CN117208797A - Winch lifting height control method and system suitable for overhead vertical wharf - Google Patents
Winch lifting height control method and system suitable for overhead vertical wharf Download PDFInfo
- Publication number
- CN117208797A CN117208797A CN202311100869.9A CN202311100869A CN117208797A CN 117208797 A CN117208797 A CN 117208797A CN 202311100869 A CN202311100869 A CN 202311100869A CN 117208797 A CN117208797 A CN 117208797A
- Authority
- CN
- China
- Prior art keywords
- winch
- cable
- absolute value
- reading
- value encoder
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000004804 winding Methods 0.000 claims abstract description 7
- IAZDPXIOMUYVGZ-UHFFFAOYSA-N Dimethylsulphoxide Chemical compound CS(C)=O IAZDPXIOMUYVGZ-UHFFFAOYSA-N 0.000 claims description 3
- 101000802640 Homo sapiens Lactosylceramide 4-alpha-galactosyltransferase Proteins 0.000 claims description 3
- 102100035838 Lactosylceramide 4-alpha-galactosyltransferase Human genes 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
Abstract
The application discloses a winch lifting height control method and a winch lifting height control system suitable for an overhead vertical wharf, wherein the method comprises the following steps: determining a target cable laying length of a winch according to a target descending position of the cargo lifting device; driving a winch to unwind a cable through a control unit, and acquiring the reading of an absolute value encoder in the winch in real time; the calculation unit calculates the actual cable laying length of the winch according to the readings of the absolute value encoder obtained in real time; when the actual cable laying length reaches the target cable laying length, the winch is driven by the control unit to stop cable laying. According to the application, the actual cable-laying length of the winch is calculated by acquiring the reading of the absolute value encoder in the winch in real time, the cable winding and the cable laying of the winch are controlled by the real-time reading of the absolute value encoder, and the real cable-laying length of the winch can be accurately stopped when reaching the target cable-laying length, so that the cargo lifting device can be stopped at the target descending position, and the accurate and flexible control of the lifting height of the winch is realized.
Description
Technical Field
The application relates to the technical field of wharf equipment, in particular to a winch lifting height control method and system suitable for an overhead vertical wharf.
Background
If the cargo is directly transported to the wharf from the deck of the ship in a lifting manner, the movement of passengers on the deck is affected, the movement of the passengers and the loading and unloading of the cargo are difficult to be carried out simultaneously, and the efficiency of loading and unloading the cargo and the movement of the passengers by the ship is low; if a passage for receiving the cargoes on the ship is formed in the wharf, the level of the water level of the ship can influence the normal operation of the passage, and the cargoes on the ship are difficult to ensure to be safely and rapidly loaded and unloaded. In the prior art, a dock cargo lifting device is proposed, which is provided with a hoistway inside a dock and a cargo lifting device in the hoistway.
In a river area with large water level difference variation, the overhead upright wharf can be used for transporting goods, however, the height difference between the wharf plane and the ship body deck is also changed under the influence of the greatly changed water level and the ship body height, and the goods transportation lifting height is quite frequently changed, so that a method for flexibly and accurately realizing the control of the lifting height is needed when the equipment is used for transporting goods.
Disclosure of Invention
In view of the above-mentioned drawbacks or improvements of the prior art, it is an object of the present application to provide a winch lifting height control method and system suitable for an overhead upright dock.
To achieve the purpose, the application adopts the following technical scheme:
the application provides a winch lifting height control method suitable for an overhead vertical wharf, which comprises the following steps:
determining a target cable laying length of a winch according to a target descending position of the cargo lifting device;
driving a winch to unwind a cable through a control unit, and acquiring the reading of an absolute value encoder in the winch in real time;
the calculation unit calculates the actual cable laying length of the winch according to the readings of the absolute value encoder obtained in real time;
and when the actual cable laying length reaches the target cable laying length, driving the winch to stop cable laying through the control unit.
Further, the step of calculating the actual payout length of the winch according to the real-time reading of the absolute value encoder includes:
acquiring an initial reading of an absolute value encoder when the cargo lifting device is at an initial position;
determining the number of the cable release turns of the winch according to the initial reading and the real-time reading:
ΔN k ＝N k -N 0 ；
wherein DeltaN k The number of the cable laying turns of the winch at the moment k is N k For reading of absolute value encoder at k moment, N 0 Is the initial reading of the absolute value encoder.
