11173968A EP 11173968 A EP11173968 A EP 11173968A EP 2546185 A1 EP2546185 A1 EP 2546185A1
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EP
European Patent Office
Prior art keywords
linear motor
vibration damper
carriage
belt
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.)
Granted
Application number
EP11173968A
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German (de)
French (fr)
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EP2546185B1 (en
Inventor
Gerhard Forster
Uwe Ladra
Elmar SCHÄFERS
Dietmar Stoiber
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.)
Siemens AG
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Siemens AG
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Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP20110173968 priority Critical patent/EP2546185B1/en
Priority to CN201210244775.4A priority patent/CN102878239B/en
Publication of EP2546185A1 publication Critical patent/EP2546185A1/en
Application granted granted Critical
Publication of EP2546185B1 publication Critical patent/EP2546185B1/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 relates to a vibration damper for damping a vibration of a vibratory structure, in particular a crane.
  • the movement of the trolley moves the crane structure to a vibration in trolley travel direction.
  • the vibration amplitude may be up to one meter depending on the type and size of the crane. Since the tolerances for picking up and setting down containers are usually only in the range of a few millimeters, the crane operator must always wait until the vibration of the crane structure has decayed accordingly. This waiting for container handling costs a lot of time and causes undesirably high costs.
  • One way to reduce the vibration of a crane structure is to make the crane gantry stiffer, which is associated with great effort and material use.
  • a sufficient stiffening of the crane structure due to structural mandatory criteria is often not possible because, for example, certain requirements on the track width, the cross-sectional areas, the headroom or other features of the crane must be met.
  • vibration absorbers usually comprise a damper with spring elements and have as a central active element on a vibration mass, which is hereinafter referred to as damper mass.
  • the damper mass is coupled in such a way with the crane structure to be damped, which oscillates in opposite directions to the crane structure.
  • the weight of the damper mass must be very high. In individual cases, the weight is up to 60 tons.
  • the present invention provides a vibration damper of the type mentioned above with a sensor device for detecting a vibration movement of the structure, a linear motor mounted on the oscillatory structure, a linear guide and along this linear guide on wheels back and forth movable, moving a damper mass
  • Linear motor car has a measuring system for detecting the actual speed and actual position of the linear motor vehicle and a control device whose Meßuccneingang is connected to the sensor device and the manipulated variable output is connected to the linear motor.
  • the basic principle of operation of the vibration damper according to the invention is that an equal, the direction of movement of the damper mass oppositely directed force is introduced into the oscillatory structure by the movement of the attached to a vibratory structure linear motor, which is used to dampen the detected via the sensor device structural vibration movement.
  • the regulation of the linear motor is carried out based on that of the measuring system recorded data regarding the speed and position of the linear motor vehicle.
  • the measuring system should be designed such that only the position of the linear motor carriage in the direction of movement is measured, ie in the extension direction of the linear guide, and that it does not react to movements in the other directions in order to prevent a faulty measuring carriage position detection.
  • the measuring system has a separate measuring carriage which can be moved back and forth along the linear guide, a guide rail with integrated measuring tape arranged parallel to the linear guide of the linear motor and a scanning head guided along the guide rail and attached to the measuring carriage
  • a non-gating separate measuring carriage which is coupled to the linear motor carriage such that, although forces in the direction of movement of the measuring carriage, but not in the transverse direction can be transmitted. Accordingly, a yaw of the linear motor carriage can not adversely affect the measurement results of the measuring system.
  • the elastic coupling has an elastic rod according to an embodiment of the present invention.
  • the rod diameter and rod length are dimensioned in response to the rod material such that it transmits forces in its direction of extent, whereas in the other directions it is sufficiently elastic to compensate for lateral forces so that they are not transmitted to the measuring system.
  • the measuring system has at least one provided with a pulley and held on the linear motor carriage encoder and a parallel to the linear guide of the linear motor extending on both sides firmly clamped and guided around the pulley belt.
  • the belt By deflecting the belt via the rotary encoder, the latter detects its position during a movement of the linear motor vehicle, regardless of the yawing movements of the linear motor vehicle.
  • Both rotary encoder and belt are advantageously provided on both sides of the linear motor carriage, whereby a very stable arrangement is generated and a yawing motion is suppressed.
  • the rotary encoder is advantageously designed as an optical servomotor encoder with 2,048 strokes.
  • the measuring system preferably has belt tensioning means, in particular in the form of deflection rollers.
  • belt tensioners ensure that the belt always has the tension required for the proper functioning of the measuring system.
  • the belt comprises a magnetic material which cooperates with a magnetic, down-the-belt magnet downholder such that the downholder magnetically attracts the belt.
  • the belt from the downholder is always down pulled, whereby unnecessary belt vibrations are prevented. This is also advantageous in that very long belt lengths can be realized.
  • the hold-down is designed as a permanent magnetic hold-down, resulting in a simple structure.
  • the magnetic material may for example be integrated in the form of a steel core in the belt.
  • the wheels of the linear motor vehicle are designed as rollers, wherein each roller is provided at least on one side with a side guide.
  • the side guide should be provided on the side facing the belt driven rotary encoder.
  • the present invention provides a vibratory structure with at least one vibration damper of the type described above.
  • FIG. 1 shows in plan view a vibration damper 10 according to a first embodiment of the present invention, which serves to damp a vibration of a vibratory structure.
  • the vibration damper 10 includes an in FIG. 1 Not shown sensor device for detecting a vibration movement of the structure.
  • a linear motor 12 which can be mounted on the oscillatory structure is provided, which has a rail-like linear guide 14, which is formed by two rails 14a and 14b, and a linear motor carriage 18 which can move back and forth on wheels 16 along this linear guide 14 and moves a damper mass.
  • Further components of the vibration damper 10 form a measuring system 20 for detecting the actual speed and the actual position of the linear motor carriage 18 and a in FIG. 1 Control device, not shown, whose measured value input is connected to the sensor device and whose manipulated variable output is connected to the linear motor 12, as described below with reference to FIG FIG. 4 will be explained in more detail.
  • the measuring system 20 comprises a separate measuring carriage 22 with integrated measuring electronics which can be moved back and forth along the linear guide 14. Furthermore, the measuring system 20 has a parallel to the linear guide 14 of the linear motor 12 arranged guide rail 24 with integrated tape measure. Along the guide rail 24, a scanning head 26 attached to the measuring carriage 22 is guided, which detects position information based on the measuring tape integrated in the guide rail 24.
  • the measuring carriage 22 and the linear motor carriage 18 are firmly connected to each other via a coupling 28.
  • the coupling 28, which in the present case is formed by an elastic rod, is such that it is rigid in the direction of movement of the measuring carriage 22 and elastically formed transversely to the direction of movement of the measuring carriage 22.
  • the coupling 28 transmits only forces in the direction of movement of the measuring carriage 22 or in the extension direction of the linear motor 12.
  • transverse forces arising, for example, by yawing of the linear motor carriage 18 are not transmitted, so that they can not adversely affect the measurement result of the measuring system 20.
  • FIGS. 2 and 3 show a vibration damper 30 according to a second embodiment of the present invention, which serves to damp a vibration of a vibratory structure.
  • the vibration damper 30 includes one in the FIGS. 2 and 3 Not shown sensor device for detecting a vibration movement of the structure and a mountable on the oscillatory structure linear motor 32 having a rail-like linear guide 34 and along this linear guide 34 on wheels 36 movable back and forth, a damper mass moving linear motor carriage 38.
  • the measuring system 40 has a provided with a pulley 42 and held on the linear motor carriage 38 rotary encoder 44 and a parallel to the linear guide 34 of the linear motor 32 extending, at the end portions 46 and 48 of the linear guide 34 firmly clamped and guided around the pulley 42 belt 50 ,
  • the rotary encoder 44 is designed as an optical servomotor encoder with 2,048 strokes.
  • two deflection rollers 52 and 54 are attached to the linear motor carriage 38, around which the belt 50 is guided.
  • a hold-down 56 which is formed by a plurality of permanent magnetic hold-down elements 58.
  • the hold-down device 56 interacts magnetically with a steel core (not illustrated in detail) integrated in the belt 50 such that the belt 50 is pulled in the direction of the hold-down 56. In this way, fluttering of the belt 50 is surely prevented even with large belt lengths.
  • a torque arm 60 is also provided.
  • vibration damper 30 is characterized in that yaw movements of the linear motor carriage 38 thanks to the belt-driven encoder 44 does not adversely affect the detection of the actual position of the linear motor carriage 38 by the measuring system 40.
  • FIG. 4 shows a swingable structure 70 in the form of a crane with a crane frame 72 and a boom 76 which is provided with a balance weight 74.
  • a jib 78 is reciprocable along the boom 76 and contains a gripper 80 for gripping a container 82 stops.
  • the movement of the trolley 78 along the boom 76 excites the crane to vibrate in the trolley travel direction.
  • a vibration damper according to the invention is arranged on the crane 70, in which case it can optionally be fitted around the in FIG. 1 shown vibration damper 10 or the in the FIGS. 2 and 3 shown vibration damper 30 acts.
  • the sensor device 84 of the vibration damper 10, 30 is mounted on the crane frame so that it detects the excited by the movement of the trolley 78 vibration of the crane 70.
  • the linear guide 14, 34th extends along a portion of the boom 76.
  • the measured variable input of the regulating device 88 of the vibration damper 10, 30 is connected to the sensor device 84 via a filter 90.
  • a manipulated variable output of the regulating device 88 is connected to the linear motor 12, 32 and serves to transmit a speed setpoint value V M to a speed controller integrated into the linear motor 12, 32.
  • the filter 90 is tuned to an oscillation frequency spectrum of the crane 70 and serves to condition the measured signals detected by the sensor device 84.
  • the control device 88 determines a drive signal for the linear motor 12, 32, then the damper mass 86 so moves, that one of the oscillatory movement of the crane 70 counteracting compensation force is introduced via the boom 76 in the crane 70, which leads to the damping of the oscillatory motion. Yawing movements of the linear motor carriage 18, 38 remain disregarded in the detection of the actual speed and the actual position of the linear motor carriage 18, 38 thanks to the design of the measuring systems 20 and 40.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

