ES2106712T3 - Metodo y aparato para controlar el elemento de carga y la carga de una grua. - Google Patents

Metodo y aparato para controlar el elemento de carga y la carga de una grua.

Info

Publication number
ES2106712T3
ES2106712T3 ES96927720T ES96927720T ES2106712T3 ES 2106712 T3 ES2106712 T3 ES 2106712T3 ES 96927720 T ES96927720 T ES 96927720T ES 96927720 T ES96927720 T ES 96927720T ES 2106712 T3 ES2106712 T3 ES 2106712T3
Authority
ES
Spain
Prior art keywords
control
loading element
mechanisms
crane
cables
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.)
Expired - Lifetime
Application number
ES96927720T
Other languages
English (en)
Other versions
ES2106712T1 (es
Inventor
Olavi Jussila
Timo Sorsa
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.)
Konecranes PLC
Original Assignee
KCI Konecranes International Oy
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 KCI Konecranes International Oy filed Critical KCI Konecranes International Oy
Publication of ES2106712T1 publication Critical patent/ES2106712T1/es
Application granted granted Critical
Publication of ES2106712T3 publication Critical patent/ES2106712T3/es
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
    • B66C13/04—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
    • 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
    • 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
    • B66C13/22—Control systems or devices for electric drives

Landscapes

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

Abstract

SE PRESENTA UN METODO Y UN APARATO PARA CONTROLAR UN ELEMENTO DE CARGA (3) SUSPENDIDO DE TAMBORES ELEVADORES (8, 9) DE UNA GRUA (1) MEDIANTE CABLES ELEVADORES (4-7), Y UNA CARGA (2) SUJETA AL ELEMENTO DE CARGA (3), EL CONTROL SE REFIERE A AMORTIGUAR LA INCLINACION Y EL SESGO HORIZONTAL (X, X'', Z, Z'') DEL ELEMENTO DE CARGA (3) Y A LA PRECISION DE POSICIONAMIENTO DE LA MISMA EN LA DIRECCION HORIZONTAL Y EN LA DIRECCION OBLICUA (CW, CCW) MEDIANTE EL USO DE UN APARATO DE CONTROL QUE COMPRENDE MECANISMOS DE CONTROL (19-22) MONTADOS EN LA GRUA Y PROVISTOS DE MOTORES (25), Y CABLES AUXILIARES (26-29) ENTRE LOS MECANISMOS DE CONTROL Y EL ELEMENTO DE CARGA (3), EL METODO COMPRENDE EL CONTROL DEL ELEMENTO DE CARGA (3) MEDIANTE EL MOVIMIENTO DE LOS CABLES AUXILIARES POR MEDIO DE LOS MECANISMOS DE CONTROL. EL CONTROL SE IMPLEMENTA MEDIANTE CUATRO MECANISMOS IDENTICOS (19-22) PROVISTOS DE TAMBORES DE CABLES (23), DISPOSITIVOS (34) PARA COMPENSAR LA FUERZA DEL CABLE Y/O TACOMETROS (35) Y DISPOSITIVOS DECONTROL DE LOS MOTORES (36), CADA UNO DE LOS CUATRO MECANISMOS ESTA CONECTADO A UN CABLE AUXILIAR (26-29), Y CUATRO CIRCUITOS DE LOGICA DE CONTROL IDENTICOS (C) CONECTADOS A CADA MECANISMO PARA CONTROLAR MEDIANTE LOS MOTORES (25) LAS FUERZAS (F) EJERCIDAS SOBRE LOS CABLES AUXILIARES PARA EVITAR QUE EL ELEMENTO DE CARGA (3) SE INCLINE.
ES96927720T 1995-08-30 1996-08-29 Metodo y aparato para controlar el elemento de carga y la carga de una grua. Expired - Lifetime ES2106712T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FI954062A FI101466B (fi) 1995-08-30 1995-08-30 Menetelmä ja laitteisto nosturin kuormauselimen ja kuorman hallitsemis eksi

Publications (2)

Publication Number Publication Date
ES2106712T1 ES2106712T1 (es) 1997-11-16
ES2106712T3 true ES2106712T3 (es) 2000-06-01

Family

ID=8543939

Family Applications (1)

Application Number Title Priority Date Filing Date
ES96927720T Expired - Lifetime ES2106712T3 (es) 1995-08-30 1996-08-29 Metodo y aparato para controlar el elemento de carga y la carga de una grua.