Further, the step of calculating the actual payout length of the winch according to the real-time reading of the absolute value encoder further comprises:
determining the number of cable laying layers of cables in the winch according to the number of cable laying turns;
and calculating the actual cable laying length according to the cable laying turns and the cable laying layer number.
Further, the step of determining the number of the cable laying layers of the cables in the winch according to the number of the cable laying turns comprises the following steps:
if the number of turns of the cable is as follows:
wherein a is i The method comprises the steps that the number of turns of winding an ith layer of cable on a winch drum when a cargo lifting device is located at an initial position is set, the nth layer is the nth layer on the winch drum, and the mth layer is the outermost layer on the winch drum when the cargo lifting device is located at the initial position;
it is determined that the cable in the winch has been placed on the nth tier.
Further, the step of calculating the actual cable laying length according to the cable laying turns and the cable laying layer number includes:
according to a calculation formula, determining the diameter of a circle where each layer of cable is positioned on the winch drum:
calculating the actual cable laying length according to the number of cable laying turns, the number of cable laying layers and the diameter of a circle where each layer of cable is located:
wherein D is i The diameter of the circle where the ith layer of cable is located is D is the diameter of a winch drum, D is the diameter of the winch cable, and L f(k) For the actual cable laying length of the winch at time k, L all For the total length of the winch cable D n Is the diameter of the circle where the cable of the nth layer is positioned, L t The length of the rope from the winch drum to the cargo lifting device when the cargo lifting device is located at the initial position.
Further, the control method further includes:
acquiring the cable tension of a winch in real time;
and judging whether the load capacity of the cargo lifting device exceeds the rated load capacity according to the cable tension, and giving an alarm if the load capacity exceeds the rated load capacity.
Further, the step of obtaining the cable tension of the winch in real time includes:
obtaining a stress value of a pin shaft sensor;
according to the stress value of the pin shaft sensor, calculating the cable tension of the winch:
wherein F is c(k) For cable tension at time k, F P(k) The stress value of the pin shaft sensor at the moment k is shown, and delta is the stress coefficient ratio.
Further, the control method further includes:
when the loading of goods is detected to be completed, the control unit drives the winch to retract a cable, and the reading of an absolute value encoder in the winch is obtained in real time;
and when the reading of the absolute value encoder is the same as the initial reading, the control unit drives the winch to stop taking up the cable.
The application also provides a winch lifting height control system suitable for the overhead vertical wharf, which comprises a control unit, a winch, a cargo lifting device and a calculating unit;
the control unit is used for driving the winch to unwind and wind up the cable;
the winch comprises a cable and an absolute value encoder, wherein the cable is connected with the cargo lifting device, and the absolute value encoder is used for obtaining the number of turns of the cable;
and the calculating unit is used for calculating the winch cable-releasing length in real time according to the reading of the absolute value encoder.
Further, the control system also includes a pin sensor coupled to the cable for detecting whether the load of the cargo lift exceeds a rated load.
The application has the beneficial effects that:
the application provides a winch lifting height control method and system suitable for an overhead vertical wharf, wherein the method comprises the following steps: determining a target cable laying length of a winch according to a target descending position of the cargo lifting device; driving a winch to unwind a cable through a control unit, and acquiring the reading of an absolute value encoder in the winch in real time; the calculation unit calculates the actual cable laying length of the winch according to the readings of the absolute value encoder obtained in real time; when the actual cable laying length reaches the target cable laying length, the winch is driven by the control unit to stop cable laying.
According to the application, the actual cable-laying length of the winch is calculated by acquiring the reading of the absolute value encoder in the winch in real time, the cable winding and the cable laying of the winch are controlled by the real-time reading of the absolute value encoder, and the real cable-laying length of the winch can be accurately stopped when reaching the target cable-laying length, so that the cargo lifting device can be stopped at the target descending position, and the accurate and flexible control of the lifting height of the winch is realized.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a winch elevation control method for an overhead upright dock in an embodiment of the present application;
FIG. 2 is a schematic illustration of the operation of the winch in an embodiment of the present application;
FIG. 3 is an axial cross-sectional view of a winch drum in an embodiment of the present application;
FIG. 4 is a schematic tension diagram of a winch cable in an embodiment of the present application;
fig. 5 is a schematic diagram of a winch lift height control system for an overhead upright dock in accordance with an embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present application are shown in the drawings.
