EP1958915A3 - Vorrichtung zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes bzw. Verfahren zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes - Google Patents

Vorrichtung zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes bzw. Verfahren zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes Download PDF

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Publication number
EP1958915A3
EP1958915A3 EP08006281A EP08006281A EP1958915A3 EP 1958915 A3 EP1958915 A3 EP 1958915A3 EP 08006281 A EP08006281 A EP 08006281A EP 08006281 A EP08006281 A EP 08006281A EP 1958915 A3 EP1958915 A3 EP 1958915A3
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EP
European Patent Office
Prior art keywords
gripper
loading
unloading
storage space
cargo hold
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
EP08006281A
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English (en)
French (fr)
Other versions
EP1958915B8 (de
EP1958915B1 (de
EP1958915A2 (de
Inventor
Bernd Mann
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.)
Isam AG
Original Assignee
Isam AG
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Publication date
Application filed by Isam AG filed Critical Isam AG
Publication of EP1958915A2 publication Critical patent/EP1958915A2/de
Publication of EP1958915A3 publication Critical patent/EP1958915A3/de
Application granted granted Critical
Publication of EP1958915B1 publication Critical patent/EP1958915B1/de
Publication of EP1958915B8 publication Critical patent/EP1958915B8/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C13/46—Position indicators for suspended loads or for crane elements

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

Die Erfindung betrifft eine Vorrichtung (1, 1a) zum Be- und/oder Entladen eines Laderaumes (2) bzw. Lagerraumes mit Material (3), insbesondere zum Be-und/oder Entladen eines Laderaumes (2) eines Schiffes (4) mit Schuttgut (3a), vzw. mit Kohle oder Erz, oder mit Containern, wobei mindestens ein Greifer (5) zur Aufnahme bzw- zur Abgabe des zu transportierenden Materials (3), vzw. des Schüttgutes (3ei) oder des Containers, vorgesehen ist, wobei die Position des Greifers (5) steuerbar ist, nämlich die Position des Greifers (6) zumindest in vertikaler und/oder horizontaler Richtung veränderbar ist, wobei der Greifer (5) mit mindestens einem Seilelement (6) verbunden ist und wobei die Bewegungen des Greifers (5) in vertikaler und/oder horizontaler Richtung und/oder die Bewegungen zur Aufnahme und/oder zur Abgabe des Materials (3) mit Hilfe eines vorgesehenen Steuersystems (14) steuerbar sind, wobei die Position des Greifers (5) sensoriseh erfassbar ist, so dass eine Pendelbewegung und/oder Pendelauslenkung des Greifers (5) ermittelbar und durch eine entsprechende Ansteuerung im wesentlichen kompensierbar und/oder verringerbar ist.
Die Kosten und Betriebssicherheit sind dadurch verbessert, dass zur Erfassung der Position des Greifers (5) ein Trägheitenavigutiunssystem (21) vorgesehen ist und dass das Trägheitsnavigationssystem (21) an dem Greifer (5) angeordnet ist.
EP08006281.3A 2005-02-11 2006-02-10 Vorrichtung zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes bzw. Verfahren zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes Not-in-force EP1958915B8 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200520002315 DE202005002315U1 (de) 2005-02-11 2005-02-11 Vorrichtung zum Be- und/oder Entladen eines Laderaums mit Schüttgut, insbesondere zum Be- und/oder Entladen eines Laderaumes eines Schiffes mit Kohle, Erz o.dgl.
EP06706858A EP1851157A2 (de) 2005-02-11 2006-02-10 Vorrichtung zum be- und/oder entladen eines laderaums bzw. lagerraumes bzw. verfahren zum be- und/oder entladen eines laderaums bzw. lagerraumes

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP06706858.5 Division 2006-02-10
EP06706858A Division EP1851157A2 (de) 2005-02-11 2006-02-10 Vorrichtung zum be- und/oder entladen eines laderaums bzw. lagerraumes bzw. verfahren zum be- und/oder entladen eines laderaums bzw. lagerraumes

Publications (4)

Publication Number Publication Date
EP1958915A2 EP1958915A2 (de) 2008-08-20
EP1958915A3 true EP1958915A3 (de) 2012-08-15
EP1958915B1 EP1958915B1 (de) 2016-01-27
EP1958915B8 EP1958915B8 (de) 2016-06-08

Family

ID=34684208

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08006281.3A Not-in-force EP1958915B8 (de) 2005-02-11 2006-02-10 Vorrichtung zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes bzw. Verfahren zum Be- und/oder Entladen eines Laderaumes bzw. Lagerraumes
EP06706858A Withdrawn EP1851157A2 (de) 2005-02-11 2006-02-10 Vorrichtung zum be- und/oder entladen eines laderaums bzw. lagerraumes bzw. verfahren zum be- und/oder entladen eines laderaums bzw. lagerraumes

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP06706858A Withdrawn EP1851157A2 (de) 2005-02-11 2006-02-10 Vorrichtung zum be- und/oder entladen eines laderaums bzw. lagerraumes bzw. verfahren zum be- und/oder entladen eines laderaums bzw. lagerraumes

Country Status (3)

Country Link
EP (2) EP1958915B8 (de)
DE (1) DE202005002315U1 (de)
WO (1) WO2006084739A2 (de)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202005002315U1 (de) * 2005-02-11 2005-06-16 Isam Ag Vorrichtung zum Be- und/oder Entladen eines Laderaums mit Schüttgut, insbesondere zum Be- und/oder Entladen eines Laderaumes eines Schiffes mit Kohle, Erz o.dgl.
DE102007027536B4 (de) 2007-06-15 2010-07-08 Gottwald Port Technology Gmbh Schwimmende Umladeeinrichtung für Schüttgut
DE102007041692A1 (de) * 2007-09-03 2009-03-05 Siemens Ag Regelungseinrichtung zur Dämpfung von Pendelbewegungen einer seilgeführten Last
EP2110357B1 (de) * 2008-04-18 2010-11-17 Siemens Aktiengesellschaft Verfahren zur Dämpfung von Pendelungen einer durch einen Kran geführten Schüttgutlast, Steuerungsprogramm und Kranautomatisierungssystem
JP4897103B1 (ja) * 2011-05-25 2012-03-14 有限会社寺岡商事 コンベア付バケットクレーン
CN102229392A (zh) * 2011-06-23 2011-11-02 三一集团有限公司 一种过驳作业桥式装卸船机
DE102013011718A1 (de) * 2013-07-15 2015-01-15 Isam Ag Verfahren zur Steuerung einer Containerbrücke zum Be- oder Entladen, insbesondere des Laderaumes, eines Schiffes bzw. Steuersystem zur Steuerung einer Containerbrücke bzw. Containerbrücke mit Steuersystem
CN103407883B (zh) * 2013-08-22 2015-09-02 泰富重工制造有限公司 卸船机操控系统及操控方法
CN103499322A (zh) * 2013-10-12 2014-01-08 北京冶联科技有限公司 一种煤场储煤量的测量方法
SG11201609294UA (en) * 2014-05-19 2016-12-29 Nautilus Minerals Singapore Pte Ltd Seafloor haulage system
CN104386507A (zh) * 2014-12-17 2015-03-04 天津港远航矿石码头有限公司 一种九步联动卸船方法
DE102016001684A1 (de) 2016-02-12 2017-08-17 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung wenigstens eines Krans
CN105565165B (zh) * 2016-03-04 2016-09-14 江苏聚业机械装备股份有限公司 全自动智能港口吊机抓煤系统及方法
EP3453053B1 (de) * 2016-05-06 2021-03-10 Applied Materials Italia Srl Vorrichtung zur ausrichtung eines solarzellenelements, system zur verwendung in der herstellung einer solarzellenanordnung und verfahren zur ausrichtung eines solarzellenelements
DE102018005068A1 (de) * 2018-06-26 2020-01-02 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans
CN110723565A (zh) * 2018-10-15 2020-01-24 党琪 一种适用于铁路运输的自动化散货装箱系统及方法
CN109975173B (zh) * 2019-04-28 2023-04-25 深圳国技仪器有限公司 自动化积载因数试验系统
CN110562729A (zh) * 2019-08-29 2019-12-13 武汉奋进智能机器有限公司 一种酒醅出窖系统及方法
CN110817490A (zh) * 2019-11-15 2020-02-21 中冶宝钢技术服务有限公司 一种抓斗卸船机及其作业方法

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4238795A1 (en) * 1992-11-17 1993-07-01 Edgar Von Dipl Ing Hinueber Damping pendulum movement of hanging loads on crane - using microprocessor to control crane movement and load cable length using sensor input of cable angular velocity and acceleration
FR2704847A1 (fr) * 1993-05-05 1994-11-10 Bertin & Cie Procédé et dispositif de limitation du ballant d'une charge suspendue à un support motorisé.
US5392935A (en) * 1992-10-06 1995-02-28 Obayashi Corporation Control system for cable crane
DE19756875A1 (de) * 1997-12-19 1999-07-01 Siemens Ag Verladeanlage zum Beladen eines Transportmittels mit Schüttgut
US6126023A (en) * 1995-11-24 2000-10-03 The University Of Sydney Crane with improved reeving arrangement
DE19947739A1 (de) * 1999-10-05 2001-04-12 Froelich Karin Verfahren und Vorrichtung zum Verladen von Schüttgütern in verfahrbare Behälter
DE10064182A1 (de) * 2000-10-19 2002-05-08 Liebherr Werk Nenzing Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit Lastpendelungsdämpfung
US20050103738A1 (en) * 2003-11-14 2005-05-19 Alois Recktenwald Systems and methods for sway control
DE202005002315U1 (de) * 2005-02-11 2005-06-16 Isam Ag Vorrichtung zum Be- und/oder Entladen eines Laderaums mit Schüttgut, insbesondere zum Be- und/oder Entladen eines Laderaumes eines Schiffes mit Kohle, Erz o.dgl.

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5392935A (en) * 1992-10-06 1995-02-28 Obayashi Corporation Control system for cable crane
DE4238795A1 (en) * 1992-11-17 1993-07-01 Edgar Von Dipl Ing Hinueber Damping pendulum movement of hanging loads on crane - using microprocessor to control crane movement and load cable length using sensor input of cable angular velocity and acceleration
FR2704847A1 (fr) * 1993-05-05 1994-11-10 Bertin & Cie Procédé et dispositif de limitation du ballant d'une charge suspendue à un support motorisé.
US6126023A (en) * 1995-11-24 2000-10-03 The University Of Sydney Crane with improved reeving arrangement
DE19756875A1 (de) * 1997-12-19 1999-07-01 Siemens Ag Verladeanlage zum Beladen eines Transportmittels mit Schüttgut
DE19947739A1 (de) * 1999-10-05 2001-04-12 Froelich Karin Verfahren und Vorrichtung zum Verladen von Schüttgütern in verfahrbare Behälter
DE10064182A1 (de) * 2000-10-19 2002-05-08 Liebherr Werk Nenzing Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit Lastpendelungsdämpfung
US20050103738A1 (en) * 2003-11-14 2005-05-19 Alois Recktenwald Systems and methods for sway control
DE202005002315U1 (de) * 2005-02-11 2005-06-16 Isam Ag Vorrichtung zum Be- und/oder Entladen eines Laderaums mit Schüttgut, insbesondere zum Be- und/oder Entladen eines Laderaumes eines Schiffes mit Kohle, Erz o.dgl.

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
LOUDA M A ET AL: "INS-based identification of quay-crane spreader yaw", ROBOTICS AND AUTOMATION, 1998. PROCEEDINGS. 1998 IEEE INTERNATIONAL CO NFERENCE ON LEUVEN, BELGIUM 16-20 MAY 1998, NEW YORK, NY, USA,IEEE, US, vol. 4, 16 May 1998 (1998-05-16), pages 3310 - 3315, XP010281361, ISBN: 978-0-7803-4300-9 *

Also Published As

Publication number Publication date
DE202005002315U1 (de) 2005-06-16
EP1851157A2 (de) 2007-11-07
WO2006084739A3 (de) 2006-11-02
EP1958915B8 (de) 2016-06-08
WO2006084739A2 (de) 2006-08-17
EP1958915B1 (de) 2016-01-27
EP1958915A2 (de) 2008-08-20

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