CN108190750A - One kind is based on polar intelligent container crane - Google Patents
One kind is based on polar intelligent container crane Download PDFInfo
- Publication number
- CN108190750A CN108190750A CN201810046353.3A CN201810046353A CN108190750A CN 108190750 A CN108190750 A CN 108190750A CN 201810046353 A CN201810046353 A CN 201810046353A CN 108190750 A CN108190750 A CN 108190750A
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- Prior art keywords
- container
- processing unit
- polar
- suspender
- control device
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- 238000012545 processing Methods 0.000 claims abstract description 56
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 24
- 230000003028 elevating effect Effects 0.000 claims abstract description 22
- 238000012856 packing Methods 0.000 claims description 8
- 230000007423 decrease Effects 0.000 claims description 3
- 230000001815 facial effect Effects 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 12
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
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
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
- B66C1/06—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means electromagnetic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/101—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means for containers
Abstract
The present invention relates to one kind to be based on polar intelligent container crane, including ontology pallet, pedestal, processing unit, first control device, pedestal is provided with rotary elevating platform, processing unit is connect with first control device, first control device is connect with rotary elevating platform, crane is used for the lifting of container, the container opposite side midpoint of lifting is provided with first position tracking chip, it tracks chip and sends location information to processing unit in first position, processing unit generates the first polar coordinates according to location information, and judge the position of container, and first control device control rotary elevating platform is driven to rotate to container in placed longitudinally according to the position of container, when container is in placed longitudinally, processing unit driving first control device control rotary elevating platform rises.Suspender and container are labeled using polar coordinates, and the control of suspender is carried out according to the corresponding polar coordinates range of container, reaches the container unloading process of automation.
Description
Technical field
The present invention relates to quay transportation field and cargo handling fields more particularly to one kind to be collected based on polar intelligence
Vanning crane.
Background technology
The thriving demand and China's container port throughput of world container transport constantly increase, and container handling technology is filled
Standby and handling technique technique proposes the higher requirement of update, there is an urgent need to develop designing efficient container handling device,
To meet the requirement of Container Transport scale, high speed and automation to stevedoring productivity.Since the nineties, with complete
Ball warp is helped and the growth of trade, container traffic volume increase sharply, in powerful transport requirement and the promotion of good technical economic benefit
Under, bank crane tool new and high technology particularly automated control technology has obtained development in an all-round way, still, the packaging used at present
In the handling system of box terminal, there is it is following the problem of.In general, container terminal can be divided into front of harbour (bank)
With harbour rear (stockyard) two parts, the bank crane in front of harbour is for container to be loaded and unloaded from container ship, harbour
The stockyard at rear is used for stacking container.For the arrangement of storage yard container, by two schemes, a kind of is the side of storage yard container
To the direction for being parallel to container on ship, container direction herein refers to the long axis direction of container.It is another in recent years when heap
Field container direction is different from the direction of container on ship, in recent years, in order to improve the utilization rate of stockyard crane, while also carries
The working efficiency in high stockyard, the following second method arrangement container of generally use, i.e.,：Container direction on container ship
Perpendicular to the container direction in stockyard.For stockyard to the transport between bank crane, at present, used method is by interior
The horizontal transport vehicle of combustion engine driving carries out the transport between harbour front and back, i.e., for unloading, bank crane will
Container is attached to from ship on horizontal transport vehicle, then container is transported to heap field areas by horizontal transport vehicle, by stockyard lifting
Machine slings container from vehicle, is aligned on stockyard.For container car, by stockyard crane by container from stockyard
It slings, is put on vehicle, then container is transported to below bank crane by horizontal transport vehicle, complete to fill by bank crane
Vehicle.
Invention content
Goal of the invention：
In view of the above-mentioned problems, the present invention, which provides one kind, is based on polar intelligent container crane.
Technical solution：
One kind is based on polar intelligent container crane, including：Ontology pallet, pedestal, processing unit, the first control dress
It puts, the pedestal is provided with rotary elevating platform, and the processing unit is connect with the first control device, the first control dress
It puts and is connect with the rotary elevating platform, the crane is used for the lifting of container, for the container opposite side midpoint of lifting
First position tracking chip is provided with, the first position tracks chip and sends location information, the place to the processing unit
It manages device and the first polar coordinates is generated according to the location information, the processing unit judges the collection according to first polar coordinates
The position of vanning, and according to the position of the container drive the first control device control the rotary elevating platform rotate to
The container is in placed longitudinally, when the container is in placed longitudinally, processing unit driving the first control dress
The control rotary elevating platform is put to rise.
