CN105253776B - Semi-automatic control method of gantry crane - Google Patents
Semi-automatic control method of gantry crane Download PDFInfo
- Publication number
- CN105253776B CN105253776B CN201510833948.XA CN201510833948A CN105253776B CN 105253776 B CN105253776 B CN 105253776B CN 201510833948 A CN201510833948 A CN 201510833948A CN 105253776 B CN105253776 B CN 105253776B
- Authority
- CN
- China
- Prior art keywords
- inverter
- grab bucket
- plc
- control unit
- grab
- 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.)
- Active
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a semi-automatic control method of a gantry crane; based on a PLC and a rectifier module, an inverting device and a control unit exchange data in real time; firstly, the PLC gives a starting command to the control unit; the control unit starts the rectifier module; the crane is initialized for setting; and a crane grab is recovered to an initial position; then, the crane grab is automatically opened; the PLC gives a rotating amplitude change command to control the grab to operate to a set taking coordinate position; after the grab operates in place, the PLC gives a descending command to control the grab to descend to a taking position; and the grab automatically digs deeply and is closed; then, the PLC gives a rising command to control the grab to rise to a preset unloading height, and gives the rotating amplitude change command to control the grab to operate to a set unloading coordinate position; and finally, after the grab operates to the set unloading coordinate position, the grab is opened for unloading to finish once taking and unloading process. The method has the advantages of improving the production efficiency and reducing the labor intensity of workers.
Description
Technical field
The invention belongs to port machine automation field, specifically a kind of high pedestal jib crane semiautomatic control method.
Background technology
With the development of automatic technology, now wisdom harbour, automatic dock etc. all among construction and development, packaging
Case loop wheel machine and some bridge type ship unloaders etc. have all gradually realized semi-automatic operation or a certain degree of full-automatic.For at present
Automation and informationization, digitlization are the development trends of current harbour equipment, and energy-conserving and environment-protective are the trends of the times of Business survival.
High pedestal jib crane be port and pier quantity and using at most, complex structure, mechanism be most, most typical electronic dress
Unload machinery.It is good due to the superior structure with preferable service behaviour and uniqueness, versatility, is widely used in harbour groceries
Harbour.The operating mechanism of high pedestal jib crane has higher running speed, and utilization rate is high；And structural upright, it is few to take
The area of harbour, the semi-girder with tall and big door frame and relatively long distance, thus with larger lifting altitude and work range, energy
Meet mechanized handling, the reprinting of harbour, harbour, ship and vehicle, fully using harbour, harbour place, adapt to the sky of ship
Carry, be fully loaded with operation, and the current requirement of surface car；With flexible, the safe and reliable handling capacity of high speed.
As door machine operating mode is complicated, in cabin, burden distribution is irregular, and tide, surge affect hull height and position.If pressed
According to traditional control mode, these all need artificial judgment, are operated；And complexity and flexibility cause the operating mode of a machine not
It is determined that so that current country's external door machine operation is all confined to driver and manually operates, and material grasping blowing, anticollision be anti-to shake etc. and to be dependent on driver
Operation, high labor intensive is high to the dependence of driver.
The content of the invention
The present invention is in order to solve the above problems, there is provided a kind of high pedestal jib crane semiautomatic control method so that door machine
Working automation degree is higher, effectively reduces the labour intensity of workman, saves part artificial.
