DE4496685T1 - Steuervorrichtung zum automatischen Stoppen des Verschwenkens von Kränen - Google Patents

Steuervorrichtung zum automatischen Stoppen des Verschwenkens von Kränen

Info

Publication number
DE4496685T1
DE4496685T1 DE4496685T DE4496685T DE4496685T1 DE 4496685 T1 DE4496685 T1 DE 4496685T1 DE 4496685 T DE4496685 T DE 4496685T DE 4496685 T DE4496685 T DE 4496685T DE 4496685 T1 DE4496685 T1 DE 4496685T1
Authority
DE
Germany
Prior art keywords
cranes
swiveling
control device
automatically stopping
stopping
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.)
Withdrawn
Application number
DE4496685T
Other languages
English (en)
Inventor
Kazunori Kuromoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Komatsu Ltd filed Critical Komatsu Ltd
Publication of DE4496685T1 publication Critical patent/DE4496685T1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/128—Braking systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40043—Move object without swinging, no pendulum or swing motion at stop point

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
DE4496685T 1993-09-09 1994-09-09 Steuervorrichtung zum automatischen Stoppen des Verschwenkens von Kränen Withdrawn DE4496685T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP5224658A JPH0776490A (ja) 1993-09-09 1993-09-09 クレーンの旋回自動停止制御装置
PCT/JP1994/001496 WO1995007231A1 (fr) 1993-09-09 1994-09-09 Dispositif automatique de blocage du pivotement d'une grue

Publications (1)

Publication Number Publication Date
DE4496685T1 true DE4496685T1 (de) 1996-08-22

Family

ID=16817182

Family Applications (1)

Application Number Title Priority Date Filing Date
DE4496685T Withdrawn DE4496685T1 (de) 1993-09-09 1994-09-09 Steuervorrichtung zum automatischen Stoppen des Verschwenkens von Kränen

Country Status (4)

Country Link
US (1) US5823369A (de)
JP (1) JPH0776490A (de)
DE (1) DE4496685T1 (de)
WO (1) WO1995007231A1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7627393B2 (en) 2000-10-19 2009-12-01 Liebherr-Werk Nenzing Gmbh Crane or digger for swinging a load hanging on a support cable with damping of load oscillations
DE102019217757A1 (de) * 2019-11-18 2021-05-20 Putzmeister Engineering Gmbh Verfahren zum Steuern einer Bewegung eines Masts einer Vorrichtung zum Austragen von Dickstoff und Vorrichtung zum Austragen von Dickstoff

Families Citing this family (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5908122A (en) * 1996-02-29 1999-06-01 Sandia Corporation Sway control method and system for rotary cranes
JP3501902B2 (ja) * 1996-06-28 2004-03-02 コベルコ建機株式会社 建設機械の制御回路
DE19833489A1 (de) * 1998-07-24 2000-01-27 Mannesmann Rexroth Ag Hydraulische Schaltung
US7289875B2 (en) * 2003-11-14 2007-10-30 Siemens Technology-To-Business Center Llc Systems and methods for sway control
US8660758B2 (en) * 2007-11-30 2014-02-25 Caterpillar Inc. Payload system with center of gravity compensation
US7912612B2 (en) * 2007-11-30 2011-03-22 Caterpillar Inc. Payload system that compensates for rotational forces
JP4839390B2 (ja) * 2009-04-17 2011-12-21 株式会社神戸製鋼所 旋回式作業機械の旋回停止制御装置および方法
DE102009018070A1 (de) * 2009-04-20 2010-10-21 Robert Bosch Gmbh Mobile Arbeitsmaschine mit einer Positionsregeleinrichtung eines Arbeitsarms und Verfahren zur Positionregelung eines Arbeitsarms einer mobilen Arbeitsmaschine
JP5414048B2 (ja) * 2009-10-13 2014-02-12 キャタピラー エス エー アール エル 解体作業機
NO337712B1 (no) 2010-03-24 2016-06-06 Nat Oilwell Varco Norway As Anordning og fremgangsmåte for å redusere dynamiske laster i kraner
DE102012004802A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks
US9886803B2 (en) * 2012-05-09 2018-02-06 Manitowoc Crane Companies, Llc Crane monitoring system
CN102797787B (zh) * 2012-08-17 2013-11-20 中联重科股份有限公司 混凝土布料设备及其臂架振动抑制的方法、控制器和装置
JP6097174B2 (ja) * 2013-08-05 2017-03-15 株式会社東芝 ロボット制御装置
US9321614B2 (en) 2014-01-17 2016-04-26 Mi-Jack Products, Inc. Crane trolley and hoist position homing and velocity synchronization
JP6628958B2 (ja) * 2014-03-12 2020-01-15 住友重機械工業株式会社 電動旋回型建設機械
WO2016019289A1 (en) * 2014-07-31 2016-02-04 Par Systems, Inc. Crane motion control
EP3272693B1 (de) * 2015-03-19 2020-03-04 Tadano Ltd. Drehvorrichtung
JP6511387B2 (ja) * 2015-11-25 2019-05-15 日立建機株式会社 建設機械の制御装置
WO2017216945A1 (ja) * 2016-06-17 2017-12-21 株式会社前田製作所 移動式クレーン
CN109863273B (zh) 2016-11-02 2022-05-13 克拉克设备公司 用于定义升降臂的操作区域的系统和方法
US10273654B2 (en) * 2017-06-02 2019-04-30 Caterpillar Inc. Control system to adjust applied slewing power
JP6828650B2 (ja) * 2017-10-04 2021-02-10 株式会社タダノ クレーンの制御方法及びクレーン
US20210047153A1 (en) * 2018-03-19 2021-02-18 Tadano Ltd. Crane and crane control method
CN108750946B (zh) * 2018-05-23 2024-04-09 四川庞源机械工程有限公司 一种起重机负载识别、测量及调节的控制方法
US10875753B2 (en) 2018-09-20 2020-12-29 Manitou Equipment America, Llc Telehandler boom extension monitoring system
JP7151532B2 (ja) * 2019-02-14 2022-10-12 株式会社タダノ クレーンおよびクレーンの経路生成システム

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5288956A (en) * 1976-01-17 1977-07-26 Kubota Ltd Means for preventing turn-down of loading and unloading vehicle provid ed with luffing revolution boom
JPH023518Y2 (de) * 1985-05-31 1990-01-26
JPH023518A (ja) * 1988-06-21 1990-01-09 Nissan Motor Co Ltd エンジン及びサスペンションの振動制御装置
JP2512821B2 (ja) * 1989-03-27 1996-07-03 株式会社神戸製鋼所 クレ―ンの旋回停止制御方法および装置
JPH085623B2 (ja) * 1989-09-27 1996-01-24 株式会社神戸製鋼所 クレーンの安全装置
JP3073310B2 (ja) * 1992-03-31 2000-08-07 株式会社タダノ 移動式クレーンの旋回制動開始信号発生装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7627393B2 (en) 2000-10-19 2009-12-01 Liebherr-Werk Nenzing Gmbh Crane or digger for swinging a load hanging on a support cable with damping of load oscillations
DE102019217757A1 (de) * 2019-11-18 2021-05-20 Putzmeister Engineering Gmbh Verfahren zum Steuern einer Bewegung eines Masts einer Vorrichtung zum Austragen von Dickstoff und Vorrichtung zum Austragen von Dickstoff

Also Published As

Publication number Publication date
WO1995007231A1 (fr) 1995-03-16
JPH0776490A (ja) 1995-03-20
US5823369A (en) 1998-10-20

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Legal Events

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