CN201793325U - Intelligent container aligning system and reach stacker for freight containers provided with same - Google Patents
Intelligent container aligning system and reach stacker for freight containers provided with same Download PDFInfo
- Publication number
- CN201793325U CN201793325U CN2010205124864U CN201020512486U CN201793325U CN 201793325 U CN201793325 U CN 201793325U CN 2010205124864 U CN2010205124864 U CN 2010205124864U CN 201020512486 U CN201020512486 U CN 201020512486U CN 201793325 U CN201793325 U CN 201793325U
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- CN
- China
- Prior art keywords
- jib
- suspender
- signal
- case system
- spatiality
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
- B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
Abstract
The utility model discloses an intelligent container aligning system of a reach stacker for freight containers, comprising a cantilever crane spatial state sensor, a lifting appliance spatial state sensor, a graphic processing sensor, a distance measuring sensor and a processing unit, wherein the cantilever crane spatial state sensor detects and outputs a cantilever crane spatial state signal to a host controller; the lifting appliance spatial state sensor detects and outputs a lifting appliance spatial state signal to the host controller; the graphic processing sensor detects and outputs a container outline signal; the distance measuring sensor detects the position of the container, and outputs a container position signal; the processing unit receives the container outline signal and the container position signal, receives the cantilever crane spatial state signal and the lifting appliance spatial state signal from the host controller, calculates the relative position between a lock head on a lifting appliance and a lockhole of the container according the various signals, and calculates the optimal motion path track of the lifting appliance; and the host controller is connected with the processing unit in a communication way to obtain the optimal motion path track, and controls the actions of the cantilever crane and the lifting appliance according to the optimal motion path track.
Description
Technical field
The utility model relates to the freight container front and hangs, and more specifically, relates to the intelligence of hanging in a kind of freight container front to the case system and be provided with this intelligence the freight container front of case system is hung.
Background technology
The freight container front is hung in the box operation process, must hang pitching, the expanding-contracting action of the operating handle control sets vanning front arm frame in the operator's compartment by controlling the front by the operator of equipment, and the rotation of suspender, sidesway, expanding-contracting action, carry out that the front hangs to work such as case, stackings.The feedforward open loop control mode is generally all adopted in this operation that hang in existing freight container front, Fig. 1 shows the control architecture block diagram representation to the case system that hang in the freight container front in the prior art, as can be seen from Figure 1, operator sends control signal by handling control handle to console controller 3 ', console controller 3 ' is based on the action of control signal control jib action control cock 12 ' that receives and suspender action control cock 23 ', thereby the pitching of the jib 1 ' that the freight container front is hung, the rotation of flexible and suspender 2 ', sidesway, expanding-contracting action is controlled, and carries out casing working.
This open loop control architecture mode, cause the front to hang the skill level that the work efficiency of case is depended on to a great extent the operation control of operator, particularly the front hang to case and stacking procedure in, have only four tapered ends of suspender to aim at four lockholes of freight container simultaneously, perhaps case, release or locking, lifting action just can be put with after the freight container of placement location is aimed in the edge of the freight container that hangs.The very accurate control of operator that this meticulous operation often needs equipment.Operator labour intensity when long-time operation is big, especially when case is operated, often wastes time and energy.
In addition, just higher operating efficiency can be arranged when having only operator that very high skilled operation degree is arranged, and even if the skill level that is subjected to of operation is very high, also difficult reaching makes suspender reach optimal operations efficient along the orbiting motion of the best.Particularly, Fig. 2 show that hang in operator manipulating containers front in the prior art to the case system time suspender path of motion and optimal motion track contrast scheme drawing, as shown in Figure 2, under normal operation, skilled operator tends to select to take jib pitching, teamwork flexible and suspender to operate, be that jib is raised jib when stretching out, the path of motion of suspender is a class parabola shown in track among Fig. 2 " A " like this, and is difficult to reach the optimum operation path shown in the track among Fig. 2 " B ".
Therefore, how to improve case accuracy rate and efficient, reducing becomes the freight container front to case work to the dependence of operator, the labour intensity that reduces operator and hangs urgent problem in the Job Operations.
