WO2006084739A2 - Dispositif et procede pour le chargement et/ou le dechargement d'espace de chargement ou de stockage - Google Patents

Dispositif et procede pour le chargement et/ou le dechargement d'espace de chargement ou de stockage Download PDF

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Publication number
WO2006084739A2
WO2006084739A2 PCT/EP2006/001234 EP2006001234W WO2006084739A2 WO 2006084739 A2 WO2006084739 A2 WO 2006084739A2 EP 2006001234 W EP2006001234 W EP 2006001234W WO 2006084739 A2 WO2006084739 A2 WO 2006084739A2
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WO
WIPO (PCT)
Prior art keywords
gripper
determined
pendulum
movement
carriage
Prior art date
Application number
PCT/EP2006/001234
Other languages
German (de)
English (en)
Other versions
WO2006084739A3 (fr
Inventor
Bernd Mann
Original Assignee
Isam Aktiengesellschaft
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 Isam Aktiengesellschaft filed Critical Isam Aktiengesellschaft
Priority to EP06706858A priority Critical patent/EP1851157A2/fr
Publication of WO2006084739A2 publication Critical patent/WO2006084739A2/fr
Publication of WO2006084739A3 publication Critical patent/WO2006084739A3/fr

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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
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements

Definitions

  • the invention initially relates to a device for loading and / or unloading a loading space or storage space with material, in particular for loading and / or unloading a loading space of a ship with bulk material, vzw. with coal or ore, or with containers according to the features of the preamble of claim 1. Furthermore, the invention relates to a method for loading and / or unloading a loading space with material, in particular for loading and / or unloading a cargo space of a ship with coal or Ore, or with containers, according to the features of the preamble of claim 28.
  • Such unloading bridges usually have in each case a water-side and in each case a land-side essentially horizontally extending outrigger, which are arranged on two substantially vertically extending supporting pillars.
  • the pillars which have a landing gear, are movable parallel to the quay wall and thus also parallel to the ship lying on the quay wall.
  • a kind of movable carriage called a "cat" is arranged movably along the extension arm, a gripper being arranged in the area below the carriage with the aid of cable elements, which can be moved in the vertical direction, namely up and down, in particular through the loading hatch After that, the gripper is pulled upwards in the vertical direction through the loading hatch and then, with the aid of the carriage, which can be moved on the outrigger, by the What - on the land side, where the bulk material is deposited on a heap or on a conveyor belt.
  • the gripper has vzw. a separate locking mechanism, which also vzw. is controlled by corresponding additional rope elements.
  • the cable ie the "cat" essentially decouples the horizontal and the vertical control of the gripper.
  • the position of the carriage (in the direction of the boom) and of the gripper (ie the specific vertical distance - lifting / lowering) is controlled by the detection Since the closing mechanism of the gripper is also controlled by separate rope elements, a force measurement can be carried out on the grippers of the gripper as well as on its closing ropes the weight of yourself in the gripper located bulk material can be determined.
  • the control of the gripper in the vertical direction is therefore essentially on the control of the corresponding tether of the gripper.
  • the control of the closing mechanism of the gripper (opening / closing) is therefore essentially effected by the activation of the corresponding closing cable drum.
  • the control of the gripper in the horizontal direction via a movement / displacement of the carriage from right to left along the corresponding boom and a corresponding suspension drive of the pillars in the direction parallel to the quay wall.
  • the gripper is substantially "three-dimensionally" movable or controllable.Vzw.
  • the control of the gripper is done manually via a control station, which is arranged on the unloading bridge.
  • corresponding devices or "unloading bridges” are known, lifted with the help of containers from the hold of a ship or be deposited in the hold of a ship, so a corresponding ship loaded with the containers or unloaded accordingly.
  • the operation of such a discharge bridge is substantially similar to that described above, but the gripper for gripping the container is designed specifically differently than the gripper for gripping bulk material.
  • the corresponding gripper for gripping a container substantially on a kind of frame, with the help of corresponding fasteners of the corresponding container can be "taken".
  • the loading state of the hold of the ship below the "hatch” - hereinafter referred to as “hatch” - is generally very arbitrary at the beginning of discharge from the bulk material.
  • the gripper When unloading generally a flat surface of the charge in the hatch area is sought, from which then the bulk material is tapped with the gripper. A substantial portion of the cargo space is generally not directly below the hatch and is therefore not directly accessible to the drained grapple. However, it is trying to fully exploit the area of the opening to the hold, so the surface of the hatch.
  • the gripper is therefore moved up close to the hatch edges, in exceptional cases, it is set off by utilizing a pendulum motion in the edge regions of the hold, which would otherwise not be easily reached.
  • the invention is therefore based on the object, the above-mentioned device or the method mentioned in such a way and further, that the loading and / or unloading process is simplified, in particular the associated costs and possibly associated malfunctions, in particular the risk of collisions of the gripper are significantly reduced.
  • FIG. 2 shows the device according to the invention for carrying out the method according to the invention in a schematic representation from the side with the essential components of the control system
  • Fig. 3 is a schematic representation of the inertial navigation system, namely a three-axis inertial system with a schematic representation of the corresponding axes, and
  • FIG. 4 shows a slide arranged or movable on the arm in a schematic representation from the side in a specific embodiment with the essential tensile forces acting here.
  • Figs. 1 to 4 show - at least partially - a device 1 for loading and / or unloading a loading space 2 with material 3, vzw. with bulk material 3a.
  • the device 1 shown here is therefore suitable for loading and / or unloading a loading space or a storage space with material 3, ie vzw. with bulk material 3a or, for example, also for loading and / or unloading the loading space of a ship with containers.
  • the device 1 is in the following but vzw. explained with reference to the unloading bridge Ia shown in particular in FIGS. 1 and 2:
  • the main mechanical components of the device 1 are first - very generally - shown.
  • the vzw. designed as a discharge bridge Ia device 1 for loading and / or unloading the cargo space 2 of a ship 4 with bulk material 3a.
  • the device 1 serves for loading and / or unloading the loading space 2 of a ship 4 with coal, ore or the like.
  • the device 1 has a gripper 5 for receiving or delivering the bulk material 3a to be transported.
  • the position of the gripper 5 relative to the transporting bulk material 3a is controllable, wherein the position of the gripper 5 is initially variable in the vertical direction according to the arrow A, namely the gripper 5 can be lowered on the one hand, on the other hand can be pulled up.
  • the gripper 5 is connected to at least one cable element 6, which is indicated schematically here.
  • the term "cable element” is also understood, for example, as chain-like elements or the like, which are not rigid and allow a pendulum movement of the gripper 5.
  • the device 1 embodied here as a discharge bridge 1a has a - first - water-side boom 7 and a - second - land-side boom 8.
  • the booms 7 and 8 are substantially horizontal and are arranged on vertically arranged pillars 9.
  • the cable element 6 shown here runs, in particular, over a deflection roller 11 (see Fig. 4) arranged on the carriage 10. Also, the carriage 10 is moved along the extension arms 7 and 8 via further cable elements, not shown here in FIG Therefore, with the movement of the carriage 10, the gripper 5-which is suspended from the cable element 6-can also be moved correspondingly along the arms 7 and 8.
  • the entire device 1 constructed as the discharge bridge 1a It is conceivable that the device 1 not only the cargo holds 2 mobile vehicles (trucks, ships, etc.) or entl dt, but for example. even on solid ground standing by walls limited cargo spaces 2 ("storage rooms").
  • a control system 14 not shown in FIG. 1 but shown in FIG. 2, is now provided.
  • the recording and / or delivery of the bulk material 3 a by the gripper 5 is realized by means of a separate locking mechanism of the gripper 5, not shown here, which in turn vzw. is operated via separate rope elements not shown here in detail. The same applies if containers are to be transported with the device 1 and a specifically designed gripper.
  • the bulk material 3a is now unloaded from the loading space 2, the gripper 5 being lowered into the loading space 2 of the ship 4 through the corresponding hatch 15, here the bulk material to be transported 3a is taken in the open state of the gripper 5, the gripper 5 is then actuated by means of its locking mechanism, namely closed and then pulled over a corresponding cable drum drive the gripper 5 through the hatch 15 upwards. Vzw. Thereafter, the carriage 10 is then moved accordingly, namely along the boom 7 and 8, respectively, to the point where the bulk material 3a is then to be unloaded. At the same time, the entire device 1 along the quay wall 13 by means of the chassis 12 are also moved.
  • the gripper 5 is thus correspondingly movable in all the directions shown in FIGS. 1 and 2, ie in the X, Y and Z directions, so that the bulk material 3 a to be transported then arrives on a hopper 16 Conveyor belts 17 and 18 (shown by arrow B) can be discharged or on a heap 19 (shown by the arrow C) is heaped up or can be removed from the heap. This depends on the particular application.
  • the device 1 For the movement / control of the gripper 5 in the individual directions, ie in the X, Y and Z directions, the device 1 has the corresponding components / actuators not shown in detail here, ie a correspondingly driven cable drum for moving the gripper 5 in the Y direction, one _ _
  • carriage 10 via the carriage 10 is initially a decoupling of the horizontal (at least in the X direction) and vertical (in the Y direction) control of the gripper 5.
  • the corresponding cable drums not shown here are vzw. powered by DC motors.
  • the term "carriage” is understood to mean a movable element along the extension arm 7 or 8. It is conceivable that the carriage 10 is guided along the feeders 7 and 8 by means of a rail system or else that shown in FIG has shown drive rollers.
  • the position of the gripper 5 can be sensed by means of an inertial navigation system 21, so that a pendulum movement or pendulum deflection of the gripper 5 can be determined and the pendulum deflection can be substantially compensated for and / or reduced by a corresponding control , Vzw.
  • Vzw a corresponding control
  • FIG. 2 shows now essentially the inventively constructed device - -
  • the vzw. is designed as a discharge bridge Ia.
  • Good to see here is the first boom 7, the pillars 9 a control pulpit 20, the ship 4, the load compartment 2, the hatch 15 and the gripper 5, which depends on the cable element 6 and is connected to the carriage 10.
  • the carriage 10 is displaceable substantially horizontally along the first expander 7, as indicated by the unspecified arrows, the device 1 being movable along the quay wall 13 via the landing gear 12, which is not shown in detail here.
  • control system 14 schematically shown here for the corresponding control of the gripper 5.
  • coordinate system that is intended to represent the directions of movement of the gripper 5 in the X, Y and Z directions, the individual movements, namely in Y Direction can be realized via a corresponding cable drive of the cable element 6, in the X direction via the carriage 10 and in the Z direction via the motor-driven device 1 along the quay wall 13 with the aid of the carriage 12.
  • the locking mechanism of the gripper 5 which is also controlled via not shown here separate cable elements, so that the opening and closing movements of the gripper 5 also with the aid of the control system 14 can be realized.
  • an inertial navigation system 21 is provided.
  • An inertial navigation system 21 is particularly advantageous in poor visibility conditions for determining the position of the gripper 5, since poor visibility on the determination of the position of the gripper 5 have no influence here.
  • This inertial navigation system 21 is on the gripper 5, ie on the load receiving means according to vzw. arranged directly in a box.
  • the inertial navigation system 21 has corresponding sensors for determining the current translational and / or rotational accelerations or rotational speeds of the gripper 5.
  • the data determined by the inertial navigation system 21 data immediately to the control system 14 vzw. transmitted by radio.
  • the control system 14 has vzw. an illustrated evaluation unit 14a and / or a computing unit 14b and vzw. a storage unit 14c.
  • the data transmitted by the inertial navigation system 21 are then evaluated and thus the current position of the gripper 5 is determined or also a possible pendulum deflection and / or oscillating movement of the gripper 5 is determined or its trajectory calculated.
  • the pendulum movement or the movement path of the gripper 5 can then be calculated via the evaluation and / or arithmetic unit 14a, 14b of the control system 14.
  • the control system 14 or the computing unit 14b then calculates the kinematic "counter measures" and gives the control commands to the individual actuators for controlling the components such as the movement of the carriage 10, the chassis 12 and / or the specific height of the gripper 5.
  • the kinematic intervention realized by the control system 14 is automatically compensated for, but at least reduced, by the pendulum movement / pendulum deflection of the gripper 5.
  • the control system 14 then controls the actuators, ie the cable drums for the carriage 10, the engine for the chassis 12 and / or. or the cable drum to adjust the current height of the gripper 5 automatically.
  • the inertial navigation system 21 is shown in its specific embodiment.
  • the inertial navigation system 21 is here vzw. designed as a three-axis inertial system and has a corresponding sensor, namely vzw. up to three orthogonal gyroscopes and vzw. up to three accelerometers on.
  • the inertial navigation system 21 designed as an inertial system is used to determine the position of the gripper 5 in the case of the bulk material 3a, the inertial system has three orthogonal gyroscopes and three accelerometers, namely for the corresponding three relevant pendulum axes. If the inertial navigation system 21 designed as an inertial system is used to determine the position of the gripper 5 for containers, the inertial navigation system 21 vzw. two orthogonal gyroscopes or vzw. two Accelerometer on, namely due to the vzw. Here realized specific suspension of the gripper 5 for the relevant here for this case here two pendulum axes.
  • the inertial navigation system 21 designed as an inertial system is here arranged in a kind of box or the sensors are arranged in the box, this box being arranged directly on the load receiving means, namely on the gripper 5, as shown in FIG. Additionally illustrated in FIG. 3, here are the respective respective three axes, namely the X-axis, the Y-axis and the Z-axis.
  • the data measured by the inertial system are vzw. transmitted by radio to the control system 14. For each of the possible pendulum axles, here vzw.
  • the three axes of the inertial system are permanently determined for the respective axis, the measured rotational speed about this axis and / or the vectorial acceleration in the direction of this axis using the gyro associated with this axis or the accelerometer associated with this axis.
  • the position and position of the load receiving means namely the gripper 5 in space by the corresponding integration of the measured data, ie vzw. to determine the current position and position of the gripper 5 in space.
  • the respective acceleration vectors of the respective axes X-, Y- and Z-axis
  • the resulting acceleration vector can be determined accordingly, wherein additionally and simultaneously the "rate of turn" of the gripper 5 from the individual angular velocities to the individual Axes can be determined, namely with the help of the respective measured data of orthogonal gyroscopes.
  • the position of the load receiving means namely the gripper 5 in space can be calculated by integration (simple integration with rotational speed values, dual integration with acceleration values) via the currently obtained measurement data ,
  • integration simple integration with rotational speed values, dual integration with acceleration values
  • vzw. with the help of the control system 14 for a particular position of the load receiving means, so the gripper 5 in its rest position, a reference point defined for the kinematic system. This happens vzw. also in rest position of the carriage 10 and der Fahrwerkes 12.
  • the current measurement data are transmitted to the control system 14, so that the current position of the gripper 5 in space on the corresponding integration of the measurement data, in particular the pendulum deflection is calculated accordingly and the control system 14 here a pendulum deflection or pendulum motion of the gripper 5, since the inertial navigation system 21 embodied as an inertial system continuously and permanently transmits the corresponding measurement data to the control system 14 and the movement or position of the carriage 10 is always known to the control system 14, so that then the current position of the gripper 5 due to the corresponding integration of the permanently transmitted measurement data and the adaptation of the coordinates in the space whose position is calculated at any time.
  • This has the great advantage that the whole kinematic system can work without an imaging system and bad weather conditions, namely poor visibility can not influence this. On the contrary, pendulum deflections caused by wind forces can be compensated immediately.
  • a rotary movement of the gripper 5 on the one hand a substantially circular movement of the gripper 5 in space but also a circular movement gripper 5 is substantially determined about its own vertical axis.
  • This has the particular advantage that even such a rotary movement of the gripper 5 by the control system 14 can be reduced or compensated. Such a rotary movement of the gripper 5 is thereby compensated or vzw.
  • the system described above vzw. additionally, a continuous check of the measured data by comparing the positions of the gripper 5 integrated via the accelerometers and / or rotary gyroscopes with a position of the gripper 5 determined from the pendulum angle and the position of the carriage 10.
  • the integration of the measured data of the inertial navigation system 21 embodied as an inertial system permanently determines the position and position of the gripper 5, vzw. permanently the reversal points of the pendulum and / or rotational movement of the gripper 5 can be determined and then a compensation of the movements of the gripper 5 respect. Its rest position is possible.
  • the control system 14 By the direct action of the control system 14 after the detected pendulum movement of the gripper 5 can now with the help of the evaluation or arithmetic unit 14a / 14b of the control system 14 and with the aid of a stored in the memory unit 14c computer program, the corresponding physical effects and the actual predetermined considered specific geometries and forces, the pendulum movement of the gripper 5 vzw. be compensated. Vzw.
  • the weight of the bulk material 3 a located in the gripper 5 is determined via a force measurement on the cable element 6 and transmitted to the control system 14, as vzw.
  • the control system 14 in addition also all the essential parameters for checking the measurement data of the inertial navigation system 21 - as already mentioned above - are available. It may be problematic that the measurement results of the inertial navigation system 21, which is designed as an inertial system, have an error which increases steadily with time t. The reason for this is possible - -
  • the supports otherwise known in the prior art of such a system would not be effective in the application described above for the gripper 5.
  • the inertial system or the corresponding measurement data can now also be supported accordingly in the direction of the determined zero point position, ie. the measurement data determined by the inertial system are correspondingly "corrected", namely to eliminate a possible system inherent drift.
  • FIG. 4 shows the carriage 10, the guide roller 11 for the cable element 6 for lifting and lowering the gripper 5 and the cable elements 22 and 23 (guide cables) for moving the carriage 10 along the boom 7.
  • a pendulum deflection of the gripper 5 shown here represented by the angle ⁇
  • a corresponding resultant force FR ⁇ S arises in the region of the carriage 10, a corresponding resultant force FR ⁇ S.
  • the horizontal component of this force is Fhorizontai
  • the rope load of the rope element 6 is here indicated with Flaut.
  • the horizontal component of the resultant force FR es that is the horizontal component Fhorizontai, must be applied by the guide cables of the carriage 10.
  • Fhorizontai Fsee - FLand. Because the _ _ _
  • Rope load of the rope element 6 FLast has already been measured and the control system 14 is available, now in addition the corresponding forces on the rope elements 22 and 23 of the carriage 10 vzw. determined with power cans.
  • a measurement of the pendulum deflection of the gripper 5 is now possible at least in the direction of movement of the carriage 10 (X direction), in particular because the cable length of the cable element 6 or the respective angle of rotation of the cable drum and thus the specific height of the gripper 5 is known.
  • the bearing of the deflection roller 11 can be equipped with a moment sensor. 4, the corresponding force measurement of the cable elements 6, 22 or 23 or the corresponding moment measurement on the deflection roller 11 can be used to deduce a corresponding pendulum deflection and / or pendulum motion of the gripper 5, namely with the aid of an evaluation unit / Arithmetic unit 14a, 14b of the control system 14, these are calculated.
  • the forces acting on the carriage 10 rope forces are determined by force sensors, in addition vzw.
  • Torque sensors are arranged on the deflection rollers of the cable elements required here, so that the pendulum deflection of the gripper 5 can be determined as a result with the aid of the determined values and the evaluation unit / arithmetic unit 14a, 14b of the control system 14.
  • the pendulum deflection of the gripper 5 can be compensated or reduced by means of the control commands or control of the individual actuators, as described above, namely via a corresponding automatic control of the carriage 10, the chassis 12 and / or the change in the height of the gripper 5.
  • the device 1 can now advantageously also be designed in this way, so that the exact position of the ship 2 and / or the hatch 15 or the hatch edges can also still be sensed by sensors.
  • This is vzw. via another image acquisition system, vzw. realized via a laser scanner 24, which is designed in particular as a 3D laser scanner.
  • the laser scanner 24 is arranged on the first arm 7 above the area of the hatch 15. Vzw. is with the help of the laser scanner 24 then the exact position of the vessel 2 and the hatch 15 sensed.
  • the evaluation unit 14a or computing unit 14b determines this from the data transmitted by the laser scanner 24 or by the sensory detection of the position of the gripper 5.
  • the current distribution of the charge, that is the bulk material 3a within the cargo space 2 is scanned.
  • Gripper 5 (in the Y direction) is changed, in particular, the current load of the gripper 5 is determined with bulk material 3 via a corresponding force measurement on the cable element 6 and a corresponding current height adjustment of the gripper 5, the pendulum motion is reduced or compensated.
  • the individual components are controlled via the control system 14.
  • an inertial navigation system 21 determines the translational and / or rotational accelerations of the gripper 5 with the aid of the sensors of the inertial navigation system 21, the determined data being transmitted to the control system 14.
  • these data are evaluated with the aid of an evaluation unit 14a and the current position of the gripper 5 or its trajectory calculated, then then based on the corresponding control of the chassis 12, the carriage 10 and / or the height of the gripper 5 then the compensation or reduction of the pendulum movement can take place.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

La présente invention a trait à un dispositif (1, 1a) pour le chargement et/ou le déchargement de matériau (3) dans et/ou depuis un espace de chargement ou de stockage, notamment pour le chargement et/ou déchargement de matériau, de houille, de minerai en vrac, ou de conteneurs dans et/ou depuis la cale (2) d'un navire (4). Au moins un dispositif de préhension (5) est prévu pour la prise ou le déchargement du matériau (3), matériau en vrac (3a), ou conteneur à transporter. La position dudit dispositif de préhension (5) peut être contrôlée, c'est à dire la position du dispositif de préhension (5) peut être modifiée au moins dans la direction verticale et/ou horizontale. Le dispositif de préhension (5) est relié à au moins un élément de cordage (6) tandis que les déplacements du dispositif de préhension (5) dans la direction verticale et/ou horizontale et/ou les déplacements pour la prise et/ou le déchargement du matériau (3) peut être contrôlée à l'aide d'un système de contrôle (14), la position du dispositif de préhension (5) étant détectée de manière sensorielle de sorte qu'un mouvement d'oscillation et/ou de déviation oscillante du dispositif de préhension (5) peut être déterminé et peut être sensiblement compensé et/ou réduit par son déclenchement en conséquence. Afin d'améliorer l'aspect économique et la sécurité de fonctionnement, un système de navigation par inertie (21) qui est prévu sur le dispositif de préhension (5) est agencé pour la détection de la position du dispositif de préhension (5).
PCT/EP2006/001234 2005-02-11 2006-02-10 Dispositif et procede pour le chargement et/ou le dechargement d'espace de chargement ou de stockage WO2006084739A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP06706858A EP1851157A2 (fr) 2005-02-11 2006-02-10 Dispositif et procede pour le chargement et/ou le dechargement d'espace de chargement ou de stockage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200520002315 DE202005002315U1 (de) 2005-02-11 2005-02-11 Vorrichtung zum Be- und/oder Entladen eines Laderaums mit Schüttgut, insbesondere zum Be- und/oder Entladen eines Laderaumes eines Schiffes mit Kohle, Erz o.dgl.
DE202005002315.9 2005-02-11

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WO2006084739A2 true WO2006084739A2 (fr) 2006-08-17
WO2006084739A3 WO2006084739A3 (fr) 2006-11-02

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EP (2) EP1958915B8 (fr)
DE (1) DE202005002315U1 (fr)
WO (1) WO2006084739A2 (fr)

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DE102007041692A1 (de) * 2007-09-03 2009-03-05 Siemens Ag Regelungseinrichtung zur Dämpfung von Pendelbewegungen einer seilgeführten Last
EP2527285B1 (fr) * 2011-05-25 2014-07-16 Teraoka Shoji Inc. Grue à benne dotée d'un transporteur
US20170121935A1 (en) * 2014-05-19 2017-05-04 Nautilus Minerals Singapore Pte Ltd Seafloor Haulage System
CN109975173A (zh) * 2019-04-28 2019-07-05 深圳国技仪器有限公司 自动化积载因数试验系统
CN110562729A (zh) * 2019-08-29 2019-12-13 武汉奋进智能机器有限公司 一种酒醅出窖系统及方法

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DE202005002315U1 (de) * 2005-02-11 2005-06-16 Isam Ag Vorrichtung zum Be- und/oder Entladen eines Laderaums mit Schüttgut, insbesondere zum Be- und/oder Entladen eines Laderaumes eines Schiffes mit Kohle, Erz o.dgl.
DE102007027536B4 (de) 2007-06-15 2010-07-08 Gottwald Port Technology Gmbh Schwimmende Umladeeinrichtung für Schüttgut
ATE488466T1 (de) * 2008-04-18 2010-12-15 Siemens Ag Verfahren zur dämpfung von pendelungen einer durch einen kran geführten schüttgutlast, steuerungsprogramm und kranautomatisierungssystem
CN102229392A (zh) * 2011-06-23 2011-11-02 三一集团有限公司 一种过驳作业桥式装卸船机
DE102013011718A1 (de) * 2013-07-15 2015-01-15 Isam Ag Verfahren zur Steuerung einer Containerbrücke zum Be- oder Entladen, insbesondere des Laderaumes, eines Schiffes bzw. Steuersystem zur Steuerung einer Containerbrücke bzw. Containerbrücke mit Steuersystem
CN103407883B (zh) * 2013-08-22 2015-09-02 泰富重工制造有限公司 卸船机操控系统及操控方法
CN103499322A (zh) * 2013-10-12 2014-01-08 北京冶联科技有限公司 一种煤场储煤量的测量方法
CN104386507A (zh) * 2014-12-17 2015-03-04 天津港远航矿石码头有限公司 一种九步联动卸船方法
DE102016001684A1 (de) 2016-02-12 2017-08-17 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung wenigstens eines Krans
CN105565165B (zh) * 2016-03-04 2016-09-14 江苏聚业机械装备股份有限公司 全自动智能港口吊机抓煤系统及方法
WO2017190801A1 (fr) * 2016-05-06 2017-11-09 Applied Materials Italia S.R.L. Appareil pour aligner un élément de photopile, système destiné à être utilisé dans la fabrication d'un agencement de photopile, et procédé pour aligner un élément de photopile
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CN110723565A (zh) * 2018-10-15 2020-01-24 党琪 一种适用于铁路运输的自动化散货装箱系统及方法
CN110817490A (zh) * 2019-11-15 2020-02-21 中冶宝钢技术服务有限公司 一种抓斗卸船机及其作业方法

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EP1958915A3 (fr) 2012-08-15
WO2006084739A3 (fr) 2006-11-02

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