WO2019138616A1 - Machine de levage - Google Patents

Machine de levage Download PDF

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Publication number
WO2019138616A1
WO2019138616A1 PCT/JP2018/037170 JP2018037170W WO2019138616A1 WO 2019138616 A1 WO2019138616 A1 WO 2019138616A1 JP 2018037170 W JP2018037170 W JP 2018037170W WO 2019138616 A1 WO2019138616 A1 WO 2019138616A1
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WO
WIPO (PCT)
Prior art keywords
trolley
rope
winding
control unit
initial
Prior art date
Application number
PCT/JP2018/037170
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English (en)
Japanese (ja)
Inventor
小田井　正樹
家重　孝二
裕吾 及川
井上　智博
Original Assignee
株式会社日立産機システム
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.)
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Publication date
Application filed by 株式会社日立産機システム filed Critical 株式会社日立産機システム
Priority to CN201880079612.0A priority Critical patent/CN111465572B/zh
Publication of WO2019138616A1 publication Critical patent/WO2019138616A1/fr

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    • 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
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • 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

Definitions

  • the present invention relates to a hoist.
  • a load fluctuation suppressing control technology in which a suspended load suspended on a rope is regarded as a pendulum and the transport speed is controlled based on the swing of the pendulum.
  • Patent Document 1 discloses a technique for automatically arranging a trolley immediately above a suspended load.
  • Patent Document 1 describes a technique for moving a trolley just above a suspended load by calculating the horizontal deviation of the suspended load and the trolley from the laser length meter disposed on the trolley and the rope length.
  • Patent Document 2 describes a technique for tensioning a rope after disposing a beam tip just above a suspended load in order to suppress initial deflection due to beam deflection at the time of ground cutting.
  • the trolley can be disposed right above the suspended load, which makes it possible to reduce the initial runout.
  • a laser length meter is required, and the system of the hoist becomes complicated.
  • An object of the present invention is to reduce load fluctuation at ground breaking in a hoist.
  • a winding machine includes a trolley conveyed by self-propelled means, a winding motor mounted on the trolley, a winding drum attached to the winding motor, and a rope attached to the winding drum.
  • FIG. 7 is a diagram showing a flowchart of an initial shake reduction function. It is a figure which shows the example which makes a deflection
  • Load fluctuation suppression control is roughly divided into feedforward control and feedback control.
  • Feed forward control is a method of suppressing a load fluctuation by determining a conveyance speed command based on a load fluctuation model.
  • the feedback control is a method of suppressing a load fluctuation by detecting or estimating the load fluctuation in real time and feeding it back to determine a conveyance speed command.
  • feedforward control and feedback control are performed collectively.
  • Feed-forward control can be realized only by soft operation, where the response is controlled so that the transport speed is controlled so as to suppress load fluctuation before load fluctuation occurs, by controlling based on the load fluctuation model and compared to feedback control. And the implementation cost is low. On the other hand, feed forward control can not cope with a phenomenon not represented by a load fluctuation model such as an initial runout that occurs when a load is separated from a floor surface (hereinafter referred to as ground breaking) or an error of the load fluctuation model.
  • a load fluctuation model such as an initial runout that occurs when a load is separated from a floor surface (hereinafter referred to as ground breaking) or an error of the load fluctuation model.
  • the feedback control has a feature of being able to cope with an initial runout or the like as compared with the feedforward control by detecting the load runout and controlling it in a coping manner.
  • feedback control does not work until a load swing occurs, and the response is slow because it requires a sensor or an estimator for detecting load swing, resulting in high implementation cost.
  • two-degree-of-freedom control it is possible to realize the response speed of feedforward control and the response to the phenomenon not represented by the load fluctuation model of feedback control or the error of the load fluctuation model.
  • the two-degree-of-freedom control requires a sensor or an estimator for detecting a load fluctuation, and the implementation cost is high. From this, for example, if the initial runout can be suppressed in advance, it is possible to realize effective load control with only feedforward control at low mounting cost.
  • the hoisting machine 10 is composed of a trolley 11, a rope 13 and hooks 131.
  • the trolley 11 moves in the x direction in the drawing along the beam 15 by the rotation of the traverse wheel 1111 and winds the rope 13 by rotating the winding drum 1122 to move the load 30 in the z direction in the drawing.
  • the hanging load 30 on the floor surface 40 is suspended by the sling rope 20 from the rope 13 and the trolley 11 via the hooks 131.