The utility model content
Technical problem to be solved in the utility model provides a kind of can hanging in the freight container front and realizes in the operation process that the accurate and efficient intelligence that the freight container front of case is hung is to the case system.
Another technical matters to be solved in the utility model provides and a kind ofly can realize accurately and efficiently the freight container front of case is hung.
For solving above-mentioned at least one technical matters, according to an aspect of the present utility model, provide a kind of freight container intelligence that hang in the front to the case system, comprising: telescopic jib, it is scalable; Suspender is arranged on the head of jib, and can be along head sidesway, the rotation and flexible of jib; Console controller, the action of control jib and suspender, the intelligence that hang in this freight container front also comprises the case system: jib spatiality sensor, detect the spatiality of jib, and output arm built on stilts between status signal to console controller; Suspender spatiality sensor detects the spatiality of suspender, and exports suspender spatiality signal to console controller; The graphic processing sensor is arranged on the head of jib, detected set vanning profile, and output freight container profile signal; Distance measuring sensor is arranged on the jib head, detects container position, and output container position signal; Processing unit, receiver container profile signal and container position signal, and be connected with the console controller communication, reception is from the jib spatiality signal and the suspender spatiality signal of console controller, according to tapered end on the above-mentioned various calculated signals suspenders and the relative position between the freight container lockhole, calculate the optimal movement path locus of suspender; Wherein, console controller obtains the optimal movement path locus that calculates by being connected with the communication of processing unit, and controls the action of jib and suspender according to the optimal movement path locus.
Further, processing unit is industrial computer or embedded system.
Further, processing unit is connected to the CAN bus communication with the communication of console controller and is connected.
Further, jib spatiality sensor comprises one or more length and luffing angle sensor, is installed in the jib afterbody, detects the stroke and the luffing angle of jib.
Further, suspender spatiality sensor comprises: angular transducer, be installed on the rotating disk of suspender, and detect the anglec of rotation of suspender; And displacement pickup, be installed on the sidesway oil cylinder of suspender, detect the amount of side-shift of suspender.
Further, the graphic processing sensor is one or more video monitors, is installed in the head of jib.
Further, distance measuring sensor is one or more laser scanning and ranging instrument, is installed in the head of jib.
Further, also comprise jib action control cock, the pitching and the expanding-contracting action of control jib.
Further, jib action control cock comprises the control ratio valve that hoists, bends down control ratio valve and extension and contraction control apportioning valve, controls hoisting, bend down and stretching of jib respectively.
Further, also comprise suspender action control cock, sidesway, rotation and the expanding-contracting action of control suspender.
Further, suspender action control cock comprises sidesway control cock, rotary control valve and extension and contraction control valve.
The utlity model has following beneficial effect:
Because during hang in freight container of the present utility model front, console controller receives jib spatiality signal and the suspender spatiality signal from jib spatiality sensor and suspender spatiality sensor, and connects these signal outputs to processing unit by communication; This processing unit receives described freight container profile signal and described container position signal simultaneously, thereby go out tapered end on the suspender and the relative position between the freight container lockhole according to above-mentioned various calculated signals, calculate the optimal movement path locus of suspender, this track is exported in the console controller, therefore console controller is according to the action of this motion path TRAJECTORY CONTROL jib and suspender, suspender is moved according to optimum movement locus, reach accurately and efficiently to case, reduced the dependence of case work, reduced the labour intensity of operator operator.
Description of drawings
Accompanying drawing is used to provide further understanding of the present utility model, constitutes the application's a part, and illustrative examples of the present utility model and explanation thereof are used to explain the utility model, do not constitute improper qualification of the present utility model.In the accompanying drawings:
Fig. 1 shows the control architecture block diagram representation to the case system that hang in the freight container front in the prior art;
Fig. 2 show that hang in operator manipulating containers front in the prior art to the case system time suspender path of motion and optimum movement locus contrast scheme drawing;
Fig. 3 shows the intelligence of hanging according to the freight container front of the first embodiment of the present utility model block architecture diagram scheme drawing to the case system;
Fig. 4 shows the intelligence of hanging according to the freight container front of first embodiment of the present utility model to the case system, shows whole freight container front among the figure in the lump and hangs;
Fig. 5 shows the intelligence of hanging according to the freight container front of first embodiment of the present utility model to case system control flow chart at work.
