CN106185624A - Crane hanger anti-swing mechanism and anti-shake stay cord tension control system - Google Patents

Crane hanger anti-swing mechanism and anti-shake stay cord tension control system Download PDF

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Publication number
CN106185624A
CN106185624A CN201610775538.9A CN201610775538A CN106185624A CN 106185624 A CN106185624 A CN 106185624A CN 201610775538 A CN201610775538 A CN 201610775538A CN 106185624 A CN106185624 A CN 106185624A
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CN
China
Prior art keywords
stay cord
suspender
shaking
swing
shakes
Prior art date
Application number
CN201610775538.9A
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Chinese (zh)
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CN106185624B (en
Inventor
龚志明
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河南卫华机械工程研究院有限公司
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Priority to CN201610775538.9A priority Critical patent/CN106185624B/en
Publication of CN106185624A publication Critical patent/CN106185624A/en
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Publication of CN106185624B publication Critical patent/CN106185624B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/04Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66DCAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28Other constructional details
    • B66D1/40Control devices

Abstract

The invention discloses crane hanger anti-swing mechanism, also include preventing shaking stay cord, the anti-one ends wound shaking stay cord shakes on stay cord reel anti-, the anti-stay cord reel that shakes passes through decelerator and prevents that shaking stay cord reel motor is connected, the anti-stay cord reel motor that shakes waves dynamic detector with suspender and is connected, suspender waves dynamic detector and is connected with converter, and converter is connected with stay cord tension controller;The anti-other end shaking stay cord is wrapped on hoisting drum, and the anti-stay cord that shakes is through the first movable pulley being fixed on suspender and the fixed pulley being fixed on monkey;Also including raising line, one end of raising line is fixed on monkey, and the other end shakes stay cord be wrapped on hoisting drum together with identical winding direction with anti-, and raising line is through the second movable pulley being fixed on suspender.By the control to each anti-tension force shaking stay cord, stay cord tension controller also position to suspender can do small adjustment and controls when needed.

Description

Crane hanger anti-swing mechanism and anti-shake stay cord tension control system

Technical field

The invention belongs to crane technical field, be specifically related to a kind of crane hanger anti-swing mechanism and prevent shaking stay cord tension force Control system.

Background technology

The various cranes with special hanger, the container crane particularly used in a large number at railway and harbour, work Making rank high, the speed of service is fast, and suspender rocking-prevention function is had the highest requirement.In order to solve this problem, commonly use at present The device that torque motor is combined with one-way clutch and brake, hydraulic damping device, or the scheme of simple torque motor are come Solve the problem that suspender waves.Existing suspender is anti-shakes scheme, and some scheme mechanical mechanisms are the most complicated, and cost is the highest, safeguards tired Difficulty, the anti-weak effect that shakes of some schemes, the effect of actual application is the most not satisfactory.

Summary of the invention

The technical problem to be solved in the present invention is to have the suspender of the crane of special hanger, particularly container crane Flapping issue, the control of each anti-tension force shaking stay cord, stay cord tension controller also can position to suspender do micro-when needed Little adjustment controls, and for solving the problems referred to above, the present invention provides a kind of crane hanger anti-swing mechanism and prevents shaking stay cord tension force control System processed.

It is an object of the invention to realize in the following manner:

Crane hanger anti-swing mechanism, including monkey, also includes preventing shaking stay cord, and the anti-one ends wound shaking stay cord shakes anti- On stay cord reel, the anti-stay cord reel that shakes passes through decelerator and prevents that shaking stay cord reel motor is connected, and prevents shaking stay cord reel motor and hanging Tool waves dynamic detector and connects, and suspender waves dynamic detector and is connected with converter, and converter is with stay cord tension controller even Connect;The anti-other end shaking stay cord is wrapped on hoisting drum, and the anti-stay cord that shakes passes the first movable pulley being fixed on suspender with solid Fixed pulley on monkey;Also including raising line, one end of raising line is fixed on monkey, the other end with Preventing that shaking stay cord is wrapped on hoisting drum together with identical winding direction, raising line is dynamic sliding through second be fixed on suspender Wheel;Described suspender waves dynamic detector and also shakes stay cord reel with anti-or anti-shake stay cord reel motor and is connected, described prevents shaking stay cord Reel, decelerator, anti-shake stay cord reel motor, suspender waves dynamic detector, converter and stay cord tension controller are respectively provided with On monkey.