  • the rope 13 and the hooks 131, the hooking rope 20 and the hanging load 30 constitute a pendulum having a fulcrum on the winding drum 1122.
  • the fulcrum and the suspension load core 301 have a deviation in the x direction in the drawing.
  • the pendulum has an initial deflection angle ⁇ 0 around the y axis in the drawing.
  • the pendulum by the initial deflection angle theta 0 becomes movable state, FIG. 1 (b)
  • a load runout ie, an initial runout, occurs around the y axis in the figure.
  • the initial runout is, for example, when the pendulum which the rope 13 and the hanging load 30 constitute is deviated in the horizontal position (the xy plane in the figure) of the supporting point and the hanging load core 301 at the time of ground cutting. It happens to That is, the initial shake due to the horizontal deviation of the pendulum at the time of ground breaking does not occur if the fulcrum 11 in the trolley 11 is positioned directly above the suspension load core 301 in the suspended load 30.
  • the operator manipulates the position of the trolley 11 while visually observing the hanging load 30, the trolley 11 and the rope 13, and the trolley 11 is disposed right above the hanging load 30.
  • the load fluctuation at the ground cutting is automatically reduced in the hoist.
  • the first embodiment relates mainly to a hoist that conveys a load that can be lifted by a rope, and in particular, relates to a hoist that reduces a load fluctuation at the time of ground breaking by tensioning the rope before the ground breaking and conveying the trolley. In addition, it is applicable also to the crane which conveys the load similarly.
  • the suspended load 30 to be transported is suspended from the hook 131 by the hooking rope 20.
  • the hook 131 is suspended by the rope 13 to the winding drum 1122.
  • the hanging load 30 may be configured to be hung directly on the hook 131 without the aid of the sling rope 20.
  • the winding drum 1122 is connected to the winding motor 112 and the winding encoder 1121 by a winding shaft 1123 and disposed in the trolley 11.
  • the rope 13 can be wound up or down by the rotation of the winding motor 112, and the suspended load 30 can be transported in the z direction in the drawing. This z-direction transport is referred to as winding.
  • the traverse wheel 1111 is connected to the traverse motor 111 via a traverse shaft 1112 and disposed in the trolley 11.
  • the rotation of the traverse motor 111 causes the traverse wheel 1111 to rotate on the beam 15 so as to generate a driving force.
  • the trolley 11 and the suspended load 30 can be transported in the x direction in the figure along the beam. This transport in the x direction is referred to as traversing.
  • the transport operation unit 141 is provided on the operation terminal 14, and receives an operation of transport operation which is an instruction of traversing and / or winding, or both by the operator.
  • the input transport operation signal is sent to the control unit 12 via the communication unit 142.
  • the control unit 12 generates a transport command based on the input transport operation signal or a transport signal by an initial shake reduction function to be described later, and drives the traverse motor 111 and / or the hoist motor 112. Thereby, the hanging load 30 is traversed and wound up.
  • the hanging load 30 and the sling rope 20 are to be transported, and are not components of the hoisting machine 10. Moreover, the jig
  • the communication unit 142 of the operation terminal 14 may be wired communication or wireless communication.
  • the beam 15 is connected to the traveling beam 18 via the traveling device 16.
  • the traveling device 16 moves the beam 15 along the traveling beam 18 in the y direction in the drawing as the traveling motor 161 rotates.
  • the trolley 11 connected to the beam 15 and the suspended load 30 (see FIG. 2) suspended by the hooks 131 are transported in the y direction in the drawing. This conveyance in the y direction is referred to as traveling.
  • the conveyance operation signal input to the conveyance operation unit 141 (see FIG. 2) provided in the operation terminal 14 has a traveling command signal in addition to the traverse and winding. At least a traveling instruction signal among the input conveyance operation signals is transmitted to the traveling control unit 17 via the communication unit 142 (see FIG. 2).
  • the traveling control unit 17 generates a conveyance command at least for traveling based on the conveyance operation signal or a conveyance signal by an initial shake reduction function described later, and drives the traveling motor 161.
  • the load 30 (see FIG. 2) is thereby traveled in addition to traversing and winding.
  • the transport command for traversing and winding is generated in the control unit 12 and the transport command for traveling is generated in the travel control unit 17, the present invention is not limited to this configuration.
  • control unit 12 For example, the control unit 12 generates a conveyance speed command for traversing, traveling, and winding, and at least of the generated conveyance commands, the control unit 12 transmits a command for traveling to the traveling control unit 17, and the traveling control unit 17
  • the traveling motor 161 may be driven based on the received conveyance command.
  • the conveyance operation signal may be transmitted to at least the control unit 12, and may not be transmitted to the traveling control unit 17.
  • the initial shake reduction function will be described with reference to FIG. 4, based on the initial shake reduction function start operation on the operation terminal 14 or the like by the operator, the initial shake reduction function is started from the start flow S101, and transitions to the winding operation non-permission flow S102.
  • the initial shake reduction function is performed by the control unit 12 (see FIGS. 2 and 3).
  • the rope tensioning flow S103 applies a torque to the hoisting motor 112, thereby tensioning the rope 13 without cutting the suspended load 30, and transits to the weir detection flow S104.
  • the applied torque can be estimated, for example, from the mass of the hook 131 or the like.
  • a torque capable of winding up the hook 131 may be applied as a predetermined applied torque without cutting off the load 30.
  • the rope 30 is not cut off the ground. Can be tense.
  • the eyelid detection flow S104 detects or calculates a state amount ⁇ that is correlated with the pendulum initial shake angle ⁇ 0 (see FIG. 1), and transitions to an end determination flow S105.
  • the state quantity ⁇ ⁇ will be described later.
  • End determination flow S105 using a state quantity ⁇ the detected transition to the initial deflection angle theta 0 is operated permission flow S108 winding when it is determined that sufficiently small, when it is necessary to reduce the initial deflection angle theta 0 If it is determined, the flow proceeds to the trolley conveyance direction determination flow S106.
  • Trolley conveying direction determination flow S106 the initial deflection determines the change of the initial deflection angle theta 0 in the transport of the last trolley 11 in reducing function by the state quantity [psi, reducing the current trolley conveying direction initial deflection angle theta 0 It sets to the direction which becomes, and it changes to trolley conveyance flow S107.
  • the initial deflection angle ⁇ 0 when it is determined that the initial deflection angle ⁇ 0 has become smaller according to the state amount ⁇ in the previous transport of the trolley 11, the initial deflection angle ⁇ 0 becomes larger in the same direction as the previous one. If it is determined that the determination is made, the determination can be made by setting in the opposite direction or the like. In the first flow of trolley conveyance direction determination flow S106 after the initial shake reduction function is started, conveyance may be performed in a predetermined direction.
  • the trolley conveyance flow S107 generates the conveyance signal and outputs it to the traverse motor 111, the traveling motor 161, or both, thereby automatically traversing the trolley, traveling or both in the set trolley movement direction. Go and transition to rope tension flow S103.
  • the winding operation permission flow S108 enables the operator to perform the winding operation and enables the operator to perform the ground removal operation, and the process transitions to an end flow S109.
  • An end flow S109 ends the initial shake reduction function.
  • the operator may be notified by displaying on the hoist that the initial shake reduction function has ended and the ground removing operation has become possible.
  • the loop to be repeated may be transitioned for each event, or may be transitioned for each time, or the like.
  • each event there is an example in which the transport distance by which the trolley 11 is transported each time the loop is repeated is set.
  • the processing time taken for one loop is predetermined.
  • the application torque may or may not be applied to the winding motor 112. That is, the rope 13 may be in a tension state or in a relaxation state.
  • the rope 13 is always tensioned by the trolley 11 being conveyed while the rope 13 is wound up.
  • the termination determination flow S105 determines whether or not the initial swing angle ⁇ 0 has become sufficiently small for traveling and traveling respectively, and traverses and traveling If it is determined that the initial deflection angle ⁇ 0 has become sufficiently small in both, the process transitions to the winding operation permission flow S108.
  • the trolley 11 can be disposed vertically above the suspended load 30 even in a hoisting machine capable of traversing and traveling by alternately performing trolley conveyance and end determination of traversing and traveling.
  • the loop is similarly repeated in the traveling direction,
  • the trolley 11 can be disposed vertically above the load 30. It goes without saying that the traveling direction may be performed first, and then the transverse direction may be performed.
  • the traveling state amount ⁇ independently of traveling
  • traveling and traveling can be performed simultaneously, and the trolley 11 can be disposed above the suspended load 30 in a short time.
  • the state quantity ⁇ ⁇ ⁇ used for the determination does not have to be one state quantity, and a plurality of state quantities may be used.
  • FIG. 5 is an example in which the initial deflection angle ⁇ 0 is a state quantity ⁇ .
  • the deflection angle display 50 is composed of a display plate 501 and a weight 502, and is fixed to the hook 131.
  • the weight 502 is attached to be suspended vertically downward.
  • the initial deflection angle ⁇ 0 is displayed as the angle formed by the display plate 501 and the weight 502. Further, if the above-mentioned angle is observed by an encoder or the like, the initial deflection angle ⁇ 0 can be observed.
  • the eyelid detection flow S104 detects the initial shake angle ⁇ 0 as the state quantity ⁇ .
  • End determination flow S105 the initial deflection angle theta 0 good like determines if the initial shake reducing function and end smaller than the predetermined value. Accordingly, the trolley transfer flow S107, automatically transports the trolley in the direction in which the initial deflection angle theta 0 detected by ⁇ detection flow S104 decreases.
  • the initial deflection angle ⁇ 0 can be detected independently in each of the transverse and traveling directions.
  • the trolley 11 is conveyed in the lateral direction based on the initial deflection angle in the lateral direction, and the trolley 11 is driven in the traveling direction based on the initial deflection angle in the traveling direction. Thereby, traveling and traveling can be performed simultaneously in the initial shake reduction function.
  • the deflection angle display 50 does not have to have the configuration shown in FIG. 5, but may have another configuration such as a gyro or an acceleration sensor as long as the deflection angle can be detected.
  • FIG. 6 is a schematic view showing the relationship between the initial deflection angle ⁇ 0 and the rope length.
  • L is a distance from the pendulum fulcrum to the lower part of the hook 131 and indicates a rope length detectable by the winding encoder 1121.
  • the hook height R is the distance from the lower part of the hook 131 to the hanging load core 301 and can not be detected.
  • the height H of the center of gravity is the projection distance between the pendulum fulcrum and the suspension load core 301 in the z direction in the drawing and can not be detected.
  • the relationship between the rope length L, the hook height R, and the center-of-gravity height H is (Equation 1) and FIG. 7.
  • FIG. 7 is a diagram showing the relationship between the initial deflection angle ⁇ 0 and the rope length L.
  • the absolute value of the rope length L when the initial deflection angle ⁇ 0 is 0 degree is not known.
  • the trolley 11 is horizontally conveyed, because the center of gravity height H constant value, as an initial deflection angle theta 0 is close to 0 degrees rope length L is small. Further, as the initial deflection angle ⁇ 0 approaches 0 °, the rate of change of the rope length L with respect to ⁇ 0 also decreases.
  • the state quantity ⁇ detection flow S104 detects the rope length L as the state quantity ⁇ using the winding encoder 1121.
  • the end determination flow S105 when the trolley 11 is transported such that the amount of change in the rope length L when transporting the trolley 11 becomes smaller than a predetermined value or the rope length L becomes smaller, the rope length L becomes longer and the initial stage and detecting an increase in the deflection angle theta 0, the initial deflection reduction function ends can be determined in such.
  • the trolley conveyance flow S107 the trolley is automatically conveyed in the direction in which the rope length L detected in the weir detection flow S104 becomes smaller.
  • the rope length L can be taken as the state quantity ⁇ .
  • FIG. 8 is a schematic view showing the relationship between the initial deflection angle ⁇ 0 and the rope tension.
  • f is the gravity applied to the hook 131
  • T is the tension applied to the rope 13 to wind up the hook 131.
  • the rope tension T is the torque applied to the hoist motor 112 to tension the rope 13.
  • Equation 2 the relationship between the hook gravity f, the rope tension T, and the initial deflection angle ⁇ 0 is expressed by Equation 2 and FIG.
  • FIG. 9 is a view showing the relationship between the initial deflection angle ⁇ 0 and the rope tension T.
  • the hook gravity f is a constant value
  • the rate of change of T also decreases.
  • the state quantity ⁇ detection flow S104 detects the rope tension T as the state quantity ⁇ ⁇ using the torque applied to the hoist motor 112 when the rope 13 is tensioned.
  • the end determination flow S105 when the trolley 11 is transported such that the amount of change in the rope tension T when transporting the trolley 11 becomes smaller than a predetermined value, or when the rope tension T becomes smaller, the rope tension T becomes large.
  • the end of the initial shake reduction function can be determined by detecting an increase in the initial shake angle ⁇ 0 or the like. Thereby, in the trolley conveyance flow S107, the trolley is automatically conveyed in the direction in which the rope tension T detected in the wrinkle detection flow S104 becomes smaller.
  • FIG. 10 is a schematic view showing the relationship between the initial deflection angle ⁇ 0 and the trolley external force.
  • F is an external force applied to the trolley 11 which is generated by winding up the hook 131 and tensioning the rope 13.
  • the relationship between the hook gravity f, the rope tension T, and the trolley external force F is expressed by Equation 3 and FIG.
  • FIG. 11 is a view showing the relationship between the initial deflection angle ⁇ 0 and the trolley external force F. As shown in FIG. 11, since the hook gravity f is a constant value, the trolley external force F becomes closer to 0 as the initial deflection angle ⁇ 0 approaches 0 degrees.
  • FIG. 12 is a block diagram showing an example of means for detecting the trolley external force F.
  • u0 is a driving force command for transporting the trolley 11 calculated by the control unit 12.
  • the trolley 11 is conveyed by the driving force u1 by the driving force command u0 and the trolley external force F based on the trolley dynamic characteristic.
  • u2 is a physical quantity based on the transport of the trolley 11, and includes displacement, speed, acceleration and the like. If the observed or estimated transport physical quantity u2 is calculated based on the inverse model of the trolley dynamic characteristic, the estimated driving force u1 *, which is an estimated value of the driving force u1, can be estimated. By using the estimated driving force u1 * and the driving force command u0, an estimated trolley external force F * which is an estimated value of the trolley external force can be obtained.
  • the state quantity ⁇ detection flow S104 detects the trolley external force F or the estimated trolley external force F * in a state in which the rope 13 is tensioned as the state quantity ⁇ .
  • End determination flow S105 the * trolley external force F or estimated trolley external force F is smaller than a predetermined value, or trolley external force F or estimated upon transporting the trolley 11 so that * trolley external force F or estimated trolley external force F is reduced
  • the end of the initial shake reduction function can be determined by, for example, detecting the increase in the initial shake angle ⁇ 0 by reversing the direction (sign) of the external force F * .
  • the trolley conveyance flow S107 the trolley is automatically conveyed in the direction in which the trolley external force F or the estimated trolley external force F * detected in the wrinkle detection flow S104 decreases.
  • the trolley external force F can be independently estimated independently in the traveling and the traveling.
  • traverse and traveling can be performed simultaneously in the initial shake reduction function.
  • the winding machine according to the first embodiment automatically performs traveling and traveling in the initial shake reduction function by automatically generating a conveyance command.
  • Example 2 transverse in the initial shake reducing function, the running was carried out by an operator operation, to assist the operator operation by a display unit for displaying the state quantity ⁇ representing the initial deflection angle theta 0 in this case the operator.
  • the wrinkle detection flow S104 displays the detected wrinkles to the operator, and the end determination flow S105, the trolley conveyance direction determination flow S106, and the trolley conveyance flow S107 are performed by the operator's operation.
  • the eyelid detection flow S104 displays the detected state quantity ⁇ to the operator.
  • the state quantity ⁇ may be displayed anywhere as long as it is a component of the winding machine 10 such as the trolley 11 or the operation terminal 14. Also, the state quantity ⁇ does not have to be displayed numerically, and may be displayed mechanically as a bar graph or a swing angle indicator of FIG. 5.
  • termination determination flow S105 the operator, on the basis of the display, it is judged that the initial deflection angle theta 0 is less than the desired angle, shifts the winding operation permission flow S108 by operating the operation terminal 14.
  • the end determination based on the state quantity ⁇ is automatically performed, and when the automatic determination determines the end of the initial shake reduction function, sound is notified to the operator by display of light or the like to perform the operation of the operator. You may help.
  • the operation is not limited to an explicit initial shake reduction function end operation such as pushing up a button pressed at the start of the initial shake reduction function, for example, and may be, for example, a winding operation for ground cutting.
  • trolley conveying direction determination flow S106 the operator by the display based on the state quantity [psi, determines the direction in which initial deflection angle theta 0 becomes smaller. At this time, the trolley conveyance direction may be automatically determined based on the state quantity ⁇ , and the trolley conveyance direction may be displayed to the operator to aid the determination.
  • trolley conveyance flow S107 the operator operates the operation terminal 14 to convey the trolley 11 in the trolley conveyance direction. At this time, if the trolley conveyance by the operator's operation is different from the trolley conveyance direction automatically determined in the trolley conveyance direction determination flow S106, the operator is notified of the display by sound or light to assist the operator in the conveyance operation. You may
  • the initial shake reduction function may combine the function of reducing the initial shake angle ⁇ 0 by the operator operation of the second embodiment and the function of the automatic conveyance of the first embodiment. Thereby, each operator can selectively use the initial shake reduction function. Moreover, after reducing the initial deflection angle theta 0 roughened by the initial shake reducing function by the operator, it is possible to operate such reduced accurately initial deflection angle theta 0 in function of the automatic transport.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)

Abstract

Selon la présente invention, un chariot est transporté par tension d'un câble, avant de soulever une charge suspendue qui est suspendue par l'intermédiaire d'un crochet à partir d'une surface de sol.
PCT/JP2018/037170 2018-01-10 2018-10-04 Machine de levage WO2019138616A1 (fr)

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Application Number Priority Date Filing Date Title
CN201880079612.0A CN111465572B (zh) 2018-01-10 2018-10-04 卷扬机

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JP2018002029A JP7117852B2 (ja) 2018-01-10 2018-01-10 巻上げ機
JP2018-002029 2018-01-10

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WO2019138616A1 true WO2019138616A1 (fr) 2019-07-18

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Publication number Priority date Publication date Assignee Title
JP7403270B2 (ja) * 2019-10-09 2023-12-22 株式会社日立産機システム 巻上機、巻上機システム、吊荷質量推定装置及び吊荷質量推定方法
CN112938756B (zh) * 2021-01-29 2022-07-05 华中科技大学 一种起重船吊物系统空间摆振的主动控制方法及系统
JP7509712B2 (ja) 2021-03-29 2024-07-02 株式会社日立産機システム クレーン及びクレーンの制御方法

Citations (6)

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Publication number Priority date Publication date Assignee Title
JPS4942659U (fr) * 1972-07-18 1974-04-15
JPH04223992A (ja) * 1990-12-25 1992-08-13 Kobe Steel Ltd クレーンにおけるロープの振れ角検出装置
JPH05246686A (ja) * 1992-03-04 1993-09-24 Kobe Steel Ltd 旋回式クレーン
JPH07125981A (ja) * 1993-11-08 1995-05-16 Hitachi Kiden Kogyo Ltd 吊上電磁石付インバータ制御式スクラップクレーンの自動運転方法
JP2010149943A (ja) * 2008-12-24 2010-07-08 Hitachi Industrial Equipment Systems Co Ltd ホイスト
US20140224755A1 (en) * 2011-09-20 2014-08-14 Konecranes Plc Crane control

Family Cites Families (2)

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Publication number Priority date Publication date Assignee Title
FI20095324A (fi) * 2009-03-27 2010-09-28 Sime Oy Menetelmä riippuvan taakan ohjaamiseksi
CN204625010U (zh) * 2015-04-29 2015-09-09 廖章威 一种工业起重机防摇摆系统

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4942659U (fr) * 1972-07-18 1974-04-15
JPH04223992A (ja) * 1990-12-25 1992-08-13 Kobe Steel Ltd クレーンにおけるロープの振れ角検出装置
JPH05246686A (ja) * 1992-03-04 1993-09-24 Kobe Steel Ltd 旋回式クレーン
JPH07125981A (ja) * 1993-11-08 1995-05-16 Hitachi Kiden Kogyo Ltd 吊上電磁石付インバータ制御式スクラップクレーンの自動運転方法
JP2010149943A (ja) * 2008-12-24 2010-07-08 Hitachi Industrial Equipment Systems Co Ltd ホイスト
US20140224755A1 (en) * 2011-09-20 2014-08-14 Konecranes Plc Crane control

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JP2019119583A (ja) 2019-07-22
CN111465572A (zh) 2020-07-28
JP7117852B2 (ja) 2022-08-15

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