The damper (10) has a sensor device for detecting vibration motion of a vibratory structure, and a linear motor (12) mounted at the structure. The motor has a linear guide (14) and a linear motor carriage (18), where the carriage moves a damper mass and is moved back and forth along the guide on wheels (16). A measuring system (20) detects actual speed and an actual position of the carriage and a regulating device. A measuring variable input of the regulating device is connected with the sensor device, and an actuating variable output of the regulating device is connected with the motor.

Description

Die vorliegende Erfindung betrifft einen Schwingungsdämpfer zur Dämpfung einer Schwingung einer schwingungsfähigen Struktur, insbesondere eines Krans.The present invention relates to a vibration damper for damping a vibration of a vibratory structure, in particular a crane.

Schlecht gedämpfte Eigenfrequenzen können bei Maschinen dazu führen, dass diese nur mit eingeschränkter Produktivität arbeiten können oder gar keine Bearbeitung möglich ist, da die Maschinen instabil werden.Badly damped natural frequencies can cause machines to work only with limited productivity or even no processing is possible because the machines become unstable.

Bei Containerkränen, die zum Be- und Entladen von Containerschiffen eingesetzt werden, regt beispielsweise die Verfahrbewegung der Laufkatze die Kranstruktur zu einer Schwingung in Laufkatzenfahrtrichtung an. Die Schwingungsamplitude kann in Abhängigkeit von der Bauart und der Größe des Krans bis zu einem Meter betragen. Da die Toleranzen bei der Aufnahme und dem Absetzen von Containern meist nur im Bereich weniger Millimeter liegen, muss der Kranführer stets abwarten, bis die Schwingung der Kranstruktur entsprechend abgeklungen ist. Dieses Warten beim Containerumschlag kostet viel Zeit und verursacht unerwünscht hohe Kosten.In container cranes, which are used for loading and unloading of container ships, for example, the movement of the trolley moves the crane structure to a vibration in trolley travel direction. The vibration amplitude may be up to one meter depending on the type and size of the crane. Since the tolerances for picking up and setting down containers are usually only in the range of a few millimeters, the crane operator must always wait until the vibration of the crane structure has decayed accordingly. This waiting for container handling costs a lot of time and causes undesirably high costs.