In the description of the present application, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless expressly stated otherwise, as understood by those skilled in the art. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It will be understood by those skilled in the art that all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The embodiment provides a winch lifting height control method and system suitable for an overhead vertical dock, which are applied to lifting of goods of the overhead vertical dock in a large water head area.
The flow chart of the winch lifting height control method suitable for the overhead upright wharf provided by the embodiment is shown in fig. 1, and the control method comprises steps S10-60. In this embodiment, a working schematic diagram of the winch is shown in fig. 2, where the winch is disposed on a dock plane, and a cable in the winch is connected to a cargo lifting device disposed in a hoistway disposed along a height direction of the dock.
S10, determining the target cable laying length of the winch according to the target descending position of the cargo lifting device.
It should be noted that, in this embodiment, the target lowering position of the cargo lifting device is the same height as the deck of the berthing ship, that is, a position flush in the horizontal direction, and the lowering of the cargo lifting device from the yard surface to the target lowering position is the payout length of the winch.
S20, driving the winch to unwind through the control unit, and acquiring the reading of an absolute value encoder in the winch in real time.
Referring to fig. 2, in this embodiment, the winch includes a drum, a cable, and an absolute value encoder, and the control unit is configured to reel and reel the cable by driving the drum to rotate, thereby driving the lifting and lowering of the cargo lifting device to which the cable is connected. The absolute value encoder is used for counting the number of the rotation turns of the drum, and the reading of the absolute value encoder reflects the number of the rotation turns of the winch drum.
In this embodiment, the actual cable laying length of the winch is obtained through calculation and conversion by obtaining the reading of the winch absolute value encoder in real time, and when the actual cable laying length reaches the target cable laying length, the cargo lifting device is described to descend to the target descending position.
S30, the calculation unit calculates the actual cable laying length of the winch according to the readings of the absolute value encoder obtained in real time.
S301, acquiring initial readings of an absolute value encoder when the cargo lifting device is at an initial position.
S302, determining the number of the cable-releasing turns of the winch according to the initial reading and the real-time reading:
ΔN k ＝N k -N 0 ；
wherein DeltaN k The number of the cable laying turns of the winch at the moment k is N k For reading of absolute value encoder at k moment, N 0 Is the initial reading of the absolute value encoder.
Generally, the initial reading of the absolute value encoder in the winch is zero when the cargo lifting device is in the initial position. Of course, in some winches, the datum level of the load lifting device is set at another location, at which point the initial reading of the absolute value encoder is a non-zero value when the load lifting device is in the initial position.
It will be appreciated that after the number of payout turns of the winch is determined, a mathematical formula may be established based on the diameter of each payout turn of cable to calculate the actual payout length of the winch.
Referring to fig. 3, when a plurality of layers of cables are wound in the drum of the winch, the diameters of the circles where the cables are located are different, and thus, calculation is required in layers.
S303, determining the cable laying layer number of the cable in the winch according to the cable laying turns.
If the number of turns of the cable is as follows:
wherein a is i The method comprises the steps that the number of turns of winding an ith layer of cable on the winch drum when the cargo lifting device is located at the initial position is set, the nth layer is the nth layer on the winch drum, and the mth layer is the outermost layer on the winch drum when the cargo lifting device is located at the initial position.
It is determined that the cable in the winch has been placed on the nth tier.
For example, if the load hoisting device is in the initial position with seven layers of cables wound around the winch drum, the value of m is equal to 7, i.e. the seventh layer is the outermost layer on the winch drum when the load hoisting device is in the initial position. Further, if in the winch, a 7 Equal to 10, a 6 At a certain moment, when the number of the cable laying turns is equal to 5, the number of the cable laying turns is less than a 7 This isWhen n is equal to 7, the mooring rope in the winch is put on the 7 th layer; likewise, at another moment, the number of turns of the cable is equal to 15, satisfying:
at this point n is equal to 6, i.e. the rope in the winch has been put on layer 6.
It will be appreciated that in practice { a }, when each winch is in the initial position, the number of turns of the cable wound on each layer of the drum is fixed 1 ，...a m The value of } may be pre-stored as a configuration in the computing unit.
S304, calculating the actual cable laying length according to the cable laying turns and the cable laying layer number.
Referring to fig. 3, the axial section of the winch drum is based on the geometric characteristics of the winding of the cables, and a mathematical formula of the diameter of the circle where each layer of cables is located is established.
According to a calculation formula, determining the diameter of a circle where each layer of cable is positioned on the winch drum:
wherein D is i The diameter of the circle where the cable of the ith layer is positioned, D is the diameter of the winch drum, and D is the diameter of the winch cable.
Further, according to the diameter formula of the circle where each layer of cable is located, the number of cable-releasing turns of the winch and the number of cable-releasing layers, the length of the residual cable on the winch drum can be calculated:
wherein L is r(k) For the length of the remaining cable on the winch drum at time k.
Continuing to wind seven layers of cables, a, on the winch drum at the initial position of the goods lifting device 7 Equal to 10, a 6 Equal to 11, the cable laying ringFor example, the number is equal to 15, and at this time, the length of the remaining cable on the winch drum is as follows:
it will be appreciated that in the above formulaThe item indicates the length of cable left in the sixth layer,/->The term indicates the total cable length remaining in the first through fifth layers, the sum of which is the cable length remaining on the drum.
Further, according to the number of cable laying turns, the number of cable laying layers and the diameter of the circle where each layer of cable is located, the actual cable laying length is calculated:
wherein L is f(k) For the actual cable laying length of the winch at time k, L all For the total length of the winch cable D n Is the diameter of the circle where the cable of the nth layer is positioned, L t The length of the rope from the winch drum to the cargo lifting device when the cargo lifting device is located at the initial position.
And S40, when the actual cable laying length reaches the target cable laying length, driving the winch to stop cable laying through the control unit.
When the actual cable laying length reaches the target cable laying length, the cargo lifting device is indicated to reach the target descending position, and at the moment, the winch is driven by the control unit to stop cable laying so as to be convenient for cargo loading.
And S50, when the loading of the goods is detected, the control unit drives the winch to retract the cable, and the reading of an absolute value encoder in the winch is obtained in real time.
And S60, when the reading of the absolute value encoder is the same as the initial reading, the control unit drives the winch to stop the cable winding.
It will be appreciated that when the absolute value encoder readings are the same as the initial position, the cargo lifting device returns to the quay plane, at which point the control unit drives the winch to stop the retraction.
If the unloading position of the cargo lifting device is not located on the wharf plane, the target lifting height of the winch can be determined according to the relative height of the unloading position and the wharf plane. Likewise, the actual lifting height of the winch retraction is controlled to meet the target lifting height by acquiring the reading of the absolute value encoder in real time.
Further, the control method in this embodiment further includes detecting the load capacity of the cargo lifting device through the pin sensor, and performing overweight alarm.
Specifically, a tension schematic diagram of a winch cable is shown in fig. 4, in this embodiment, a stress value of a pin sensor is obtained, and a cable tension of the winch is calculated according to the stress value of the pin sensor:
wherein F is c(k) For cable tension at time k, F P(k) The stress value of the pin shaft sensor at the moment k is shown, and delta is the stress coefficient ratio.
Therefore, the cable tension of the winch can be obtained in real time, whether the loading capacity of the cargo lifting device exceeds the rated carrying capacity is judged according to the cable tension, and if so, an alarm is given.
The embodiment also provides a winch lifting height control system suitable for an overhead upright dock, and a schematic diagram of the winch lifting height control system is shown in fig. 5.
Specifically, the winch lifting height control system suitable for the overhead vertical wharf in the embodiment comprises a control unit, a winch, a cargo lifting device, a calculating unit and a pin shaft sensor.