Country Status (13)

Country Link
US (1) US5769250A (es)
EP (1) EP0793615B1 (es)
JP (1) JP3126034B2 (es)
KR (1) KR100314143B1 (es)
CN (1) CN1093082C (es)
AU (1) AU6743696A (es)
DE (2) DE69606974T2 (es)
ES (1) ES2106712T3 (es)
FI (1) FI101466B (es)
HK (1) HK1001129A1 (es)
MY (1) MY115831A (es)
SA (1) SA96170290B1 (es)
WO (1) WO1997008094A1 (es)

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US6021911A (en) * 1998-03-02 2000-02-08 Mi-Jack Products Grappler sway stabilizing system for a gantry crane
US6439407B1 (en) 1998-07-13 2002-08-27 The United States Of America As Represented By The Secretary Of Commerce System for stabilizing and controlling a hoisted load
CN1086358C (zh) * 1998-09-23 2002-06-19 太原重型机械(集团)有限公司 起重机吊具的防摆装置
DE19918449C2 (de) * 1999-04-23 2001-09-13 Noell Stahl Und Maschb Gmbh Lasthebesystem zur Feinpositionierung und aktiven Schwingungsdämpfung
DE10029579B4 (de) * 2000-06-15 2011-03-24 Hofer, Eberhard P., Prof. Dr. Verfahren zur Orientierung der Last in Krananlagen
FI20002030A0 (fi) * 2000-09-14 2000-09-14 Kci Kone Cranes Int Oy Järjestely nosturin nostokoneiston apuköysien sijoittamiseksi
FI109990B (fi) * 2001-03-23 2002-11-15 Kci Kone Cranes Int Oy Järjestely nosturin koneistojen sijoittamiseksi
DE10245868B4 (de) * 2002-09-30 2019-10-10 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur Positionierung einer Last
FI115132B (fi) * 2003-04-01 2005-03-15 Kci Konecranes Oyj Menetelmä nosturin kuormauselimen hallitsemiseksi
FI115133B (fi) * 2003-04-01 2005-03-15 Kci Konecranes Oyj Menetelmä nosturin kuormauselimen hallitsemiseksi
US7424998B1 (en) 2003-09-22 2008-09-16 John Barney Motorized lifter
US7150366B1 (en) 2004-07-29 2006-12-19 Mi-Jack Products, Inc. Hanger chain anti-sway device for gantry crane
DE102004040663A1 (de) * 2004-08-20 2006-03-02 Gottwald Port Technology Gmbh Hubwerk, insbesondere dessen Seilanordnung
AT501098A1 (de) * 2004-11-02 2006-06-15 Ehrenleitner Franz Lasthebevorrichtung
CN1332870C (zh) * 2005-03-29 2007-08-22 大连华锐股份有限公司 防止电磁挂梁起重机起动和制动时挂梁及钢板摆动的方法
AT502741B1 (de) * 2005-10-28 2008-06-15 Ehrenleitner Franz Lasthebevorrichtung
EP1989129A2 (en) * 2006-03-02 2008-11-12 Maff-Stack, LLC Large scale watercraft storage system
FR2900142B1 (fr) * 2006-04-25 2008-05-23 Reel Soc Par Actions Simplifie Dispositif compensateur de charge, notamment pour engin de levage
EP1925583B2 (en) * 2006-11-23 2013-05-15 Siemens Aktiengesellschaft Method of handling wind turbine blades and device for mounting wind turbine blades, in particular mounting blades on a wind turbine
KR100838228B1 (ko) * 2007-11-13 2008-06-16 주식회사 동아지질 건설 공사용 화물 차량 리프터
RU2012146516A (ru) 2010-04-01 2014-05-10 Пар Системз, Инк. Ферменная мачта, работающая на растяжение
CN101927956B (zh) * 2010-09-10 2013-02-27 天津起重设备有限公司 一种防晃起重小车
KR101348535B1 (ko) 2011-03-21 2014-01-08 주식회사 노바 크레인의 제어장치
FI123784B (fi) 2011-03-25 2013-10-31 Konecranes Oyj Järjestely kuormauselimen heilahduksen vaimentamiseksi nosturissa
US9096294B1 (en) * 2011-06-20 2015-08-04 The United States Of America As Represented By The Secretary Of The Navy Trolley-payload inter-ship transfer system
CN102424279B (zh) * 2011-08-12 2014-01-22 中联重科物料输送设备有限公司 门式斗轮堆取料机及其平衡轮的调整方法和调整装置
WO2014047449A1 (en) * 2012-09-21 2014-03-27 Par Systems, Inc. Boat deployment assembly and method
JP5986030B2 (ja) * 2013-03-28 2016-09-06 三井造船株式会社 ロープトロリー式クレーンのグラブバケット振れ制御方法
FI125422B (fi) 2013-12-12 2015-10-15 Konecranes Oyj Järjestely kuormauselimen heilahduksen vaimentamiseksi nosturissa
AT516981B1 (de) * 2015-04-08 2017-02-15 Hans Künz GmbH Transporteinrichtung
CN104944283A (zh) * 2015-06-17 2015-09-30 青岛海西重机有限责任公司 一种集装箱龙门起重机起升减摇装置
ES2723423T3 (es) * 2015-11-06 2019-08-27 Fundacion Tecnalia Res & Innovation Aparato y método para posicionar y orientar una carga
CN106081905A (zh) * 2016-04-07 2016-11-09 江苏鼎盛重工有限公司 集装箱龙门起重机吊具主动防摇装置
CN106185624B (zh) * 2016-08-31 2019-01-11 河南卫华机械工程研究院有限公司 起重机吊具防摇机构及防摇拉绳张力控制系统
AT520008B1 (de) * 2017-05-29 2020-02-15 B & R Ind Automation Gmbh Verfahren zum Dämpfen von Drehschwingungen eines Lastaufnahmeelements einer Hebeeinrichtung
EP3461782B1 (de) * 2017-09-28 2020-06-03 Mohr Lizenz Verwaltungs GmbH Hubvorrichtung zum heben und senken schwerer gegenstände
CN107555316B (zh) * 2017-10-11 2020-07-07 江苏泰力机械科技有限公司 集成偏载检测的集装箱堆码系统及其工作方法
CN109987521B (zh) * 2019-04-18 2020-05-08 上海振华重工(集团)股份有限公司 用于小车集装箱门式起重机的重量传感器补偿方法
EP4063297A4 (en) * 2019-11-20 2023-12-20 Murata Machinery, Ltd. CEILING SUPPORT
CN114988278B (zh) * 2022-07-19 2023-07-21 南京工业大学 一种桥式起重机的离散滑模预测控制方法
CN117142316B (zh) * 2023-11-01 2024-01-26 山东福润康工程机械有限公司 一种高空作业起重设备及其控制方法

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NL7011527A (es) * 1970-08-04 1972-02-08
NL7101224A (es) * 1971-01-29 1972-08-01
DE2115587A1 (de) * 1971-03-31 1972-10-05 Siemens Ag Ladevorrichtung, insbesondere für selbsttätigen Ladebetrieb
FI54789C (fi) * 1972-03-15 1979-03-12 Kone Oy Anordning vid en kran
GB1424870A (en) * 1973-04-17 1976-02-11 Kone Oy Crane load positioning device
US4705180A (en) * 1985-02-19 1987-11-10 Marine Travelift, Inc. Suspended load positioning stabilizing system
FI91517C (fi) * 1992-11-17 1994-07-11 Kimmo Hytoenen Menetelmä harmonisesti värähtelevän taakan ohjaamiseksi
DE4325946C2 (de) * 1993-08-02 1998-04-09 Fraunhofer Ges Forschung Dämpfungs- und Positioniereinrichtung zur aktiven Dämpfung der Pendelung von an Kranen aufgehängten Lasten
FI96677C (fi) * 1994-07-15 1996-08-12 Kci Kone Cranes Int Oy Menetelmä ja laitteisto kuormauselimen hallitsemiseksi

Also Published As

Publication number Publication date
WO1997008094A1 (en) 1997-03-06
DE793615T1 (de) 1998-01-15
MY115831A (en) 2003-09-30
SA96170290B1 (ar) 2006-09-19
FI954062A0 (fi) 1995-08-30
JPH10508277A (ja) 1998-08-18
FI101466B1 (fi) 1998-06-30
JP3126034B2 (ja) 2001-01-22
DE69606974T2 (de) 2000-11-16
CN1093082C (zh) 2002-10-23
HK1001129A1 (en) 1998-05-29
FI101466B (fi) 1998-06-30
CN1164847A (zh) 1997-11-12
EP0793615B1 (en) 2000-03-08
AU6743696A (en) 1997-03-19
KR100314143B1 (ko) 2001-12-28
FI954062A (fi) 1997-03-01
US5769250A (en) 1998-06-23
KR970707036A (ko) 1997-12-01
EP0793615A1 (en) 1997-09-10
ES2106712T1 (es) 1997-11-16
DE69606974D1 (de) 2000-04-13

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