Eine Möglichkeit, die Schwingung einer Kranstruktur zu verringern, besteht darin, das Kranportal steifer auszulegen, was mit hohem Aufwand und Materialeinsatz einhergeht. Darüber hinaus ist eine ausreichende Versteifung der Kranstruktur aufgrund baulicher Muss-Kriterien häufig nicht möglich, da beispielsweise bestimmte Vorgaben an die Spurbreite, die Querschnittsflächen, die Durchfahrtshöhe oder andere Merkmale des Krans erfüllt sein müssen.One way to reduce the vibration of a crane structure is to make the crane gantry stiffer, which is associated with great effort and material use. In addition, a sufficient stiffening of the crane structure due to structural mandatory criteria is often not possible because, for example, certain requirements on the track width, the cross-sectional areas, the headroom or other features of the crane must be met.

Alternativ oder zusätzlich zu einer konstruktiven Versteifung der Kranstruktur ist es bekannt, so genannter passiver Schwingungstilger einzusetzen. Derartige Schwingungstilger umfassen normalerweise einen Dämpfer mit Federelementen und weisen als zentrales Wirkelement eine Schwingmasse auf, die nachfolgend als Dämpfermasse bezeichnet wird. Die Dämpfermasse ist dabei derart mit der zu dämpfenden Kranstruktur gekoppelt, das sie gegenläufig zur Kranstruktur schwingt. Zur Erzielung einer effektiven Tilgerwirkung muss das Gewicht der Dämpfermasse allerdings sehr hoch sein. Im Einzelfall beträgt das Gewicht bis zu 60 Tonnen.Alternatively or in addition to a structural stiffening of the crane structure, it is known to use so-called passive vibration absorbers. Such vibration absorbers usually comprise a damper with spring elements and have as a central active element on a vibration mass, which is hereinafter referred to as damper mass. The damper mass is coupled in such a way with the crane structure to be damped, which oscillates in opposite directions to the crane structure. To achieve an effective absorber effect, however, the weight of the damper mass must be very high. In individual cases, the weight is up to 60 tons.

Ausgehend von diesem Stand der Technik ist es eine Aufgabe der vorliegenden Erfindung, einen Schwingungsdämpfer der eingangs genannten Art mit alternativem Aufbau zu schaffen.Based on this prior art, it is an object of the present invention to provide a vibration damper of the type mentioned above with an alternative structure.

Zur Lösung dieser Aufgabe schafft die vorliegende Erfindung einen Schwingungsdämpfer der eingangs genannten Art mit einer Sensoreinrichtung zum Erfassen einer Schwingungsbewegung der Struktur, einem an der schwingungsfähigen Struktur montierbaren Linearmotor, der eine Linearführung und einen entlang dieser Linearführung auf Rädern hin und her bewegbaren, eine Dämpfermasse bewegenden Linearmotorwagen aufweist, einem Messsystem zur Erfassung der Ist-Geschwindigkeit und Ist-Position des Linearmotorwagens und einer Regeleinrichtung, deren Messgrößeneingang mit der Sensoreinrichtung verbunden ist und deren Stellgrößenausgang mit dem Linearmotor verbunden ist.To achieve this object, the present invention provides a vibration damper of the type mentioned above with a sensor device for detecting a vibration movement of the structure, a linear motor mounted on the oscillatory structure, a linear guide and along this linear guide on wheels back and forth movable, moving a damper mass Linear motor car has a measuring system for detecting the actual speed and actual position of the linear motor vehicle and a control device whose Meßgrößeneingang is connected to the sensor device and the manipulated variable output is connected to the linear motor.

Das grundsätzliche Funktionsprinzip des erfindungsgemäßen Schwingungsdämpfers besteht darin, dass durch die Bewegung des an einer schwingungsfähigen Struktur befestigten Linearmotors eine gleich große, der Bewegungsrichtung der Dämpfermasse entgegengesetzt gerichtete Kraft in die schwingungsfähige Struktur eingeleitet wird, die zur Dämpfung der über die Sensoreinrichtung erfassten Strukturschwingungsbewegung genutzt wird. Die Regelung des Linearmotors erfolgt dabei basierend auf den vom Messsystem erfassten Daten bezüglich der Geschwindigkeit und Lage des Linearmotorwagens. Ein wesentlicher Vorteil eines solchen aktiven Schwingungsdämpfers gegenüber den eingangs genannten passiven Schwingungsdämpfern besteht darin, dass die Dämpfermasse wesentlich geringer ist. Darüber hinaus lassen sich die Dämpfungseigenschaften eines solchen aktiven Schwingungsdämpfers problemlos an unterschiedlichste Randbedingungen anpassen, weshalb ein solcher Schwingungsdämpfer auch mit geringem Aufwand und wenig Kosten nachgerüstet werden kann.The basic principle of operation of the vibration damper according to the invention is that an equal, the direction of movement of the damper mass oppositely directed force is introduced into the oscillatory structure by the movement of the attached to a vibratory structure linear motor, which is used to dampen the detected via the sensor device structural vibration movement. The regulation of the linear motor is carried out based on that of the measuring system recorded data regarding the speed and position of the linear motor vehicle. A significant advantage of such an active vibration damper over the aforementioned passive vibration dampers is that the damper mass is much lower. In addition, the damping properties of such an active vibration damper can be easily adapted to a variety of boundary conditions, which is why such a vibration damper can be retrofitted with little effort and little cost.

