JPH08319084A - Turning attitude control method for hanging load of crane - Google Patents
Turning attitude control method for hanging load of craneInfo
- Publication number
- JPH08319084A JPH08319084A JP14948695A JP14948695A JPH08319084A JP H08319084 A JPH08319084 A JP H08319084A JP 14948695 A JP14948695 A JP 14948695A JP 14948695 A JP14948695 A JP 14948695A JP H08319084 A JPH08319084 A JP H08319084A
- Authority
- JP
- Japan
- Prior art keywords
- turning
- angle
- twisting
- crane
- suspended load
- 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
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】本発明はクレーンを自動運転する
際、吊荷の旋回を行う時、これに基づく捻れ運動を短時
間で減衰させ、正常方向姿勢で搬送するクレーンの吊荷
の旋回姿勢制御方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swinging posture of a suspended load of a crane, in which a twisting motion based on the swinging of the crane is attenuated in a short time when the crane is automatically operated and the suspended load is swung. It relates to a control method.
【0002】[0002]
【従来の技術】従来自動クレーンにおいて、吊荷を吊垂
し、所定角に旋回させて搬送する場合、ワイヤで吊垂さ
れた吊具、吊荷はその旋回時の反力の作用にて吊荷の旋
回の捻れ運動を止めることが困難であった。このため長
いワイヤによって、捻れが発生しないようにフックシー
ブ部を巻き上げの上限まで巻き上げワイヤを可及的に短
くして、機械的に拘束した状態で旋回を行っていた。ま
た手動運転時は、運転手の熟練により捻れが発生しない
よう旋回のモータを操作していた。2. Description of the Related Art Conventionally, in an automatic crane, when a suspended load is hung up and swung at a predetermined angle to be transported, a hanging tool and a suspended load hung by a wire are hung by the action of the reaction force at the time of the swing. It was difficult to stop the twisting motion of turning the load. For this reason, the winding wire is shortened as much as possible up to the upper limit of winding so that twisting does not occur with a long wire, and the wire is turned in a mechanically restrained state. During manual operation, the skill of the driver operated the turning motor to prevent twisting.
【0003】[0003]
【発明が解決しようとする課題】既存の手動運転のクレ
ーンを自動運転に改造する場合、クレーンの寸法的な制
約、吊り上げ荷重の制約等により自動運転のための吊具
は既存の設備を使用することが望まれる。安定した搬送
を実現するための吊荷の振れの抑制については、振れ止
め制御により吊荷のハンドリング時の振れを抑制し、目
的の位置に搬送することができるが、捻れ運動が発生し
た場合はハンドリングに失敗することがある。また旋回
運動を付与し、吊荷の向きを変える搬送では、適切な制
御を行わない場合は捻れ運動が減衰するまでハンドリン
グを中断せざるをえず、実用的な搬送能力を実現できな
い。When modifying an existing manually operated crane to an automatic operation, the existing equipment is used as a lifting tool for automatic operation due to dimensional restrictions of the crane and restrictions of hoisting load. Is desired. Regarding the suppression of swinging of the suspended load to achieve stable transport, the steady-state control can suppress the swinging of the suspended load during handling and transport it to the target position, but if a twisting motion occurs, Handling may fail. In addition, in the case of conveyance in which a turning motion is imparted and the direction of the suspended load is changed, unless proper control is performed, the handling must be interrupted until the twisting motion is attenuated, and a practical conveyance capacity cannot be realized.
【0004】本発明は、吊荷の旋回時に発生するこの有
害な捻れ運動を短時間で減衰させ、安定した吊荷の方向
姿勢を維持した搬送を実現することを目的とする。It is an object of the present invention to attenuate this harmful twisting motion that occurs when a suspended load is turned in a short period of time, and to realize conveyance in which a stable suspended orientation is maintained.