The specific embodiment
Below with reference to the accompanying drawings and in conjunction with the embodiments, describe the utility model in detail.
As shown in Figure 3, the intelligence of hanging according to the freight container front of first embodiment of the present utility model is in the case system, console controller 3 is arranged in the operator's compartment that hangs in the freight container front, receive the jib spatiality signal of jib spatiality sensor output and the suspender spatiality signal of suspender spatiality sensor output, and the action of control jib 1 and suspender 2; Processing unit is arranged in the operator's compartment that hangs in the freight container front, the graphic processing sensor that reception is arranged on jib 1 head to freight container profile signal and be arranged on the detected container position signal of distance measuring sensor of jib 1 head, be connected with console controller 3 communications simultaneously, reception is from the jib spatiality signal and the suspender spatiality signal of console controller 3, according to tapered end on the above-mentioned various calculated signals suspenders 2 and the relative position between the freight container lockhole, thereby cook up the optimal movement path locus of suspender 2, so by with console controller 3 between communication be connected this optimal movement path locus exported to console controller 3.Console controller 3 is controlled the action of jib 1 and suspender 2 according to this optimal movement path locus, and makes suspender 2 realize referring to Fig. 2, can seeing this optimum movement locus B accurately and efficiently automatically to case along optimum movement locus.
Preferably, this processing unit 5 is industrial computer or embedded system, be installed in the operator's compartment that hangs in the front, play planning suspender 2 the optimal movement path locus, and then by with console controller 3 between communication be connected the effect that this optimal movement path locus is exported to console controller 3.More preferably, in the present embodiment between industrial computer or embedded system and the console controller 3 for CANBUS is connected, this communication modes can be realized the high reliability transmission of data.
As shown in Figure 4, preferably, jib spatiality sensor comprises one or more length and luffing angle sensor 11, it is installed in jib 1 afterbody, thereby should intelligence can detect the stroke and the luffing angle of this jib 1 and export console controller 3 to, be used to calculate the relative position of suspender tapered end the case system.Preferably, suspender spatiality sensor comprises angular transducer 21 and displacement pickup 22, wherein angular transducer 21 is installed on the rotating disk of suspender 2, displacement pickup 22 is installed on the sidesway oil cylinder of suspender 2, thereby the anglec of rotation and the amount of side-shift that should intelligence can detect suspender 2 to the case system, and export console controller 3 to, be used to calculate the relative position of suspender tapered end.
It can also be seen that from Fig. 4 preferably, above-mentioned graphic processing sensor is a video monitor 41, is installed in the head of jib 1, thereby can carry out image acquisition and identification to freight container in real time.Preferably, above-mentioned distance measuring sensor is a laser scanning and ranging instrument 42, is installed in the head of jib 1, and container position is detected, and suffered external interference was very little when this laser scanning and ranging instrument 42 detected, thereby can realize accurate distance detecting.
In addition, about the control of the action of 3 pairs of jibs 1 of console controller, as shown in Figure 4, preferably, the intelligence of present embodiment comprises also that to the case system being arranged on the freight container front hangs jib action control cock 12 in the main frame, realizes the pitching and the flexible control that waits action of 3 pairs of jibs 1 of console controller.More preferably, this jib action control cock 12 can comprise the control ratio valve that hoists, bend down control ratio valve and extension and contraction control apportioning valve, realize hoisting, bend down and stretch of the described jib 1 of control respectively, jib moves particular case that the value volume and range of product of control cock 12 can hang according to the freight container front and need of work and decides.
Similarly, about the control of the action of 3 pairs of suspenders 2 of console controller, as shown in Figure 4, preferably, the intelligence of present embodiment also comprises the suspender action control cock 23 that is arranged on the suspender 2 to the case system, realizes the sidesway of 3 pairs of suspenders 2 of console controller, the control that rotation reaches actions such as stretching.More preferably, this suspender action control cock 23 can comprise sidesway control cock, rotary control valve and extension and contraction control valve, realize respectively control suspender 2 relatively with sidesway, the rotation and flexible of jib 1, suspender moves particular case that the value volume and range of product of control cock 23 can hang according to the freight container front and need of work and decides.
