EP2878566A1 - Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue - Google Patents

Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue Download PDF

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Publication number
EP2878566A1
EP2878566A1 EP13194814.3A EP13194814A EP2878566A1 EP 2878566 A1 EP2878566 A1 EP 2878566A1 EP 13194814 A EP13194814 A EP 13194814A EP 2878566 A1 EP2878566 A1 EP 2878566A1
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EP
European Patent Office
Prior art keywords
load
crane
fastening means
cable
angle
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
EP13194814.3A
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German (de)
English (en)
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EP2878566B1 (fr
Inventor
Carsten Hamm
Uwe Ladra
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Siemens AG
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Siemens AG
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 Siemens AG filed Critical Siemens AG
Priority to ES13194814T priority Critical patent/ES2572029T3/es
Priority to EP13194814.3A priority patent/EP2878566B1/fr
Priority to CN201410705884.0A priority patent/CN104671090B/zh
Publication of EP2878566A1 publication Critical patent/EP2878566A1/fr
Application granted granted Critical
Publication of EP2878566B1 publication Critical patent/EP2878566B1/fr
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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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Definitions

  • the invention relates to a method for influencing a movement of a load received on a crane, as well as a crane.
  • cranes For handling loads, for example from a ship to a truck or railroad car, cranes, in particular so-called container bridges, are used.
  • Such cranes may comprise a substantially horizontally oriented boom and a trolley movable linearly along the boom by means of a trolley drive mechanism. It may also be provided a crane drive means, via which the entire crane is generally transversely to the direction of movement of the trolley and thus transversely to the boom movable.
  • the load to be handled which may be a container or the like, is fastened to the crane, in particular to the crane trolley, via one or more cable-like fastening means, eg cables, chains, belts or the like.
  • the length of the rope-like fastening means is changeable via a hoist assigned to the trolley.
  • the load can be attached directly to the rope-like fastening means.
  • the fastening means can be connected to a load-receiving means, for example a so-called spreader, which in turn receives the load.
  • the spreader advantageously comprises a gripping device with which loads of different dimensions can be gripped.
  • the hanging over the rope-like fasteners and possibly the spreader on the trolley load can then be raised using the hoist, a movement of the trolley along the boom and a movement of the boom or the entire crane in particular transversely to the direction of movement of the trolley of the ship transported on land or vice versa and then sold.
  • the cable-guided load is excited by the movement of the trolley and possibly the movement of the crane as well as by external influences, such as wind, to various vibration-like movements.
  • the load may be translated to translational oscillations, i. Movements in the manner of a thread pendulum are excited, and to oscillating rotational movements about one of its axes, in which the load moves in the manner of a rotation pendulum.
  • rotational oscillatory movements in particular the rotational movement about a vertical axis of the load, which is also referred to as skew movement, is of importance.
  • optical detection devices associated with the crane structure are used, e.g. Camera systems with which the translatory and / or rotational vibration movements of the load can be observed.
  • the transport of a cable-guided load by means of a crane the rotational movement of the load about a vertical axis, which is also referred to as skew movement and eg by external influences, such as wind, or by a required for the load transport movement of the crane or a part of the same causes is influenced by the length of the rope-like fastening means over which the load is held on the crane, is specifically changed individually.
  • the current angle of rotation and / or one of the time derivatives of the current angle of rotation e.g. the rotational angular velocity and / or the rotational angular acceleration
  • a detector provided on the crane, in which e.g. to be able to act as a camera system.
  • nominal values for the adjusting devices are determined.
  • a mathematical model is used according to the invention, via which the rotational movement of the load is described, and there are the geometry of the load suspension, in particular the position of the crane and load suspension points, and the course of the rope-like fastening means, on the one hand with the crane and on the other hand with the Load or the load carrying load suspension means are connected, taken into account.
  • the setpoint values determined using the mathematical model and taking into account the geometry of the load suspension are subsequently transferred to the adjusting devices which are controlled or regulated thereon.
  • the rotational movement of the load is influenced in a targeted manner via the individual change in length of the cable-like fastening means.
  • the geometry of the load suspension is e.g. such that at least one rope-like attachment means each connects one of the at least four crane suspension points to one of the at least four load suspension points.