As a kind of preferred embodiment of the present invention, the ontology pallet includes pallet face, pallet foot, beam bridge frame, suspender, leads
Rail mechanism, the suspender set magnechuck, and the beam bridge frame is connect with the pallet foot, the pallet face and the beam bridge frame
Connection, the guide rail mechanism are set to pallet face bottom end.
As a kind of preferred embodiment of the present invention, the electromagnetism is contacted when the rotary elevating platform rises to the container
During sucker, the magnechuck adsorbs the container, and the processing unit drives the first control device to control the rotation
Turn lifting platform decline.
As a kind of preferred embodiment of the present invention, the pallet face is consistent with the pedestal area, the processing unit root
The first polar coordinate system is generated according to the base profile, the processing unit generates the second polar coordinates according to the pallet facial contour
System, first polar coordinate system are consistent with second polar coordinate system.
As a kind of preferred embodiment of the present invention, further include second control device, the second control device respectively with institute
Processing unit and suspender connection are stated, the midpoint of container top center line is provided with described in second position tracking chip 18
Location information the second polar coordinates of generation that device tracks chip 18 according to the second position are managed, the processing unit is according to
Second polar coordinates drive the second control device that the suspender is controlled to slide into second polar coordinate position.
As a kind of preferred embodiment of the present invention, the pallet foot plate surface is provided with wheel, and the wheel is set to described
The midline on pallet foot ground.
As a kind of preferred embodiment of the present invention, sliding rail is further included, the sliding rail is set to the pedestal both sides, the cunning
The length of rail is twice of the base length, and the wheel is set to the sliding rail, and described sliding rail one end is pedestal, the other end
For container packing area, there are three parking stall, the parking stall is longitudinal parking stall for the container packing area setting, and the parking stall is lateral
Arrangement.
As a kind of preferred embodiment of the present invention, including three suspenders, the suspender is corresponding with the parking stall respectively.
As a kind of preferred embodiment of the present invention, suspender operating position, the operating position are set on the sliding rail
To correspond to the position of the parking stall respectively, the operating position is corresponded with the suspender, and the processing unit is according to
Suspender and the correspondence of parking stall send control instruction to the second control device, are hung described in the second control device control
Tool slides into corresponding position, and work polar coordinate position is presented as in the suspender operating position in the processing unit.
As a kind of preferred embodiment of the present invention, the crane, sliding rail are provided with protection wall, the guarantor outside pedestal
Revetment wall top is arch wall top.
The present invention realizes following advantageous effect：
1. being labeled using polar coordinates to suspender and container, and suspender is carried out according to the corresponding polar coordinates range of container
Control, so as to reach the container of automation unloading process.
2. being labeled using polar coordinates to container car, and compared, passed through with the polar coordinates of suspender and container
Comparison situation carries out the control of suspender, so as to reach the container entrucking process of automation.
Description of the drawings
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and in specification together for explaining the principle of the disclosure.
Fig. 1 is crane schematic diagram；
Fig. 2 is pallet face bottom view；
Fig. 3 is suspender schematic diagram；
Fig. 4 is system framework figure；
Fig. 5 is three schematic diagram of embodiment.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one：
Reference chart is Fig. 1-4.One kind is based on polar intelligent container crane, including：Ontology pallet 1, pedestal 2, processing
Device 3, first control device 4, the pedestal 2 are provided with rotary elevating platform 5, and the processing unit 3 is filled with the described first control
4 connections are put, the first control device 4 is connect with the rotary elevating platform 5, and the crane is used for the lifting of container, is used
The container opposite side midpoint of lifting is provided with first position tracking chip 6, chip 6 is tracked to the place in the first position
It manages device 3 and sends location information, the processing unit 3 generates the first polar coordinates, the processing unit 3 according to the location information
The position of the container is judged according to first polar coordinates, and according to the position of container driving first control
It is in placed longitudinally that device 4, which controls the rotary elevating platform 5 to rotate to the container, when the container is in placed longitudinally,
The processing unit 3 drives the first control device 4 that the rotary elevating platform 5 is controlled to rise.