In this embodiment, the winch includes the winch body, wherein, the winch body includes motor assembly, cylinder and frequency conversion drive assembly. Further, the motor assembly includes a gear motor, a speed reducer, an incremental encoder, and an electromagnetic brake. The rollers consist of a first roller with rope grooves, a second roller with rope grooves, a third roller with rope grooves, a fourth roller with rope grooves, a baffle plate, an electromagnetic self-braking safety brake and an absolute value encoder. Wherein, the motor assembly is connected with the roller assembly through the coupler.
The variable frequency drive assembly comprises a variable frequency drive cabinet which is connected to the gear motor through a cable.
In this embodiment, the winch further comprises a cable connected to the cargo lifting device.
It will be appreciated that in this embodiment, the control unit is configured to drive the winch to unwind and wind the cable, and the absolute value encoder counts simultaneously as the winch drum rotates and is configured to acquire the number of turns of the cable unwound.
The calculating unit is used for calculating the winch cable-releasing length in real time according to the reading of the absolute value encoder.
Further, the control system also comprises a pin shaft sensor connected with the cable for detecting whether the load capacity of the cargo lifting device exceeds the rated load capacity.
It should be understood that, although the steps in the flowcharts of the figures are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited in order and may be performed in other orders, unless explicitly stated herein. Moreover, at least some of the steps in the flowcharts of the figures may include a plurality of sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, the order of their execution not necessarily being sequential, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
The foregoing is only a partial embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present application, and such modifications and adaptations are intended to be comprehended within the scope of the present application.
Claims (10)
1. The winch lifting height control method suitable for the overhead vertical wharf is characterized by comprising the following steps of:
determining a target cable laying length of a winch according to a target descending position of the cargo lifting device;
driving a winch to unwind a cable through a control unit, and acquiring the reading of an absolute value encoder in the winch in real time;
the calculation unit calculates the actual cable laying length of the winch according to the readings of the absolute value encoder obtained in real time;
and when the actual cable laying length reaches the target cable laying length, driving the winch to stop cable laying through the control unit.
2. The winch lifting height control method for an overhead upright dock according to claim 1, wherein the step of calculating an actual payout length of the winch based on the real-time reading of the absolute value encoder comprises:
acquiring an initial reading of an absolute value encoder when the cargo lifting device is at an initial position;
determining the number of the cable release turns of the winch according to the initial reading and the real-time reading:
ΔN k ＝N k -N 0 ；
wherein DeltaN k The number of the cable laying turns of the winch at the moment k is N k For reading of absolute value encoder at k moment, N 0 Is the initial reading of the absolute value encoder.
3. The winch lifting height control method for an overhead upright dock according to claim 2, wherein the step of calculating an actual payout length of the winch based on the real-time reading of the absolute value encoder further comprises:
determining the number of cable laying layers of cables in the winch according to the number of cable laying turns;
and calculating the actual cable laying length according to the cable laying turns and the cable laying layer number.
4. The winch lifting height control method for an overhead upright dock of claim 3, wherein the step of determining the number of payout layers of the rope in the winch based on the number of payout turns comprises:
if the number of turns of the cable is as follows:
wherein a is i The method comprises the steps that the number of turns of winding an ith layer of cable on a winch drum when a cargo lifting device is located at an initial position is set, the nth layer is the nth layer on the winch drum, and the mth layer is the outermost layer on the winch drum when the cargo lifting device is located at the initial position;
it is determined that the cable in the winch has been placed on the nth tier.
5. The winch lifting height control method for an overhead upright dock of claim 4, wherein the step of calculating the actual payout length based on the payout turns and the payout layers comprises:
according to a calculation formula, determining the diameter of a circle where each layer of cable is positioned on the winch drum:
calculating the actual cable laying length according to the number of cable laying turns, the number of cable laying layers and the diameter of a circle where each layer of cable is located:
wherein D is i The diameter of the circle where the ith layer of cable is located is D the diameter of the winch drum, and D the diameter of the winch cable，L f(k) For the actual cable laying length of the winch at time k, L all For the total length of the winch cable D n Is the diameter of the circle where the cable of the nth layer is positioned, L t The length of the rope from the winch drum to the cargo lifting device when the cargo lifting device is located at the initial position.