【0005】[0005]
【課題を解決するための手段】本発明は上記目的を達成
するためになしたもので、クレーンのフックシーブと吊
具との間にモータで駆動される旋回装置を具備し、旋回
装置の駆動によるフックシーブのクレーンの基準位置に
対する捻れ角と、捻れ角速度を検出する捻れ角センサを
備え、この各センサからの信号を制御装置に入力し、旋
回装置のモータはインバータで任意速度に駆動されて吊
具と吊荷を回転させ、この旋回装置の旋回角度をエンコ
ーダで検出すると共に、吊荷と吊具の慣性モーメントと
吊荷を吊り下げるワイヤロープの間隔・長さ等による固
有振動数から旋回速度に対する捻れ角を推定し、この捻
れの推定値と捻れ角センサで計測した実際の捻れ角によ
り旋回速度をフィードバック制御して捻れを抑制するこ
とを要旨とする。SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and comprises a turning device driven by a motor between a hook sheave of a crane and a hoisting device. Equipped with a twist angle sensor that detects the twist angle of the hook sheave with respect to the crane reference position, and the twist angle sensor.The signals from these sensors are input to the control device, and the motor of the swing device is driven at an arbitrary speed by an inverter The rotation angle of the swing device is detected by the encoder, and the inertial moment between the load and the hanger and the natural frequency due to the distance and length of the wire rope hanging the load from The gist of the invention is to estimate the twist angle, and feedback control the turning speed based on the estimated twist value and the actual twist angle measured by the twist angle sensor to suppress the twist.
【0006】[0006]
【作 用】旋回の角度の指令を与える。これにより旋回
速度指令値が計算され、旋回を開始する。この場合、推
定された捻じれ角と角速度をゼロにするように比例要素
のゲインを作用させ、旋回速度指令値に加算する。これ
により捻じれ振動を可及的に減少させ、目標角度に旋回
する。[Operation] Gives a command for the turning angle. As a result, the turning speed command value is calculated, and turning is started. In this case, the gain of the proportional element is applied so as to make the estimated twist angle and angular velocity zero, and is added to the turning speed command value. As a result, the torsional vibration is reduced as much as possible, and the vehicle turns to the target angle.
【0007】[0007]
【実施例】以下本発明のクレーンの吊荷の旋回姿勢制御
方法を図面に示す実施例に基づいて説明する。 図1は
本発明クレーンの吊荷の旋回姿勢制御装置の機械的構成
を示す。図に示すクレーンAに於いて、1はクレーンの
ガーダ、2はクレーンガーダ1上を横行するクラブを示
す。そしてこのガーダ2に備えた巻き上げドラム3及び
ヘッドシーブ11から垂直にワイヤロープ4で吊具9を
吊り下げる。吊具9はフックシーブ部10と旋回装置8
の間で分割され、吊具9は旋回用電動機6により歯車等
にて構成される旋回装置8により回転される。旋回装置
の回転角は旋回装置8に設けたエンコーダ7にて検出す
る。フックシーブ10の上方の中心に捻れ角測定センサ
5例えばジャイロを設置し、フックシーブ10側のクレ
ーンの基準位置(例えばクラブ2)に対する捻れの角度
を計測する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for controlling a turning posture of a suspended load of a crane according to the present invention will be described below with reference to an embodiment shown in the drawings. FIG. 1 shows a mechanical configuration of a turning posture control device for a suspended load of a crane of the present invention. In the crane A shown in the figure, 1 is a girder of the crane, and 2 is a club traversing the crane girder 1. Then, the hoisting tool 9 is hung vertically by the wire rope 4 from the winding drum 3 and the head sheave 11 provided in the girder 2. The suspender 9 includes a hook sheave portion 10 and a turning device 8
And the lifting device 9 is rotated by the turning device 8 composed of gears and the like by the turning electric motor 6. The rotation angle of the turning device is detected by the encoder 7 provided in the turning device 8. A twist angle measuring sensor 5, for example, a gyro is installed at the center above the hook sheave 10, and the angle of twist with respect to the reference position (for example, the club 2) of the crane on the hook sheave 10 side is measured.
【0008】図2は本発明クレーンの吊荷の旋回姿勢制
御装置の制御ブロック図を示す。この吊荷の旋回姿勢制
御回路Bは、旋回角度指令回路Cと、捻れ角推定演算回
路Dと、実際の捻れ角の検出回路E並びに旋回用電動機
6の駆動回路Fとを備える。なお、旋回用電動機6は誘
導電動機とし、減速機12を介して旋回装置8を回転
し、エンコーダ7によりこの回転角を検出し、回転角は
パルス信号として旋回角度指令回路Cに印加される。FIG. 2 is a control block diagram of the turning posture control device for the suspended load of the crane of the present invention. The swing posture control circuit B for the suspended load includes a swing angle command circuit C, a twist angle estimation calculation circuit D, an actual twist angle detection circuit E, and a drive circuit F for the swing motor 6. The turning electric motor 6 is an induction motor, the turning device 8 is rotated through the speed reducer 12, the rotation angle is detected by the encoder 7, and the rotation angle is applied to the turning angle command circuit C as a pulse signal.