  • the length of the rope-type fastening means between each of the crane suspension points and the load suspension point connected thereto is changed independently of the length between the other pairs of suspension points. Then each crane suspension point and associated with this load suspension point an adjusting device is associated, which is connected to the corresponding cable-like fastening means.
  • the length between the crane and associated load suspension points in opposite corners to be changed in pairs.
  • the cable-like fastening means extend between the respective crane suspension point and the load suspension point connected thereto, in particular obliquely to the vertical. This means that an angle greater than zero is included between the fastener and the vertical. It is to turn off the rest position of the load. It is not excluded that the load, for example due to a pendulum motion, comes in a position in which the rope-like fasteners extend - currently - along the vertical. If the cable-like fastening means extend in the aforementioned manner, the rotational movement of the load about a vertical axis can be influenced efficiently by a change in length of the fastening means.
  • the method according to the invention it is provided that four crane suspension points and four load suspension points are provided, of which in each case a rectangle is spanned and in particular the two rectangles are not similar to each other, in particular not equal. If rectangles are spanned, for example, the rectangle spanned by the crane suspension points can include a larger area than that of the load suspension points.
  • Hydraulic cylinders are used as adjusting devices.
  • the hydraulic cylinders are then connected, for example, in each case with a free end of one of the cable-like fastening means.
  • the dynamics of such hydraulic cylinders is usually so fast compared to the occurring oscillating rotational movements of the load that the change in the length of the rope-like fastening means in the time frame of the period of oscillation takes place almost immediately.
  • a further embodiment of the present invention is characterized in that an effective inertia of the rotational movement of the load and an effective rigidity of the rotational movement of the load is calculated and calculated from the calculated effective inertia and the calculated effective stiffness a natural angular frequency of the rotational movement of the load and in the Calculation of the setpoints for the adjustment be considered.
  • the effective stiffness of the rotary motion of the load also known as skew stiffness can be considered as a measure of the restoring moment when the load is rotated from its rest position around a vertical axis.
  • the natural angular frequency of the swinging rotational motion of the load from the effective inertia and the effective rigidity may be e.g. also be determined by means of vibration tests.
  • the rotational movement of the load to be damped is calculated analogously to a simple torsional oscillator.
  • a further embodiment is further characterized in that an actuating law is derived and used, by which a change in the length of the rope-like fastening means between the respective crane suspension point and the connected thereto load suspension point by means of the adjustment is convertible into a resulting change in a rotational angle of the load ,
  • an angle adjustment signal is determined and taken into account in the calculation of the setpoint values for the adjustment devices.
  • a previously determined Stell true are used to determine a setpoint for the adjustment from the angle control signal.
  • the angle control signal comprises at least two components, in particular a first component, which is given by a desired value for positioning the load, and a second component, which is given by a controlled variable for influencing the rotational movement of the load.
  • the Winkelstellsignal is in this case from a target size for the positioning of the load, which can also be referred to as skew positioning tion, as well as from a controlled variable for influencing the rotational movement of the load together.
  • a first component of the angle adjustment signal is determined, via which a predetermined position of the load, in particular a zero position of the load, can be set.
  • a load can be brought in a particularly simple manner using the method according to the invention in a desired position.
  • the desired position may in particular be a zero position, in which e.g. the longitudinal axis or the transverse axis of the load is oriented parallel to the longitudinal axis of the boom of the crane.
  • a second component of the angle control signal is determined, via which an attenuation of the rotational movement of the load can be achieved to a predetermined extent and / or the natural angular frequency of the rotational movement of the load can be set to a predetermined value.
  • the time required for an oscillation of the load to settle depends on the period of the oscillation. It is thus indirectly proportional to the natural angular frequency of the vibration. Consequently, the absolute Time to decay at a higher natural angular frequency smaller than at a lower natural angular frequency.
  • the absolute time required for swinging can be selectively influenced, in particular reduced.
  • a maximum value for the angle control signal which is dependent on the geometry of the load suspension and / or the properties of the adjusting devices is calculated.
  • the setpoints for the adjustment can be limited to the physically possible or meaningful range.
  • this embodiment allows in particular to avoid over-dimensioning of the adjustment.
  • the invention calculates which maximum angle control signals can be achieved as a function of the geometry of the load suspension, and from the maximum angle control signals, the associated maximum adjustment paths of the adjusting devices are determined.