A kind of high pedestal jib crane semiautomatic control method, based on PLC (Programmable Logic Controller,
Programmable logic controller (PLC)) and rectification module, inverter and control unit carry out data exchange in real time；
Comprise the following steps that：
Step one, PLC send startup order to control unit, and control unit starts rectification module, initializing set lifting
Crane grab is simultaneously returned to initial position by machine；
Initializing set crane includes the job area for setting crane, setting feeding coordinate and discharging coordinate；
Step 2, judge crane grab state, if light condition, after opening automatically bucket, enter step 3；Otherwise it is
Bucket-shaped state is closed in heavy duty, into step 8；
Step 3, PLC send rotation luffing order, and control grab bucket runs to setting feeding coordinate position；
Specially：PLC sends rotation luffing order to control unit, passes to inverter by control unit afterwards, inverse
Becoming the 3rd inverter in device drives luffing motor, the 4th inverter and the 5th inverter to drive electric rotating respectively
Machine；Grab bucket is driven to carry out luffing and rotation simultaneously；Grab bucket is run to into setting feeding coordinate position；
Step 4, judge grab bucket whether run in place？If it is, entering step 5, otherwise continue step 3, during match somebody with somebody
Conjunction is manually adjusted, by grab bucket operation in place, into step 5；
Connect absolute value encoder after the speed reduction box shaft of electric rotating machine and luffing motor connection respectively, absolute value encoder with
Reduction box coaxially rotates at the same speed, the anglec of rotation of absolute value encoder record grab bucket, and position and luffing amplitude information introduce PLC,
The particular location of grab bucket is calculated through PLC, so as to judge whether grab bucket runs in place.
Step 5, PLC send decline order, and control grab bucket drops to feeding position；
Specially：PLC sends decline order to control unit, passes to the driving of the first inverter by control unit afterwards
Lifting motor, lifting motor drive hoisting drum to be moved downwardly to feeding position；
Step 6, drop to feeding position after, grab bucket deep-cut automatically and close；
Specially：PLC sends and closes bucket and low speed decline order to control unit, passes to first by control unit afterwards inverse
Become device and the second inverter drives lifting motor and opening and closing motor, drive raising and opening and closing reel execution.
Step 7, PLC send raising order, and control has been grabbed bucket and has been raised to default discharging height；
Specially：PLC sends raising order to PLC, passes to the first inverter by control unit afterwards and drives raising
Motor, lifting motor drive hoisting drum to move upward to default discharging height；
Step 8, PLC send rotation luffing order, and control grab bucket runs to setting discharging coordinate position；
Specially：PLC sends rotation luffing order to control unit, passes to corresponding inversion dress by control unit afterwards
Startup luffing motor and electric rotating machine is put, wherein the 3rd inverter drives luffing motor, the 4th inverter and the 5th inversion
Device drives electric rotating machine respectively；Grab bucket is driven to carry out luffing and rotation simultaneously；Grab bucket is run to into setting discharging coordinate position；
After step 9, grab bucket run to setting discharging coordinate position, bucket discharging is opened in grab bucket, completes a feeding discharging
Journey.
It is an advantage of the current invention that：
1), a kind of high pedestal jib crane semiautomatic control method, improve production efficiency, while the work for reducing workman is strong
Degree
2), a kind of high pedestal jib crane semiautomatic control method, increased new detection means so that the peace of mechanism's operation
Full property is greatly increased with reliability.
Description of the drawings
Fig. 1 is a kind of flow chart of high pedestal jib crane semiautomatic control method of the invention.
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
A kind of high pedestal jib crane semiautomatic control method, with programmable logic controller (PLC) (abbreviation PLC) as core, with work
Industry frequency converter driving, matching coding device, the electrical integrated system of instrument of tension pick-up composition.
Two machines of crane load and unload same cabin, two machines in bank crab bucket ship unloading operation if adjacent close
During rotation, trunk beam arm frame is likely to occur collision, causes a machine to damage.If door machine uses suspension hook unloading operation, Men Jibian
When width or rotation, it is possible to collide hull mast hang, driving cabin and the related equipment on hull, cause the damage of a machine and hull
It is bad.In order to solve the problems, such as anticollision, under door machine trunk beam and three laser scanners, each laser are respectively installed in crossbeam both sides
Scanner is arranged on the suitable position of inspection platform and adopts suitable setting angle, two switching values of every laser scanner
Output clicks through PLC, when PLC detects that door machine trunk beam is close to the object of surrounding by six laser scanners, just first subtracts automatically
Speed is simultaneously reported to the police, and arranges alarm region, when region overlaps alarm or jerk.
A kind of high pedestal jib crane semiautomatic control method, based on PLC (Programmable Logic Controller,
Programmable logic controller (PLC)) data exchange is carried out in real time with feedback rectification module, inverter and control unit；
Control unit connects PLC, rectification module and 5 inverters respectively；5 inverters are followed successively by：First inversion
Device, the second inverter, the 3rd inverter, the 4th inverter and the 5th inverter；First inverter drives
Lifting motor；Second inverter driven opening/closing motor；3rd inverter drives luffing motor, the 4th inverter and the 5th inverse
Become device and drive electric rotating machine respectively.
As shown in figure 1, comprising the following steps that：
Step one, PLC send startup order to control unit, start rectification module by control unit, and initializing set rises
Crane grab is simultaneously returned to initial position by heavy-duty machine；
Initializing set crane includes the job area for setting crane, needs manually to be set before being automatically brought into operation
It is fixed, feeding coordinate and discharging coordinate is set, that is, sets the beginning and end of crane；And crane grab is returned to initially
Position；Beginning and the knot of automated procedure are controlled by automatically beginning on operative's master operating station and automatic conclusion button
Beam.
According to the coordinate of artificial setting, feeding is adjusted with reference to the practical operation experience of workman in the certain limit of the coordinate
Point；
Set the job area of crane as：Centered on the coordinate, radius R is, on 1 meter of circumference, to be uniformly distributed 3-5
On individual point, A, B, C, D, E is set to clockwise successively；Avoid long a crawl point activity duration.Central point O is setting coordinate
Point, it is assumed that for O (S, L), S is angle value, and L is Variable Amplitude, and radius R may be set to 1 meter or other values.
Each point coordinates is as follows：
A(Sa,La)：Sa=S；La=L+R；
B(Sb,Lb)：Sb=S-ARCSIN (R*SIN108/Lb),
C(Sc,Lc)：Sc=S-ARCSIN (R*SIN36/Lc),
D(Sd,Ld)：Sd=S+ARCSIN (R*SIN36/Lc), Ld=Lc；
E(Se,Le)：Se=S-ARCSIN (R*SIN108/Lb), Le=Lb；
Step 2, judge whether crane grab is that underloading opens bucket-shaped state, if it is, entering step 3, be otherwise underloading
Bucket-shaped state is closed, bucket is opened automatically, is entered back into step 3, if bucket-shaped state is closed in heavy duty, be directly entered step 8；
Crane grab is connected on hoisting drum by steel wire rope, is driven by the lifting of Motor drive hoisting drum and is grabbed
Bucket move up and down, connect tension pick-up on a steel cord, tension pick-up data transfer in PLC, so as to PLC is according to lifting
Amount judges the grab bucket state of crane；
Step 3, PLC send rotation luffing order, and control grab bucket runs to setting feeding coordinate position；
Specially：PLC sends rotation luffing order to control unit, passes to inverter by control unit afterwards, inverse
Becoming the 3rd inverter in device drives luffing motor, the 4th inverter and the 5th inverter to drive electric rotating respectively
Machine；Grab bucket is driven to carry out luffing and rotation simultaneously；Grab bucket is run to into setting feeding coordinate position；
Each direct-connected incremental encoder, each incremental encoder and corresponding electricity after luffing motor and spin motor shaft
Machine connecting shaft rotates at the same speed；Connect absolute value encoder, absolute value after the speed reduction box shaft of electric rotating machine and luffing motor connection respectively
Encoder is coaxially rotated at the same speed with reduction box, and incremental encoder signal is introduced directly into the inverter of each motor, absolute encoder
The anglec of rotation of device record grab bucket, position and luffing amplitude information introduce PLC, calculate the particular location of grab bucket through PLC.
During automatic running, workman runs to setting feeding coordinate position and carries out manual intervention adjustment to grab bucket, and
Automatic Memory after the adjustment, feeding discharging automated procedure next time can be according to the setting feeding coordinate bit after manual intervention adjustment
Put and be operated；After manual intervention terminates, remaining step all needs manually to complete.
Step 4, judge grab bucket whether run in place？If it is, entering step 5, otherwise continue step 3, during can
Cooperation is manually adjusted, and most grab bucket is run in place, into step 5 at last；
During automatic running, workman can carry out manual intervention adjustment, and automatic Memory after the adjustment at any time, next
Secondary feeding discharging automated procedure can be operated according to grab bucket operation coordinate in place after adjustment；After manual intervention terminates, remain
Under step all need manually to complete.
Step 5, PLC send decline order, and control grab bucket drops to feeding position；
Specially：PLC sends decline order to control unit, passes to the first inverter by control unit afterwards, and
Lifting motor, lifting motor is driven to drive hoisting drum to be moved downwardly to feeding position by the first inverter；
A direct-connected incremental encoder after lifting motor axle, incremental encoder are rotated at the same speed with lifting motor connecting shaft；Raising
Connect an absolute value encoder after the hoisting drum axle of motor respectively, coaxially rotate at the same speed with hoisting drum；Incremental encoder
Signal is introduced directly into the first inverter, and absolute value encoder records the anglec of rotation of grab bucket, and position and luffing amplitude information draw
Enter PLC, the particular location of grab bucket is calculated through PLC, determine whether whether grab bucket declines in place.
During automatic running, workman drops to feeding position to grab bucket carries out manual intervention adjustment, and after the adjustment
Automatic Memory, the feeding position that feeding discharging automated procedure next time can drop to according to the grab bucket after manual intervention adjustment enter
Row work；After manual intervention terminates, remaining step all needs manually to complete.
Step 6, drop to feeding position after, grab bucket deep-cut automatically and close；
Specially：PLC sends and closes bucket and low speed decline order to control unit, passes to first by control unit afterwards inverse
Become device and the second inverter drives, and drive lifting motor and opening and closing motor, drive raising and opening and closing reel execution.
Step 7, PLC send raising order, and control has been grabbed bucket and has been raised to default discharging height；
Specially：PLC sends raising order to control unit, passes to the first inverter by control unit afterwards, and
Lifting motor is started by the first inverter, lifting motor drives hoisting drum to move upward to default discharging height；
A direct-connected incremental encoder after lifting motor axle, incremental encoder are rotated at the same speed with lifting motor connecting shaft；Raising
Connect an absolute value encoder after the hoisting drum axle of motor respectively, coaxially rotate at the same speed with hoisting drum；Incremental encoder
Signal is introduced directly into the first inverter, the angle of absolute value encoder record grab bucket, position and amplitude information introducing PLC, Jing
The particular location that PLC calculates grab bucket is crossed, whether in place to determine whether to have grabbed bucket is raised to default discharging height.
During automatic running, workman is raised to default discharging and highly carries out manual intervention adjustment to having grabbed bucket, and
Automatic Memory after adjustment, feeding discharging automated procedure next time can according to manual intervention adjustment after rise and be raised to default discharging
Highly put and be operated；After manual intervention terminates, remaining step all needs manually to complete.
Step 8, PLC send rotation luffing order, and control grab bucket runs to setting discharging coordinate position；
Specially：PLC sends rotation luffing order to control unit, passes to corresponding inversion dress by control unit afterwards
Startup luffing motor and electric rotating machine is put, wherein the 3rd inverter drives luffing motor, the 4th inverter and the 5th inversion
Device drives electric rotating machine respectively；Grab bucket is driven to carry out luffing and rotation simultaneously；Grab bucket is run to into setting discharging coordinate position；
Each direct-connected incremental encoder, each incremental encoder and corresponding electricity after luffing motor and spin motor shaft
Machine connecting shaft rotates at the same speed；Each connect an absolute encoder after the speed reduction box shaft of electric rotating machine and luffing motor connection respectively
Device, absolute value encoder are coaxially rotated at the same speed with reduction box, and incremental encoder signal is introduced directly into the inverter of each motor, absolutely
To being worth the angle of encoder record grab bucket, position and amplitude information introduce PLC, through the particular location that PLC calculates grab bucket, enter one
Step judges whether in place grab bucket runs to setting discharging coordinate position.
During automatic running, workman runs to setting discharging coordinate position and carries out manual intervention adjustment to grab bucket, and
Automatic Memory after the adjustment, feeding discharging automated procedure next time can run to setting according to the grab bucket after manual intervention adjustment
Discharging coordinate position is operated；After manual intervention terminates, remaining step all needs manually to complete.
After step 9, grab bucket run to setting discharging coordinate position, bucket discharging is opened in grab bucket, completes a feeding discharging
Journey.
The system increases absolute value encoder, tension pick-up at hoisting drum, and electric rotating machine and luffing motor are same
Increase absolute value encoder, real time rotation angle, luffing amplitude and lifting capacity can be accurately detected, according to the coordinate of setting
Complete automatic flow.
Claims (6)
1. a kind of high pedestal jib crane semiautomatic control method, based on PLC and rectification module, inverter and control unit are real-time
Carry out data exchange, it is characterised in that comprise the following steps that：
Step one, PLC send startup order to control unit, and control unit starts rectification module, is initialized by rectification module
The grab bucket of high pedestal jib crane is simultaneously returned to initial position by setting high pedestal jib crane；
Initializing set high pedestal jib crane includes the job area for setting high pedestal jib crane, setting feeding coordinate and discharging
Coordinate；
Step 2, the grab bucket state for judging high pedestal jib crane, if light condition, enter step 3 after opening automatically bucket；It is no
Then bucket-shaped state is closed for heavy duty, into step 8；
Step 3, PLC send rotation luffing order, and control grab bucket runs to setting feeding coordinate position；
Specially：PLC sends rotation luffing order to control unit, passes to inverter, inversion dress by control unit afterwards
The 3rd inverter in putting drives luffing motor, the 4th inverter and the 5th inverter to drive electric rotating machine respectively, together
When drive grab bucket carry out luffing and rotation, by grab bucket run to setting feeding coordinate position；
Step 4, judge grab bucket whether run in place；If it is, entering step 5, otherwise continue step 3, during coordinate people
Work is adjusted, by grab bucket operation in place, into step 5；
Step 5, PLC send decline order, and control grab bucket drops to feeding position；
Specially：PLC sends decline order to control unit, passes to inverter by control unit afterwards, in inverter
The first inverter drive lifting motor, lifting motor drive hoisting drum be moved downwardly to feeding position；
Step 6, drop to feeding position after, grab bucket deep-cut automatically and close；
Specially：PLC sends and closes bucket and low speed decline order to control unit, passes to inverter by control unit afterwards,
Second inverter driven opening/closing motor in inverter, band movable reel complete on-off action；
Step 7, PLC send raising order, and control has been grabbed bucket and has been raised to default discharging height；
Specially：PLC sends raising order to control unit, passes to inverter, the first inverter in inverter
Lifting motor, lifting motor is driven to drive hoisting drum to move upward to default discharging height；
Step 8, PLC send rotation luffing order, and control grab bucket runs to setting discharging coordinate position；
Specially：PLC sends rotation luffing order to control unit, passes to corresponding inverter by control unit afterwards and opens
Dynamic luffing motor and electric rotating machine, wherein the 3rd inverter drive luffing motor, the 4th inverter and the 5th inverter
Electric rotating machine is driven respectively；Grab bucket is driven to carry out luffing and rotation simultaneously；Grab bucket is run to into setting discharging coordinate position；
After step 9, grab bucket run to setting discharging coordinate position, bucket discharging is opened in grab bucket, completes a feeding discharge process.
2. a kind of high pedestal jib crane semiautomatic control method as claimed in claim 1, it is characterised in that the step one
In, described control unit connects PLC, rectification module and 5 inverters respectively；5 inverters are followed successively by：First inversion
Device, the second inverter, the 3rd inverter, the 4th inverter and the 5th inverter；First inverter drives
Lifting motor；Second inverter driven opening/closing motor；3rd inverter drives luffing motor, the 4th inverter and the 5th inverse
Become device and drive electric rotating machine respectively.
3. a kind of high pedestal jib crane semiautomatic control method as claimed in claim 1, it is characterised in that the step one
In, the job area of high pedestal jib crane is：Centered on coordinate points O, radius R is, on 1 meter of circumference, to be uniformly distributed 5 points,
A, B, C, D, E is set to successively clockwise；, it is assumed that central point O coordinates are (S, L), and S is angle value, and L is Variable Amplitude, each point coordinates
It is as follows：
A(Sa,La)：Sa=S；La=L+R；
B(Sb,Lb)：Sb=S-ARCSIN (R*SIN108/Lb),C(Sc,Lc)：Sc
=S-ARCSIN (R*SIN36/Lc),D(Sd,Ld)：Sd=S+ARCSIN (R*
SIN36/Lc), Ld=Lc；
E(Se,Le)：Se=S-ARCSIN (R*SIN108/Lb), Le=Lb.
4. a kind of high pedestal jib crane semiautomatic control method as claimed in claim 1, it is characterised in that the step 2
In, the grab bucket of high pedestal jib crane is connected on hoisting drum by steel wire rope, drives the liter of hoisting drum by lifting motor
Drop drive grab bucket move up and down, connect tension pick-up on a steel cord, tension pick-up data transfer in PLC, so as to PLC
The grab bucket state of crane is judged according to lifting capacity.
5. a kind of high pedestal jib crane semiautomatic control method as claimed in claim 1, it is characterised in that the step 4
In, connect absolute value encoder, absolute value encoder and deceleration after the speed reduction box shaft of electric rotating machine and luffing motor connection respectively
Case coaxially rotates at the same speed, and the rotation angle information of absolute value encoder record grab bucket, positional information and luffing amplitude information are introduced
PLC, calculates the particular location of grab bucket through PLC, so as to judge whether grab bucket runs in place.
6. a kind of high pedestal jib crane semiautomatic control method as claimed in claim 1, it is characterised in that the step 3 is arrived
In step 9, when grab bucket operation is not in place, it is adjusted by manual intervention, preserves memory area after adjustment, next time
Feeding discharging automated procedure can be operated according to the grab bucket position after preservation；After the manual intervention of certain step terminates, it is left
Step all needs manually to complete.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510833948.XA CN105253776B (en) | 2015-11-25 | 2015-11-25 | Semi-automatic control method of gantry crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510833948.XA CN105253776B (en) | 2015-11-25 | 2015-11-25 | Semi-automatic control method of gantry crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105253776A CN105253776A (en) | 2016-01-20 |
| CN105253776B true CN105253776B (en) | 2017-03-22 |
Family
ID=55093784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510833948.XA Active CN105253776B (en) | 2015-11-25 | 2015-11-25 | Semi-automatic control method of gantry crane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105253776B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106185636A (en) * | 2016-08-30 | 2016-12-07 | 天津港远航散货码头有限公司 | A kind of bulk goods door machine grab bucket crawl amount real-time control method and system |
| CN108062092A (en) * | 2016-11-07 | 2018-05-22 | 招商局国际信息技术有限公司 | RTG long-range control methods and system |
| CN107720556B (en) * | 2017-10-13 | 2019-09-27 | 上海振华重工电气有限公司 | Automate gantry crane control method and system |
| CN108502696A (en) * | 2018-06-04 | 2018-09-07 | 太仓秦风广告传媒有限公司 | A kind of intelligent container handling method and device based on cylindrical coordinates |
| CN108483208A (en) * | 2018-06-04 | 2018-09-04 | 太仓秦风广告传媒有限公司 | A kind of intelligent container crane based on cylindrical coordinates |
| CN109081245B (en) * | 2018-08-29 | 2020-09-22 | 曹妃甸港集团股份有限公司 | Novel bulk cargo operation method for grab bucket of port portal crane |
| CN111498695B (en) * | 2020-03-25 | 2021-12-03 | 唐山钢铁集团微尔自动化有限公司 | Automatic material taking control system and method for unmanned overhead travelling crane |
| CN111402553B (en) * | 2020-04-27 | 2022-03-18 | 长江三峡通航管理局 | Ship lock anti-collision system with ship blocking rope lowering protection device |
| CN113511591B (en) * | 2021-06-29 | 2023-11-21 | 三一海洋重工有限公司 | Engineering machinery grabbing and discharging control method, device and system |
| CN114476950B (en) * | 2021-12-24 | 2023-10-27 | 南京港机重工制造有限公司 | Grab bucket grabbing amount intelligent control system based on weight sensor signal acquisition |
| CN114671349A (en) * | 2022-02-28 | 2022-06-28 | 张家港港务集团有限公司 | Full-automatic control method and system for gantry crane |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FI102957B (en) * | 1996-08-09 | 1999-03-31 | Kci Kone Cranes Internat Oy | Control system for a lingripscope |
| CN1330545C (en) * | 2005-05-17 | 2007-08-08 | 陈莲秀 | Crab bucket ship unloading new technology |
| CN201553552U (en) * | 2009-10-29 | 2010-08-18 | 岳阳长炼机电工程技术有限公司 | Grab control automatic operation compensator |
| CN201864442U (en) * | 2010-10-28 | 2011-06-15 | 武汉钢铁(集团)公司 | Inverter used for controlling alternating-current brake when electromagnetic lifter is in power failure |
| CN102285592A (en) * | 2011-04-08 | 2011-12-21 | 中交第三航务工程局有限公司 | Lifting bucket control system and control method |
| CN202193554U (en) * | 2011-07-06 | 2012-04-18 | 江苏海隆重机有限公司 | Luffing speed control system for grab bucket of gantry crane |
-
2015
- 2015-11-25 CN CN201510833948.XA patent/CN105253776B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105253776A (en) | 2016-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105253776B (en) | Semi-automatic control method of gantry crane | |
| CN103015474B (en) | Energy-saving grab dredger | |
| CN111377356B (en) | Semi-automatic loading and unloading bridge with path planning algorithm and control method | |
| CN105174072B (en) | Solve handling method and the gantry crane that automated container terminal AGV mutually waits with gantry crane | |
| CN202414811U (en) | Anti-shaking assembling and disassembling bridge for grab bucket | |
| CN205500614U (en) | Permanent overhead all alone heave compensation system of tension | |
| CN111824957A (en) | Control system and control method of multi-layer multi-arm tower crane | |
| CN110817490A (en) | Grab ship unloader and operation method thereof | |
| CN205787682U (en) | Identical tension highline sea Self Adaptive Control make-up system | |
| CN108502733A (en) | A kind of novel tower crane weight safety control method and system | |
| CN201080414Y (en) | Container multipurpose machine for assembling and disassembling door | |
| CN209098046U (en) | Four rope crane location closed loop of one kind chases after rope system | |
| CN203080569U (en) | Energy-saving grab-bucket-type dredger | |
| CN209583430U (en) | A kind of loop wheel machine | |
| CN213445862U (en) | Unmanned crane with automatic picking and hanging device | |
| CN111960291B (en) | Crane control method and system and crane | |
| JP2002234618A (en) | Operating method for unloader | |
| CN209127907U (en) | Portal crane lifting appliance anti-torsion system automatically | |
| CN108190753B (en) | Intelligent container handling system based on polar coordinates | |
| CN108190750B (en) | Intelligent container crane based on polar coordinates | |
| CN207497929U (en) | For the automatic identification equipment of the underwater bulk cargo depth for overhead traveling crane of grabbing bucket | |
| CN205507452U (en) | A motion control system for overhead all alone replenishing device | |
| CN111186768A (en) | Gantry trolley with rotary mechanism and control method thereof | |
| CN108358061B (en) | Intelligent rotation control system of gantry crane lifting appliance | |
| CN108383001A (en) | A kind of intelligent container handling system based on cylindrical coordinates |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |