EP2902356B1 - Grue avec amortissement actif des mouvements d'oscillation de la charge - Google Patents

Grue avec amortissement actif des mouvements d'oscillation de la charge Download PDF

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Publication number
EP2902356B1
EP2902356B1 EP14153004.8A EP14153004A EP2902356B1 EP 2902356 B1 EP2902356 B1 EP 2902356B1 EP 14153004 A EP14153004 A EP 14153004A EP 2902356 B1 EP2902356 B1 EP 2902356B1
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EP
European Patent Office
Prior art keywords
load
crane
suspension point
load suspension
cables
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EP14153004.8A
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German (de)
English (en)
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EP2902356A1 (fr
Inventor
Carsten Hamm
Uwe Ladra
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Siemens AG
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Siemens AG
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    • 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

Definitions

  • the present invention relates to a method for influencing a pendulum movement of a crane-handled load, wherein the load is connected to a lower load suspension point of the crane and the lower load suspension point is connected via a cable system of the crane with an upper load suspension point of the crane, so that a center of gravity the load is below the lower load suspension point, wherein the pendulum motion is related to a vertical plane containing the upper load suspension point.
  • the present invention further relates to a computer program for a control device of a crane, the computer program comprising machine code which can be executed by the control device, wherein the execution of the machine code by the control device causes the control device to operate the crane according to such a method.
  • the present invention further relates to a control device for a crane, wherein the control device is designed, in particular programmed, that it operates the crane according to such a method.
  • Such cranes For handling loads - for example from a ship to a truck or a railroad car or vice versa - cranes are often used.
  • Such cranes often have a substantially horizontally oriented boom, on which a trolley is linearly movable.
  • the trolley corresponds to an upper load suspension point in the sense of the present invention.
  • the crane as a whole can also be moved.
  • the direction of travel of the crane as a whole generally runs in this case also horizontally and in particular orthogonal to the direction of travel of the trolley.
  • Such cranes can be designed in particular as container bridges.
  • the load is connected to the lower load suspension point at a pickup location. Thereafter, by appropriate shortening of an effective rope length of the cable system, the load is raised, moved by appropriate method of the upper Lastauf Wegstras from the recording location to a destination and there discontinued by appropriately extending the effective cable length of the cable system.
  • the load should always be located vertically below the upper load suspension point and also vertically below the lower load suspension point.
  • the load including the lower load suspension point, oscillates about the upper load suspension point.
  • the pendulum motion is related to a vertical plane containing the upper load suspension point. The pendulum motion can be stimulated by various causes.
  • the vertical plane is oriented to be in addition to the vertical direction contains the direction of travel of the trolley.
  • the pendulum movement can be stimulated for example by crosswind or by a movement of the crane as a whole.
  • the vertical plane is oriented so that it is orthogonal to the direction of travel of the trolley. This pendulum movement is referred to in professional circles as a side sway.
  • a pendulum movement has a negative effect on the handling capacity. For example, it is necessary to wait for the procedure to the destination until the pendulum movement has subsided. Alternatively, the pendulum movement must be damped, for example by manual intervention of the crane operator in manual control mode.
  • a method for influencing a pendulum movement of a load handled by a crane wherein the load is connected to a lower load suspension point of the crane and the lower load suspension point is connected via a cable system of the crane to an upper load suspension point of the crane, so that a center of gravity of the load is below the lower load suspension point.
  • the cable system seems to comprise a single suspension cable.
  • the pendulum motion may be related to a vertical plane containing the upper load suspension point.
  • a deflection angle of the pendulum movement or a time derivative of the deflection angle are detected and fed to a control device of the crane. From the control device, a control variable acting on the load is determined based on an actuating law.
  • an adjusting device of the crane is controlled according to the determined manipulated variable, so that the oscillating motion is damped.
