ES2572029T3 - Procedure to influence a movement of a load supported by a crane - Google Patents

Procedure to influence a movement of a load supported by a crane

Info

Publication number
ES2572029T3
ES2572029T3 ES13194814T ES13194814T ES2572029T3 ES 2572029 T3 ES2572029 T3 ES 2572029T3 ES 13194814 T ES13194814 T ES 13194814T ES 13194814 T ES13194814 T ES 13194814T ES 2572029 T3 ES2572029 T3 ES 2572029T3
Authority
ES
Spain
Prior art keywords
load
crane
calculated
angle
rotation
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.)
Active
Application number
ES13194814T
Other languages
Spanish (es)
Inventor
Carsten Hamm
Uwe Ladra
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.)
Siemens AG
Original Assignee
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
Application granted granted Critical
Publication of ES2572029T3 publication Critical patent/ES2572029T3/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical

Landscapes

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

Abstract

Procedimiento para influir en un movimiento de una carga soportada por una grúa (1), en donde la carga (5) está suspendida de la grúa (1) a través de unos medios de fijación (4) de tipo cable, de tal manera que respectivamente uno de entre al menos cuatro puntos de suspensión de grúa (K1, K2, K3, K4) previstos en la grúa está unido al menos a uno de entre cuatro puntos de suspensión de carga (C1, C2, C3, C4), previstos en la carga (5) o en un medio de soporte de carga (6), a través de al menos un medio de fijación (4) de tipo cable, y en donde los medios de fijación (4) de tipo cable están unidos a unas instalaciones de ajuste (9), a través de las cuales puede modificarse individualmente la longitud de los medios de fijación (4) de tipo cable entre el punto de suspensión de grúa (K1, K2, K3, K4) respectivo y el punto de suspensión de carga (C1, C2, C3, C4) unido al mismo, y en donde en la grúa (1) está prevista una instalación de detección (11) en particular óptica, a través de la cual puede detectarse un ángulo de giro (Ψ) de la carga y/o al menos una de las derivadas en el tiempo del ángulo de giro (Ψ), cuando la carga (5) realiza un movimiento giratorio alrededor de un eje vertical (H), en el que - mediante la instalación de detección (11) se detecta el ángulo de giro (Ψ) y/o al menos una de las derivadas en el tiempo del ángulo de giro (Ψ) de la carga (5), caracterizado porque - en base al ángulo de giro (Ψ) detectado y/o a las derivadas en el tiempo y mediante la utilización de un modelo matemático para describir el movimiento giratorio de la carga (5), así como teniendo en cuenta la geometría de la suspensión de la carga, se calculan unos valores nominales para las instalaciones de ajuste (9), en donde se calculan una inercia efectiva del movimiento giratorio de la carga (5) y una rigidez efectiva del movimiento giratorio de la carga (5) y, a partir de la inercia efectiva calculada y de la rigidez efectiva calculada, se calcula una frecuencia circular natural del movimiento giratorio de la carga (5) y se tiene en cuenta a la hora de calcular los valores nominales para las instalaciones de ajuste (9), y - las instalaciones de ajuste (9) se controlan respectivamente conforme al valor nominal calculado.Procedure for influencing a movement of a load supported by a crane (1), where the load (5) is suspended from the crane (1) through cable-like fixing means (4), such that respectively one of at least four crane suspension points (K1, K2, K3, K4) provided in the crane is connected to at least one of four suspension points of load (C1, C2, C3, C4), provided in the load (5) or in a load bearing means (6), through at least one cable type fixing means (4), and wherein the cable type fixing means (4) are connected to adjustment facilities (9), through which the length of the cable-type fixing means (4) between the respective crane suspension point (K1, K2, K3, K4) and the respective point can be individually modified load suspension (C1, C2, C3, C4) attached thereto, and where a detection installation (11) in particular opt is provided in the crane (1) ica, through which a rotation angle (Ψ) of the load and / or at least one of the time-derived rotation angle (Ψ) can be detected, when the load (5) makes a rotating movement around of a vertical axis (H), in which - by means of the detection installation (11) the angle of rotation (Ψ) and / or at least one of those derived in time of the angle of rotation (Ψ) of the load (5), characterized in that - based on the angle of rotation (Ψ) detected and / or those derived in time and by using a mathematical model to describe the rotational movement of the load (5), as well as taking into account Counts the geometry of the load suspension, nominal values are calculated for the adjustment installations (9), where an effective inertia of the rotational movement of the load (5) and an effective stiffness of the rotational movement of the load are calculated (5) and, based on the calculated effective inertia and the calculated effective stiffness, s e calculates a natural circular frequency of the rotational movement of the load (5) and is taken into account when calculating the nominal values for the adjustment facilities (9), and - the adjustment facilities (9) are controlled respectively according to at the nominal value calculated.

