EP1958915A3 - Device for loading and/or unloading a cargo hold or storage space and method for loading and/or unloading a cargo hold or storage space - Google Patents

Device for loading and/or unloading a cargo hold or storage space and method for loading and/or unloading a cargo hold or storage space Download PDF

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Publication number
EP1958915A3
EP1958915A3 EP08006281A EP08006281A EP1958915A3 EP 1958915 A3 EP1958915 A3 EP 1958915A3 EP 08006281 A EP08006281 A EP 08006281A EP 08006281 A EP08006281 A EP 08006281A EP 1958915 A3 EP1958915 A3 EP 1958915A3
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EP
European Patent Office
Prior art keywords
gripper
loading
unloading
storage space
cargo hold
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
EP08006281A
Other languages
German (de)
French (fr)
Other versions
EP1958915B8 (en
EP1958915B1 (en
EP1958915A2 (en
Inventor
Bernd Mann
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.)
Isam AG
Original Assignee
Isam AG
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Publication date
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Publication of EP1958915A2 publication Critical patent/EP1958915A2/en
Publication of EP1958915A3 publication Critical patent/EP1958915A3/en
Application granted granted Critical
Publication of EP1958915B1 publication Critical patent/EP1958915B1/en
Publication of EP1958915B8 publication Critical patent/EP1958915B8/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

Die Erfindung betrifft eine Vorrichtung (1, 1a) zum Be- und/oder Entladen eines Laderaumes (2) bzw. Lagerraumes mit Material (3), insbesondere zum Be-und/oder Entladen eines Laderaumes (2) eines Schiffes (4) mit Schuttgut (3a), vzw. mit Kohle oder Erz, oder mit Containern, wobei mindestens ein Greifer (5) zur Aufnahme bzw- zur Abgabe des zu transportierenden Materials (3), vzw. des Schüttgutes (3ei) oder des Containers, vorgesehen ist, wobei die Position des Greifers (5) steuerbar ist, nämlich die Position des Greifers (6) zumindest in vertikaler und/oder horizontaler Richtung veränderbar ist, wobei der Greifer (5) mit mindestens einem Seilelement (6) verbunden ist und wobei die Bewegungen des Greifers (5) in vertikaler und/oder horizontaler Richtung und/oder die Bewegungen zur Aufnahme und/oder zur Abgabe des Materials (3) mit Hilfe eines vorgesehenen Steuersystems (14) steuerbar sind, wobei die Position des Greifers (5) sensoriseh erfassbar ist, so dass eine Pendelbewegung und/oder Pendelauslenkung des Greifers (5) ermittelbar und durch eine entsprechende Ansteuerung im wesentlichen kompensierbar und/oder verringerbar ist.The invention relates to a device (1, 1a) for loading and / or unloading a loading space (2) or storage space with material (3), in particular for loading and / or unloading a loading space (2) of a ship (4) Bulk goods (3a), vzw. with coal or ore, or with containers, wherein at least one gripper (5) for receiving or delivering the material to be transported (3), vzw. the position of the gripper (5) is controllable, namely the position of the gripper (6) at least in the vertical and / or horizontal direction is variable, wherein the gripper (5) with at least a rope element (6) is connected and wherein the movements of the gripper (5) in the vertical and / or horizontal direction and / or the movements for receiving and / or delivery of the material (3) by means of a dedicated control system (14) are controllable , wherein the position of the gripper (5) can be detected by sensors, so that a pendulum movement and / or pendulum deflection of the gripper (5) can be determined and substantially compensated and / or reduced by a corresponding control.

Die Kosten und Betriebssicherheit sind dadurch verbessert, dass zur Erfassung der Position des Greifers (5) ein Trägheitenavigutiunssystem (21) vorgesehen ist und dass das Trägheitsnavigationssystem (21) an dem Greifer (5) angeordnet ist.

