BR112022002809A2 - Guindaste e método para controle do referido guindaste - Google Patents

Guindaste e método para controle do referido guindaste

Info

Publication number
BR112022002809A2
BR112022002809A2 BR112022002809A BR112022002809A BR112022002809A2 BR 112022002809 A2 BR112022002809 A2 BR 112022002809A2 BR 112022002809 A BR112022002809 A BR 112022002809A BR 112022002809 A BR112022002809 A BR 112022002809A BR 112022002809 A2 BR112022002809 A2 BR 112022002809A2
Authority
BR
Brazil
Prior art keywords
load
crane
hook
sling
deviation
Prior art date
Application number
BR112022002809A
Other languages
English (en)
Inventor
Englert Tobias
Original Assignee
Liebherr Werk Biberach Gmbh
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 Liebherr Werk Biberach Gmbh filed Critical Liebherr Werk Biberach Gmbh
Publication of BR112022002809A2 publication Critical patent/BR112022002809A2/pt

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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
    • G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

GUINDASTE E MÉTODO PARA CONTROLE DO REFERIDO GUINDASTE. A presente invenção refere-se a guindaste, em particular, a um guindaste de torre giratória ou de lança, com um cabo de içamento (7) que se estende de uma lança de guindaste (2) e suporta um gancho de carga (8), sendo que, no gancho de carga (8) está fixada uma eslinga (12) com uma carga (11) fixada nela, que pende para baixo distanciada do gancho de carga (8) pela eslinga (12), bem como com um dispositivo de determinação (60), para determinar a posição e/ou o desvio da carga (11), e com um aparelho de controle eletrônico (3) , para controlar dispositivos de acionamento para o movimento de elementos do guindaste e deslocamento do gancho de carga (8) em função da posição detectada e/ou do desvio da carga (11), sendo que, o dispositivo de determinação (60) apresenta primeiros meios de determinação (63; 65) para determinar uma posição e/ou um desvio do gancho de carga (8), bem como, além disso, um dispositivo de medição inercial (66, 67) fixado na eslinga (12) e/ou na carga (11) com meios de sensor de aceleração e taxa de giro para preparar sinais de aceleração e taxa de giro, bem como segundos meios de determinação para determinar e estimar um desvio e/ou a posição da carga (11) a partir dos sinais de aceleração e taxa de giro do dispositivo de medição inercial (66, 67), que está fixado na eslin-ga (12) e/ou na carga (11), bem como a partir dos sinais dos primeiros meios de determinação (63; 65) mencionados, que caracterizam a posi-ção e/ou o desvio do gancho de carga (8).
BR112022002809A 2019-08-26 2020-08-07 Guindaste e método para controle do referido guindaste BR112022002809A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019122796.8A DE102019122796A1 (de) 2019-08-26 2019-08-26 Kran und Verfahren zum Steuern eines solchen Krans
PCT/EP2020/072262 WO2021037526A1 (de) 2019-08-26 2020-08-07 Kran und verfahren zum steuern eines solchen krans

Publications (1)

Publication Number Publication Date
BR112022002809A2 true BR112022002809A2 (pt) 2022-08-09

Family

ID=72086833

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112022002809A BR112022002809A2 (pt) 2019-08-26 2020-08-07 Guindaste e método para controle do referido guindaste

Country Status (7)

Country Link
US (1) US20220194749A1 (pt)
EP (1) EP4013713B1 (pt)
CN (1) CN114341046A (pt)
BR (1) BR112022002809A2 (pt)
DE (1) DE102019122796A1 (pt)
ES (1) ES2966334T3 (pt)
WO (1) WO2021037526A1 (pt)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111153328B (zh) * 2020-04-02 2020-07-24 上海驭矩信息科技有限公司 一种基于lqr的吊装系统的防摇控制方法及系统
DE102021121818A1 (de) 2021-08-23 2023-02-23 Wolffkran Holding Ag Turmdrehkran, Verfahren und Steuerungseinheit zum Betreiben eines Turmdrehkrans, Laufkatze und Katzfahrwerk
CN116395568B (zh) * 2023-06-08 2023-08-29 山东亚泰机械有限公司 用于工程机械配件的起重装置
CN117105096B (zh) * 2023-09-25 2024-02-23 哈尔滨理工大学 一种适用于变绳长双摆型船用起重机的滑模控制方法

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5526946A (en) 1993-06-25 1996-06-18 Daniel H. Wagner Associates, Inc. Anti-sway control system for cantilever cranes
DE10064182A1 (de) 2000-10-19 2002-05-08 Liebherr Werk Nenzing Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit Lastpendelungsdämpfung
JP2003312982A (ja) * 2002-04-26 2003-11-06 Mitsubishi Electric Corp 吊上げ装置
US7426423B2 (en) 2003-05-30 2008-09-16 Liebherr-Werk Nenzing—GmbH Crane or excavator for handling a cable-suspended load provided with optimised motion guidance
DE102007039408A1 (de) 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Kransteuerung, Kran und Verfahren
DE102007043750A1 (de) 2007-09-13 2009-03-19 Rheinkalk Gmbh Fahrzeug zum Einbringen alkalischer Stoffe in Gewässer
DE102009032270A1 (de) 2009-07-08 2011-01-13 Liebherr-Werk Nenzing Gmbh Verfahren zur Ansteuerung eines Antriebs eines Kranes
ES2447018T3 (es) 2011-08-26 2014-03-11 Liebherr-Werk Nenzing Gmbh Aparato de control de grúa
DE102017114789A1 (de) * 2017-07-03 2019-01-03 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans

Also Published As

Publication number Publication date
CN114341046A (zh) 2022-04-12
WO2021037526A1 (de) 2021-03-04
EP4013713B1 (de) 2023-09-27
ES2966334T3 (es) 2024-04-22
US20220194749A1 (en) 2022-06-23
EP4013713A1 (de) 2022-06-22
DE102019122796A1 (de) 2021-03-04

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Legal Events

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