ES13194814T 2013-11-28 2013-11-28 Procedure to influence a movement of a load supported by a crane Active ES2572029T3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP13194814.3A EP2878566B1 (en) 2013-11-28 2013-11-28 Method for influencing a movement of a load lifted by a crane

Publications (1)

Publication Number Publication Date
ES2572029T3 true ES2572029T3 (en) 2016-05-27

Family

ID=49726502

Family Applications (1)

Application Number Title Priority Date Filing Date
ES13194814T Active ES2572029T3 (en) 2013-11-28 2013-11-28 Procedure to influence a movement of a load supported by a crane

Country Status (3)

Country Link
EP (1) EP2878566B1 (en)
CN (1) CN104671090B (en)
ES (1) ES2572029T3 (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT520008B1 (en) * 2017-05-29 2020-02-15 B & R Ind Automation Gmbh Method for damping torsional vibrations of a load-bearing element of a lifting device
EP3653562A1 (en) * 2018-11-19 2020-05-20 B&R Industrial Automation GmbH Method and oscillating regulator for regulating oscillations of an oscillatory technical system
DE102019205329A1 (en) * 2019-04-12 2020-10-15 Construction Robotics GmbH Device for controlling a load hanging on a line
CN110409627B (en) * 2019-08-15 2021-04-30 上海尧哲工程技术有限公司 Building component of prefabricated building, and assembling equipment and assembling method thereof
CN113588166A (en) * 2021-06-17 2021-11-02 江西江铃集团新能源汽车有限公司 Power assembly rotational inertia measuring method and device, medium and electronic equipment
DE102021117938A1 (en) 2021-07-12 2023-01-12 Amova Gmbh Storage and retrieval device for a high-bay warehouse
CN113753752B (en) * 2021-08-20 2024-06-21 天津港太平洋国际集装箱码头有限公司 Anti-swing method, device and system of lifting appliance and lifting equipment
CN113636021B (en) * 2021-10-13 2021-12-24 山东奥维特智能科技有限公司 Lifting device of ocean engineering rescue boat

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3358768B2 (en) * 1995-04-26 2002-12-24 株式会社安川電機 Method and apparatus for controlling rope steady rest of crane etc.
JP3342355B2 (en) * 1997-07-30 2002-11-05 三菱重工業株式会社 crane
JP2001322796A (en) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd Vibration control device for load
DE10245868B4 (en) * 2002-09-30 2019-10-10 Siemens Aktiengesellschaft Method and device for positioning a load
FI117969B (en) * 2004-09-01 2007-05-15 Kalmar Ind Oy Ab Plant and method for stopping a rotary pendulum movement of a container
CN101233070B (en) * 2005-06-28 2012-09-26 Abb公司 Load control device for a crane
JP5039365B2 (en) * 2006-11-17 2012-10-03 三菱重工業株式会社 Crane skew rest device and crane
DE102010054502A1 (en) * 2010-12-14 2012-06-14 Wolfgang Wichner Method and device for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about its vertical axis

Also Published As

Publication number Publication date
CN104671090B (en) 2017-04-12
EP2878566B1 (en) 2016-02-17
EP2878566A1 (en) 2015-06-03
CN104671090A (en) 2015-06-03

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