As a kind of preferred embodiment of the present invention, the ontology pallet 1 includes pallet face 7, pallet foot 8, beam bridge frame 9, hangs
Tool 10, guide rail mechanism 11, the suspender 10 set magnechuck 12, and the beam bridge frame 9 is connect with the pallet foot 8, the frame
Table top 7 is connect with the beam bridge frame 9, and the guide rail mechanism 11 is set to 7 bottom end of pallet face.
As a kind of preferred embodiment of the present invention, the electricity is contacted when the rotary elevating platform 5 rises to the container
During magnetic-disc 12, the magnechuck 12 adsorbs the container, and the processing unit 3 drives the first control device 4 to control
The rotary elevating platform 5 is made to decline.
As a kind of preferred embodiment of the present invention, the pallet face 7 is consistent with 2 area of pedestal, the processing unit 3
First polar coordinate system is generated according to 2 profile of pedestal, the processing unit 3 generates the second pole according to 7 profile of pallet face
Coordinate system, first polar coordinate system are consistent with second polar coordinate system.
As a kind of preferred embodiment of the present invention, second control device 13 is further included, the second control device 13 is distinguished
It is connect with the processing unit 3 and suspender 10, the midpoint of container top center line is provided with second position tracking chip
The location information that 18 processing units 3 track chip 18 according to the second position generates the second polar coordinates, the processing dress
Put 3 drives the second control device 13 that the suspender 10 is controlled to slide into second polar coordinates according to second polar coordinates
Position.
In specific implementation process, the processing unit 3 generates the first polar coordinate system according to 2 profile of pedestal, described
Processing unit 3 generates the second polar coordinate system, first polar coordinate system and second polar coordinates according to 7 profile of pallet face
System is consistent, i.e., described first polar coordinate system and the second polar coordinate system are presented Chong Die shape from the vertical view of space, and described first
Polar coordinates point in polar coordinate system can map to second polar coordinate system.The first position tracking chip set on container
6, the first position tracking chip 6 sends the first trace location, and the second tracking chip sends the second trace location, described
Processing unit 3 generates the first polar coordinates according to first trace location, and first polar coordinates are created on first pole and sit
Chip 6 is tracked according to the different first position in position by mark system, and first polar coordinates are divided into the first polar coordinates A and the first pole
Coordinate B.The processing unit 3 judges the container position according to the first polar coordinates A and the second polar coordinates B, if institute
When stating processing unit 3 and judging the container longitudinal direction, the processing unit 3 generates the second pole according to second trace location and sits
Mark, second polar coordinates are created on second polar coordinate system, and the processing unit 3 is according to second polar coordinates to described
Second control device 13 sends the second control instruction, and the second control device 13 is according to controlling second control instruction
Suspender 10 slides into second polar coordinate position.It is noted that second polar coordinates are sat simultaneously in first pole
It is generated in mark system, the second polar coordinates in first polar coordinate system and the second polar coordinates in second polar coordinate system
It is spatially consistent.When the suspender 10 slides into second polar coordinate position, the processing unit 3 is controlled to described first
Device 4 sends climb command, and the first control device 4 controls the rotary elevating platform 5 to rise to the container contact, institute
It states magnechuck 12 and adsorbs the container, the processing unit 3 is sent to the first control device 4 declines instruction, described
First control device 4 declines according to the instruction control rotary elevating platform 5 that declines.
By above-mentioned steps, the crane completes the process of container hoisting.
Embodiment two：
Reference chart is Fig. 1-4.For embodiment one, the difference of the present embodiment is：
As a kind of preferred embodiment of the present invention, 8 bottom surface of pallet foot is provided with wheel 14, and the wheel 14 is set to described
The midline on 8 ground of pallet foot.
As a kind of preferred embodiment of the present invention, sliding rail 15 is further included, the sliding rail 15 is set to 2 both sides of pedestal,
The length of the sliding rail 15 is twice of 2 length of pedestal, and the wheel 14 is set to the sliding rail 15, the sliding rail 15 1
It holds as pedestal 2, the other end is container packing area, and there are three parking stalls 16 for the container packing area setting, and the parking stall 16 is
Longitudinal parking stall 16, the parking stall 16 are transversely arranged.
As a kind of preferred embodiment of the present invention, including three suspenders 10, the suspender 10 is right with the parking stall 16 respectively
It should.