Console controller 3 is according to the optimal movement path locus algorithm from industrial computer or embedded system, obtain sidesway, rotation and the motion control arithmetic such as flexible of the pitching of jib 1, flexible and suspender 2, and then, realize that suspender 2 press the automatic purpose to case of optimal path intelligence according to the action or the aperture of each motion control arithmetic control control corresponding valve (as apportioning valve or electromagnetic valve).
Fig. 5 shows the intelligence of hanging according to the freight container front of first embodiment of the present utility model to case system control flow chart at work.As can be seen from Figure 5, the intelligence of hanging according to the freight container front of first embodiment of the present utility model to the working process of case system is:
When a) hanging in the front near targeted containers, detect the luffing angle of the positive jib 1 that hangs, the collapsing length of jib 1 by length and luffing angle sensor 11, detect the amount of side-shift of suspender 2 by displacement pickup 22, detect the anglec of rotation of suspender 2 by angular transducer 21.Comprehensive above data computation goes out the relative position of four tapered ends of suspender;
B) detect the appearance profile of the freight containers that hang and on this basis and then the relative position of casing by laser scanning and ranging instrument 42 detected set by video monitor 41, and then calculate the relative position of four tapered ends of its four lockholes and suspender 2.
C), determine that the front hangs the optimum operation path to case according to the relative position of four lockholes of the relative position of four tapered ends of suspender 2 and targeted containers.
D) with c) in to hang the case optimal path be foundation the front of calculating, obtain the sidesway, rotation of the pitching of jib 1, flexible and suspender 2, motion control arithmetic such as flexible by console controller 3, and according to the action aperture or the on off state of corresponding each control cock of individual motion control arithmetic control, the switching motion of actions such as the rotation of automatic guidance suspender and various criterion size tapered end distance, and the pitching of jib 1 and expanding-contracting action, make of the optimal path track operation of the path of motion of suspender, hang the automatic purpose of intelligence case thereby reach the front by gained.
Wherein, after the relative position of four lockholes of the relative position of four tapered ends that calculate suspender 2 and targeted containers, if do not need intelligence to case, then adopt manual control mode to carry out to case, if need intelligence to case, then intelligence control system judges whether the position relation of tapered end and lockhole exists optimal path, can't realize the optimal path of intelligence if judge the distance of tapered end and lockhole to case, then the system prompt operator can't be automatically to case, operator returns manual control mode, the action of M/C jib 1 and suspender 2, after the adjustment, system detects the luffing angle of jib 1 once more, the collapsing length of jib 1, the amount of side-shift of suspender 2, rotation amount etc., and carry out the calculating of distance between tapered end and the lockhole, and repeat this deterministic process until judging that existence is best to the case path.
In addition, hang in the novel a kind of freight container front that also provides of this use, and it is provided with intelligence mentioned above to the case system.Thereby can realize that accurately and efficiently automated intelligent has reduced the dependence of case work to operator case, reduce the labour intensity of operator.
The above is a preferred embodiment of the present utility model only, is not limited to the utility model, and for a person skilled in the art, the utility model can have various changes and variation.All within spirit of the present utility model and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the present utility model.
Claims (12)
1. the freight container front intelligence of hanging comprises the case system:
Telescopic jib (1);
Suspender (2) is arranged on the head of described jib (1), and can be along head sidesway, the rotation and flexible of described jib (1);
Console controller (3) is controlled the action of described jib (1) and described suspender (2),
It is characterized in that the intelligence that hang in described freight container front also comprises the case system:
Jib spatiality sensor detects the spatiality of described jib (1), and output arm built on stilts between status signal to described console controller (3);
Suspender spatiality sensor detects the spatiality of described suspender (2), and exports suspender spatiality signal to described console controller (3);
The graphic processing sensor is arranged on the head of described jib (1), detects described freight container profile, and output freight container profile signal;
Distance measuring sensor is arranged on described jib (1) head, detects described container position, and output container position signal;
Processing unit (5), receive described freight container profile signal and described container position signal, and be connected with described console controller (3) communication, reception is from the described jib spatiality signal and the described suspender spatiality signal of described console controller (3), according to the relative position between tapered end on the described suspenders of above-mentioned various calculated signals (2) and the described freight container lockhole, calculate the optimal movement path locus of described suspender (2);
Wherein, described console controller (3) obtains the described optimal movement path locus that calculates by being connected with the communication of described processing unit, and controls the action of described jib (1) and described suspender (2) according to described optimal movement path locus.
2. intelligence according to claim 1 is characterized in that to the case system described processing unit (5) is industrial computer or embedded system.
3. intelligence according to claim 2 is characterized in that to the case system described processing unit (5) is connected to the CAN bus communication with the communication of described console controller (3) and is connected.
4. intelligence according to claim 1 is to the case system, it is characterized in that, described jib spatiality sensor comprises one or more length and luffing angle sensor (11), is installed in described jib (1) afterbody, detects the stroke and the luffing angle of described jib (1).
5. intelligence according to claim 1 is characterized in that to the case system described suspender spatiality sensor comprises:
Angular transducer (21) is installed on the rotating disk of described suspender (2), detects the anglec of rotation of described suspender (2); And
Displacement pickup (22) is installed on the sidesway oil cylinder of described suspender (2), detects the amount of side-shift of described suspender (2).
6. intelligence according to claim 1 is characterized in that to the case system described graphic processing sensor is one or more video monitors (41), is installed in the head of described jib (1).
7. intelligence according to claim 1 is characterized in that to the case system described distance measuring sensor is one or more laser scanning and ranging instrument (42), is installed in the head of described jib (1).
8. intelligence according to claim 1 is characterized in that the case system, also comprises jib action control cock (12), controls the pitching and the expanding-contracting action of described jib (1).
9. intelligence according to claim 8 is characterized in that to the case system described jib action control cock (12) comprises the control ratio valve that hoists, bends down control ratio valve and extension and contraction control apportioning valve, controls hoisting, bend down and stretching of described jib (1) respectively.
10. intelligence according to claim 1 is characterized in that the case system, also comprises suspender action control cock (23), controls sidesway, rotation and the expanding-contracting action of described suspender (2).
11. intelligence according to claim 10 is characterized in that to the case system described suspender action control cock (23) comprises sidesway control cock, rotary control valve and extension and contraction control valve.
12. hang in a freight container front, it is characterized in that, is provided with among the claim 1-11 each described intelligence to the case system.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205124864U CN201793325U (en) | 2010-09-01 | 2010-09-01 | Intelligent container aligning system and reach stacker for freight containers provided with same |
| PCT/CN2011/076594 WO2012028027A1 (en) | 2010-09-01 | 2011-06-29 | Intelligent container-aligning system and container front-hanging crane provided with the system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205124864U CN201793325U (en) | 2010-09-01 | 2010-09-01 | Intelligent container aligning system and reach stacker for freight containers provided with same |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201793325U true CN201793325U (en) | 2011-04-13 |
Family
ID=43848246
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010205124864U Expired - Lifetime CN201793325U (en) | 2010-09-01 | 2010-09-01 | Intelligent container aligning system and reach stacker for freight containers provided with same |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN201793325U (en) |
| WO (1) | WO2012028027A1 (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102285590A (en) * | 2011-04-21 | 2011-12-21 | 长沙科尊信息技术有限公司 | Container lifting tool gripping operation sensing system and method based on infrared structure light |
| WO2012028027A1 (en) * | 2010-09-01 | 2012-03-08 | 湖南三一智能控制设备有限公司 | Intelligent container-aligning system and container front-hanging crane provided with the system |
| CN103407894A (en) * | 2013-08-27 | 2013-11-27 | 徐州重型机械有限公司 | Container front lifting crane and control system of lifting appliance buffer oil cylinder thereof |