Described crane hanger anti-swing mechanism is two groups, and two groups of crane hanger anti-swing mechanisms are along the vertical central plane of suspender Be symmetrical arranged, and with identical oblique angle respectively to the oblique side at two angles to tension suspender.

Described crane hanger anti-swing mechanism is at least four groups, and is even number set, and crane hanger anti-swing mechanism is along suspender Vertical central plane be symmetrical arranged, and with identical oblique angle respectively to oblique side to tension suspender.

Described first movable pulley, fixed pulley and the second movable pulley are at least one, and the first movable pulley, fixed pulley and The quantity of two movable pulleys is equal.

It is to be installed on to prevent shaking stay cord reel or preventing shaking the rotation on stay cord reel motor that described suspender waves dynamic detector Encoder.

It is applied to the anti-stay cord tension control system that shakes of above-mentioned crane hanger anti-swing mechanism, described stay cord tension controller According to anti-shaking the suspender on stay cord reel motor and wave the signal that dynamic detector obtains and calculate each and anti-shake stay cord from being arranged on Rope closing or put rope speed, and then judge the swinging condition of suspender;According to the swinging condition of suspender, stay cord tension controller passes through Can directly each anti-driving torque shaking stay cord reel motor of Frequency Converter Control of feedback energy or the anti-rotation shaking stay cord reel Direction and rotating cycle, make the anti-stay cord that shakes that the active force of suspender to point to rightabout that suspender waves all the time, and allow anti-shaking draw The maximum strain of rope, thus on the one hand prevent suspender from producing and wave, on the other hand in the case of suspender has waved, consume Load wave energy, make suspender wave amplitude reduce until completely stop wave.

Described crane hanger anti-swing mechanism is four groups, and four groups of crane hanger anti-swing mechanisms are along the vertical central plane of suspender Be symmetrical arranged, and with identical oblique angle respectively to the oblique side at four angles to tension suspender.

Described stay cord tension controller anti-shakes stay cord tension force, and to control computational methods as follows:

WithV LF V LB V RF WithV RB Before the most left front (Left Front), left back (Left Back), the right side (Right Front) With (Right Back) behind the right side 4 anti-rope closing speed shaking stay cord;When preventing shaking stay cord rope closing, its rope closing speed is just, when putting rope Its value is negative;WithV A ForV LF V LB V RF WithV RB Meansigma methods, allow△V LF = V LF -V A ,△V LB = V LB -V A ,△V RF = V RF -V A With△V RB = V RB -V A , therefore△V LF +△V LB +△V RF +△V RB = 0;Allow△V MIN Dynamic institute is waved for reliable recognition suspender The minimum anti-speed difference shaking stay cord rope closing and putting rope needed;WithF LF F LB F RF WithF RB The most left front, left back, right front and right Rear 4 anti-tension force shaking stay cord control desired value;WithF MAX The anti-maximum shaking stay cord tension force designed for it;WithF MIN For its Keep the anti-minimum tension shaking stay cord tensioning;Dynamic decision condition is waved, the most one by one according to the suspender listed in following table Calculate and judge current suspender wave dynamically, and provide corresponding each and anti-shake stay cord tension forceF LF F LB F RF WithF RB Control Desired value:

Relative to prior art, the present invention Based Intelligent Control by stay cord tension controller, utilize and there is energy feedback function The energy that waves of suspender and load is converted into electric energy and is transmitted back to electrical network by converter, not only eliminates that existing suspender is anti-to be shaken in scheme The problem of masty machinery heating, and energy-conserving and environment-protective.