  • the adjusting device is designed as a pair of arms, at the ends of which masses are arranged.
  • the arms are rotated about an axis of rotation aligned with the support cable.
  • the arms are basically rotatable independently of each other. The rotation of the two arms is coordinated by the control device accordingly, so that there is the desired damping of the pendulum motion.
  • the object of the present invention is to provide ways by which an automatic damping of a pendulum movement of the load is possible in a simple and reliable manner.
  • the load is suspended as it were askew.
  • the oblique suspension of the load must be adjusted in this case to the pendulum motion, that counteracts the oblique suspension of the pendulum motion.
  • the procedure according to the invention generally requires only minimal modification effort, especially for existing cranes. Because the individual length adjustability of the ropes is usually already given.
  • the corresponding functionality is known in professional circles as so-called TLS functionality.
  • TLS stands for trim - list - skew.
  • the TLS functionality is used in the prior art, however, only to reduce the lower load suspension point on the load manually in the context of connecting the load with the lower Lastauf Wegddling at the pickup and manually in the context of settling the load at the destination when lowering the load Manually align load directly before settling in these three directions of movement.
  • the inventive method thus operates on the same principle by means of which a child swings on a swing. In contrast to the normal procedure of a child while rocking the pendulum motion is not excited in the inventive method, but dampened.
  • the upper load suspension point by means of a trolley of the crane in a direction of travel is movable. It is possible that the vertical plane, to which the oscillating movement is related, parallel to the direction of travel of the trolley. In a pendulum motion in such a vertical plane, however, other options are available in addition to the procedure according to the invention to dampen the pendulum motion. In particular, a travel speed of the trolley can be adjusted to dampen the pendulum motion. However, it is alternatively possible for the vertical plane, to which the pendulum movement of the load is related, to be orthogonal to the direction of travel (so-called side sway). In this case, the procedure according to the invention offers for the first time the possibility of automatically damping such a pendulum motion.
  • the adjusting device for introducing the tilting moment is driven into the load such that it extends and shortens each two of the four cables.
  • the effective lifting height of the load is not affected by the damping of the pendulum motion.
  • the top corners define an upper rectangle with an upper length and an upper width and the lower corner points a lower rectangle with a lower length and a lower width.
  • the upper length is generally greater than the lower length and / or the upper width greater than the lower width.
  • the ropes in addition to the adjusting device associated with a hoist of the crane, by means of which an effective length of the cables is uniformly variable.
  • an effective length of the cables is uniformly variable.
  • the ropes are assigned individually controllable hoists, by means of which both the lifting movement of the load and the individual length adjustment of the ropes is realized.
  • the hoists in their entirety correspond to the actuator.
  • the object is further achieved by a computer program having the features of claim 6.
  • the execution of the machine code by the control device causes the control device to operate the crane according to a method according to the invention.
  • control device with the features of claim 7.
  • the control device is designed, in particular programmed, to operate the crane in accordance with a method according to the invention.
  • a crane 1 for handling a load 2 has an upper load suspension point 3.
  • the upper load suspension point 3, for example, as shown in the 1 and 2 be arranged on a trolley 4, which is movable on a boom 5 of the crane 1 in a traversing x.
  • a cable system 6 extends to a lower load suspension point 7.
  • the lower load suspension point 7 is thus connected to the upper load suspension point 3 via the cable system 6.
  • the load 2 is releasably connected to the lower load suspension point 7.
  • the load 2 has a center of gravity 8.
  • the center of gravity 8 of the load 2 lies below the lower load suspension point 7.
  • the center of gravity 8 thus has a distance h from the lower load suspension point 7.
  • the crane 1 is controlled by a control device 9.
  • the control device 9 is usually designed as a software programmable control device.
  • the design of the control device 9 is effected in this case by a computer program 10, with which the control device 9 is programmed.
  • the computer program 10 comprises machine code 11 which can be processed by the control device 9.
