Abstract: A vibration control device that can achieve the best vibration control effect within an allowable stroke range of a movable mass includes a controller that calculates at least one of a displacement deviation between a target displacement of a movable mass and a displacement of the movable mass detected by a mass displacement sensor and a velocity deviation between a target velocity of the movable mass and a velocity of the movable mass detected by a mass velocity sensor, and generates a control command for making a motor drive the movable mass on the basis of at least one of the displacement deviation and the velocity deviation. The target displacement and the target velocity are set in a manner that the amplitude of the movable mass becomes constant and that phases thereof are delayed 90 degrees with respect to the vibration of a building.

Abstract: A vibration control device that can achieve the best vibration control effect within an allowable stroke range of a movable mass includes a controller that calculates at least one of a displacement deviation between a target displacement of a movable mass and a displacement of the movable mass detected by a mass displacement sensor and a velocity deviation between a target velocity of the movable mass and a velocity of the movable mass detected by a mass velocity sensor, and generates a control command for making a motor drive the movable mass on the basis of at least one of the displacement deviation and the velocity deviation. The target displacement and the target velocity are set in a manner that the amplitude of the movable mass becomes constant and that phases thereof are delayed 90 degrees with respect to the vibration of a building.

Abstract: A crane provided with a trolley, a hanging member, a rope member, and a hoisting device. The crane includes a horizontal position displacement detection unit which detects a horizontal positional displacement between at least two corners of the cargo and a landing place of the two corners; and a horizontal position displacement correction unit which corrects a horizontal positional displacement between the at least two corners of the cargo and the landing place of the two corners when the two corners have landed based on a detection signal from the horizontal position displacement detection unit. The horizontal position displacement correction unit corrects the position of a corner of the cargo so that the corner lands at the landing place of the corner, and then corrects the position of another corner so that the corner lands at the landing place of the corner.

Abstract: An apparatus for controlling stacking of a load by a crane estimates a periodical displacement of a horizontal position of a tool. A speed with which the tool descends is controlled such that the tool or a load held by the tool lands on a desired position when the amplitude of the periodical displacement becomes maximum.

Abstract: A crane provided with a trolley, a hanging member, a rope member, and a hoisting device. The crane includes a horizontal position displacement detection unit which detects a horizontal positional displacement between at least two corners of the cargo and a landing place of the two corners; and a horizontal position displacement correction unit which corrects a horizontal positional displacement between the at least two corners of the cargo and the landing place of the two corners when the two corners have landed based on a detection signal from the horizontal position displacement detection unit. The horizontal position displacement correction unit corrects the position of a corner of the cargo so that the corner lands at the landing place of the corner, and then corrects the position of another corner so that the corner lands at the landing place of the corner.

Abstract: The apparatus for controlling stacking of a load by a crane estimates a periodical displacement of a horizontal position of a tool. A speed with which the tool descends is controlled such that the tool or a load held by the tool lands on a desired position when the amplitude of the periodical displacement becomes maximum.

Abstract: A transverse trolley 11 is transversally movable on a crane girder. A driver is provided for the transverse trolley 11. A pair of sheave blocks 14, 15 which is movable relative to a transverse trolley 11 are disposed on both (right and left) sides of a transverse trolley 11. Drivers are provided for the sheave blocks. Detectors 31 through 38 are provided which detect the displacement and velocity of the transverse trolley 11, the sway displacement and velocity of a hoisted load-piece 23 on both (right and left) sides and the displacement and velocity of the two sheave blocks 14, 15. A notch is disposed on an operation controlling panel of the transverse trolley 11 for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector 40 is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch.

Abstract: A transverse trolley 11 is transversally movable on a crane girder. A driver is provided for the transverse trolley 11. A pair of sheave blocks 14, 15 which is movable relative to a transverse trolley 11 are disposed on both (right and left) sides of a transverse trolley 11. Drivers are provided for the sheave blocks. Detectors 31 through 38 are provided which detect the displacement and velocity of the transverse trolley 11, the sway displacement and velocity of a hoisted load-piece 23 on both (right and left) sides and the displacement and velocity of the two sheave blocks 14, 15. A notch is disposed on an operation controlling panel of the transverse trolley 11 for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector 40 is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch.

Abstract: A transverse trolley (11) is transversally movable on a crane girder. A driver is provided for the transverse trolley (11). A pair of sheave blocks (14, 15) which is movable relative to a transverse trolley (11) are disposed on both (right and left) sides of a transverse trolley (11). Drivers are provided for the sheave blocks. Detectors (31 through 38) are provided which detect the displacement and velocity of the transverse trolley (11), the sway displacement and velocity of a hoisted load-piece (23) on both (right and left) sides and the displacement and velocity of the two sheave blocks (14, 15). A notch is disposed on an operation controlling panel of the transverse trolley (11) for setting a trolley transverse velocity by an operator. A transverse notch-driving control quantity detector (40) is provided which outputs signals indicative of notch-driving control quantity (a trolley transverse velocity set value) which is set by operating the notch.

Abstract: A deflection device allows deflection correction control of suspended cargo for deflections having both parallel deflection and skew deflection components. The suspended cargo is held by a suspension tool suspended from a trolley via ropes and is carried together with movement of the trolley. The device has mark detectors provided under the trolley with a range of vision facing downwardly and a corresponding plurality of marks provided opposite of the mark detectors on the suspension tool. A picture processing device generates picture signals of the first and second marks detected by the mark detectors. A deviation amount computing device calculates the deviation of the first and second marks, and a deflection amount calculating device calculates the amount of parallel deflection and the amount of skew deflection based on the computed deviation amount.

Abstract: A suspended load swaying and vibration preventing apparatus for simultaneously controlling prevention of swaying of a suspended load and suppression of vibration of a structural body is provided in a container crane or the like. A trolley position and a trolley velocity are detected by a trolley position detector and a trolley detector. A swaying shift and a swaying velocity of the suspended load is detected by an image sensor. Furthermore, a shift and a velocity of a structural body is detected by a structural body vibration detector. A controller receives the detection signals from these sections, calculates the optimum trolley velocity based upon a control theory and outputs a trolley velocity command. Then, a trolley drive device is driven in accordance with the trolley velocity command from the controller. The suspended load is delivered to a desired position in a stable manner under the condition that swaying of the suspended load and the vibration of the structural body are suppressed.