As a kind of preferred embodiment of the present invention, 10 operating position of suspender, the work are set on the sliding rail 15
Position is the position for corresponding to the parking stall 16 respectively, and the operating position is corresponded with the suspender 10, the processing unit 3
Control instruction, second control are sent to the second control device 13 according to the suspender 10 and the correspondence of parking stall 16
Device 13 controls the suspender 10 to slide into corresponding position, and 10 operating position of suspender is embodied in the processing unit 3
For the polar coordinate position that works.
In specific implementation process, when the magnechuck 12 adsorbs the container, the processing unit 3 is to described
Driving motor sends climb command, the winding roller that the driving motor has according to the climb command control driving motor
Reversely rotate and withdraw steel cable and container, and control the crane using the wheel 14 along the sliding rail 15 to institute
State the movement of container packing area.When the crane slides into 15 end of sliding rail, the processing unit 3 drives the drive
Dynamic motor controls the entrucking process of the progress of suspender 10 container.
The pallet face 7 is divided into the part of left, center, right three by the processing unit 3, meanwhile, corresponding left, center, right three
A countertop segment and container car parking stall 16 are provided with three suspenders 10.The container packing area is provided with left, center, right
The parking stall 16 of three container cars is correspondingly arranged in the collection respectively with the relevant suspender 10 in the three pallet faces in left, center, right, 7 part
The parking stall 16 of three container cars in left, center, right in vanning vanning area.While three parts in left, center, right are divided, simultaneously
Three parts, the corresponding part in second polar coordinate system sets work polar coordinate position respectively.When the described first control
Device 4 controls the rotary elevating platform 5 to rise, and when the magnechuck 12 adsorbs container, the processing unit 3 is to described the
Two control devices 13 send the second control instruction, and the second control device 13 controls three suspenders 10 to slide to corresponding work respectively
Make polar coordinate position.
It is noted that the operating position of the suspender 10 is located on the center line extended line of the parking stall 16, with toilet
Stating crane accurately can be filled to the container crane on the container car being parked on the parking stall 16.
Embodiment three：
Reference chart is Fig. 5.For embodiment one, the difference of the present embodiment is：
As a kind of preferred embodiment of the present invention, the crane, sliding rail 15 are provided with protection wall 17, the guarantor outside pedestal 2
17 wall top of revetment is arch wall top.
In specific implementation process, the protection wall 17 prevents because sleety weather, the weather such as be exposed to the sun lead to pedestal 2, sliding
There is situation about damaging in rail 15, crane, while also prevent during the work time, because there is sundries accumulation, impacting.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. one kind is based on polar intelligent container crane, including：Ontology pallet, pedestal, processing unit, the first control dress
It puts, the pedestal is provided with rotary elevating platform, and the processing unit is connect with the first control device, the first control dress
It puts and is connect with the rotary elevating platform, the crane is used for the lifting of container, it is characterised in that：For the container of lifting
Opposite side midpoint is provided with first position tracking chip, and the first position tracks chip and sends position letter to the processing unit
Breath, the processing unit generate the first polar coordinates according to the location information, and the processing unit is according to first polar coordinates
Judge the position of the container, and the first control device control rotation is driven to rise according to the position of the container
It is in placed longitudinally that drop platform, which is rotated to the container, when the container is in placed longitudinally, described in the processing unit driving
First control device controls the rotary elevating platform to rise.
It is 2. according to claim 1 a kind of based on polar intelligent container crane, it is characterised in that：The ontology
Pallet includes pallet face, pallet foot, beam bridge frame, suspender, guide rail mechanism, and the suspender sets magnechuck, the beam bridge frame with
The pallet foot connection, the pallet face are connect with the beam bridge frame, and the guide rail mechanism is set to pallet face bottom end.
It is 3. according to claim 2 a kind of based on polar intelligent container crane, it is characterised in that：When the rotation
When turning lifting platform and rising to the container and contact the magnechuck, the magnechuck adsorbs the container, the place
Managing device drives the first control device that the rotary elevating platform is controlled to decline.
It is 4. according to claim 1 a kind of based on polar intelligent container crane, it is characterised in that：The pallet
Face is consistent with the pedestal area, and the processing unit generates the first polar coordinate system, the processing dress according to the base profile
It puts and the second polar coordinate system is generated according to the pallet facial contour, first polar coordinate system is consistent with second polar coordinate system.
