EP0841295A3 - Suspended load steadying/positioning control device - Google Patents

Suspended load steadying/positioning control device Download PDF

Info

Publication number
EP0841295A3
EP0841295A3 EP97308305A EP97308305A EP0841295A3 EP 0841295 A3 EP0841295 A3 EP 0841295A3 EP 97308305 A EP97308305 A EP 97308305A EP 97308305 A EP97308305 A EP 97308305A EP 0841295 A3 EP0841295 A3 EP 0841295A3
Authority
EP
European Patent Office
Prior art keywords
suspended load
crane
traveling
control device
locations
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.)
Granted
Application number
EP97308305A
Other languages
German (de)
French (fr)
Other versions
EP0841295B1 (en
EP0841295A2 (en
Inventor
Takashi Mitsubishi Heavy Ind. Ltd. Toyohara
Susumu Mitsubishi Heavy Ind. Ltd. Kouno
Hiromitsu Mitsubishi Heavy Ind. Ltd. Hoshina
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.)
Mitsubishi Heavy Industries Ltd
Original Assignee
Mitsubishi Heavy Industries 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 Mitsubishi Heavy Industries Ltd filed Critical Mitsubishi Heavy Industries Ltd
Publication of EP0841295A2 publication Critical patent/EP0841295A2/en
Publication of EP0841295A3 publication Critical patent/EP0841295A3/en
Application granted granted Critical
Publication of EP0841295B1 publication Critical patent/EP0841295B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • B66C13/04—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
    • B66C13/18—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
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

A suspended load steadying/positioning control device comprises independent drive devices 11, 14 for moving a crane 4 on two rails 1, the crane suspending a load by a rope 5 or the like and traveling on the rails 1 across them; position detectors 12, 15 for detecting the traveling position of the crane on each rail 1; speed detectors 13, 16 for detecting the traveling speed of the crane on each rail 1; a suspended load swing displacement detector 17; and an arithmetic means 21 for calculating, based on inputs, operation commands for the drive devices 11, 14 at two locations, the inputs being the measured values of the traveling positions at two locations by the position detectors 12, 15, the measured values of the speeds at two locations by the speed detectors 13, 16, and the measured value of the displacement of the suspended load by the suspended load swing displacement detector 17. Thus, the suspended load can be accurately positioned even in a crane having a structural deformation.
EP97308305A 1996-11-07 1997-10-20 Suspended load steadying/positioning control device Expired - Lifetime EP0841295B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP294898/96 1996-11-07
JP29489896 1996-11-07
JP8294898A JPH10139368A (en) 1996-11-07 1996-11-07 Bracing and positioning control device for hung load

Publications (3)

Publication Number Publication Date
EP0841295A2 EP0841295A2 (en) 1998-05-13
EP0841295A3 true EP0841295A3 (en) 2000-01-12
EP0841295B1 EP0841295B1 (en) 2004-09-22

Family

ID=17813685

Family Applications (1)

Application Number Title Priority Date Filing Date
EP97308305A Expired - Lifetime EP0841295B1 (en) 1996-11-07 1997-10-20 Suspended load steadying/positioning control device

Country Status (8)

Country Link
EP (1) EP0841295B1 (en)
JP (1) JPH10139368A (en)
KR (1) KR100237150B1 (en)
DE (1) DE69730799T2 (en)
HK (1) HK1010530A1 (en)
MY (1) MY126395A (en)
SG (1) SG67437A1 (en)
TW (1) TW379201B (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100349168B1 (en) * 1997-11-17 2003-02-14 주식회사 포스코 Position servo apparatus for preventing shakes in 3 axes overhead crane
DE19907989B4 (en) * 1998-02-25 2009-03-19 Liebherr-Werk Nenzing Gmbh Method for controlling the path of cranes and device for path-accurate method of a load
GB0112321D0 (en) * 2001-05-21 2001-07-11 Prec Actuation Systems Ltd Control system
US7289875B2 (en) 2003-11-14 2007-10-30 Siemens Technology-To-Business Center Llc Systems and methods for sway control
CN103253600B (en) * 2013-04-19 2015-05-13 杭州凯尔达机器人科技有限公司 Numerical control gantry crane for boom production line
GB201318843D0 (en) * 2013-10-24 2013-12-11 Angus Jamieson Consulting Ltd Apparatus and method for controlling the orientation of a suspended load
KR101949953B1 (en) * 2017-06-29 2019-02-21 (주) 케이티에스코리아 Control system for anti-snag and sway of crane hook
TWI675001B (en) * 2018-11-07 2019-10-21 中國鋼鐵股份有限公司 Crane anti-swing and positioning control system and calculation method of acceleration and deceleration curve

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0583816A1 (en) * 1992-08-04 1994-02-23 FINMECCANICA S.p.A. AZIENDA ANSALDO A method for determining the inclination angle of a rope, and an anti-swing device for controlling this angle in a lifting apparatus
WO1995005336A1 (en) * 1993-08-13 1995-02-23 Caillard Method for controlling the swinging motion of an oscillating load and device for applying same
EP0677478A2 (en) * 1994-03-30 1995-10-18 Samsung Heavy Industries Co., Ltd Unmanned operating method for a crane and the apparatus thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0583816A1 (en) * 1992-08-04 1994-02-23 FINMECCANICA S.p.A. AZIENDA ANSALDO A method for determining the inclination angle of a rope, and an anti-swing device for controlling this angle in a lifting apparatus
WO1995005336A1 (en) * 1993-08-13 1995-02-23 Caillard Method for controlling the swinging motion of an oscillating load and device for applying same
EP0677478A2 (en) * 1994-03-30 1995-10-18 Samsung Heavy Industries Co., Ltd Unmanned operating method for a crane and the apparatus thereof

Also Published As

Publication number Publication date
HK1010530A1 (en) 1999-06-25
TW379201B (en) 2000-01-11
JPH10139368A (en) 1998-05-26
MY126395A (en) 2006-09-29
EP0841295B1 (en) 2004-09-22
KR100237150B1 (en) 2000-03-02
DE69730799T2 (en) 2005-09-29
EP0841295A2 (en) 1998-05-13
DE69730799D1 (en) 2004-10-28
SG67437A1 (en) 1999-09-21
KR19980042184A (en) 1998-08-17

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