Aufgrund der Tatsache, dass der Linearmotorwagen auf Rädern entlang der Linearführung des Linearmotors hin und her bewegt wird, kann es zum Gieren und gegebenenfalls auch zum Kippen des Linearmotorwagens kommen. Deshalb sollte das Messsystem derart ausgebildet sein, dass nur die Position des Linearmotorwagens in Bewegungsrichtung gemessen wird, also in Erstreckungsrichtung der Linearführung, und dass es auf Bewegungen in den anderen Richtungen nicht reagiert, um eine fehlerhafte Messwagenpositionserfassung zu verhindern.Due to the fact that the linear motor carriage is moved back and forth on wheels along the linear guide of the linear motor, it can lead to yawing and possibly also to tilting of the linear motor vehicle. Therefore, the measuring system should be designed such that only the position of the linear motor carriage in the direction of movement is measured, ie in the extension direction of the linear guide, and that it does not react to movements in the other directions in order to prevent a faulty measuring carriage position detection.

Gemäß einer Variante der vorliegenden Erfindung weist das Messsystem einen entlang der Linearführung hin und her bewegbaren separaten Messwagen, eine parallel zur Linearführung des Linearmotors angeordnete Führungsschiene mit integriertem Maßband und einen entlang der Führungsschiene geführten und an dem Messwagen befestigten Abtastkopf auf, wobei der Messwagen über eine in Bewegungsrichtung des Messwagens starr und quer zur Bewegungsrichtung des Messwagens elastisch ausgebildete Kopplung an dem Linearmotorwagen befestigt ist. Mit anderen Worten wird also das Messsystem an einem nicht gierenden separaten Messwagen angeordnet, der mit dem Linearmotorwagen derart gekoppelt ist, dass zwar Kräfte in Bewegungsrichtung des Messwagens, nicht aber in Querrichtung übertragen werden können. Entsprechend kann sich ein Gieren des Linearmotorwagens nicht negativ auf die Messergebnisse des Messsystems auswirken.According to a variant of the present invention, the measuring system has a separate measuring carriage which can be moved back and forth along the linear guide, a guide rail with integrated measuring tape arranged parallel to the linear guide of the linear motor and a scanning head guided along the guide rail and attached to the measuring carriage In the direction of movement of the measuring carriage rigidly and transversely to the direction of movement of the measuring carriage elastically formed coupling is attached to the linear motor car. In other words, therefore, the measuring system is arranged on a non-gating separate measuring carriage, which is coupled to the linear motor carriage such that, although forces in the direction of movement of the measuring carriage, but not in the transverse direction can be transmitted. Accordingly, a yaw of the linear motor carriage can not adversely affect the measurement results of the measuring system.

Die elastische Kopplung weist gemäß einer Ausgestaltung der vorliegenden Erfindung einen elastischen Stab auf. Der Stabdurchmesser und die Stablänge sind in Abhängigkeit von dem Stabmaterial derart dimensioniert, dass er Kräfte in seiner Erstreckungsrichtung überträgt, wohingegen er in den anderen Richtungen hinreichend elastisch ist, um Querkräfte zu kompensieren, so dass diese nicht auf das Messsystem übertragen werden.The elastic coupling has an elastic rod according to an embodiment of the present invention. The rod diameter and rod length are dimensioned in response to the rod material such that it transmits forces in its direction of extent, whereas in the other directions it is sufficiently elastic to compensate for lateral forces so that they are not transmitted to the measuring system.

Gemäß einer Variante der vorliegenden Erfindung weist das Messsystem zumindest einen mit einer Riemenscheibe versehenen und an dem Linearmotorwagen gehaltenen Drehgeber und einen sich parallel zur Linearführung des Linearmotors erstreckenden, beidseitig fest eingespannten und um die Riemenscheibe geführten Riemen auf. Durch die Umlenkung des Riemens über den Drehgeber erfasst dieser bei einer Bewegung des Linearmotorwagens dessen Position, und zwar unabhängig von Gierbewegungen des Linearmotorwagens. Vorteilhaft sind am Linearmotorwagen beidseitig Drehgeber und Riemen vorgesehen, wodurch eine sehr stabile Anordnung erzeugt und eine Gierbewegung unterdrückt wird.According to a variant of the present invention, the measuring system has at least one provided with a pulley and held on the linear motor carriage encoder and a parallel to the linear guide of the linear motor extending on both sides firmly clamped and guided around the pulley belt. By deflecting the belt via the rotary encoder, the latter detects its position during a movement of the linear motor vehicle, regardless of the yawing movements of the linear motor vehicle. Both rotary encoder and belt are advantageously provided on both sides of the linear motor carriage, whereby a very stable arrangement is generated and a yawing motion is suppressed.

Der Drehgeber ist vorteilhaft als optischer Servomotor-Geber mit 2.048 Strichen ausgeführt.The rotary encoder is advantageously designed as an optical servomotor encoder with 2,048 strokes.

Bevorzugt weist das Messsystem Riemenspannmittel auf, insbesondere in Form von Umlenkrollen. Mit derartigen Riemenspannmitteln wird sichergestellt, dass der Riemen stets die für die ordnungsgemäße Funktionsweise des Messsystems erforderliche Spannung aufweist.The measuring system preferably has belt tensioning means, in particular in the form of deflection rollers. Such belt tensioners ensure that the belt always has the tension required for the proper functioning of the measuring system.

Gemäß einer Ausgestaltung der vorliegenden Erfindung weist der Riemen ein magnetisches Material auf, das mit einem magnetischen, sich unterhalb des Riemens erstreckenden Magnetniederhalter derart zusammenwirkt, dass der Niederhalter den Riemen magnetisch anzieht. Mit anderen Worten wird der Riemen vom Niederhalter stets nach unten gezogen, wodurch unnötige Riemenschwingungen verhindert werden. Dies ist auch dahingehend vorteilhaft, dass sehr lange Riemenlängen realisierbar sind.According to one embodiment of the present invention, the belt comprises a magnetic material which cooperates with a magnetic, down-the-belt magnet downholder such that the downholder magnetically attracts the belt. In other words, the belt from the downholder is always down pulled, whereby unnecessary belt vibrations are prevented. This is also advantageous in that very long belt lengths can be realized.

Bevorzugt ist der Niederhalter als permanentmagnetischer Niederhalter ausgeführt, wodurch sich ein einfacher Aufbau ergibt.Preferably, the hold-down is designed as a permanent magnetic hold-down, resulting in a simple structure.

Das magnetische Material kann beispielsweise in Form einer Stahlseele in dem Riemen integriert sein.The magnetic material may for example be integrated in the form of a steel core in the belt.

Gemäß einer Ausgestaltung der vorliegenden Erfindung sind die Räder des Linearmotorwagens als Laufrollen ausgebildet, wobei jede Laufrolle zumindest einseitig mit einer Seitenführung versehen ist. Die Seitenführung sollte auf derjenigen Seite vorgesehen sein, die zum riemengetriebenen Drehgeber weist.According to one embodiment of the present invention, the wheels of the linear motor vehicle are designed as rollers, wherein each roller is provided at least on one side with a side guide. The side guide should be provided on the side facing the belt driven rotary encoder.

Ferner schafft die vorliegende Erfindung eine schwingungsfähige Struktur mit zumindest einem Schwingungsdämpfer der zuvor beschriebenen Art.Furthermore, the present invention provides a vibratory structure with at least one vibration damper of the type described above.

Weitere Merkmale und Vorteile der vorliegenden Erfindung werden anhand der nachfolgenden Beschreibung bevorzugter Ausführungsformen erfindungsgemäßer Schwingungsdämpfer unter Bezugnahme auf die beiliegende Zeichnung deutlich. Darin ist

  • Figur 1 eine schematische Draufsicht eines Schwingungsdämpfers gemäß einer ersten Ausführungsform der vorliegenden Erfindung;
  • Figur 2 eine schematische Seitenansicht eines Schwingungsdämpfers gemäß einer zweiten Ausführungsform der vorliegenden Erfindung;
  • Figur 3 eine Vorderansicht des in Figur 2 dargestellten Schwingungsdämpfers und
  • Figur 4 eine schematische Seitenansicht der schwingungsfähigen Struktur, anhand der das Grundprinzip eines erfindungsgemäßen Schwingungsdämpfers erläutert wird.
Further features and advantages of the present invention will become apparent from the following description of preferred embodiments of the invention vibration damper with reference to the accompanying drawings. That's it
  • FIG. 1 a schematic plan view of a vibration damper according to a first embodiment of the present invention;
  • FIG. 2 a schematic side view of a vibration damper according to a second embodiment of the present invention;
  • FIG. 3 a front view of the in FIG. 2 illustrated vibration damper and
  • FIG. 4 a schematic side view of the oscillatory structure, based on the basic principle of a vibration damper according to the invention will be explained.

Figur 1 zeigt in Draufsicht einen Schwingungsdämpfer 10 gemäß einer ersten Ausführungsform der vorliegenden Erfindung, der zur Dämpfung einer Schwingung einer schwingungsfähigen Struktur dient. Der Schwingungsdämpfer 10 umfasst eine in Figur 1 nicht näher dargestellte Sensoreinrichtung zum Erfassen einer Schwingungsbewegung der Struktur. Ferner ist ein an der schwingungsfähigen Struktur montierbarer Linearmotor 12 vorgesehen, der eine schienenartig ausgebildete Linearführung 14, die durch zwei Schienen 14a und 14b gebildet wird, und einen entlang dieser Linearführung 14 auf Rädern 16 hin und her bewegbaren, eine Dämpfermasse bewegenden Linearmotorwagen 18 aufweist. Weitere Komponenten des Schwingungsdämpfers 10 bilden ein Messsystem 20 zur Erfassung der Ist-Geschwindigkeit und der Ist-Position des Linearmotorwagens 18 und eine in Figur 1 nicht näher dargestellte Regeleinrichtung, deren Messgrößeneingang mit der Sensoreinrichtung verbunden ist und deren Stellgrößenausgang mit dem Linearmotor 12 verbunden ist, wie es nachfolgend unter Bezugnahme auf Figur 4 noch näher erläutert wird. FIG. 1 shows in plan view a vibration damper 10 according to a first embodiment of the present invention, which serves to damp a vibration of a vibratory structure. The vibration damper 10 includes an in FIG. 1 Not shown sensor device for detecting a vibration movement of the structure. Furthermore, a linear motor 12 which can be mounted on the oscillatory structure is provided, which has a rail-like linear guide 14, which is formed by two rails 14a and 14b, and a linear motor carriage 18 which can move back and forth on wheels 16 along this linear guide 14 and moves a damper mass. Further components of the vibration damper 10 form a measuring system 20 for detecting the actual speed and the actual position of the linear motor carriage 18 and a in FIG. 1 Control device, not shown, whose measured value input is connected to the sensor device and whose manipulated variable output is connected to the linear motor 12, as described below with reference to FIG FIG. 4 will be explained in more detail.

Das Messsystem 20 umfasst einen entlang der Linearführung 14 hin und her bewegbaren separaten Messwagen 22 mit integrierter Messelektronik. Ferner weist das Messsystem 20 eine parallel zur Linearführung 14 des Linearmotors 12 angeordnete Führungsschiene 24 mit integriertem Maßband auf. Entlang der Führungsschiene 24 ist ein an dem Messwagen 22 befestigter Abtastkopf 26 geführt, der Positionsinformationen basierend auf dem in der Führungsschiene 24 integrierten Maßband erfasst.The measuring system 20 comprises a separate measuring carriage 22 with integrated measuring electronics which can be moved back and forth along the linear guide 14. Furthermore, the measuring system 20 has a parallel to the linear guide 14 of the linear motor 12 arranged guide rail 24 with integrated tape measure. Along the guide rail 24, a scanning head 26 attached to the measuring carriage 22 is guided, which detects position information based on the measuring tape integrated in the guide rail 24.