【0009】なお、吊荷の旋回姿勢制御において、吊荷
の旋回角度θの指令信号は図3に示すように与える。即
ちこの指令信号は、信号を与える時間を、例えば1秒と
固定し、振幅の大きさで角度θを変化するようにする。
旋回角度指令回路Cは、バイパス回路c1、積分回路c
2、演算機構c3を備え、旋回の角度指令はバイパス回
路c1を介して加算回路c4に印加し、積分回路c2に
おいて旋回角度指令を積分値しエンコーダ7で計測した
実際の回転角度の偏差を演算回路c3で比例積分する。
ここで旋回角度の指令値とその積分値は一致し、旋回の
目標に対する角度の偏差を比例積分することにより目標
角度に追随し、レートリミッタを介して旋回速度指令と
する。In the turning posture control of the suspended load, a command signal for the swing angle θ of the suspended load is given as shown in FIG. That is, with this command signal, the time during which the signal is given is fixed to, for example, 1 second, and the angle θ is changed according to the magnitude of the amplitude.
The turning angle command circuit C includes a bypass circuit c1 and an integrating circuit c.
2. The calculation mechanism c3 is provided, and the turning angle command is applied to the adding circuit c4 via the bypass circuit c1. The integrating circuit c2 integrates the turning angle command to calculate the deviation of the actual rotation angle measured by the encoder 7. The circuit c3 performs proportional integration.
Here, the command value of the turning angle coincides with its integrated value, the deviation of the angle with respect to the turning target is proportionally integrated to follow the target angle, and the turning speed command is given via the rate limiter.
【0010】レートリミッタ13は入力信号の微分を行
い、その値を一定値以下に制限する出力周波数の帯域制
限として機能する。レートリミッタ13はランプ信号の
入力に対し、概ね捻れの1周期で旋回速度指令が最大速
度に到達するよう出力変化を抑制する。The rate limiter 13 differentiates the input signal and functions as a band limit of the output frequency that limits the value to a fixed value or less. The rate limiter 13 suppresses the output change in response to the input of the ramp signal so that the turning speed command reaches the maximum speed in approximately one cycle of twist.
【0011】インバータの特性と負荷の特性はモータ6
の駆動トルク、負荷の大きさ、インバータの特性により
2次遅れ、あるいは1次遅れで計算し、旋回の回転速度
を得る。通常は0.2乃至0.4秒程度の時定数を持つ
1次遅れで近似できる。The characteristics of the inverter and the characteristics of the load are the motor 6
The driving speed, the magnitude of the load, and the characteristics of the inverter are used to calculate the secondary delay or the primary delay to obtain the rotation speed of the turning. Usually, it can be approximated by a first-order delay having a time constant of about 0.2 to 0.4 seconds.
【0012】一方、捻れ角検出回路Dにより、捻れ角セ
ンサ(ジヤイロ5)で実際の捻れ角度を検出し、この捻
れ角を時間で微分して捻れ角速度を検出し、これらの出
力を増幅し旋回速度指令値に加算し、フィードバック制
御する。On the other hand, the twist angle detection circuit D detects the actual twist angle by the twist angle sensor (gyro 5), differentiates this twist angle with respect to time to detect the twist angular velocity, and amplifies these outputs to turn. Feedback control is performed by adding to the speed command value.
【0013】この場合、捻れ角、及び角速度は吊上げ加
重、ワイヤロープの長さ等により予め推定することがで
きる。従ってこの推定値を入力することにより旋回速度
を制御することが好ましい。捻れ角の推定演算回路Cに
おける捻れ角の推定の計算要領は、吊具9の旋回機構8
より上の部分の慣性モーメントJ1、下の部分の慣性モ
ーメントJ2、吊り上げ荷重W、ワイヤロープの長さ
l、ワイヤロープの間隔をrとすると、捻れの固有周期
ωは、In this case, the twist angle and the angular velocity can be estimated in advance from the lifting weight, the length of the wire rope and the like. Therefore, it is preferable to control the turning speed by inputting this estimated value. Twist angle estimation The calculation procedure for the twist angle estimation in the calculation circuit C is as follows.
Assuming that the inertial moment J1 of the upper part, the inertial moment J2 of the lower part, the lifting load W, the wire length l, and the wire rope interval are r, the natural period ω of the twist is
【0014】[0014]
【式1】 (Equation 1)
【0015】と記述でき、これにより捻れ角を推定す
る。捻れ角速度は角度を時間で微分することで得られ
る。この捻れ角と角速度の推定値を旋回速度指令にフイ
ードバックして加算し、捻れ角をゼロにするよう比例要
素のゲインを作用させる。The twist angle can be estimated by the following equation. The twist angular velocity is obtained by differentiating the angle with respect to time. The estimated values of the twist angle and the angular velocity are fed back and added to the turning speed command, and the gain of the proportional element is applied so as to make the twist angle zero.
【0016】吊荷の慣性モーメントは直接計測すること
はできないが、搬送物の形状が限定される用途、例えば
鉄鋼のコイル搬送等の用途では吊荷の荷重と慣性モーメ
ントの相関関係から容易に固有周期を演算できる。90
度の旋回の制御の結果を図4、図5、図6に示す。図4
は目標角度に対する誤差を示す。図5は旋回速度を示
す。図6は捻れ角度を示す。Although the moment of inertia of a suspended load cannot be directly measured, it is easily determined from the correlation between the load of the suspended load and the moment of inertia in applications where the shape of the transported object is limited, for example, applications such as steel coil transportation. The cycle can be calculated. 90
The results of the control of turning of the degree are shown in FIGS. 4, 5 and 6. FIG.
Indicates the error with respect to the target angle. FIG. 5 shows the turning speed. FIG. 6 shows the twist angle.
【0017】本実施例では、捻れ角をセンサ(ジヤイロ
5)で計測し制御する例を説明したが、捻れ角のセンサ
が故障等により使用できない場合、あるいは外乱による
捻れ数値に異常値が発生したとき、捻れの推定値により
旋回速度を制御することにより誤作動を防止することが
できる。または手動操作による臨時的、簡易的な運転で
はセンサを使用せずに捻れ角の推定値だけで運転し、捻
れの小さな旋回を行うようにしてもよい。このことは図
2における捻れ角センサ角度ゲインと角速度ゲインをゼ
ロにすることに相当する。In the present embodiment, the example in which the twist angle is measured and controlled by the sensor (gyro 5) has been described. However, when the twist angle sensor cannot be used due to a failure or the like, an abnormal value occurs in the twist numerical value due to disturbance. At this time, malfunction can be prevented by controlling the turning speed based on the estimated value of the twist. Alternatively, in the temporary and simple operation of manual operation, the sensor may not be used and only the estimated value of the twist angle may be used to make a turn with a small twist. This corresponds to setting the twist angle sensor angle gain and the angular velocity gain in FIG. 2 to zero.
【0018】本実施例はクレーンの吊荷の捻れ振動に限
定することなく単振動で近似できる運動(振動現象)の
抑制に効果を発揮し、例えば荷の振れの制御、荷のワイ
ヤロープの伸びによる上下振動の制振にも応用できる。
この場合、捻れ角のセンサの変わりに振れ角の検出セン
サ、あるいは上下の振動速度のセンサを用意し、適宜信
号処理をすればよい。The present embodiment is effective in suppressing the motion (vibration phenomenon) that can be approximated by a simple vibration without being limited to the torsional vibration of the suspended load of the crane. For example, the control of the vibration of the load and the extension of the wire rope of the load can be performed. It can also be applied to the damping of vertical vibrations due to.
In this case, a deflection angle detection sensor or a vertical vibration velocity sensor may be prepared instead of the torsion angle sensor, and signal processing may be appropriately performed.
【0019】[0019]
【発明の効果】以上の如く本発明のクレーンの吊荷の旋
回姿勢制御方法によるときは、フックシーブ側に、旋回
装置のクレーンの基準位置に対する捻れ角と、捻れ角速
度を検出し、旋回装置による吊具と吊荷の旋回角度をエ
ンコーダで検出すると共に、吊荷と吊具の慣性モーメン
ト等から旋回速度に対する捻れ角を推定し、この捻れの
推定値により旋回速度をフィードバック制御して、捻れ
を抑制しするようにしたから、吊荷の旋回は捻れを生ず
ることなく円滑に行うことができる。また本発明による
ときは、捻れ角度の制御に上記推定値を利用するように
したから、外乱等による捻れ角センサが異常値を示した
場合においてもこれによる誤作動を生ずることがない。As described above, according to the method for controlling the turning posture of the suspended load of the crane of the present invention, the twist angle with respect to the reference position of the crane of the turning device and the twist angular velocity are detected on the hook sheave side, and the hoisting by the turning device is performed. The turning angle between the tool and the suspended load is detected by the encoder, the twist angle with respect to the swivel speed is estimated from the moment of inertia of the suspended load and the hanging tool, and the estimated swirl speed feedback control the swivel speed to suppress the twist. Therefore, the suspended load can be swung smoothly without twisting. Further, according to the present invention, since the estimated value is used for controlling the twist angle, even if the twist angle sensor shows an abnormal value due to disturbance or the like, malfunction due to this does not occur.
【図1】本発明のクレーンの吊荷の旋回姿勢制御装置の
機械的構成を示す正面図である。FIG. 1 is a front view showing a mechanical configuration of a turning posture control device for a suspended load of a crane according to the present invention.
【図2】本発明のクレーンの吊荷の旋回姿勢制御方法の
制御ブロック図である。FIG. 2 is a control block diagram of a method for controlling a turning posture of a suspended load of a crane according to the present invention.
【図3】旋回角度指令信号を示すグラフ図である。FIG. 3 is a graph showing a turning angle command signal.
【図4】制御開始後の時刻と位置誤差の関係を示すグラ
フ図である。FIG. 4 is a graph showing the relationship between the time after the start of control and the position error.
【図5】制御開始後の時刻と旋回速度との関係を示すグ
ラフ図である。FIG. 5 is a graph showing the relationship between the time after the start of control and the turning speed.
【図6】制御開始後の時刻と捻れ角関係を示すグラフ図
である。FIG. 6 is a graph showing the relationship between the time after the start of control and the twist angle.
A クレーン 1 クレーンガーダ 2 クラブ 4 ワイヤロープ 5 捻れ角測定センサ 6 旋回駆動用電動機 7 エンコーダ 8 旋回機構 9 吊具 10 フックシーブ A Crane 1 Crane girder 2 Club 4 Wire rope 5 Twist angle measurement sensor 6 Turning drive electric motor 7 Encoder 8 Turning mechanism 9 Lifting tool 10 Hook sheave
Claims (1)
モータで駆動される旋回装置を具備し、旋回装置の駆動
によるフックシーブのクレーンの基準位置に対する捻れ
角と、捻れ角速度を検出する捻れ角センサを備え、この
各センサからの信号を制御装置に入力し、旋回装置のモ
ータはインバータで任意速度に駆動されて吊具と吊荷を
回転させ、この旋回装置の旋回角度をエンコーダで検出
すると共に、吊荷と吊具の慣性モーメントと吊荷を吊り
下げるワイヤロープの間隔・長さ等による固有振動数か
ら旋回速度に対する捻れ角を推定し、この捻れの推定値
と捻れ角センサで計測した捻れの両方を併用し旋回速度
をフィードバック制御して捻れを抑制することを特徴と
するクレーンの吊荷の旋回姿勢制御方法。1. A twisting angle sensor for detecting a twisting angle of a hooking sheave with respect to a reference position of a crane and a twisting angular velocity, comprising a turning device driven by a motor between a hook sheave of a crane and a hanger. By inputting the signal from each sensor to the control device, the motor of the turning device is driven at an arbitrary speed by the inverter to rotate the hanger and the suspended load, and the turning angle of the turning device is detected by the encoder. , The torsion angle with respect to the turning speed is estimated from the natural frequency due to the moment of inertia of the suspended load and the suspending equipment and the spacing and length of the wire rope that suspends the suspended load, and the estimated value of this torsion and the torsion measured by the torsion angle sensor. A method for controlling the turning attitude of a suspended load of a crane, characterized in that both are used together to feedback control the turning speed to suppress twisting.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14948695A JP2955492B2 (en) | 1995-05-23 | 1995-05-23 | Control method of swing posture of suspended load of crane |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP14948695A JP2955492B2 (en) | 1995-05-23 | 1995-05-23 | Control method of swing posture of suspended load of crane |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH08319084A true JPH08319084A (en) | 1996-12-03 |
JP2955492B2 JP2955492B2 (en) | 1999-10-04 |
Family
ID=15476212
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP14948695A Expired - Lifetime JP2955492B2 (en) | 1995-05-23 | 1995-05-23 | Control method of swing posture of suspended load of crane |
Country Status (1)
Country | Link |
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JP (1) | JP2955492B2 (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
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KR19990020683A (en) * | 1997-08-30 | 1999-03-25 | 김징완 | Stop position prediction method of crane and braking control device using same |
KR100803737B1 (en) * | 2006-09-20 | 2008-02-15 | 한국생산기술연구원 | Vibrational frequency measuring device for the hoisting rope of a crane |
CN103979418A (en) * | 2014-05-05 | 2014-08-13 | 江苏格雷特起重机械有限公司 | Electric control system for hoisting of smelting charging bucket with crane |
EP2465807B1 (en) * | 2010-12-14 | 2016-05-25 | Wolfgang Wichner | Method and device for positioning a suspended crane load |
CN107150957A (en) * | 2016-03-03 | 2017-09-12 | 富士电机株式会社 | The angle of oscillation computing device of hanging object |
CN108349711A (en) * | 2016-05-18 | 2018-07-31 | 新东工业株式会社 | The system that fluid reservoir for controlling through bridge crane transports and the method for transporting fluid reservoir by bridge crane |
CN109132870A (en) * | 2018-09-29 | 2019-01-04 | 徐州建机工程机械有限公司 | A kind of tower crane lifting dead slow speed control system and method |
KR20190004544A (en) * | 2017-07-04 | 2019-01-14 | 김영환 | Apparatus for controlling rotation of crane hook |
CN110467111A (en) * | 2018-05-11 | 2019-11-19 | Abb瑞士股份有限公司 | The control of bridge crane |
CN116812790A (en) * | 2023-08-30 | 2023-09-29 | 新乡市思创电气工程有限公司 | Hoisting auxiliary device and system |
CN117228525A (en) * | 2023-11-13 | 2023-12-15 | 哈尔滨安宇迪航空工业股份有限公司 | Hoisting equipment for processing aviation parts and use method thereof |
Families Citing this family (1)
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CN100567130C (en) * | 2007-09-28 | 2009-12-09 | 天津理工大学 | Traveling crane positioning system and localization method |
-
1995
- 1995-05-23 JP JP14948695A patent/JP2955492B2/en not_active Expired - Lifetime
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR19990020683A (en) * | 1997-08-30 | 1999-03-25 | 김징완 | Stop position prediction method of crane and braking control device using same |
KR100803737B1 (en) * | 2006-09-20 | 2008-02-15 | 한국생산기술연구원 | Vibrational frequency measuring device for the hoisting rope of a crane |
EP2465807B1 (en) * | 2010-12-14 | 2016-05-25 | Wolfgang Wichner | Method and device for positioning a suspended crane load |
CN103979418A (en) * | 2014-05-05 | 2014-08-13 | 江苏格雷特起重机械有限公司 | Electric control system for hoisting of smelting charging bucket with crane |
CN107150957A (en) * | 2016-03-03 | 2017-09-12 | 富士电机株式会社 | The angle of oscillation computing device of hanging object |
CN108349711A (en) * | 2016-05-18 | 2018-07-31 | 新东工业株式会社 | The system that fluid reservoir for controlling through bridge crane transports and the method for transporting fluid reservoir by bridge crane |
KR20190004544A (en) * | 2017-07-04 | 2019-01-14 | 김영환 | Apparatus for controlling rotation of crane hook |
CN110467111A (en) * | 2018-05-11 | 2019-11-19 | Abb瑞士股份有限公司 | The control of bridge crane |
CN109132870A (en) * | 2018-09-29 | 2019-01-04 | 徐州建机工程机械有限公司 | A kind of tower crane lifting dead slow speed control system and method |
CN116812790A (en) * | 2023-08-30 | 2023-09-29 | 新乡市思创电气工程有限公司 | Hoisting auxiliary device and system |
CN116812790B (en) * | 2023-08-30 | 2023-11-21 | 新乡市思创电气工程有限公司 | Hoisting auxiliary device and system |
CN117228525A (en) * | 2023-11-13 | 2023-12-15 | 哈尔滨安宇迪航空工业股份有限公司 | Hoisting equipment for processing aviation parts and use method thereof |
CN117228525B (en) * | 2023-11-13 | 2024-02-02 | 哈尔滨安宇迪航空工业股份有限公司 | Hoisting equipment for processing aviation parts and use method thereof |
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