Hoist owing to preventing that the other end the shaking stay cord raising line with lifting mechanism is wrapped in together with identical winding direction On reel, when hoisting drum rotates, when load rises or falls, the anti-stay cord reel that shakes is without withdrawing rope, and therefore the anti-stay cord that shakes is rolled up Cylinder is the most motionless;Only when load is waved, prevent that shaking stay cord reel just need to carry out the rotation of withdrawing rope.Due to suspender anti-sway system Effect, waving of suspender is the least, thus anti-shake that stay cord reel can do the least, and utilize decelerator speed change, select little The stay cord reel of power drives motor just can produce the biggest anti-tension force shaking stay cord, is effectively improved suspender and prevents shaking efficiency.

By the control to each anti-tension force shaking stay cord, stay cord tension controller also can position to suspender when needed Do small adjustment to control.

Accompanying drawing explanation

Fig. 1 is the structural representation of the present invention.

Wherein, 1 is stay cord tension controller;2 is converter;3 is that suspender waves dynamic detector;4 is that the anti-stay cord that shakes is rolled up Cylinder motor;5 is decelerator;6 is to prevent shaking stay cord reel;7 is fixed pulley;8 is hoisting drum;9 is to prevent shaking stay cord;10 is to hoist Rope;11 is the second movable pulley;12 is suspender;13 is the first movable pulley.

Detailed description of the invention

As shown in Figure 1, crane hanger anti-swing mechanism, including monkey, also include preventing shaking stay cord 9, anti-shaking is drawn The one ends wound of rope 9 shakes on stay cord reel 6 anti-, and the anti-stay cord reel 6 that shakes shakes stay cord reel motor 4 even by decelerator 5 with anti- Connecing, the anti-stay cord reel motor 4 that shakes waves dynamic detector 3 with suspender and is connected, and suspender waves dynamic detector 3 and converter 2 company Connecing, converter 2 is connected with stay cord tension controller 1;The anti-other end shaking stay cord 9 is wrapped on hoisting drum 8, prevents shaking stay cord 9 Through the first movable pulley 13 being fixed on suspender 12 and the fixed pulley 7 being fixed on monkey;Also include raising line 10, One end of raising line 10 is fixed on monkey, and the other end shakes stay cord 9 be wrapped in together with identical winding direction with anti- On hoisting drum 8, raising line 10 is through the second movable pulley 11 being fixed on suspender 12;Described suspender waves dynamic detector 2 Also shake stay cord reel 6 with anti-or anti-shake stay cord reel motor 4 and be connected, described anti-shaking stay cord reel 6, decelerator 5, anti-shake stay cord volume Cylinder motor 4, suspender wave dynamic detector 3, converter 2 and stay cord tension controller 1 and are arranged on monkey.

Crane hanger anti-swing mechanism is two groups, and two groups of crane hanger anti-swing mechanisms are along faced by the vertical centre of suspender 12 Claim arrange, and with identical oblique angle respectively to the oblique side at two angles to tension suspender 12.

Crane hanger anti-swing mechanism is at least four groups, and is even number set, and crane hanger anti-swing mechanism is along suspender 12 Vertical central plane is symmetrical arranged, and with identical oblique angle respectively to oblique side to tension suspender 12.

First movable pulley 13, fixed pulley 7 and the second movable pulley 11 are at least one, and the first movable pulley 13, fixed pulley 7 Equal with the quantity of the second movable pulley 11, prevent shaking stay cord 9 and raising line 10 has the identical multiplying power that hoists.

It is to be installed on to prevent shaking stay cord reel 6 or the anti-rotation volume shaking on stay cord reel motor 4 that suspender waves dynamic detector 3 Code device.