| CN103818828A (en) * | 2014-03-05 | 2014-05-28 | 上海振华重工电气有限公司 | Container crane sling aligning guide system |
| CN104973521A (en) * | 2014-04-08 | 2015-10-14 | 中国农业机械化科学研究院 | Special-shaped object hoisting and transporting loading truck and hoisting and loading method thereof |
| CN104999464A (en) * | 2014-09-10 | 2015-10-28 | 国家电网公司 | Electrification water washing robot for convertor station and method |
| CN105246817A (en) * | 2013-04-12 | 2016-01-13 | 德纳有限公司 | Device and control method for container locking |
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| CN107522114A (en) * | 2017-09-27 | 2017-12-29 | 湖南中铁五新重工有限公司 | Automate front handling mobile crane |
| CN108748060A (en) * | 2018-08-16 | 2018-11-06 | 浙江海洋大学 | A kind of ship dock container provision for disengagement of registration |
| CN110407101A (en) * | 2019-07-25 | 2019-11-05 | 上海振华重工(集团)股份有限公司 | A kind of straddle carrier is to the synchronous double hydraulic system of case and its synchronous method |
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| CN111039174A (en) * | 2019-11-15 | 2020-04-21 | 南京港龙潭集装箱有限公司 | Intelligent braking system and braking method for front crane |
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| US5176485A (en) * | 1988-12-06 | 1993-01-05 | Yellow Freight System, Inc. | Freight manipulator with articulated cantilever boom |
| FI101956B1 (en) * | 1997-07-08 | 1998-09-30 | Sisu Terminal Systems Oy | Side grips for handling ISO containers |
| DE19743871A1 (en) * | 1997-10-04 | 1999-04-15 | Noell Stahl Und Maschinenbau G | Long-reach stacker crane |
| CN100537402C (en) * | 2006-06-28 | 2009-09-09 | 上海振华港口机械（集团）股份有限公司 | Container-truck positioning system and method for container crane |
| CN201793325U (en) * | 2010-09-01 | 2011-04-13 | 三一集团有限公司 | Intelligent container aligning system and reach stacker for freight containers provided with same |
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- 2010-09-01 CN CN2010205124864U patent/CN201793325U/en not_active Expired - Lifetime
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- 2011-06-29 WO PCT/CN2011/076594 patent/WO2012028027A1/en active Application Filing
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| WO2012028027A1 (en) * | 2010-09-01 | 2012-03-08 | 湖南三一智能控制设备有限公司 | Intelligent container-aligning system and container front-hanging crane provided with the system |
| CN102285590A (en) * | 2011-04-21 | 2011-12-21 | 长沙科尊信息技术有限公司 | Container lifting tool gripping operation sensing system and method based on infrared structure light |
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| CN103407894A (en) * | 2013-08-27 | 2013-11-27 | 徐州重型机械有限公司 | Container front lifting crane and control system of lifting appliance buffer oil cylinder thereof |
| CN103407894B (en) * | 2013-08-27 | 2015-12-23 | 徐州重型机械有限公司 | The control system of face-up transporting hoist of container crane hanger cushion cylinder and hoisting crane |
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| CN105905788A (en) * | 2016-06-20 | 2016-08-31 | 重庆交通大学 | Self-adaptive tower crane balance lifting device |
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| US11702323B2 (en) | 2017-06-08 | 2023-07-18 | Konecranes Global Corporation | Automatically guided lifting gantry device for containers and method for operating such a lifting gantry device |
| CN107522114A (en) * | 2017-09-27 | 2017-12-29 | 湖南中铁五新重工有限公司 | Automate front handling mobile crane |
| CN108748060A (en) * | 2018-08-16 | 2018-11-06 | 浙江海洋大学 | A kind of ship dock container provision for disengagement of registration |
| CN110407101A (en) * | 2019-07-25 | 2019-11-05 | 上海振华重工(集团)股份有限公司 | A kind of straddle carrier is to the synchronous double hydraulic system of case and its synchronous method |
| CN111039174A (en) * | 2019-11-15 | 2020-04-21 | 南京港龙潭集装箱有限公司 | Intelligent braking system and braking method for front crane |
| CN111115471A (en) * | 2020-02-15 | 2020-05-08 | 长沙中联恒通机械有限公司 | Vision system, front crane and automatic box grabbing control method thereof |
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|---|---|
| WO2012028027A1 (en) | 2012-03-08 |
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