It is 5. according to claim 4 a kind of based on polar intelligent container crane, it is characterised in that：Further include
Two control devices, the second control device are connect respectively with the processing unit and suspender, container top center line
Midpoint is provided with the position letter that processing unit described in second position tracking chip 18 tracks chip 18 according to the second position
Breath the second polar coordinates of generation, the processing unit are hung according to second polar coordinates drive the second control device control
Tool slides into second polar coordinate position.
It is 6. according to claim 1 a kind of based on polar intelligent container crane, it is characterised in that：The pallet
Foot plate surface is provided with wheel, and the wheel is set to the midline on the pallet foot ground.
It is 7. according to claim 6 a kind of based on polar intelligent container crane, it is characterised in that：Further include cunning
Rail, the sliding rail are set to the pedestal both sides, and the length of the sliding rail is twice of the base length, the wheel setting
In the sliding rail, described sliding rail one end is pedestal, and the other end is container packing area, and there are three the container packing area settings
Parking stall, the parking stall are longitudinal parking stall, and the parking stall is transversely arranged.
It is 8. according to claim 7 a kind of based on polar intelligent container crane, it is characterised in that：Including three
Suspender, the suspender are corresponding with the parking stall respectively.
It is 9. according to claim 8 a kind of based on polar intelligent container crane, it is characterised in that：In the cunning
Suspender operating position is set on rail, the operating position is the position for corresponding to the parking stall respectively, the operating position and institute
Suspender one-to-one correspondence is stated, the processing unit is sent according to the suspender and the correspondence of parking stall to the second control device
Control instruction, the second control device control the suspender to slide into corresponding position, and the suspender operating position is described
Work polar coordinate position is presented as in processing unit.
10. one kind according to claims 1 to 9 is based on polar intelligent container crane, it is characterised in that：It is described
Crane, sliding rail are provided with protection wall outside pedestal, and the protection wall wall top is arch wall top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810046353.3A CN108190750B (en) | 2018-01-17 | 2018-01-17 | Intelligent container crane based on polar coordinates |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810046353.3A CN108190750B (en) | 2018-01-17 | 2018-01-17 | Intelligent container crane based on polar coordinates |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108190750A true CN108190750A (en) | 2018-06-22 |
| CN108190750B CN108190750B (en) | 2020-06-16 |
Family
ID=62590063
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810046353.3A Active CN108190750B (en) | 2018-01-17 | 2018-01-17 | Intelligent container crane based on polar coordinates |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108190750B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4004156A (en) * | 1975-11-26 | 1977-01-18 | Schuller Ronald M | Single bus DC control circuit |
| US20030077149A1 (en) * | 2001-09-14 | 2003-04-24 | Gottwald Port Technology Gmbh & Co. Kg | Loading device for ISO containers |
| CN104379489A (en) * | 2013-01-28 | 2015-02-25 | 三菱重工机械科技株式会社 | Container crane |
-
2018
- 2018-01-17 CN CN201810046353.3A patent/CN108190750B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4004156A (en) * | 1975-11-26 | 1977-01-18 | Schuller Ronald M | Single bus DC control circuit |
| US20030077149A1 (en) * | 2001-09-14 | 2003-04-24 | Gottwald Port Technology Gmbh & Co. Kg | Loading device for ISO containers |
| CN104379489A (en) * | 2013-01-28 | 2015-02-25 | 三菱重工机械科技株式会社 | Container crane |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
|---|---|
| CN108190750B (en) | 2020-06-16 |
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Effective date of registration: 20200521 Address after: 317100, No. 16, Binhai New Town, three port road, Taizhou County, Zhejiang Applicant after: Yango Technology Co.,Ltd. Address before: 215400 Taicang Economic Development Zone, Jiangsu, Beijing West Road, No. 6, No. Applicant before: SUZHOU CHENGMAN INFORMATION TECHNOLOGY Co.,Ltd. |
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Denomination of invention: An intelligent container crane based on polar coordinates Effective date of registration: 20231117 Granted publication date: 20200616 Pledgee: Agricultural Bank of China Limited by Share Ltd. three county sub branch Pledgor: Yango Technology Co.,Ltd. Registration number: Y2023330002687 |
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