Figure imgaf001
The cost and operational safety are improved by providing an inertia navigation system (21) for detecting the position of the gripper (5) and that the inertial navigation system (21) is arranged on the gripper (5).
Figure imgaf001
EP08006281.3A 2005-02-11 2006-02-10 Device for loading and/or unloading a cargo hold or storage space and method for loading and/or unloading a cargo hold or storage space Not-in-force EP1958915B8 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200520002315 DE202005002315U1 (en) 2005-02-11 2005-02-11 Bulk grain cargo loading/unloading system has bucket grab position continually monitored by sensor
EP06706858A EP1851157A2 (en) 2005-02-11 2006-02-10 Device and method for loading and/or unloading a cargo space or storage space

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP06706858.5 Division 2006-02-10
EP06706858A Division EP1851157A2 (en) 2005-02-11 2006-02-10 Device and method for loading and/or unloading a cargo space or storage space

Publications (4)

Publication Number Publication Date
EP1958915A2 EP1958915A2 (en) 2008-08-20
EP1958915A3 true EP1958915A3 (en) 2012-08-15
EP1958915B1 EP1958915B1 (en) 2016-01-27
EP1958915B8 EP1958915B8 (en) 2016-06-08

Family

ID=34684208

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08006281.3A Not-in-force EP1958915B8 (en) 2005-02-11 2006-02-10 Device for loading and/or unloading a cargo hold or storage space and method for loading and/or unloading a cargo hold or storage space
EP06706858A Withdrawn EP1851157A2 (en) 2005-02-11 2006-02-10 Device and method for loading and/or unloading a cargo space or storage space

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP06706858A Withdrawn EP1851157A2 (en) 2005-02-11 2006-02-10 Device and method for loading and/or unloading a cargo space or storage space

Country Status (3)

Country Link
EP (2) EP1958915B8 (en)
DE (1) DE202005002315U1 (en)
WO (1) WO2006084739A2 (en)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202005002315U1 (en) * 2005-02-11 2005-06-16 Isam Ag Bulk grain cargo loading/unloading system has bucket grab position continually monitored by sensor
DE102007027536B4 (en) 2007-06-15 2010-07-08 Gottwald Port Technology Gmbh Floating unloading device for bulk material
DE102007041692A1 (en) * 2007-09-03 2009-03-05 Siemens Ag Control device for damping oscillations of a cable-guided load
DE502008001820D1 (en) * 2008-04-18 2010-12-30 Siemens Ag Method for damping oscillations of a bulk material load guided by a crane, control program and crane automation system
JP4897103B1 (en) * 2011-05-25 2012-03-14 有限会社寺岡商事 Bucket crane with conveyor
CN102229392A (en) * 2011-06-23 2011-11-02 三一集团有限公司 Lighterage operation bridge type loading and unloading ship machine
DE102013011718A1 (en) * 2013-07-15 2015-01-15 Isam Ag Method for controlling a container bridge for loading or unloading, in particular of the loading space, of a ship or control system for controlling a container bridge or container bridge with control system
CN103407883B (en) * 2013-08-22 2015-09-02 泰富重工制造有限公司 Ship unloaders control system and control method
CN103499322A (en) * 2013-10-12 2014-01-08 北京冶联科技有限公司 Measuring method for coal storage of coal yard
AU2015262041B2 (en) * 2014-05-19 2019-09-12 Nautilus Minerals Singapore Pte Ltd Seafloor haulage system
CN104386507A (en) * 2014-12-17 2015-03-04 天津港远航矿石码头有限公司 Nine-step linkage ship unloading method
DE102016001684A1 (en) 2016-02-12 2017-08-17 Liebherr-Werk Biberach Gmbh Method for monitoring at least one crane
CN105565165B (en) * 2016-03-04 2016-09-14 江苏聚业机械装备股份有限公司 Fully-automatic intelligent harbor crane grabs coal system and method
WO2017190801A1 (en) * 2016-05-06 2017-11-09 Applied Materials Italia S.R.L. Apparatus for aligning a solar cell element, system for use in the manufacture of a solar cell arrangement, and method for aligning a solar cell element
DE102018005068A1 (en) 2018-06-26 2020-01-02 Liebherr-Components Biberach Gmbh Crane and method for controlling such a crane
CN110723565A (en) * 2018-10-15 2020-01-24 党琪 Automatic bulk cargo boxing system and method suitable for railway transportation
CN109975173B (en) * 2019-04-28 2023-04-25 深圳国技仪器有限公司 Automatic accumulation factor test system
CN110562729A (en) * 2019-08-29 2019-12-13 武汉奋进智能机器有限公司 Fermented grain discharging system and method
CN110817490A (en) * 2019-11-15 2020-02-21 中冶宝钢技术服务有限公司 Grab ship unloader and operation method thereof