Der Messwagen 22 und der Linearmotorwagen 18 sind über eine Kopplung 28 fest miteinander verbunden. Die Kopplung 28, die vorliegend durch einen elastischen Stab gebildet wird, ist derart beschaffen, dass sie in Bewegungsrichtung des Messwagens 22 starr und quer zur Bewegungsrichtung des Messwagens 22 elastisch ausgebildet ist. Entsprechend überträgt die Kopplung 28 nur Kräfte in Bewegungsrichtung des Messwagens 22 bzw. in Erstreckungsrichtung des Linearmotors 12. Querkräfte hingegen, die beispielsweise durch eine Gierbewegung des Linearmotorwagens 18 entstehen, werden nicht übertragen, so dass sie das Messergebnis des Messsystems 20 nicht negativ beeinträchtigen können.The measuring carriage 22 and the linear motor carriage 18 are firmly connected to each other via a coupling 28. The coupling 28, which in the present case is formed by an elastic rod, is such that it is rigid in the direction of movement of the measuring carriage 22 and elastically formed transversely to the direction of movement of the measuring carriage 22. Correspondingly, the coupling 28 transmits only forces in the direction of movement of the measuring carriage 22 or in the extension direction of the linear motor 12. However, transverse forces arising, for example, by yawing of the linear motor carriage 18 are not transmitted, so that they can not adversely affect the measurement result of the measuring system 20.

Die Figuren 2 und 3 zeigen einen Schwingungsdämpfer 30 gemäß einer zweiten Ausführungsform der vorliegenden Erfindung, der zur Dämpfung einer Schwingung einer schwingungsfähigen Struktur dient. Der Schwingungsdämpfer 30 umfasst eine in den Figuren 2 und 3 nicht näher dargestellte Sensoreinrichtung zum Erfassen einer Schwingungsbewegung der Struktur und einen an der schwingungsfähigen Struktur montierbaren Linearmotor 32, der eine schienenartig ausgebildete Linearführung 34 und einen entlang dieser Linearführung 34 auf Rädern 36 hin und her bewegbaren, eine Dämpfermasse bewegenden Linearmotorwagen 38 aufweist. Ferner sind ein Messsystem 40 zur Erfassung der Ist-Geschwindigkeit und der Ist-Position des Linearmotorwagens 38 und eine in den Figuren 3 und 4 nicht näher dargestellte Regeleinrichtung vorgesehen, deren Messgrößeneingang mit der Sensoreinrichtung verbunden ist und deren Stellgrößenausgang mit dem Linearmotor 32 verbunden ist, was nachfolgend ebenfalls unter Bezugnahme auf Figur 4 noch näher erläutert wird.The FIGS. 2 and 3 show a vibration damper 30 according to a second embodiment of the present invention, which serves to damp a vibration of a vibratory structure. The vibration damper 30 includes one in the FIGS. 2 and 3 Not shown sensor device for detecting a vibration movement of the structure and a mountable on the oscillatory structure linear motor 32 having a rail-like linear guide 34 and along this linear guide 34 on wheels 36 movable back and forth, a damper mass moving linear motor carriage 38. Further, a measuring system 40 for detecting the actual speed and the actual position of the linear motor carriage 38 and one in the Figures 3 and 4 Not shown control device provided whose Meßgrößeneingang is connected to the sensor device and the manipulated variable output is connected to the linear motor 32, which is also below with reference to FIG. 4 will be explained in more detail.

Das Messsystem 40 weist einen mit einer Riemenscheibe 42 versehenen und an dem Linearmotorwagen 38 gehaltenen Drehgeber 44 und einen sich parallel zur Linearführung 34 des Linearmotors 32 erstreckenden, an den Endbereichen 46 und 48 der Linearführung 34 fest eingespannten und um die Riemenscheibe 42 geführten Riemen 50 auf. Der Drehgeber 44 ist als optischer Servomotor-Geber mit 2.048 Strichen ausgeführt.The measuring system 40 has a provided with a pulley 42 and held on the linear motor carriage 38 rotary encoder 44 and a parallel to the linear guide 34 of the linear motor 32 extending, at the end portions 46 and 48 of the linear guide 34 firmly clamped and guided around the pulley 42 belt 50 , The rotary encoder 44 is designed as an optical servomotor encoder with 2,048 strokes.

Zum Spannen des Riemens 50 sind an dem Linearmotorwagen 38 zwei Umlenkrollen 52 und 54 befestigt, um die der Riemen 50 geführt ist. Unterhalb des Riemens 50 erstreckt sich entlang der Linearführung 34 des Linearmotors 32 ein Niederhalter 56, der durch eine Vielzahl permanentmagnetischer Niederhalterelemente 58 gebildet wird. Der Niederhalter 56 wirkt magnetisch mit einer in den Riemen 50 integrierten, nicht näher dargestellten Stahlseele derart zusammen, dass der Riemen 50 in Richtung des Niederhalters 56 gezogen wird. Auf diese Weise wird ein Flattern des Riemens 50 selbst bei großen Riemenlängen sicher verhindert. Zur Sicherstellung einer ordnungsgemäßen Funktionsweise ist ferner eine Drehmomentstütze 60 vorgesehen.For tensioning the belt 50, two deflection rollers 52 and 54 are attached to the linear motor carriage 38, around which the belt 50 is guided. Below the belt 50 extends along the linear guide 34 of the linear motor 32, a hold-down 56, which is formed by a plurality of permanent magnetic hold-down elements 58. The hold-down device 56 interacts magnetically with a steel core (not illustrated in detail) integrated in the belt 50 such that the belt 50 is pulled in the direction of the hold-down 56. In this way, fluttering of the belt 50 is surely prevented even with large belt lengths. To ensure proper operation, a torque arm 60 is also provided.

Der in den Figuren 2 und 3 dargestellte Schwingungsdämpfer 30 zeichnet sich dadurch aus, dass sich Gierbewegungen des Linearmotorwagens 38 dank des riemengetriebenen Drehgebers 44 nicht negativ auf die Erfassung der Ist-Position des Linearmotorwagens 38 durch das Messsystem 40 auswirken.The in the FIGS. 2 and 3 shown vibration damper 30 is characterized in that yaw movements of the linear motor carriage 38 thanks to the belt-driven encoder 44 does not adversely affect the detection of the actual position of the linear motor carriage 38 by the measuring system 40.

