Systems and methods for sensor controlled reach carriage
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B66F-009/12
G01B-007/00
B66F-009/075
출원번호
US-0841660
(2013-03-15)
등록번호
US-9206024
(2015-12-08)
발명자
/ 주소
Yahner, Joseph Thomas
Centerwall, Lans Erik
출원인 / 주소
The Raymond Corporation
대리인 / 주소
Quarles & Brady LLP
인용정보
피인용 횟수 :
0인용 특허 :
3
초록▼
Automated systems and methods control the velocity of the extension arm of a reach carriage. In particular, the extension arm is allowed to operate at full velocity when it is not approaching its extension or retraction limits. At the limits, the extension arm is gradually slowed to a stop. A sensin
Automated systems and methods control the velocity of the extension arm of a reach carriage. In particular, the extension arm is allowed to operate at full velocity when it is not approaching its extension or retraction limits. At the limits, the extension arm is gradually slowed to a stop. A sensing apparatus includes a sensor and a marker that moves with the movement of the extension arm. The marker moves into and out of the sensor's range, causing the sensor to generate a position signal. If the extension arm is nearing its limit, the marker is outside the sensor range. A control unit detects changes in the position signal and slows the extension arm accordingly. The control unit may apply a deceleration profile to cushion the extension arm at its limits.
대표청구항▼
1. A velocity control device for a reach carriage having an extension arm, the velocity control device comprising: a sensing apparatus configured to detect when the extension arm is approaching at least one of an extension limit and a retraction limit, and to transmit a position signal, the sensing
1. A velocity control device for a reach carriage having an extension arm, the velocity control device comprising: a sensing apparatus configured to detect when the extension arm is approaching at least one of an extension limit and a retraction limit, and to transmit a position signal, the sensing apparatus comprising: a sensor that has a range and generates the position signal; anda marker positioned with respect to the extension arm and the sensor so that, during the extension arm extending or retracting, the marker moves into and out of the range of the sensor, the marker moving out of the range of the sensor when the extension arm approaches one or both of the extension limit and the retraction limit, the sensor changing the position signal when the marker moves into and out of the range of the sensor; anda control unit configured to: receive the position signal;determine, responsive to the position signal being changed, that the extension arm is approaching the extension limit or the retraction limit; andresponsive to a determination that the extension arm is approaching the extension limit or the retraction limit, apply a deceleration profile to gradually or incrementally slow the extension arm to a stop. 2. The velocity control device according to claim 1: wherein the control unit applies a deceleration profile to slow the extension arm. 3. The velocity control device according to claim 1: wherein the sensor generates the position signal when the marker is within the range of the sensor and does not generate the position signal when the marker is outside the range of the sensor; andwherein the control unit gradually slows the extension arm when it does not receive the position signal. 4. The velocity control device according to claim 3: wherein the control unit allows the extension arm to operate at maximum velocity when the control unit receives the position signal. 5. The velocity control device according to claim 1: wherein the sensor continuously generates the position signal; andwherein the control unit gradually slows the extension arm when the position signal indicates that the marker is not within the range of the sensor. 6. The velocity control device according to claim 1: wherein the marker moves between at least a first position and a second position separated from the first position by an angular range, the marker being in the first position when the extension arm is fully retracted and in the second position when the extension arm is fully extended; andwherein the range of the sensor is disposed within the angular range of the marker, the first and second positions of the marker being outside the range of the sensor. 7. The velocity control device according to claim 6: wherein the extension arm is driven by a hydraulic ram cylinder having a tang attached to a stationary clevis such that the tang moves with respect to the clevis;the marker being a structure attached to and projecting from the tang; andthe sensor being mounted on the clevis. 8. The velocity control device according to claim 7: wherein the sensor is mounted through a first prong of the clevis; andwherein the marker moves through a space between the first prong and a second prong of the clevis. 