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4238795A1 (en) * 1992-11-17 1993-07-01 Edgar Von Dipl Ing Hinueber Damping pendulum movement of hanging loads on crane - using microprocessor to control crane movement and load cable length using sensor input of cable angular velocity and acceleration
FR2704847A1 (en) * 1993-05-05 1994-11-10 Bertin & Cie Process and device for limiting the swing of a load suspended from a motorised support
US5392935A (en) * 1992-10-06 1995-02-28 Obayashi Corporation Control system for cable crane
DE19756875A1 (en) * 1997-12-19 1999-07-01 Siemens Ag Loading system for loading a means of transport with bulk goods
US6126023A (en) * 1995-11-24 2000-10-03 The University Of Sydney Crane with improved reeving arrangement
DE19947739A1 (en) * 1999-10-05 2001-04-12 Froelich Karin Method and device for loading bulk materials into travelling containers like vehicles determines the size of a container to ensure even loading and to determine the specific dumping procedure in advance.
DE10064182A1 (en) * 2000-10-19 2002-05-08 Liebherr Werk Nenzing Crane or excavator for handling a load suspended from a load rope with load swing damping
US20050103738A1 (en) * 2003-11-14 2005-05-19 Alois Recktenwald Systems and methods for sway control
DE202005002315U1 (en) * 2005-02-11 2005-06-16 Isam Ag Bulk grain cargo loading/unloading system has bucket grab position continually monitored by sensor

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5392935A (en) * 1992-10-06 1995-02-28 Obayashi Corporation Control system for cable crane
DE4238795A1 (en) * 1992-11-17 1993-07-01 Edgar Von Dipl Ing Hinueber Damping pendulum movement of hanging loads on crane - using microprocessor to control crane movement and load cable length using sensor input of cable angular velocity and acceleration
FR2704847A1 (en) * 1993-05-05 1994-11-10 Bertin & Cie Process and device for limiting the swing of a load suspended from a motorised support
US6126023A (en) * 1995-11-24 2000-10-03 The University Of Sydney Crane with improved reeving arrangement
DE19756875A1 (en) * 1997-12-19 1999-07-01 Siemens Ag Loading system for loading a means of transport with bulk goods
DE19947739A1 (en) * 1999-10-05 2001-04-12 Froelich Karin Method and device for loading bulk materials into travelling containers like vehicles determines the size of a container to ensure even loading and to determine the specific dumping procedure in advance.
DE10064182A1 (en) * 2000-10-19 2002-05-08 Liebherr Werk Nenzing Crane or excavator for handling a load suspended from a load rope with load swing damping
US20050103738A1 (en) * 2003-11-14 2005-05-19 Alois Recktenwald Systems and methods for sway control
DE202005002315U1 (en) * 2005-02-11 2005-06-16 Isam Ag Bulk grain cargo loading/unloading system has bucket grab position continually monitored by sensor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LOUDA M A ET AL: "INS-based identification of quay-crane spreader yaw", ROBOTICS AND AUTOMATION, 1998. PROCEEDINGS. 1998 IEEE INTERNATIONAL CO NFERENCE ON LEUVEN, BELGIUM 16-20 MAY 1998, NEW YORK, NY, USA,IEEE, US, vol. 4, 16 May 1998 (1998-05-16), pages 3310 - 3315, XP010281361, ISBN: 978-0-7803-4300-9 *

Also Published As

Publication number Publication date
WO2006084739A2 (en) 2006-08-17
EP1851157A2 (en) 2007-11-07
EP1958915B8 (en) 2016-06-08
EP1958915B1 (en) 2016-01-27
WO2006084739A3 (en) 2006-11-02
DE202005002315U1 (en) 2005-06-16
EP1958915A2 (en) 2008-08-20

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