WO2006084739A3 - Device and method for loading and/or unloading a cargo space or storage space - Google Patents

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

Info

Publication number
WO2006084739A3
WO2006084739A3 PCT/EP2006/001234 EP2006001234W WO2006084739A3 WO 2006084739 A3 WO2006084739 A3 WO 2006084739A3 EP 2006001234 W EP2006001234 W EP 2006001234W WO 2006084739 A3 WO2006084739 A3 WO 2006084739A3
Authority
WO
WIPO (PCT)
Prior art keywords
gripper
loading
unloading
space
storage space
Prior art date
Application number
PCT/EP2006/001234
Other languages
German (de)
French (fr)
Other versions
WO2006084739A2 (en
Inventor
Bernd Mann
Original Assignee
Isam Ag
Bernd Mann
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Isam Ag, Bernd Mann filed Critical Isam Ag
Priority to EP06706858A priority Critical patent/EP1851157A2/en
Publication of WO2006084739A2 publication Critical patent/WO2006084739A2/en
Publication of WO2006084739A3 publication Critical patent/WO2006084739A3/en

Links

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

The invention relates to a device (1, 1a) for loading and/or unloading material (3) into and/or from a cargo space (2) or storage space, especially for loading and/or unloading bulk material, preferably coal or ore, or containers into and/or from a hold (2) of a ship (4). At least one gripper (5) is provided for picking up or discharging the material (3), preferably the bulk material (3a) or container that is to be transported. The position of said gripper (5) can be controlled, i.e. the position of the gripper (5) can be changed at least in the vertical and/or the horizontal direction. The gripper (5) is connected to at least one rope element (6) while the movements of the gripper (5) in the vertical and/or horizontal direction and/or the movements for picking up and/or discharging the material (3) can be controlled with the aid of a control system (14), the position of the gripper (5) being detected in a sensory manner such that an oscillating movement and/or an oscillating deflection of the gripper (5) can be determined and be essentially compensated and/or reduced by triggering the same accordingly. An inertial navigation system (21) is arranged on the gripper (5) to detect the position of the gripper (5).
PCT/EP2006/001234 2005-02-11 2006-02-10 Device and method for loading and/or unloading a cargo space or storage space WO2006084739A2 (en)

Priority Applications (1)

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

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
DE202005002315.9 2005-02-11

Publications (2)

Publication Number Publication Date
WO2006084739A2 WO2006084739A2 (en) 2006-08-17
WO2006084739A3 true WO2006084739A3 (en) 2006-11-02

Family

ID=34684208

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2006/001234 WO2006084739A2 (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 (4)

* 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
US5392935A (en) * 1992-10-06 1995-02-28 Obayashi Corporation Control system for cable crane
US6126023A (en) * 1995-11-24 2000-10-03 The University Of Sydney Crane with improved reeving arrangement
US20050103738A1 (en) * 2003-11-14 2005-05-19 Alois Recktenwald Systems and methods for sway control

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
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
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 (4)

* 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
US6126023A (en) * 1995-11-24 2000-10-03 The University Of Sydney Crane with improved reeving arrangement
US20050103738A1 (en) * 2003-11-14 2005-05-19 Alois Recktenwald Systems and methods for sway control

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 CONFERENCE 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: 0-7803-4300-X *

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
EP1958915A3 (en) 2012-08-15
DE202005002315U1 (en) 2005-06-16
EP1958915A2 (en) 2008-08-20

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