EP1880971A3 - Verfahren zum Steuern der Orientierung einer Kranlast - Google Patents

Verfahren zum Steuern der Orientierung einer Kranlast Download PDF

Info

Publication number
EP1880971A3
EP1880971A3 EP20070007445 EP07007445A EP1880971A3 EP 1880971 A3 EP1880971 A3 EP 1880971A3 EP 20070007445 EP20070007445 EP 20070007445 EP 07007445 A EP07007445 A EP 07007445A EP 1880971 A3 EP1880971 A3 EP 1880971A3
Authority
EP
European Patent Office
Prior art keywords
load
orientation
controlling
crane load
crane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20070007445
Other languages
English (en)
French (fr)
Other versions
EP1880971A2 (de
EP1880971B1 (de
Inventor
Jörg Neupert
Oliver Prof. Dr.-Ing. Sawodny
Klaus Dr. Dipl.-Ing. Schneider
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
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 Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP1880971A2 publication Critical patent/EP1880971A2/de
Publication of EP1880971A3 publication Critical patent/EP1880971A3/de
Application granted granted Critical
Publication of EP1880971B1 publication Critical patent/EP1880971B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Jib Cranes (AREA)

Abstract

Verfahren zum Steuern der Orientierung einer Kranlast (10), wobei ein Manipulator zum Handhaben der Last (10) durch eine Rotatoreinrichtung (15) mit einem an Seilen (8) hängenden Haken verbunden ist und der Drehwinkel ϕ L der Last durch eine Steuereinrichtung mit Hilfe des Trägheitsmoments JL der Last als wichtigster Parameter gesteuert wird. Die Steuereinrichtung ist eine adaptive Steuereinrichtung, wobei das Trägheitsmoment J L der Last während des Kranbetriebs anhand von durch Messen des Systemzustands erhaltenen Daten bestimmt wird.
EP07007445.5A 2006-07-18 2007-04-11 Verfahren zum Steuern der Orientierung einer Kranlast Not-in-force EP1880971B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102006033277A DE102006033277A1 (de) 2006-07-18 2006-07-18 Verfahren zum Steuern der Orientierung einer Kranlast

Publications (3)

Publication Number Publication Date
EP1880971A2 EP1880971A2 (de) 2008-01-23
EP1880971A3 true EP1880971A3 (de) 2009-04-29
EP1880971B1 EP1880971B1 (de) 2016-09-21

Family

ID=38581907

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07007445.5A Not-in-force EP1880971B1 (de) 2006-07-18 2007-04-11 Verfahren zum Steuern der Orientierung einer Kranlast

Country Status (4)

Country Link
US (1) US7850025B2 (de)
EP (1) EP1880971B1 (de)
DE (1) DE102006033277A1 (de)
ES (1) ES2608403T3 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007039408A1 (de) 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Kransteuerung, Kran und Verfahren
EP1992583B2 (de) 2007-05-16 2023-11-22 Liebherr-Werk Nenzing GmbH Kran mit Kransteuerung
WO2009038399A2 (en) * 2007-09-20 2009-03-26 Posco Appartus for controlling the position of crane tong according to slab bending and the method thereof
TWI444939B (zh) * 2008-01-10 2014-07-11 Univ Nat Taiwan 工程吊車之模擬系統及其方法
CN101301981B (zh) * 2008-05-23 2010-06-02 中国石油化工集团公司 一种吊装方法
CN101381054B (zh) * 2008-09-12 2010-12-29 中国石油化工集团公司 吊车推举法吊装立式设备用铰支座
DK2370925T3 (da) * 2008-12-15 2021-05-31 Oceaneering Int Inc Platformsforsyningshåndteringsindretning
JP4565034B2 (ja) * 2008-12-16 2010-10-20 ファナック株式会社 イナーシャ推定を行う制御装置及び制御システム
DE102009032270A1 (de) * 2009-07-08 2011-01-13 Liebherr-Werk Nenzing Gmbh Verfahren zur Ansteuerung eines Antriebs eines Kranes
DE102009032269A1 (de) 2009-07-08 2011-01-13 Liebherr-Werk Nenzing Gmbh Kransteuerung zur Ansteuerung eines Hubwerkes eines Kranes
EP2364948B1 (de) * 2010-03-08 2012-05-09 Liebherr-Werk Ehingen GmbH Kran
CN101948080B (zh) * 2010-08-17 2012-07-18 中国石油化工股份有限公司 一种降低设备尾部溜尾高度的方法
CN102953335B (zh) * 2011-08-18 2015-08-05 上海振华重工(集团)股份有限公司 重型钢塔竖立吊装方法和系统
EP2562125B1 (de) * 2011-08-26 2014-01-22 Liebherr-Werk Nenzing GmbH Kransteuervorrichtung
CN102336362A (zh) * 2011-09-08 2012-02-01 中联重科股份有限公司 测量塔式起重机的起重力矩的方法、装置以及监控系统
US9555899B2 (en) * 2014-03-27 2017-01-31 The United States Of America As Represented By The Secretary Of The Navy Mobile arresting system
DE102014008094A1 (de) 2014-06-02 2015-12-03 Liebherr-Werk Nenzing Gmbh Verfahren zum Steuern der Ausrichtung einer Kranlast und Auslegekran
US9829344B2 (en) * 2015-03-18 2017-11-28 The Boeing Company Cable angle sensor
EP3359480B1 (de) * 2015-10-08 2023-07-12 Verton IP Pty Ltd Materialverwaltungssysteme und -verfahren
DE102016004350A1 (de) 2016-04-11 2017-10-12 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans
CN106272436B (zh) * 2016-10-09 2018-10-30 上海派毅智能科技有限公司 一种基于变负载的服务机器人自适应控制方法
US10273124B2 (en) 2016-12-15 2019-04-30 Caterpillar Inc. Rotation control system for material handling machines
US20180346294A1 (en) * 2017-05-30 2018-12-06 Versatile Natures Ltd. Method and apparatus for load handling
US11511972B1 (en) 2019-09-26 2022-11-29 Versatile, Inc. System for tracking lifting events at a construction site
US12099337B1 (en) * 2019-12-06 2024-09-24 Vita Inclinata Ip Holdings Llc Control moment gyroscope hoist stabilization system, method, and apparatus
CN111268564B (zh) * 2020-02-10 2021-05-28 河北工业大学 基于迭代-遗传算法的智能天车防摆控制系统
DE102020113699A1 (de) 2020-05-20 2021-11-25 TenneT TSO GmbH Hebeeinrichtung und ein mit einer solchen Hebeeinrichtung ausgestattetes Wasserfahrzeug sowie ein hierfür bestimmtes Arbeitsverfahren
DE102020120699A1 (de) 2020-08-05 2022-02-10 Konecranes Global Corporation Auslegerdrehkran mit einer Kamera sowie Verfahren zur Reduzierung von Lastpendelungen im Kranbetrieb
CN115186715B (zh) * 2022-07-20 2023-07-28 哈尔滨工业大学 一种基于状态空间模型的机电定位系统贝叶斯辨识方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19907989A1 (de) * 1998-02-25 1999-10-07 Hofer Eberhard Verfahren zur Bahnregelung von Kranen und Vorrichtung zum bahngenauen Verfahren einer Last
DE19826695A1 (de) * 1998-06-16 1999-12-23 Siemens Ag Verfahren und Vorrichtung zur Ausregelung eines Verdrehwinkels einer Last
DE10029579A1 (de) * 2000-06-15 2002-01-03 Hofer Eberhard Verfahren zur Orientierung der Last in Krananlagen
DE10064182A1 (de) * 2000-10-19 2002-05-08 Liebherr Werk Nenzing Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit Lastpendelungsdämpfung