  • the rigidity of the rope-like fastening means and / or the mass of the load and / or the mass of a provided on the load lifting device and / or the moment of inertia of the load and / or the moment of inertia of the lifting device and / or Lifting height of the load determined and taken into account in the calculation of the setpoints for the adjustment.
  • the rigidity of the cable-like fastening means and / or the mass of the load and / or the mass of a load receiving means provided on the load and / or the moment of inertia of the load and / or the moment of inertia of the load receiving means and / or the lifting height of the load may be unique, in particular be determined by a user, or several times, in particular at predetermined time intervals, by means of suitable sensors. For example, a change of the load and / or the load-handling means or the lifting height, a re-determination of the aforementioned sizes is required. The determination may e.g. manually by a user who then adjusts the sizes so that they are available for the calculations to be performed according to the invention. Alternatively, e.g. also an automated detection of the aforementioned variables, for example by means of suitable sensors, e.g. always done at predetermined intervals.
  • a further embodiment is characterized in that, within the framework of the calculation of the setpoint values for the adjusting devices, at least one control-technical observer model is used with which, in particular, the angle of rotation and / or at least one of the time derivatives of the angle of rotation are observed.
  • observer models also called observers
  • observer states can be reconstructed from known input variables, eg manipulated variables, and known output variables, eg measured variables, of an observed reference system. It is also said that the states are observable.
  • observers are used in the modeling of controlled systems.
  • the physical behavior of a real controlled system can be calculated mathematically using differential equations be modeled. These are usually linear or linearized and can be expressed as a system of first-order differential equations in matrix notation. Since the mathematical model and the behavior of the real controlled system do not exactly match, however, they develop differently over time.
  • the observer theory introduces now a feedback to the comparison of the mathematical model with the real controlled system.
  • inventive method is performed as a complete state control. In this way it becomes possible to influence all states at once.
  • a further subject of the present invention is furthermore a crane for transferring a load which is suspended on the crane via cable-like fastening means such that one of at least four crane suspension points provided on the crane is provided with one of at least four on the load or on a load-receiving means Load suspension points is connected via at least one cable-like fastening means, and wherein the cable-like fastening means are connected to adjusting devices, via which the length of the cable-like fastening means between the respective crane suspension point and the associated load suspension point is individually variable, and wherein on the crane a particular optical detection device, by which a rotational angle of the load and / or at least one of the time derivatives of the rotational angle can be detected when the load is performing a rotational movement about a vertical axis, and the crane is a Rechenei Having formed, which is designed to set using the previously described method according to the invention setpoints for the adjusting devices and a control device which is designed to control the adjusting devices to the desired values.
  • a crane configured in this way enables the constructive implementation of the method according to the invention for influencing a movement of a load received on a crane.
  • a further embodiment of the crane according to the invention is further characterized in that a trolley is provided which is linearly movable along a boom of the crane by means of a trolley drive means and the at least four crane suspension points are provided on the trolley.
  • the cable-like fastening means run obliquely to the vertical between the respective crane suspension point and the load suspension point connected thereto.
  • FIG. 1 shows a crane 1, here a container bridge, which comprises a substantially horizontally extending boom 2 and a movable along the boom 2 Trolley 3.
  • the trolley 3 is associated with a drive device, not shown in the figure, via which it is movable along the boom 2 in both directions.
  • a rope-like fastening means here four ropes 4, a load in which it is a container 5 in the illustrated embodiment, attached.
  • the container 5 is to be transported by a ship, not shown in the figure to a truck, also not shown.
  • the four ropes 4 are in the FIG. 1 schematically indicated by only one rope 4.
  • FIG. 2 can be taken, which is an enlarged view of the in FIG. 1 shown container 5 and its suspension on the trolley 3 shows a flaschenzugieri load suspension is used.
  • four pulleys 7 are provided on a container 5 carrying load receiving means, which is a spreader 6 rectangular shape.
  • the four deflection rollers 7 on the spreader 6 define - as clearly visible in FIG. 3, in which the geometry of suspension points and ropes 4 is shown schematically, four load suspension points C 1-4 .
  • a rectangle is spanned with a smaller side c and a larger side d.