6. The winch lifting height control method for an overhead upright dock of claim 1, further comprising:
acquiring the cable tension of a winch in real time;
and judging whether the load capacity of the cargo lifting device exceeds the rated load capacity according to the cable tension, and giving an alarm if the load capacity exceeds the rated load capacity.
7. The winch lifting height control method for an overhead upright dock of claim 6, wherein the step of acquiring in real time the rope tension of the winch comprises:
obtaining a stress value of a pin shaft sensor;
according to the stress value of the pin shaft sensor, calculating the cable tension of the winch:
wherein F is c(k) For cable tension at time k, F P(k) The stress value of the pin shaft sensor at the moment k is shown, and delta is the stress coefficient ratio.
8. The winch lifting height control method for an overhead upright dock of claim 1, further comprising:
when the loading of goods is detected to be completed, the control unit drives the winch to retract a cable, and the reading of an absolute value encoder in the winch is obtained in real time;
and when the reading of the absolute value encoder is the same as the initial reading, the control unit drives the winch to stop taking up the cable.
9. The winch lifting height control system suitable for the overhead vertical wharf is characterized by comprising a control unit, a winch, a cargo lifting device and a calculating unit;
the control unit is used for driving the winch to unwind and wind up the cable;
the winch comprises a cable and an absolute value encoder, wherein the cable is connected with the cargo lifting device, and the absolute value encoder is used for obtaining the number of turns of the cable;
and the calculating unit is used for calculating the winch cable-releasing length in real time according to the reading of the absolute value encoder.
10. The winch lift height control system for an overhead upright dock of claim 9, further comprising a pin sensor coupled to the cable for detecting whether the cargo lift load exceeds a rated capacity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311100869.9A CN117208797A (en) | 2023-08-29 | 2023-08-29 | Winch lifting height control method and system suitable for overhead vertical wharf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311100869.9A CN117208797A (en) | 2023-08-29 | 2023-08-29 | Winch lifting height control method and system suitable for overhead vertical wharf |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117208797A true CN117208797A (en) | 2023-12-12 |
Family
ID=89038025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311100869.9A Pending CN117208797A (en) | 2023-08-29 | 2023-08-29 | Winch lifting height control method and system suitable for overhead vertical wharf |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117208797A (en) |
-
2023
- 2023-08-29 CN CN202311100869.9A patent/CN117208797A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA1212791A (en) | Apparatus and method for wave motion compensation and hoist control for marine winches | |
| US20110278520A1 (en) | Method and device for handling of rope | |
| EP2986550B1 (en) | Load bearing apparatus and method | |
| FI119596B (en) | Method for controlling the crane | |
| EP2367749A1 (en) | Winching apparatus and method | |
| WO2017155675A1 (en) | System and method for determining a load in a material handling system | |
| US5984586A (en) | Mooring unit and retrofitting method | |
| CN101537955A (en) | Elevator non-load traction capacity detecting method | |
| EP4257838A1 (en) | Mooring line tension control system | |
| US11746860B2 (en) | Self-reeling belt drive | |
| CN117208797A (en) | Winch lifting height control method and system suitable for overhead vertical wharf | |
| CN112978602B (en) | Lifting mechanism, ship lift, dock and working method of lifting mechanism | |
| JP5953571B2 (en) | Cable load measuring device | |
| CN115683430A (en) | Cable tension measuring device, winding and unwinding equipment and tension measuring method | |
| EP0868621B1 (en) | Reel to reel transfer of pipe and large diameter tubing | |
| WO2010092127A1 (en) | A launching system | |
| CN116133940A (en) | Lanyard tension monitoring system | |
| US20230366453A1 (en) | Self-reeling belt drive | |
| CN117208761A (en) | Cargo lifting height determining method and system suitable for overhead vertical wharf | |
| CN113697721B (en) | Method and device for judging unreeling of fork type AGV hoisting system | |
| WO2015088357A1 (en) | Method and a system to detect the occurrence of a slack hoisting line of a winch | |
| JP7296103B2 (en) | Control device for electric motor winch for ships | |
| CN107314848B (en) | Force measuring system of marine anchor winch and calibration method thereof | |
| CN114044422A (en) | Wharf cargo lifting equipment and using method thereof | |
| WO2023247036A1 (en) | Method and arrangement for monitoring elevator suspension rope condition |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |