WO2006024701A1 - Arret du mouvement d'inclinaison d'un conteneur - Google Patents

Arret du mouvement d'inclinaison d'un conteneur Download PDF

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Publication number
WO2006024701A1
WO2006024701A1 PCT/FI2005/050307 FI2005050307W WO2006024701A1 WO 2006024701 A1 WO2006024701 A1 WO 2006024701A1 FI 2005050307 W FI2005050307 W FI 2005050307W WO 2006024701 A1 WO2006024701 A1 WO 2006024701A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
motion
actuator
spreader
ropes
Prior art date
Application number
PCT/FI2005/050307
Other languages
English (en)
Inventor
Jyrki Kouhia
Sami Salmi
Original Assignee
Kalmar Industries Oy Ab
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 Kalmar Industries Oy Ab filed Critical Kalmar Industries Oy Ab
Priority to EP05778170A priority Critical patent/EP1784353A4/fr
Priority to CN2005800294292A priority patent/CN101014529B/zh
Publication of WO2006024701A1 publication Critical patent/WO2006024701A1/fr
Priority to HK07112513.6A priority patent/HK1107077A1/xx

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

Definitions

  • the present invention relates to stopping of the skew motion of a load, such as a container, suspended freely by ropes from a crane, especially the invention con ⁇ cerns an apparatus and a method for stopping the skew motion of a load, such as a container spreader and a container, suspended freely by ropes from a crane.
  • a container spreader which is carried by steel wire ropes from a crane.
  • the spreader hangs under the trolley of the crane carried by hoisting ropes arranged in the trol ⁇ ley.
  • the container spreader is usually of an elon ⁇ gated shape, so there is usually at least one point of support for the hoisting ropes at each end of the spreader. The simpler term of spreader is also used for the con ⁇ tainer spreader in this publication.
  • the container may begin swinging by turning due to an eccentric distribution of the weight, due to an external force, due to a collision with an obstacle/another
  • the apparatus of the invention is generally characterised in that the apparatus comprises a sensor for measuring the skew motion, which sensor is arranged in the spreader either fixedly or so that it follows along with the spreader during the skew motion, a calculating unit for processing the sensor's measurement informa ⁇ tion to provide control information for an actuator/actuators, an actuator capable of moving the top ends of the crane's first ropes and/or the top ends of the second ropes in order to stop the skew motion.
  • the method of the invention is generally characterised in that the skew motion is measured by a sensor arranged as a fixed mount on the spreader or arranged to follow along with the spreader during the skew motion, that the calculating unit is used to process the sensor's measurement information to provide control informa ⁇ tion for the actuator/actuators, that the control information is relayed to the actua ⁇ tor, that the actuator is used to do at least one correcting motion in order to move the top ends of the crane's first ropes and/or the top ends of the second ropes.
  • the solution according to the invention for stopping the skew motion of a load that is, a spreader and a container suspended by ropes from the trolley of a crane is advantageous and reliable in operation.
  • the solution according to the invention requires only little apparatus. In the solution, measurement of the container's mo- tion is based directly on measurement of the spreader's motion, and the entire measurement takes place simply and solely by sensing devices located in the
  • the measurement and calculation apparatus is advantageously service-free and tolerates temperatures.
  • the skew motion is typically made to stop within approximately 10 seconds, within I 5 seconds as a maximum time.
  • Figure 1 shows a crane, from the trolley of which a container spreader and a con ⁇ tainer are freely suspended by ropes.
  • Figure 2 illustrates the skew motion of the container spreader.
  • Figure 3 is a side view of the container spreader suspended from the trolley.
  • Figure 4 is a view of the trolley seen from above.
  • Figure 5 shows an angular position of the swinging load as a function of time.
  • Figure 6 shows a schematic example of how the stopping of the skew motion is controlled.
  • Figure 1 shows a crane 1, wherein the body comprises vertically located feet 2 and horizontally located beans 3, which connect the feet at their top ends and whose top surfaces form guiding surfaces, on which a trolley 4 is arranged to move in a sidewise direction (trolley). To the bottom ends of feet 2 wheels 5 are suspended for bringing about the crane's 1 motion (gantry) on the ground surface G.
  • the spreader 7 suspended freely by ropes 6 from the trolley 4 can be used for gripping a container 8 to be moved and for lifting it upwards and for lowering it.
  • An arrow S with two ends illustrates the skew motion of spreader 7 and container 8.
  • the container 8 may start oscillating by rotating in the manner shown by arrow S on account of an eccentric distribution of the weight, due to an external force, due to a collision with an obstacle/another container, under the impact of wind or due to an error in operation.
  • Figure 2 illustrates the container spreader's 7 skew motion S seen in the vertical direction.
  • FIG 3 is a side view of the trolley 4 and of the container spreader 7 suspended from it by ropes
  • Figure 4 is a view of the trolley 4 seen from above.
  • a rope drum 10 driven by a motor 9 is arranged, from which rope drum 10 ropes 6, more specifically ropes 6.1, 6.2, 6.3 and 6.4 are unwound to lower the load and on which rope drum 10 ropes are wound in in order to lift the load.
  • the first ropes 6.2 and 6.3 are led freely downwards to the left- hand end of the spreader 7, and the second ropes 6.1 and 6.4 are led by way of the trolley's sheaves 11 freely downwards to the left-hand end of the spreader 7.
  • ing unit 17 are arranged as a module 22 in the spreader 7 suspended by ropes from the crane's 1 trolley 4 to determine the direction, length and speed of the spreader's 7 skew motion, that is, the spreader's angular speed, and to calculate the necessary control commands for correcting motions of the actuators 14.
  • the control information defined in module 22 is relayed along a cable 23 up to the trolley.
  • the container's 8 skew motion S is damped/stopped by bringing about a suitable correcting motion/motions or corre- spending motions against the skew motion by actuators 14 intended for turning the position of the load and located in the trolley 4 of the crane 1 used for han ⁇ dling the container, which actuators 14 move the top end of the rope suspension.
  • the apparatus carries out a quick correcting motion at a first correcting point, that is, at the extreme end of the skew motion after the operator has started the func- tion for stopping the skew motion.
  • the correcting motion is brought about by moving the points of support of the top ends 6.2', 6.3' of the first ropes 6.2, 6.3 or the points of support of the top ends 6.1', 6.4' of the second ropes 6.1, 6.4 attached in the left-hand end area and/or in the right-hand end area of the spreader 7 in trolley 4 in a traverse direction to the trolley's 4 lengthwise direction.
  • the correcting motion/motions is/are done in the same direction, in which the spreader's 7 skew motion was directed the last time, that is, in the direction of the spreader's 7 skew motion S.
  • the actuator 14 is used to move in the trolley at a sufficient speed the transfer means 13 for the top end of the rope suspension in a transverse direction, which transfer means is shown in the example of Figures 3 and 4 as a carriage intended to move back and forth above the trolley 4 on wheels 15.
  • the actuator's 14 transfer speed is ar- ranged to be sufficiently high, higher than normally with manually operated actua ⁇ tors intended for turning the position of the load.
  • the skew motion of the load is outlined in a so-called 'dynamic' manner in such a way that identification of the skew mo ⁇ tion takes place along with the swinging load. It is not necessary from the skew motion to measure the absolute angular value of the swinging load, but it is suffi- cient to identify the extreme limits of the motion.
  • the angular position of the swinging load can be depicted as a function of time by a sine wave as shown in Figure 5.
  • time is shown on the horizontal axis and the angular position is shown on the ver- tical axis.
  • the graph is shown as having the length of two un-damped skew mo ⁇ tions.
  • the load's angular speed is 0 when the load is at the apex (point A) of the sine wave and when the load is at the bottom (point B) of the sine wave, whereby the load is at the extreme ends of the skew motion at the maximum points of the angular position.
  • the load's angular speed is highest as the sine wave crosses the horizontal axis (point C) of the set of coordinates, whereby the angular position is 0 and the load is straight.
  • Figure 6 shows schematically how stopping of the skew motion is controlled.
  • a sensor I 6 is arranged in a module 22 of the container spreader 7 to move along with the container spreader's 7 mo ⁇ tion and to measure in real time the skew motion of the container spreader 7.
  • the sensor I 6 used may be an angular speed sensor, a gyroscope, an acceleration sen ⁇ sor or other such sensor observing a rotating motion, a sensor identifying a phase of reciprocating motion, a sensor identifying speed or some other such sensor, from which the angular speed can be obtained directly or by calculating.
  • An angular speed sensor for use in an advantageous embodiment of the invention preferably measures swinging constantly, so that the calculating unit 17 located in the module 22 may also immediately produce a control command for a correcting motion of the actuator 14, when the apparatus's function for stopping the skew motion is started.
  • the calculating unit 17 preferably knows at each time the
  • the calculating unit 17 can be used to calculate also in real time the necessary compensating motions to make the load stop.
  • the calculating unit 17 is also preferably located in the container spreader 7, and from the received measurement information it calculates the spreader's 7 mo ⁇ tion.
  • the calculating unit 17 calculates correcting motions for this motion and gives to the crane control, such as a PLC 18, control commands for the actuators 14 in order to bring about the correcting motions.
  • the stopping algorithm is basi- cally based on the so-called theory of free oscillation.
  • the appa ⁇ ratus for preventing the container's skew motion is especially intended to make the operator's work easier, because the operator knows best where the load is to be moved.
  • his control panel 21 has a light telling him whether in the apparatus's opinion the skew motion ought to be stopped.
  • the op ⁇ erator decides to start the apparatus when he likes by pressing a starting switch on the control panel 21, with which switch the apparatus's automatic operation may also be switched off.
  • the automatically functioning apparatus for preventing the container's skew motion will stop functioning.
  • the sensor and calculating unit 16, 17 for measuring the load's skew motion 16,17 are located in a module 22 located in the container spreader's 7 housing.
  • the calculating unit is an embedded computer. Connection with the spreader 7 is established by a bus 19, for example, a CAN bus. Up in the trolley 4 there is a bus converter, over which the module 22 is connected through a control bus 20 with the machine's PLC 18. The operator's control panel 21 is connected to the control by the control bus 20.
  • the sensor and calculating unit 16, 17 in spreader 7 process the spreader's measured motion information to provide motion information for the actuator 14. In other words, the sensor and calculating unit 16,17 calculate the correcting motions intended for turning the spreader's and load's position, for example, motions of hydraulic cylinders, and transmit this
  • the PLC 18 functions as a slave of the so-called slew-motion-stopping module 22, which is formed by the spreader's motion sensor I 6 and calculating unit 17.
  • actuator 14 is controlled to carry out a correcting motion. After each skew motion it is possible from the amplitude of the skew motion S to determine the magnitude of any new correcting motion possibly required. The direction of the correcting motion can be determined from the direction of the skew motion S.
  • the actuators 14 are fast, and according to an advantageous embodiment of the invention the actuators 14 are also provided with a running manner allowing a so- called quick motion, besides the running manner working at a normal speed.
  • the actuators 14 are, for example, hydraulic, whereby PLC 18 controls the actuators 14 based on the control commands of the calculating unit 17.
  • hydraulic circuits are arranged, for example, for moving the top ends 6.2', 6.3' and/or 6.1', 6.4' of the hoisting ropes in a first direction and for moving the hoisting ropes in an opposite direction, which hydraulic circuits comprise a pressure accumulator with valves, the necessary control valves and a hydraulic cylinder.
  • the quick mo ⁇ tion of the hydraulic actuator is arranged with the aid of the pressure accumulator.
  • the crane's 1 PLC 18 relays the control information needed for stopping the skew motion to the control valves preceding the hydraulic cylinder. If the spreader's skew motion to be corrected is big, it is advisable to use the quick motion, and if the spreader's skew motion to be corrected is small, it is possible to use a normal motion.
  • the bus solutions 19, 20 used may vary in different machines, and the calculating unit 17 may be of a dif ⁇ ferent kind.
  • the controlled actuators intended for turning the spreader and load may also be, for example, electro-mechanical actuators, such as electric motors operating at two or more speeds.
  • the apparatus according to the invention for stopping a container's skew motion may be used in continuous operation or occasionally. It may also be used simulta ⁇ neously with correcting motions in the direction of the crane's motions (gantry, trolley).
  • the system keeps the load's skew motion within the per ⁇ missible limits all the time, and thus it will not allow the load any excessive skew motion.
  • the operator uses the control panel 21 to decide when the load should be stopped. On noticing that the load is swinging too much so that he wishes to stop it, he will press the button stopping the skew motion.
  • the apparatus stops the load and the operator continues his work. Stopping the skew motion of the load takes the time of a couple of swings, that is, no more than I 5 seconds at most, whereby the residual swing is less than 2 degrees.
  • the arrangement according to the invention may in principle be used in a crane of any kind, where there is a freely suspended load and controlled actuators intended for turning the load.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

L'invention concerne un dispositif permettant d'arrêter le mouvement d'inclinaison (S) d'une charge, notamment d'un conteneur (8), suspendu librement depuis une grue (1), ladite grue (1) comprenant un palonnier (7) suspendu librement par des cordes (6) pour assurer la préhension de la charge et un actionneur/des actionneurs (14) destiné(s) à faire tourner la charge. Ledit dispositif comprend un détecteur (16) pour mesurer le mouvement d'inclinaison (S), ledit détecteur étant monté dans le palonnier (7) de manière fixe ou de manière à suivre le palonnier pendant le mouvement d'inclinaison. Le dispositif comprend également une unité de calcul (17) pour traiter l'information de mesure du détecteur (16) afin de fournir une information de commande pour l'actionneur /les actionneurs (14) et un actionneur (14) apte à déplacer les extrémités supérieures (6.2', 6.3') des premières cordes (6.2, 6.3) du palonnier (1) et/ou des extrémités supérieures (6.1', 6.4') des secondes cordes (6.1, 6.4), de sorte à arrêter le mouvement d'inclinaison. L'invention concerne en outre un procédé permettant d'arrêter le mouvement d'inclinaison (S) de la charge, notamment d'un conteneur.
PCT/FI2005/050307 2004-09-01 2005-08-31 Arret du mouvement d'inclinaison d'un conteneur WO2006024701A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP05778170A EP1784353A4 (fr) 2004-09-01 2005-08-31 Arret du mouvement d'inclinaison d'un conteneur
CN2005800294292A CN101014529B (zh) 2004-09-01 2005-08-31 阻止集装箱的歪斜运动的装置和方法
HK07112513.6A HK1107077A1 (en) 2004-09-01 2007-11-15 Means for stopping the skew motion of a container and the method thereof

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20041141 2004-09-01
FI20041141A FI117969B (fi) 2004-09-01 2004-09-01 Laitteisto ja menetelmä kontin kiertoheilahdusliikkeen pysäyttämiseksi

Publications (1)

Publication Number Publication Date
WO2006024701A1 true WO2006024701A1 (fr) 2006-03-09

Family

ID=33041484

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI2005/050307 WO2006024701A1 (fr) 2004-09-01 2005-08-31 Arret du mouvement d'inclinaison d'un conteneur

Country Status (6)

Country Link
EP (1) EP1784353A4 (fr)
CN (1) CN101014529B (fr)
FI (1) FI117969B (fr)
HK (1) HK1107077A1 (fr)
MY (1) MY141450A (fr)
WO (1) WO2006024701A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2465807A1 (fr) * 2010-12-14 2012-06-20 Wolfgang Wichner Procédé et dispositif de positionnement d'une charge de grue suspendue sur une suspension par câble d'une grue dans le sens de rotation autour de son axe vertical
EP1992583A3 (fr) * 2007-05-16 2012-07-18 Liebherr-Werk Nenzing GmbH Commande de grue, grue et procédé
WO2021170911A1 (fr) * 2020-02-24 2021-09-02 Stevenel Oy Dispositif de levage pour unités de pâte

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202010015180U1 (de) * 2010-11-09 2012-03-01 Tecsis Gmbh Kompensation von Messfehlern bei Hebegeräten
CN102485617A (zh) * 2010-12-03 2012-06-06 贵州建新南海科技股份有限公司 瓷绝缘子机械转运机构
CN103274292A (zh) * 2013-06-20 2013-09-04 苏州新达电扶梯部件有限公司 一种行车
ES2572029T3 (es) * 2013-11-28 2016-05-27 Siemens Ag Procedimiento para influir en un movimiento de una carga soportada por una grúa
CN104686384B (zh) * 2015-03-12 2017-03-29 中国科学技术大学 自由活动动物实验连接线解旋装置
AT520008B1 (de) * 2017-05-29 2020-02-15 B & R Ind Automation Gmbh Verfahren zum Dämpfen von Drehschwingungen eines Lastaufnahmeelements einer Hebeeinrichtung
CN108358061B (zh) * 2018-01-15 2019-12-10 珠海市港金实业发展有限公司 一种门座式起重机吊具的智能旋转控制系统
CN108491851B (zh) * 2018-01-29 2020-07-31 江苏大学 一种基于机器视觉的集装箱锁孔快速识别与吊具纠偏方法
CN112456332B (zh) * 2020-11-17 2022-02-01 山东省科学院海洋仪器仪表研究所 一种冰块运载或下放过程中的纠偏方法

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EP0841296A1 (fr) * 1996-11-07 1998-05-13 Ishikawajima-Harima Jukogyo Kabushiki Kaisha Grue de container
JPH11292465A (ja) 1998-04-08 1999-10-26 Ishikawajima Harima Heavy Ind Co Ltd 吊具振れ止め装置
US6182843B1 (en) * 1994-05-11 2001-02-06 Tax Ingenieurgesellschaft Mbh Method for the target path correction of a load carrier and load transport apparatus
JP2001322796A (ja) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd 吊荷の制振装置
US20040007443A1 (en) * 2002-07-11 2004-01-15 Anton Munzebrock Control device for overhead conveyors

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US5819962A (en) * 1993-03-05 1998-10-13 Mitsubishi Jukogyo Kabushiki Kaisha Apparatus for stopping the oscillation of hoisted cargo
JP4598999B2 (ja) * 2001-07-18 2010-12-15 三菱重工業株式会社 クレーン及びクレーンの制御方法
JP2003267660A (ja) * 2002-03-19 2003-09-25 Mitsui Eng & Shipbuild Co Ltd ガントリークレーンのコンテナ位置決め装置

Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US6182843B1 (en) * 1994-05-11 2001-02-06 Tax Ingenieurgesellschaft Mbh Method for the target path correction of a load carrier and load transport apparatus
EP0841296A1 (fr) * 1996-11-07 1998-05-13 Ishikawajima-Harima Jukogyo Kabushiki Kaisha Grue de container
JPH11292465A (ja) 1998-04-08 1999-10-26 Ishikawajima Harima Heavy Ind Co Ltd 吊具振れ止め装置
JP2001322796A (ja) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd 吊荷の制振装置
US20040007443A1 (en) * 2002-07-11 2004-01-15 Anton Munzebrock Control device for overhead conveyors

Non-Patent Citations (1)

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Title
See also references of EP1784353A4 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1992583A3 (fr) * 2007-05-16 2012-07-18 Liebherr-Werk Nenzing GmbH Commande de grue, grue et procédé
EP2465807A1 (fr) * 2010-12-14 2012-06-20 Wolfgang Wichner Procédé et dispositif de positionnement d'une charge de grue suspendue sur une suspension par câble d'une grue dans le sens de rotation autour de son axe vertical
WO2021170911A1 (fr) * 2020-02-24 2021-09-02 Stevenel Oy Dispositif de levage pour unités de pâte

Also Published As

Publication number Publication date
HK1107077A1 (en) 2008-03-28
MY141450A (en) 2010-04-30
CN101014529B (zh) 2011-05-18
FI20041141A0 (fi) 2004-09-01
EP1784353A4 (fr) 2012-03-07
FI20041141A (fi) 2006-03-02
CN101014529A (zh) 2007-08-08
FI117969B (fi) 2007-05-15
EP1784353A1 (fr) 2007-05-16

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