Figur 4 zeigt eine schwingungsfähige Struktur 70 in Form eines Krans mit einem Krangestell 72 und einem an dem Krangestell 72 gehaltenen, mit einem Ausgleichsgewicht 74 versehenen Ausleger 76. Entlang des Auslegers 76 ist eine Laufkatze 78 hin und her bewegbar, die einen Greifer 80 zum Greifen eines Containers 82 hält. Durch die Bewegung der Laufkatze 78 entlang des Auslegers 76 wird der Kran zu einer Schwingung in Laufkatzenbewegungsrichtung angeregt. Zur Dämpfung dieser Schwingung ist an dem Kran 70 ein erfindungsgemäßer Schwingungsdämpfer angeordnet, bei dem es sich wahlweise um den in Figur 1 gezeigten Schwingungsdämpfer 10 oder um den in den Figuren 2 und 3 gezeigten Schwingungsdämpfer 30 handelt. Die Sensoreinrichtung 84 des Schwingungsdämpfers 10, 30 ist am Krangestell derart montiert, dass sie die durch die Bewegung der Laufkatze 78 angeregte Schwingung des Krans 70 erfasst. An der Oberseite des Auslegers 76 ist der die Dämpfermasse 86 bewegende Linearmotor 12, 32 befestigt, dessen Linearführung 14, 34 sich entlang eines Teilbereichs des Auslegers 76 erstreckt. Der Messgrößeneingang der Regelungseinrichtung 88 des Schwingungsdämpfers 10, 30 ist über einen Filter 90 mit der Sensoreinrichtung 84 verbunden. Ein Stellgrößenausgang der Regelungseinrichtung 88 ist mit dem Linearmotor 12, 32 verbunden und dient zur Übermittlung eines Geschwindigkeitssollwerts VM an einen in den Linearmotor 12, 32 integrierten Geschwindigkeitsregler. Der Filter 90 ist auf ein Schwingungsfrequenzspektrum des Krans 70 abgestimmt und dient zur Aufbereitung der durch die Sensoreinrichtung 84 erfassten Messsignale. FIG. 4 shows a swingable structure 70 in the form of a crane with a crane frame 72 and a boom 76 which is provided with a balance weight 74. A jib 78 is reciprocable along the boom 76 and contains a gripper 80 for gripping a container 82 stops. The movement of the trolley 78 along the boom 76 excites the crane to vibrate in the trolley travel direction. In order to damp this vibration, a vibration damper according to the invention is arranged on the crane 70, in which case it can optionally be fitted around the in FIG. 1 shown vibration damper 10 or the in the FIGS. 2 and 3 shown vibration damper 30 acts. The sensor device 84 of the vibration damper 10, 30 is mounted on the crane frame so that it detects the excited by the movement of the trolley 78 vibration of the crane 70. At the top of the boom 76 of the damper mass 86 moving linear motor 12, 32 is fixed, the linear guide 14, 34th extends along a portion of the boom 76. The measured variable input of the regulating device 88 of the vibration damper 10, 30 is connected to the sensor device 84 via a filter 90. A manipulated variable output of the regulating device 88 is connected to the linear motor 12, 32 and serves to transmit a speed setpoint value V M to a speed controller integrated into the linear motor 12, 32. The filter 90 is tuned to an oscillation frequency spectrum of the crane 70 and serves to condition the measured signals detected by the sensor device 84.

Wird durch die Bewegung der Laufkatze 78 entlang des Auslegers 76 eine Schwingung des Krans 70 in Bewegungsrichtung der Laufkatze 78 angeregt, so wird diese durch die Sensoreinrichtung 84 erfasst. Basierend auf dem Signal der Sensoreinrichtung 84 und auf der von dem Messsystem 20, 40 des Schwingungsdämpfers 10, 30 erfassten Ist-Position des Linearmotorwagens 18, 38 ermittelt die Regelungseinrichtung 88 dann ein Ansteuersignal für den Linearmotor 12, 32, der daraufhin die Dämpfermasse 86 derart bewegt, dass eine der Schwingungsbewegung des Krans 70 entgegenwirkende Kompensationskraft über den Ausleger 76 in den Kran 70 eingeleitet wird, was zur Dämpfung der Schwingungsbewegung führt. Gierbewegungen des Linearmotorwagens 18, 38 bleiben bei der Erfassung der Ist-Geschwindigkeit und der Ist-Position des Linearmotorwagens 18, 38 dank der Ausbildung der Messsysteme 20 und 40 unberücksichtigt.If, as a result of the movement of the trolley 78 along the extension arm 76, an oscillation of the crane 70 in the direction of movement of the trolley 78 is excited, this is detected by the sensor device 84. Based on the signal of the sensor device 84 and on the detected by the measuring system 20, 40 of the vibration damper 10, 30 actual position of the linear motor carriage 18, 38, the control device 88 then determines a drive signal for the linear motor 12, 32, then the damper mass 86 so moves, that one of the oscillatory movement of the crane 70 counteracting compensation force is introduced via the boom 76 in the crane 70, which leads to the damping of the oscillatory motion. Yawing movements of the linear motor carriage 18, 38 remain disregarded in the detection of the actual speed and the actual position of the linear motor carriage 18, 38 thanks to the design of the measuring systems 20 and 40.

Obwohl die Erfindung im Detail durch das bevorzugte Ausführungsbeispiel näher illustriert und beschrieben wurde, so ist die Erfindung nicht durch die offenbarten Beispiele eingeschränkt und andere Variationen können vom Fachmann hieraus abgeleitet werden, ohne den Schutzumfang der Erfindung zu verlassen.Although the invention has been further illustrated and described in detail by the preferred embodiment, the invention is not limited by the disclosed examples, and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Claims (11)