  • the processing of the machine code 11 by the controller 9 causes the controller 9 to operate the crane 1.
  • the processing of the machine code 11 by the control device 9 initially causes the normal handling of loads 2, as in the prior art also. In addition, however, the processing of the machine code 11 by the control device 9 additionally causes the control device 9 to operate the crane 1 during the loading of the load 2 in accordance with a method for influencing a pendulum movement of the load 2, which will be explained in more detail below.
  • the computer program 10 can be supplied to the control device 9 in any desired manner. As shown in the 1 and 2 the supply of the computer program 10 via a data carrier 12, on which the computer program 10 in machine-readable form - for example, in electronic form - is deposited.
  • the disk 12, as shown in the 1 and 2 be designed for example as a USB memory stick. However, other embodiments are possible as well.
  • the pendulum motion is related to a vertical plane 13.
  • the vertical plane 13 contains the upper load suspension point 3.
  • the pendulum movement can be described by a deflection angle ⁇ of the cable system 6 from the vertical about the upper load suspension point 3, wherein the deflection angle ⁇ varies with time.
  • Such a pendulum motion should be attenuated or suppressed according to the invention.
  • the load 2 oscillates in the travel direction x.
  • the vertical plane 13 corresponding to the mark in FIG. 2 parallel to the travel direction x.
  • the load 2 as shown in FIG. 2 orthogonal to the travel direction x commutes.
  • This latter case represents the rule of the application of the present invention.
  • the former case is also possible.
  • the two cases can be considered independently. Even in the event that both oscillations occur and the oscillations have a phase offset relative to each other, the two oscillations can thus be damped independently.
  • the crane 1 has a detection device 14.
  • the detection device 14 By means of the detection device 14, the deflection angle ⁇ of the cable system 6 can be detected.
  • a time derivative of the deflection angle ⁇ can be detected, for example the first time derivative (angular velocity) and / or the second time derivative (angular acceleration).
  • the detection device 14 is designed as a camera system. This embodiment is currently preferred. In principle, however, the detection device 14 can be designed as desired, provided that it has the required functionality.
  • the camera system as shown in the 1 and 2 arranged on the boom 5. Alternatively, the camera system can be arranged on the trolley 4. This latter embodiment is the rule.
  • the detection device 14 is connected to the control device 9 in terms of data technology.
  • the detected deflection angle ⁇ and / or the detected time derivative of the deflection angle ⁇ are fed to the control device 9.
  • the control device 9 takes the detected deflection angle ⁇ and / or the detected time derivative of the deflection angle ⁇ in accordance with FIG. 3 in a step S1 opposite.
  • a step S2 the control device 9 determines by means of an actuating law - the setting law will be detailed later be explained - a manipulated variable S for an actuator 15 (see FIGS. 5 and 6 ).
  • the control device 9 controls the adjusting device 15 in accordance with the determined manipulated variable S.
  • the manipulated variable S acts on the load 2.
  • a tilting moment M is introduced into the load 2 by means of the adjusting device 15 around the lower load suspension point 7.
  • the determination of the manipulated variable S takes place in such a way that the overturning moment M introduced into the load 2 counteracts the pendulum movement of the load 2 about the upper load suspension point 3.
  • the load 2 has a mass m.
  • the cable system 6 also has, as already mentioned, an effective cable length 1. Finally, the center of gravity 8 of the load 2 from the lower load suspension point 7 on the distance h.
  • J ⁇ corresponds to the effective moment of inertia of the load 2 around the upper load suspension point 3.
  • m is the mass of the load 2
  • g is the gravitational acceleration.
  • J ⁇ corresponds to the effective moment of inertia of the load 2 around the lower load suspension point 7.
  • J ⁇ m ⁇ l l + / 2 H
  • J ⁇ m ⁇ H 2 3 + L 2 12 + l / 2 H
  • Equation 5 D represents a freely selectable attenuation.
  • the first time derivative is also referred to in the usual way with a dot.
  • ⁇ ⁇ is the natural frequency of the vibration.
  • the deflection angle ⁇ of the load 2 about the upper load suspension point 3 their time derivatives
  • the deflection ⁇ of the load 2 about the lower load suspension point 7 and their time derivatives are all Known sizes.
  • FIG. 7 shows the corresponding structure of the controlled system and the determination of the overturning moment M.
  • the reference numeral 16 integrators which integrate the respective input quantity supplied to them over time.
  • Reference numeral 17 designates multipliers which multiply the respective input quantity supplied to them by a factor. The factor that is multiplied by is in FIG. 7 indicated in the respective multiplier 17.
