PT3816090T - Método para gerar uma trajectória para um aparelho de içamento - Google Patents

Método para gerar uma trajectória para um aparelho de içamento

Info

Publication number
PT3816090T
PT3816090T PT193064136T PT19306413T PT3816090T PT 3816090 T PT3816090 T PT 3816090T PT 193064136 T PT193064136 T PT 193064136T PT 19306413 T PT19306413 T PT 19306413T PT 3816090 T PT3816090 T PT 3816090T
Authority
PT
Portugal
Prior art keywords
trajectory
generating
hoisting appliance
hoisting
appliance
Prior art date
Application number
PT193064136T
Other languages
English (en)
Original Assignee
Schneider Electric Ind Sas
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 Schneider Electric Ind Sas filed Critical Schneider Electric Ind Sas
Publication of PT3816090T publication Critical patent/PT3816090T/pt

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
    • B66C13/08—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
    • 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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4155—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40511—Trajectory optimization, coarse for arm, medium for wrist, fine for finger
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/50—Machine tool, machine tool null till machine tool work handling
    • G05B2219/50392—Overhead conveyor

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Control And Safety Of Cranes (AREA)
  • Mechanical Coupling Of Light Guides (AREA)
PT193064136T 2019-10-30 2019-10-30 Método para gerar uma trajectória para um aparelho de içamento PT3816090T (pt)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19306413.6A EP3816090B1 (en) 2019-10-30 2019-10-30 Method for generating a trajectory for a hoisting appliance

Publications (1)

Publication Number Publication Date
PT3816090T true PT3816090T (pt) 2023-05-03

Family

ID=68581717

Family Applications (1)

Application Number Title Priority Date Filing Date
PT193064136T PT3816090T (pt) 2019-10-30 2019-10-30 Método para gerar uma trajectória para um aparelho de içamento

Country Status (5)

Country Link
US (1) US11795036B2 (pt)
EP (1) EP3816090B1 (pt)
CN (1) CN112744708B (pt)
ES (1) ES2943499T3 (pt)
PT (1) PT3816090T (pt)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113928982B (zh) * 2021-09-18 2022-11-18 法兰泰克重工股份有限公司 一种带雷达反馈的高精度抓斗抓取位置控制方法
CN113759853B (zh) * 2021-09-18 2023-07-18 法兰泰克重工股份有限公司 一种物料自动搬运控制系统
EP4190736A1 (en) * 2021-12-01 2023-06-07 Schneider Electric Industries SAS Method to optimize an anti-sway function

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7831333B2 (en) * 2006-03-14 2010-11-09 Liebherr-Werk Nenzing Gmbh Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner
JP4574609B2 (ja) * 2006-12-14 2010-11-04 国立大学法人豊橋技術科学大学 レーザーポインタを用いた天井クレーンによる搬送方法及び天井クレーンシステム
CN101665216B (zh) * 2009-09-29 2012-02-08 三一集团有限公司 一种岸桥集装箱吊具运行轨迹的控制方法、系统和装置
JP7025896B2 (ja) * 2017-11-13 2022-02-25 株式会社日立産機システム クレーンシステム、および、クレーンの制御方法

Also Published As

Publication number Publication date
US20210130139A1 (en) 2021-05-06
CN112744708B (zh) 2024-10-15
EP3816090B1 (en) 2023-03-29
EP3816090A1 (en) 2021-05-05
ES2943499T3 (es) 2023-06-13
US11795036B2 (en) 2023-10-24
CN112744708A (zh) 2021-05-04

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