Schwingungsdämpfer (10; 30) zur Dämpfung einer Schwingung einer schwingungsfähigen Struktur (70), insbesondere eines Krans, mit einer Sensoreinrichtung (84) zum Erfassen einer Schwingungsbewegung der Struktur (70), einem an der schwingungsfähigen Struktur (70) montierbaren Linearmotor (12; 32), der eine Linearführung (14; 34) und einen entlang dieser Linearführung (14; 34) auf Rädern (16; 36) hin und her bewegbaren, eine Dämpfermasse (86) bewegenden Linearmotorwagen (18; 38) aufweist, einem Messsystem (20; 40) zur Erfassung der Ist-Geschwindigkeit und der Ist-Position des Linearmotorwagens (18; 38) und einer Regeleinrichtung (88), deren Messgrößeneingang mit der Sensoreinrichtung (84) verbunden ist und deren Stellgrößenausgang mit dem Linearmotor (12; 32) verbunden ist.Vibration damper (10; 30) for damping a vibration of a vibratory structure (70), in particular a crane, with a sensor device (84) for detecting a vibration movement of the structure (70), a linear motor (12; 32), which has a linear guide (14, 34) and a linear motor carriage (18, 38) which can be moved back and forth on wheels (16, 36) along this linear guide (14; 20, 40) for detecting the actual speed and the actual position of the linear motor vehicle (18, 38) and a control device (88) whose measured value input is connected to the sensor device (84) and whose manipulated variable output is connected to the linear motor (12, 32). connected is. Schwingungsdämpfer (10) nach Anspruch 1,
dadurch gekennzeichnet, dass
das Messsystem (20) einen entlang der Linearführung (14) hin und her bewegbaren separaten Messwagen (22), eine parallel zur Linearführung (14) des Linearmotors (12) angeordnete Führungsschiene (24) mit integriertem Maßband und einen entlang der Führungsschiene (24) geführten und an dem Messwagen (22) befestigten Abtastkopf (26) aufweist, wobei der Messwagen (22) über eine in Bewegungsrichtung des Messwagens (22) starr und quer zur Bewegungsrichtung des Messwagens (22) elastisch ausgebildete Kopplung (28) an dem Linearmotorwagen (18) befestigt ist.Vibration damper (10) according to claim 1,
characterized in that
the measuring system (20) has a separate measuring carriage (22) which can be moved back and forth along the linear guide (14), a guide rail (24) with integrated measuring tape and a guide rail (24) arranged parallel to the linear guide (14) of the linear motor (12). guided and on the measuring carriage (22) fixed scanning head (26), wherein the measuring carriage (22) via a in the direction of movement of the measuring carriage (22) rigidly and transversely to the direction of movement of the measuring carriage (22) elastically formed coupling (28) on the linear motor car ( 18) is attached. Schwingungsdämpfer (10) nach Anspruch 2,
dadurch gekennzeichnet, dass
die elastische Kopplung (28) einen elastischen Stab aufweist.Vibration damper (10) according to claim 2,
characterized in that
the elastic coupling (28) comprises an elastic rod. Schwingungsdämpfer (30) nach Anspruch 1,
dadurch gekennzeichnet, dass
das Messsystem (40) zumindest einen mit einer Riemenscheibe (42) versehenen und an dem Linearmotorwagen (38) gehaltenen Drehgeber (44) und zumindest einen sich parallel zur Linearführung (34) des Linearmotors (32) erstreckenden, beidseitig fest eingespannten und um die Riemenscheibe (42) geführten Riemen (50) aufweist.Vibration damper (30) according to claim 1 ,
characterized in that
the measuring system (40) at least one provided with a pulley (42) and on the linear motor carriage (38) held encoder (44) and at least one parallel to the linear guide (34) of the linear motor (32) extending on both sides firmly clamped and around the pulley (42) guided belt (50). Schwingungsdämpfer (30) nach Anspruch 4,
dadurch gekennzeichnet, dass
der Drehgeber (44) als optischer Servomotor-Geber mit 2048 Strichen ausgeführt ist.Vibration damper (30) according to claim 4,
characterized in that
the rotary encoder (44) is designed as an optical servomotor encoder with 2048 lines. Schwingungsdämpfer (30) nach Anspruch 4 oder 5,
dadurch gekennzeichnet, dass
das Messsystem (40) Riemenspannmittel aufweist, insbesondere in Form von Umlenkrollen (52, 54).Vibration damper (30) according to claim 4 or 5,
characterized in that
the measuring system (40) has belt tensioning means, in particular in the form of deflection rollers (52, 54). Schwingungsdämpfer (30) nach einem der Ansprüche 4 bis 6,
dadurch gekennzeichnet, dass
der Riemen (50) ein magnetisches Material aufweist, das mit einem magnetischen, sich unterhalb des Riemens (50) erstreckenden Niederhalter (56) derart zusammenwirkt, dass der Niederhalter (56) den Riemen magnetisch anzieht.Vibration damper (30) according to one of claims 4 to 6,
characterized in that
the belt (50) comprises a magnetic material cooperating with a magnetic hold-down (56) extending below the belt (50) such that the hold-down (56) magnetically attracts the belt. Schwingungsdämpfer (30) nach Anspruch 7,
dadurch gekennzeichnet, dass
der Niederhalter (56) als permanentmagnetischer Niederhalter ausgeführt ist.Vibration damper (30) according to claim 7,
characterized in that
the hold-down (56) is designed as a permanent magnetic hold-down. Schwingungsdämpfer (30) nach Anspruch 7 oder 8,
dadurch gekennzeichnet, dass
das magnetische Material in Form einer Stahlseele in dem Riemen (50) integriert ist.Vibration damper (30) according to claim 7 or 8,
characterized in that
the magnetic material in the form of a steel core is integrated in the belt (50). Schwingungsdämpfer (10; 30) nach einem der vorhergehenden Ansprüche,
dadurch gekennzeichnet, dass
die Räder (16; 36) des Linearmotorwagens (18; 38) als Laufrollen ausgebildet sind, wobei jede Laufrolle zumindest einseitig mit einer Seitenführung versehen ist.Vibration damper (10; 30) according to one of the preceding claims,
characterized in that
the wheels (16; 36) of the linear motor vehicle (18; 38) are designed as rollers, wherein each roller is provided at least on one side with a lateral guide. Schwingungsfähige Struktur (70) mit zumindest einem Schwingungsdämpfer (10; 30) nach einem der vorhergehenden Ansprüche.A vibratory structure (70) having at least one vibration damper (10; 30) according to any one of the preceding claims.
EP20110173968 2011-07-14 2011-07-14 Vibration absorber Active EP2546185B1 (en)

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EP2546185B1 (en) 2014-03-19
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