  • Each cable 4 connects a pair of pulleys 8 on the trolley 3, so a crane suspension point K 1-4 with a located approximately below the pair deflection roller 7 on the spreader 6, ie a load suspension point C 1-4 .
  • a respective cable 4 is guided over a first deflection roller 8 of a pair of deflection rollers on the trolley 3, extends to the deflection roller 7 on the spreader 6 and is guided by this back to the second deflection roller 8 of the pair of guide rollers 8.
  • Each cable 4 is also connected to one of its four free ends with one of four provided on the trolley 3 adjusting devices, which is here to hydraulic cylinder 9, respectively.
  • hydraulic cylinders 9 By means of hydraulic cylinders 9, the length of each cable 4 between a crane suspension point K 1-4 and connected to this load suspension point C 1-4 individually, so regardless of the length of the ropes 4 between the other each interconnected suspension points changed.
  • the other free end of each cable is connected to a hoist 10, which is also provided on the trolley 3 connected. About the hoist 10, the length of all four ropes 4 between the load and crane suspension points C x , K x are changed synchronously.
  • container 5 In the context of the transport process of the attached via the ropes 4 on the trolley 3 container 5 is subject to due to the movement of the trolley 3, the crane 1 and external influences such as wind, vibration movements of various types.
  • the container 5 can both translational oscillatory movements, ie Movements in the manner of a thread pendulum, as well as to oscillating rotational movements are excited about one of its axes, ie movements in the manner of a rotation pendulum.
  • the oscillating rotational movement of the container 5 about its central vertical axis H which is also referred to as a skew movement, is important.
  • the central vertical axis H of the container 5 is in the in Figures 2 and 3 shown rest position of the container 5 vertically aligned and runs centrally through the arrangement of crane suspension points K 1-4 and load suspension points C 1-4 .
  • the skew movement of the container 5 about its central vertical axis H is in the Figures 2 and 3 indicated by an arrow.
  • the method according to the invention is applied for influencing a movement of a load received on a crane, which makes rotational movements about its vertical axis.
  • the crane 1 of the invention has a only in the block diagram in FIG. 5 illustrated optical detection device, which in the present case is a provided on the crane 1 camera system 11, on.
  • the crane 1 further comprises a computing device 12, which is designed to calculate desired values for the hydraulic cylinders 9 using the method, and a control device 13, which is designed to control the hydraulic cylinders 9 to the nominal values.
  • the movements of the container 5 are recorded with the camera system 11.
  • the current skew angle ⁇ of the container 5 and its current skew angle speed ⁇ are detected in a manner known per se .
  • the current skew angle ⁇ is, as in the FIG. 4 shown, the angle by which the container 5, when he performs a swinging rotational movement about its vertical axis H, is rotated relative to a zero position.
  • the skew angle velocity ⁇ is the temporal derivative of the skew angle, which can be obtained, for example, by subtraction of two time-spaced angle measurements.
  • the mathematical model which is explained in more detail below, is stored in the computing device 12. It is also a control-technical observer model stored in the computing device 12.
  • the current skew angle ⁇ mess and the current skew angle velocity ⁇ mess which, as in the block image in FIG. 5 are transmitted from the camera system 11 to the computing device 12 are observed in step S1 by means of the observer model.
  • the signal quality is improved, for example, noise or signal outliers are suppressed or smoothed and possibly occurring short-term signal dropouts bridged.
  • the effective stiffness k ⁇ and the effective inertia J ⁇ of the skew movement of the container 5 are first calculated according to the invention.
  • a formula for the effective stiffness k ⁇ which may also be referred to as skew stiffness, is obtained as follows. First of all, based on the geometric conditions of the load suspension, a relationship is established between the length of the cables 4 between the respective crane suspension point K 1-4 and the load suspension point C 1-4 connected thereto via the respective cable 4. It is assumed that the overall arrangement of ropes 4 and suspension points K 1-4 , C 1-4 in the rest position of the container 5 is symmetrical with respect to the XZ plane and YZ plane (the X, Y and Z directions are in the FIG. 3 shown). Furthermore, it is assumed that the container 5 is rotated only about its vertical axis H (in the rest position parallel to the Z-axis).
  • the setting law thus describes how to adjust the four rope lengths between each interconnected crane suspension points K 1-4 and load suspension points C 1-4 , if a certain skew angle ⁇ is desired.
  • the skewing in the positive direction of rotation is limited by the ropes 4, which connect the suspension points K 1 and C 1 and K 3 and C 3 , while the skew movement is limited in the negative direction of rotation by the ropes 4, which are the suspension K 2 and C 2 and K 4 and C 4 connect.
  • the maximum achievable by the geometric arrangement skew angle ⁇ limit requires a travel of the hydraulic cylinder 9 of 8.2 mm.
  • the hydraulic control system can be optimally designed and it can be in advance, for example. avoid oversizing the hydraulic cylinder 9.
  • m is the mass of the load
  • J ⁇ the moment of inertia of the container 5 about its vertical axis H (in the rest position about the Z-axis), which gives the effective inertia of the skew
  • g the gravitational constant
  • z the lifting height
  • k rope the stiffness of a rope
  • Lodie lengths of unstretched ropes 4 and L v the lengths of the stretched ropes 4.
  • 0 mg + 4 ⁇ k rope ⁇ z 0 - 8th ⁇ k rope ⁇ L 0 ⁇ z 0 4 ⁇ z 0 2 + a - c 2 + b - d 2
  • k ⁇ k rope ⁇ term ⁇ 2 term ⁇ 1 - 2 ⁇ k rope ⁇ L 0 - term ⁇ 1 1 2 ⁇ c ⁇ a - c 2 + d ⁇ b - d 2 + c 2 2 + d 2 2 term ⁇ 1 1 2 + k rope ⁇ L 0 - term ⁇ 1 1 2 ⁇ term ⁇ 2 term ⁇ 1 3 2
  • the effective inertia J ⁇ of the skew motion which is given by the moment of inertia of the container 5 about the Z-axis, can be calculated in a manner known per se.
  • To calculate the effective inertia J ⁇ the geometry of the container 5 and its mass distribution are detected, and stored in the computing device.
  • the detection of the quantities required for the calculation of the effective inertia can also be automated, for example several times at predetermined time intervals, so that they are always available even when the container is changed.
  • ⁇ ⁇ is the natural angular frequency of the skew system
  • D is the percentage of attenuation with which the skew system attenuates shall be. This results in the physical damping d ⁇ , which actually acts on the system due to the control.
  • ⁇ Stell is the size that is calculated according to the invention as Winkelstellsignal.
  • the influencing of the rotational movement of the container 5 according to the invention takes place in the context of a complete state control, which allows a weighted return of the two states skew angle ⁇ and skew angle speed ⁇ .
  • two parameters r 1 and r 2 are used, with which the dynamics of the system in wide ranges, in this case by pole assignment, can be set.
  • ⁇ pos is specified as a nominal value, which is defined by means of the in FIG. 5 ramp-up generator 14 is formed by integration of a given rotational angular velocity ⁇ pos , so that a steady course of the target size ⁇ pos is given for positioning of the container 5.
  • step S3 the size ⁇ alternate on the manipulated variable limited due to the specific geometry of the load suspension as set forth above, ⁇ maximum possible value.
  • step S4 using the above-described proportionality factor 1 / ⁇ between the change in length and the skew angle change from the quantity ⁇ stell, a target value ⁇ L soll for the hydraulic cylinders 9 is calculated.
  • the four desired sizes for hydraulic cylinders 9 are formed equal in terms of amount.
  • the signs (direction of adjustment) are opposite to those connecting the suspension points C 2 with K 2 and C 4 with K 4 for the rope-like fastening means which connect the suspension points C 1 to K 1 and C 3 to K 3 .
  • the calculated setpoint values ⁇ L soll for the hydraulic cylinders 9 are subsequently transferred to the control device 13, which regulates the four hydraulic cylinders 9 connected to the control device 13 in a manner known per se to the setpoint values.
  • the control device 13 comprises for each of the four hydraulic cylinders 9 a module (in the Figur5 not shown), which performs the control of the respective hydraulic cylinder 9 to the desired value.
  • the position control loop is closed, for example via a conventional proportional controller, which gives an actuating signal to a hydraulic valve, which adjusts the oil flow of the cylinder and thus generates the change in length.