  • node points are designated, at which the respective node 18 supplied quantities are added or - if a minus sign is noted - are subtracted.
  • the L-shaped part of FIG. 7 describes the controlled system, that is, the pendulum movement performed by the load 2 around the upper load suspension point 3.
  • the rectangular part describes the determination of the overturning moment M or the associated acceleration of the deflection ⁇ .
  • the effective rope length 1 is constant over time. However, it is also possible that the effective rope length 1 varies over time. In this case, it is only necessary to consider the factors of the multipliers 17 of FIG. 7 to update continuously. This is easily realizable.
  • the adjusting device 15, by means of which the tilting moment M is introduced into the load 2, can be configured as needed.
  • the adjusting device 15 can be arranged in particular at the lower Lastauf Weg 7 and directly - on site - the overturning moment M in.
  • the adjusting device 15 can be arranged in particular at the lower Lastauf Weg 7 bring in the load 2.
  • adjusting device 15 in this case as shown in FIG. 5 be designed as a linear drive 20, by means of which a mass 21 is moved linearly.
  • the cable system 6 as shown in FIG. 6 four cables 19.
  • one of the cables 19 extends from a respective upper corner point 22 arranged in the region of the upper load suspension point 3 to a respective lower corner point 23 arranged in the region of the lower load suspension point 7.
  • the cables 19, the upper corner points 22 and lower vertices 23 are in FIG. 6 supplemented by a respective letter a to d, in order to be able to differentiate them if necessary.
  • the adjusting device 15 for introducing the tilting moment M in the load 2 causes in this case - ie in the case of an existing four ropes 19 cable system 6 - a length adjustment of the ropes 19 relative to each other.
  • the effective cable lengths la, lb can be varied by a change in length ⁇ 1 and / or the effective cable lengths lc, 1d can be varied by a change in length - ⁇ 1.
  • both measures are taken simultaneously.
  • the adjusting device 15 is driven such that it extends and shortens each of two of the four cables 19.
  • the upper corner points 22 an upper rectangle with an upper length Lo and an upper width Bo.
  • the lower corner points 23 define a lower rectangle with a lower length Lu and a lower width Bu.
  • the upper length Lo is larger than the lower length Lu.
  • the upper width Bo is preferably greater than the lower width Bu.
  • the cables 19a to 19d can be assigned individually controllable hoists by means of which both the lifting movement of the load 2 and the individual length adjustment of the cables 19 are realized.
  • the hoists in their entirety correspond to the adjusting device 15.
  • the ropes 19 as shown in FIG. 6 in addition to the adjusting device 15 assigned a hoist 24, by means of which the effective length of the ropes 19 19 is uniformly changed.
  • This embodiment has the advantage that the adjusting device 15 only has to allow a small travel.
  • the adjusting device 15 in the case of the embodiment according to FIG. 5 be formed for example as a group of electrically operated winches.
  • a crane 1 for handling a load 2 has a lower load suspension point 7 and an upper load suspension point 3, which are connected to each other via a cable system 6.
  • a center of gravity 8 of a load 2 connected to the lower load suspension point 7 lies below the lower load suspension point 7.
  • a detection device 14 a deflection angle ⁇ of a pendulum motion and / or a time derivative of the deflection angle ⁇ of the pendulum motion is detected, which is the load 2, with respect to a the upper load suspension point 3 containing vertical plane 13 to the upper load suspension point 3 performs.
  • a control device 9 is determined by an actuating law acting on the load 2 manipulated variable S.
  • An adjusting device 15 of the crane 1 is controlled by the control device 9 according to the determined manipulated variable S, so that by means of the adjusting device 15 within the vertical plane 13, a tilting moment M is introduced to the lower load suspension point 7 in the load 2.
  • the tilting moment M introduced into the load 2 counteracts the pendulum movement of the load 2 about the upper load suspension point 3.
  • the cable system 6 consists of four cables 19 which extend from a respective upper corner point 22 arranged in the region of the upper load suspension point 3 to a respective lower corner point 23 arranged in the region of the lower load suspension point 7.
  • the adjusting device 15 for introducing the tilting moment M into the load 2 causes a length adjustment ⁇ 1 of the cables 19 relative to each other.
  • the present invention has many advantages. In particular, it is possible in a simple manner to dampen pendulum movements of the load 2 around the upper load suspension point 3 both in the travel direction x of the trolley 4 and transversely thereto.