9. The velocity control device according to claim 6: wherein the sensor is mounted to a first stud of the extension arm; andwherein the marker is attached to a second stud of the extension arm at a pivot between the first stud and the second stud. 10. In a reach carriage having a carriage frame and a pantographic extension arm attached to the carriage frame and driven by a hydraulic ram cylinder attached to the carriage frame, the extension arm, and a hydraulic pump, a velocity control device for the extension arm, the velocity control device comprising: a sensing apparatus comprising: a sensor attached to a clevis on the carriage frame, the sensor having a range, generating a position signal when the sensor is activated, and stopping the position signal when the sensor deactivates; anda marker that activates the sensor when the marker is in the range of the sensor, the marker being attached to a tang of the hydraulic ram cylinder, the tang cooperating with the clevis, and the marker rotating through an angular range, within which the sensor range is disposed, as the extension arm linearly extends and retracts, the marker rotating out of the range of the sensor when the extension arm approaches both an extension limit and a retraction limit, the sensor deactivating when the marker is outside of the range of the sensor; anda control unit operatively connected to the sensor and the hydraulic pump and configured to: receive the position signal; andresponsive to the position signal stopping, instruct the hydraulic pump to gradually reduce a flow rate into the cylinder if the extension arm is extending and to gradually reduce a flow rate out of the cylinder if the extension arm is retracting. 11. The velocity control device according to claim 10: wherein the marker moves between a first position that is a first cushion distance outside the range of the sensor and a second position that is a second cushion distance outside the range of the sensor, the second position separated from the first position by the angular range;wherein the marker is in the first position when the extension arm is fully retracted and in the second position when the extension arm is fully extended; andwherein, when the extension arm is at full velocity, the control unit slows the extension arm as the marker traverses the first or second cushion distance. 12. The velocity control device according to claim 10: wherein the sensor is mounted through a first prong of the clevis; andwherein the marker moves through a space between the first prong and a second prong of the clevis. 13. The velocity control device according to claim 10: wherein the sensor is mounted on a top surface of the clevis between two prongs of the clevis; andwherein the marker moves through a space between the prongs of the clevis and is positioned so the marker is forward of the sensor when the extension arm is retracted, and rearward of the sensor when the extension arm is extended. 14. The velocity control device according to claim 10: wherein the sensor is mounted to the clevis forward of the tang; andwherein the marker is positioned so that it is below the sensor when the extension arm is retracted, and rearward of the sensor when the extension arm is extended. 15. A method of controlling the velocity of an extension arm in a reach carriage, the method comprising: as the extension arm is being driven by an actuator, receiving a position signal from a sensing apparatus comprising: a sensor that generates the position signal; anda marker configured to move into and out of a range of the sensor as the extension arm extends and retracts, the sensor changing the position signal when the marker moves into and out of the range of the sensor;determining from the position signal whether the extension arm is approaching its extension or retraction limit;responsive to a determination that the extension arm is approaching its extension or retraction limit, instructing the actuator to gradually reduce an actuation speed; andallowing the extension arm to be driven at full velocity if the extension arm is not approaching its extension or retraction limit. 16. The method according to claim 15: wherein the sensor is mounted to a first stud of the extension arm; andwherein the marker is attached to a second stud of the extension arm at a pivot between the first stud and the second stud. 17. The method according to claim 15: wherein the marker moves between a first position that is a first cushion distance outside the range of the sensor and a second position that is a second cushion distance outside the range of the sensor, the second position separated from the first position by an angular range in which the range of the sensor is disposed;wherein the marker is in the first position when the extension arm is fully retracted and in the second position when the extension arm is fully extended; andwherein the actuator is instructed to gradually reduce the actuation speed as the marker traverses the first or second cushion distance. 18. The method according to claim 17: further comprising configuring a deceleration profile with which the actuation speed is gradually reduced. 19. The method according to claim 15: wherein the actuator is a hydraulic cylinder, the hydraulic cylinder coupled to a hydraulic pump. 20. The method according to claim 19: wherein the marker is attached to a tang on the cylinder; andwherein the sensor is attached to a clevis that cooperates with the tang. 21. The method according to claim 15: wherein the sensing apparatus is a non-contact sensing apparatus. 22. The method according to claim 15: wherein the marker is configured to rotate into and out of the range of the sensor as the extension arm linearly extends and retracts.
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