  • the actual values ⁇ List of the hydraulic cylinders 9 adjust to the nominal values ⁇ L soll calculated according to the invention, as indicated in FIG.
  • a rotational angle actual value ⁇ is and an actual rotational angle speed ⁇ , which are measured again by means of the optical detection device 11.
  • the skew movement of the container 5 is influenced, in the exemplary embodiment described here specifically damped, and safe operation of the crane 1 can be ensured.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP13194814.3A 2013-11-28 2013-11-28 Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue Active EP2878566B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
ES13194814T ES2572029T3 (es) 2013-11-28 2013-11-28 Procedimiento para influir en un movimiento de una carga soportada por una grúa
EP13194814.3A EP2878566B1 (fr) 2013-11-28 2013-11-28 Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue
CN201410705884.0A CN104671090B (zh) 2013-11-28 2014-11-28 用于影响起重机上所吊挂重物的运动的方法

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Application Number Priority Date Filing Date Title
EP13194814.3A EP2878566B1 (fr) 2013-11-28 2013-11-28 Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue

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EP2878566A1 true EP2878566A1 (fr) 2015-06-03
EP2878566B1 EP2878566B1 (fr) 2016-02-17

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US20180339888A1 (en) * 2017-05-29 2018-11-29 B&R Industrial Automation GmbH Method for damping rotational oscillations of a load-handling element of a lifting device
CN113588166A (zh) * 2021-06-17 2021-11-02 江西江铃集团新能源汽车有限公司 动力总成转动惯量测量方法、装置、介质及电子设备
DE102021117938A1 (de) 2021-07-12 2023-01-12 Amova Gmbh Regalbediengerät für ein Hochregallager
CN118643596A (zh) * 2024-08-13 2024-09-13 北京航空航天大学杭州创新研究院 一种考虑绳索悬挂点偏移的多无人机吊运系统建模方法

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EP3653562A1 (fr) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Procédé et régulateur d'oscillation permettant de réguler les oscillations d'un système technique oscillant
DE102019205329A1 (de) * 2019-04-12 2020-10-15 Construction Robotics GmbH Vorrichtung zur Steuerung einer an einem Strang hängenden Last
CN110409627B (zh) * 2019-08-15 2021-04-30 上海尧哲工程技术有限公司 装配式建筑的建筑构件及其装配设备与装配方法
CN113753752B (zh) * 2021-08-20 2024-06-21 天津港太平洋国际集装箱码头有限公司 一种吊具的防摇方法、装置、系统以及起重设备
CN113636021B (zh) * 2021-10-13 2021-12-24 山东奥维特智能科技有限公司 一种海洋工程救助艇的升降装置

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Publication number Priority date Publication date Assignee Title
US20180339888A1 (en) * 2017-05-29 2018-11-29 B&R Industrial Automation GmbH Method for damping rotational oscillations of a load-handling element of a lifting device
EP3409636A1 (fr) * 2017-05-29 2018-12-05 B&R Industrial Automation GmbH Procédé permettant d'amortir des vibrations de torsion d'un élément de réception de charge d'un dispositif de levage
AT520008A1 (de) * 2017-05-29 2018-12-15 B & R Ind Automation Gmbh Verfahren zum Dämpfen von Drehschwingungen eines Lastaufnahmeelements einer Hebeeinrichtung
AT520008B1 (de) * 2017-05-29 2020-02-15 B & R Ind Automation Gmbh Verfahren zum Dämpfen von Drehschwingungen eines Lastaufnahmeelements einer Hebeeinrichtung
US10676327B2 (en) 2017-05-29 2020-06-09 B&R Industrial Automation GmbH Method for damping rotational oscillations of a load-handling element of a lifting device
CN113588166A (zh) * 2021-06-17 2021-11-02 江西江铃集团新能源汽车有限公司 动力总成转动惯量测量方法、装置、介质及电子设备
DE102021117938A1 (de) 2021-07-12 2023-01-12 Amova Gmbh Regalbediengerät für ein Hochregallager
CN118643596A (zh) * 2024-08-13 2024-09-13 北京航空航天大学杭州创新研究院 一种考虑绳索悬挂点偏移的多无人机吊运系统建模方法

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CN104671090A (zh) 2015-06-03

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