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US1899266A (en) 1931-06-06 1933-02-28 Condor Company Doorcheck
JPS626848A (ja) 1985-07-02 1987-01-13 Honda Motor Co Ltd 車輌用物入れボツクスの蓋開閉装置
DE3815450C2 (de) 1988-05-06 1995-03-09 Grass Alfred Metallwaren Weitwinkel-Scharnier mit Zahnrad-Getriebe
US5089972A (en) * 1990-12-13 1992-02-18 Nachman Precision Systems, Inc. Moored ship motion determination system
US6241462B1 (en) * 1999-07-20 2001-06-05 Collaborative Motion Control, Inc. Method and apparatus for a high-performance hoist
DE29921246U1 (de) * 1999-12-02 2000-02-24 Siemens AG, 80333 München Steuervorrichtung zur Überwachung und Regelung von Schwingungsbewegungen von Kranlasten
DE10007406A1 (de) 2000-02-18 2001-08-23 Volkswagen Ag Schließbarer Behälter, insbesondere Humidor
US6496765B1 (en) * 2000-06-28 2002-12-17 Sandia Corporation Control system and method for payload control in mobile platform cranes
DE10159140A1 (de) 2000-12-22 2002-07-04 Blum Gmbh Julius Schrankartiges Möbel und Scharnier zur Verwendung bei einem derartigen Möbel
US6826452B1 (en) * 2002-03-29 2004-11-30 The Penn State Research Foundation Cable array robot for material handling
DE10223670A1 (de) * 2002-05-28 2003-12-18 Kuka Roboter Gmbh Verfahren und Vorrichtung zum Bewegen eines Handhabungssystems
US7426423B2 (en) * 2003-05-30 2008-09-16 Liebherr-Werk Nenzing—GmbH Crane or excavator for handling a cable-suspended load provided with optimised motion guidance

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19907989A1 (de) * 1998-02-25 1999-10-07 Hofer Eberhard Verfahren zur Bahnregelung von Kranen und Vorrichtung zum bahngenauen Verfahren einer Last
DE19826695A1 (de) * 1998-06-16 1999-12-23 Siemens Ag Verfahren und Vorrichtung zur Ausregelung eines Verdrehwinkels einer Last
DE10029579A1 (de) * 2000-06-15 2002-01-03 Hofer Eberhard Verfahren zur Orientierung der Last in Krananlagen
DE10064182A1 (de) * 2000-10-19 2002-05-08 Liebherr Werk Nenzing Kran oder Bagger zum Umschlagen von einer an einem Lastseil hängenden Last mit Lastpendelungsdämpfung

Also Published As

Publication number Publication date
DE102006033277A1 (de) 2008-02-07
EP1880971A2 (de) 2008-01-23
ES2608403T3 (es) 2017-04-10
EP1880971B1 (de) 2016-09-21
US20080017601A1 (en) 2008-01-24
US7850025B2 (en) 2010-12-14

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