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

Claims (12)

  1. Procédé pour influencer un mouvement pendulaire d'une charge ( 2 ) manutentionnée au moyen d'une grue ( 1 ), la charge ( 2 ) étant reliée à un point (7) inférieur de suspension de charge de la grue ( 1 ) et le point (7) inférieur de suspension de charge étant relié à un point ( 3 ) supérieur de suspension de charge de la grue par l'intermédiaire d'un système ( 6 ) de câble de la grue ( 1 ) , de manière à ce que le centre de gravité ( 8 ) de la charge ( 2 ) soit en dessous du point (7) inférieur de suspension de charge, le mouvement pendulaire étant rapporté à un plan ( 13 ) vertical passant par le point ( 3 ) supérieur de suspension de charge,
    - dans lequel on détecte un angle ( ϕ ) de déviation du mouvement pendulaire et/ou une dérivée en fonction du temps de l'angle ( ϕ ) de déviation du mouvement pendulaire et on l'envoie à un dispositif ( 9 ) de commande de la grue ( 1 ),
    - dans lequel on détermine par le dispositif ( 9 ) de commande, à l'aide d'une loi de réglage, une grandeur ( S ) de réglage agissant sur la charge ( 2 ),
    - dans lequel on commande par le dispositif ( 9 ) de commande, un dispositif ( 15 ) de réglage de la grue ( 1 ) conformément à la grandeur ( S ) de réglage déterminée, de manière à impartir à la charge ( 2 ), au moyen du dispositif ( 15 ) de réglage, dans le plan ( 13 ) vertical un couple ( M ) de basculement autour du point (7) inférieur de suspension de charge pour s'opposer au mouvement pendulaire de la charge ( 2 ) autour du point ( 3 ) supérieur de suspension de charge,
    - dans lequel le système ( 6 ) de câble est constitué de quatre câbles ( 19 ) qui vont d'un sommet ( 22 ) supérieur disposé dans la région du point ( 3 ) supérieur de suspension de charge à un sommet ( 23 ) inférieur disposé dans la région du point (7) inférieur de suspension de charge,
    - dans lequel on lève et on abaisse le point (7) inférieur de suspension de charge en réglant une longueur ( 1 ) efficace de câble et
    - dans lequel le dispositif ( 15 ) de réglage provoque, pour impartir le couple ( M ) de basculement à la charge ( 2 ), un réglage ( δ1 ) en longueur des câbles ( 19 ) les uns par rapport aux autres.
  2. Procédé suivant la revendication 1,
    caractérisé
    en ce que l'on peut déplacer, dans une direction ( x ) de déplacement, le point ( 3 ) supérieur de suspension de charge au moyen d'un chariot ( 4 ) roulant de la grue ( 1 ) et en ce que le plan ( 13 ) vertical, auquel est rapporté le mouvement pendulaire de la charge ( 2 ), est orthogonal à la direction ( x ) de déplacement du chariot ( 4 ) roulant.
  3. Procédé suivant la revendication 1 ou 2,
    caractérisé
    en ce que l'on commande le dispositif ( 15 ) de réglage pour impartir le couple ( M ) de basculement à la charge ( 2 ) de manière à allonger et raccourcir respectivement deux des quatre câbles ( 19 ) .
  4. Procédé suivant la revendication 1, 2 ou 3,
    caractérisé
    en ce qu'aux câbles ( 19 ) est associé, supplémentairement au dispositif ( 15 ) de réglage, un mécanisme ( 24 ) de levage de la grue ( 1 ), au moyen duquel la longueur ( 1 ) efficace des câbles ( 19 ) peut être modifiée uniformément.
  5. Procédé suivant la revendication 1, 2 ou 3,
    caractérisé
    en ce qu'aux câbles ( 19 ) sont associés des mécanismes de levage, qui peuvent être commandés individuellement et au moyen desquels on réalise à la fois le mouvement de levage de la charge ( 2 ) et le réglage individuel en longueur des câbles ( 19 ) et en ce que les mécanismes de levage correspondent dans leur ensemble au dispositif ( 15 ) de réglage.
  6. Programme d'ordinateur pour un dispositif ( 9 ) de commande d'une grue ( 1 ), le programme d'ordinateur comprenant un code machine ( 11 ) qui peut se dérouler dans le dispositif ( 9 ) de commande, le déroulement du code machine ( 11 ) dans le dispositif ( 9 ) de commande faisant que le dispositif ( 9 ) de commande fait fonctionner la grue ( 1 ) selon un procédé suivant l'une des revendications précédentes.
  7. Dispositif de commande d'une grue ( 1 ) dans lequel le dispositif de commande est constitué, en étant notamment programmé, de manière à ce que la grue ( 1 ) fonctionne selon un procédé suivant l'une des revendications 1 à 5.
  8. Grue de manipulation d'une charge ( 2 ),
    - la grue ayant un point ( 7 ) inférieur de suspension de charge, un point ( 3 ) supérieur de suspension de charge et un système ( 6 ) de câbles constitué de quatre câbles ( 19 ),