It is applied to the anti-stay cord tension control system that shakes of above-mentioned crane hanger anti-swing mechanism, stay cord tension controller 1 According to anti-shaking the suspender on stay cord reel motor 4 and wave the signal that dynamic detector 3 obtains and calculate each and anti-shake stay cord 9 from being arranged on Rope closing or put rope speed, and then judge the swinging condition of suspender 12;According to the swinging condition of suspender, stay cord tension controller 1 By the converter 2 of direct feedback energy each anti-driving torque shaking stay cord reel motor 4 can be controlled or anti-shakes stay cord reel 6 Direction of rotation and rotating cycle, make anti-to shake stay cord 9 active force of suspender 12 is pointed to rightabout that suspender 12 waves all the time, And allow the anti-maximum strain shaking stay cord 9, thus on the one hand prevent suspender 12 from producing and wave, on the other hand shake at suspender 12 In the case of pendulum, consumable load wave energy, make suspender 12 wave amplitude reduce until completely stop wave.

Crane hanger anti-swing mechanism is four groups, and four groups of crane hanger anti-swing mechanisms are along faced by the vertical centre of suspender 12 Claim arrange, and with identical oblique angle respectively to the oblique side at four angles to tension suspender 12.

Stay cord tension controller 1 anti-shakes stay cord tension force, and to control computational methods as follows:

WithV LF V LB V RF WithV RB Before the most left front (Left Front), left back (Left Back), the right side (Right Front) With (Right Back) behind the right side 4 anti-rope closing speed shaking stay cord;When preventing shaking stay cord rope closing, its rope closing speed is just, when putting rope Its value is negative;WithV A ForV LF V LB V RF WithV RB Meansigma methods, allow△V LF = V LF -V A ,△V LB = V LB -V A ,△V RF = V RF -V A With△V RB = V RB -V A , therefore△V LF +△V LB +△V RF +△V RB = 0;Allow△V MIN Dynamic institute is waved for reliable recognition suspender The minimum anti-speed difference shaking stay cord rope closing and putting rope needed;WithF LF F LB F RF WithF RB The most left front, left back, right front and right Rear 4 anti-tension force shaking stay cord control desired value;WithF MAX The anti-maximum shaking stay cord tension force designed for it;WithF MIN For its Keep the anti-minimum tension shaking stay cord tensioning;Dynamic decision condition is waved, the most one by one according to the suspender listed in following table Calculate and judge current suspender wave dynamically, and provide corresponding each and anti-shake stay cord tension forceF LF F LB F RF WithF RB Control Desired value:

The work process of the present invention is as follows: open crane hanger, the suspender folding and unfolding raising and lowering by raising line, if suspender Do not wave, then the anti-stay cord reel that shakes is without withdrawing rope, only when suspender waves, prevents that shaking stay cord reel just need to carry out withdrawing rope Rotation;Stay cord tension controller 1 is according to anti-shaking the suspender on stay cord reel motor 4 and wave dynamic detector 3 from being arranged on To signal calculate each and anti-shake the rope closing of stay cord 9 or put rope speed, and then judge the swinging condition of suspender 12;According to suspender Swinging condition, stay cord tension controller 1 is by directly controlling each and prevent shaking stay cord reel motor 4 by the converter 2 of feedback energy Driving torque or anti-direction of rotation and the rotating cycle shaking stay cord reel 6, make anti-to shake stay cord 9 to the active force of suspender 12 all the time Point to the rightabout that waves of suspender 12, and allow the anti-maximum strain shaking stay cord 9, thus on the one hand prevent suspender 12 from producing and shake Pendulum, on the other hand in the case of suspender 12 has waved, consumable load wave energy, make the amplitude of waving of suspender 12 reduce Until stopping waving completely.

Above-described is only the preferred embodiment of the present invention, it is noted that for a person skilled in the art, Without departing under general idea premise of the present invention, it is also possible to making some changes and improvements, these also should be considered as the present invention's Protection domain.

Claims (8)

1. crane hanger anti-swing mechanism, including monkey, it is characterised in that: also include preventing shaking stay cord (9), prevent shaking stay cord (9) one ends wound shakes on stay cord reel (6) anti-, and the anti-stay cord reel (6) that shakes shakes stay cord reel electricity by decelerator (5) with anti- Machine (4) connects, and anti-stay cord reel motor (4) that shakes waves dynamic detector (3) and is connected with suspender, and suspender waves dynamic detector (3) being connected with converter (2), converter (2) is connected with stay cord tension controller (1);The anti-other end shaking stay cord (9) is wrapped in On hoisting drum (8), anti-shake stay cord (9) through the first movable pulley (13) being fixed on suspender (12) and to be fixed on crane little Fixed pulley (7) on car;Also include that raising line (10), one end of raising line (10) are fixed on monkey, the other end with Preventing that shaking stay cord (9) is wrapped on hoisting drum (8) together with identical winding direction, raising line (10) is through being fixed on suspender (12) the second movable pulley (11) on;Described suspender waves dynamic detector (2) and also shakes stay cord reel (6) with anti-or prevent shaking stay cord Reel motor (4) connects, described anti-shake stay cord reel (6), decelerator (5), anti-shake stay cord reel motor (4), suspender waves dynamic State detector (3), converter (2) and stay cord tension controller (1) are arranged on monkey.
Crane hanger anti-swing mechanism the most according to claim 1, it is characterised in that: described crane hanger anti-swing mechanism Being two groups, two groups of crane hanger anti-swing mechanisms are symmetrical arranged along the vertical central plane of suspender (12), and divide with identical oblique angle Not to the oblique side at two angles to tension suspender (12).
Crane hanger anti-swing mechanism the most according to claim 1, it is characterised in that: described crane hanger anti-swing mechanism Being at least four groups, and be even number set, crane hanger anti-swing mechanism is symmetrical arranged along the vertical central plane of suspender (12), and with phase With oblique angle respectively to oblique side to tension suspender (12).
Crane hanger anti-swing mechanism the most according to claim 1, it is characterised in that: described first movable pulley (13), fixed Pulley (7) and the second movable pulley (11) are at least one, and the first movable pulley (13), fixed pulley (7) and the second movable pulley (11) quantity is equal.
Crane hanger anti-swing mechanism the most according to claim 1, it is characterised in that: described suspender waves dynamic detector (3) prevent shaking stay cord reel (6) or preventing shaking the rotary encoder on stay cord reel motor (4) for being installed on.
6. it is applied to arbitrary described the anti-of crane hanger anti-swing mechanism of claim 1-5 and shakes stay cord tension control system, its It is characterised by: described stay cord tension controller (1) basis is waved dynamically from being arranged on the anti-suspender shaken stay cord reel motor (4) The signal that detector (3) obtains calculates each to be prevented shaking the rope closing of stay cord (9) or putting rope speed, and then judges waving of suspender (12) State;According to the swinging condition of suspender, stay cord tension controller (1) is by can the converter (2) of direct feedback energy control respectively The individual anti-driving torque shaking stay cord reel motor (4) or anti-direction of rotation and the rotating cycle shaking stay cord reel (6), make anti-shaking draw The active force of suspender (12) is pointed to the rightabout that suspender (12) waves by rope (9) all the time, and allows the anti-tension force shaking stay cord (9) Bigization, thus on the one hand prevent suspender (12) from producing and wave, on the other hand in the case of suspender (12) has waved, consume and carry Lotus wave energy, make suspender (12) wave amplitude reduce until completely stop wave.
The anti-of crane hanger anti-swing mechanism the most according to claim 6 shakes stay cord tension control system, it is characterised in that: Described crane hanger anti-swing mechanism is four groups, and four groups of crane hanger anti-swing mechanisms are symmetrical along the vertical central plane of suspender (12) Arrange, and with identical oblique angle respectively to the oblique side at four angles to tension suspender (12).
The anti-of crane hanger anti-swing mechanism the most according to claim 7 shakes stay cord tension control system, it is characterised in that: Described stay cord tension controller (1) anti-shakes stay cord tension force, and to control computational methods as follows:
WithV LF V LB V RF WithV RB Before the most left front (Left Front), left back (Left Back), the right side (Right Front) and (Right Back) 4 anti-rope closing speed shaking stay cord behind the right side;When anti-shake stay cord rope closing time its rope closing speed for just, when putting rope its Value is negative;WithV A ForV LF V LB V RF WithV RB Meansigma methods, allow△V LF = V LF -V A ,△V LB = V LB -V A ,△V RF = V RF -V A With V RB = V RB -V A , therefore△V LF +△V LB +△V RF +△V RB = 0;Allow△V MIN Wave the most required for reliable recognition suspender The minimum anti-speed difference shaking stay cord rope closing and putting rope;WithF LF F LB F RF WithF RB The most left front, left back, right before and the right side after 4 Bar prevents that the tension force shaking stay cord controls desired value;WithF MAX The anti-maximum shaking stay cord tension force designed for it;WithF MIN Protect for it Hold the anti-minimum tension shaking stay cord tensioning;Wave dynamic decision condition according to the suspender listed in following table, count the most one by one Calculate and judge current suspender wave dynamically, and provide corresponding each and anti-shake stay cord tension forceF LF F LB F RF WithF RB Control mesh Scale value:
CN201610775538.9A 2016-08-31 2016-08-31 Crane hanger anti-swing mechanism and anti-shake drawstring tension control system CN106185624B (en)

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CN201610775538.9A CN106185624B (en) 2016-08-31 2016-08-31 Crane hanger anti-swing mechanism and anti-shake drawstring tension control system

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CN201610775538.9A CN106185624B (en) 2016-08-31 2016-08-31 Crane hanger anti-swing mechanism and anti-shake drawstring tension control system

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CN106185624B CN106185624B (en) 2019-01-11

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107150952B (en) * 2017-05-22 2018-09-25 河南卫华机械工程研究院有限公司 A kind of container crane and its stabilization method
CN110356972A (en) * 2019-07-23 2019-10-22 东北大学 A kind of anti-beat crane of replaceable suspender

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DE69606974T2 (en) * 1995-08-30 2000-11-16 Kci Konecranes Internat Plc Hy Method and device for controlling the load support element and load from a crane
JP2004035171A (en) * 2002-07-02 2004-02-05 Ishikawajima Transport Machinery Co Ltd Trolley crane and operating method for the same
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CN102976200A (en) * 2012-12-13 2013-03-20 中联重科股份有限公司 Lifting control method, device and system as well as lifting appliance and hoisting machine
CN202936110U (en) * 2012-10-31 2013-05-15 三一集团有限公司 Crane machinery
CN205099211U (en) * 2015-11-12 2016-03-23 河南华东工控技术有限公司 Hoist anti -swing device
WO2016069054A1 (en) * 2014-10-28 2016-05-06 Oceaneeering International, Inc. Suspended load carrying system
CN205500594U (en) * 2015-12-24 2016-08-24 三一海洋重工有限公司 Anti -sway device and hoist of hoist

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Publication number Priority date Publication date Assignee Title
DE69606974T2 (en) * 1995-08-30 2000-11-16 Kci Konecranes Internat Plc Hy Method and device for controlling the load support element and load from a crane
JP2004035171A (en) * 2002-07-02 2004-02-05 Ishikawajima Transport Machinery Co Ltd Trolley crane and operating method for the same
CN100337901C (en) * 2003-04-01 2007-09-19 Kci科恩起重机公开有限公司 Method for controlling spreader in crane
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CN205099211U (en) * 2015-11-12 2016-03-23 河南华东工控技术有限公司 Hoist anti -swing device
CN205500594U (en) * 2015-12-24 2016-08-24 三一海洋重工有限公司 Anti -sway device and hoist of hoist

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107150952B (en) * 2017-05-22 2018-09-25 河南卫华机械工程研究院有限公司 A kind of container crane and its stabilization method
CN110356972A (en) * 2019-07-23 2019-10-22 东北大学 A kind of anti-beat crane of replaceable suspender

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