    - les câbles ( 19 ) allant d'un sommet ( 22 ) supérieur dans la région du point ( 3 ) supérieur de suspension de charge à un sommet ( 23 ) inférieur dans la région du point ( 7 ) inférieur de suspension de charge,
    - la charge ( 2 ) pouvant être reliée au point (7) inférieur de suspension de charge de manière à ce que le centre de gravité ( 8 ) de la charge ( 2 ) soit en dessous du point ( 7 ) inférieur de suspension de charge,
    - le point (7) inférieur de suspension de charge étant relié au point ( 3 ) supérieur de suspension de charge par l'intermédiaire du système ( 6 ) de câble,
    - la grue ayant un dispositif ( 14 ) de détection d'un angle ( ϕ ) de déviation d'un mouvement pendulaire de la charge ( 2 ) rapporté au plan ( 13 ) vertical passant par le point ( 3 ) supérieur de suspension de charge et/ou d'une dérivée dans le temps de l'angle ( ϕ ) de déviation du mouvement pendulaire,
    - la grue ayant un dispositif ( 15 ) de réglage, au moyen duquel il peut être imparti à la charge ( 2 ) dans le plan ( 13 ) vertical un couple ( M ) de basculement autour du point ( 7 ) inférieur de suspension de charge,
    - la grue ayant un dispositif ( 9 ) de commande, auquel l'angle ( ϕ ) de déviation détecté et/ou la dérivée en fonction du temps détectée de l'angle ( ϕ ) de déviation sont envoyés, dispositif de commande, par lequel il est, au moyen d'une loi de réglage, déterminé une grandeur ( S ) de réglage du dispositif ( 15 ) de réglage et par lequel le dispositif ( 15 ) de réglage est commandé conformément à la grandeur ( S ) de réglage déterminée,
    - la grandeur ( S ) de réglage étant déterminée par le dispositif ( 9 ) de commande de manière à ce que le couple ( M ) de basculement imparti à la charge ( 2 ) s'oppose au mouvement pendulaire de la charge ( 2 ) autour du point ( 3 ) supérieur de suspension de charge,
    - le point (7) inférieur de suspension de charge étant levé et abaissé par réglage d'une longueur ( 1 ) efficace de câble,
    - le dispositif ( 15 ) de réglage provoquant pour impartir le couple ( M ) de basculement à la charge ( 2 ), un réglage ( δ1 ) en longueur des câbles ( 19 ) les uns par rapport aux autres.
  9. Grue suivant la revendication 8,
    caractérisée en ce que la grue a un chariot ( 4 ) roulant, au moyen duquel le point ( 3 ) supérieur de suspension de charges peut être déplacé dans une direction ( x ) de déplacement et en ce que le plan ( 13 ) vertical, auquel est rapporté le mouvement pendulaire de la charge ( 2 ), est orthogonal à la direction ( x ) de déplacement du chariot ( 4 ) roulant.
  10. Grue suivant la revendication 8 ou 9,
    caractérisée en ce que le dispositif ( 15 ) de réglage pour impartir le couple ( M ) de basculement à la charge ( 2 ) est commandé de manière à allonger et à raccourcir respectivement deux des quatre câbles ( 19 ).
  11. Grue suivant la revendication 8, 9 ou 10,
    caractérisée
    en ce qu'aux câbles ( 19 ) est associé supplémentairement au dispositif ( 15 ) de réglage, un mécanisme ( 24 ) de levage de la grue ( 1 ), au moyen duquel la longueur ( 1 ) efficace des câbles ( 19 ) peut être modifiée uniformément.
  12. Grue suivant la revendication 8, 9 ou 10,
    caractérisée
    en ce qu'aux câbles ( 19 ) sont associés des mécanismes de levage, qui peuvent être commandés individuellement et au moyen desquels on réalise à la fois le mouvement de levage de la charge ( 2 ) et le réglage individuel en longueur des câbles ( 19 ) et en ce que les mécanismes de levage correspondent dans leur ensemble au dispositif ( 15 ) de réglage.
EP14153004.8A 2014-01-29 2014-01-29 Grue avec amortissement actif des mouvements d'oscillation de la charge Active EP2902356B1 (fr)

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EP2902356B1 true EP2902356B1 (fr) 2016-03-23

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Publication number Priority date Publication date Assignee Title
EP3326957A1 (fr) 2016-11-23 2018-05-30 Siemens Aktiengesellschaft Procédé de fonctionnement d'une grue
EP3453669A1 (fr) 2017-09-08 2019-03-13 Siemens Aktiengesellschaft Dispositif de commande pour un engin de levage et son procédé de fonctionnement
EP4174013A1 (fr) 2021-10-28 2023-05-03 Siemens Aktiengesellschaft Procédé de déplacement d'une charge à l'aide d'une grue

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DE4325946C2 (de) * 1993-08-02 1998-04-09 Fraunhofer Ges Forschung Dämpfungs- und Positioniereinrichtung zur aktiven Dämpfung der Pendelung von an Kranen aufgehängten Lasten
AU4275497A (en) * 1996-11-07 1998-05-14 Ishikawajima-Harima Jukogyo Kabushiki Kaisha Container crane
JP5254115B2 (ja) * 2009-04-14 2013-08-07 株式会社東芝 吊荷の制振装置

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