Antisway (i.e., Horizontal Movements) Patents (Class 212/273)
  • Patent number: 10273654
    Abstract: A control system for a machine includes a boom position sensor to generate signals indicative of a boom position, a stick position sensor to generate signals indicative of a stick position, and an operator input sensor to enable an operator to input a slewing power demand and generate signals indicative of the slewing power demand. The control system includes a controller communicably coupled to the boom position sensor, the stick position sensor, and the operator input sensor. The controller creates a dynamic stress model of the machine based on at least one of the boom position and the stick position. The controller receives the signals indicative of the slewing power demand. The controller determines an applied slewing power threshold based on the dynamic stress model. The controller compares the slewing power demand with the applied slewing power threshold and adjusts the applied slewing power based on the comparison.
    Type: Grant
    Filed: June 2, 2017
    Date of Patent: April 30, 2019
    Assignee: Caterpillar Inc.
    Inventor: Stephen Platt Rutherford
  • Patent number: 9926907
    Abstract: A method for mounting a wind turbine rotor blade which has at least one release unit is provided. A hoisting rope is fastened on or in the rotor blade. First ends of at least one auxiliary rope are fastened on or in the release unit in the rotor blade. The rotor blade is lifted up by means of the hoisting rope. The rotor blade is mounted on a rotor of the wind turbine. The release unit is activated so that the first ends of the auxiliary ropes are released. The auxiliary ropes can be removed.
    Type: Grant
    Filed: June 18, 2014
    Date of Patent: March 27, 2018
    Assignee: Wobben Properties GmbH
    Inventors: Alexander Hoffmann, Frank Knoop, Gerrit Kuiper
  • Patent number: 9850108
    Abstract: A movement device is moved along an X axis and a Y axis by providing a sensor configured to measure angle of rotation of at least one of a first and a second kinematic link about a respective axis of rotation. A force is imparted on the first and second kinematic links such that an angular displacement of the first and second kinematic links about the respective axis of rotation is achieved. The angular displacement of the first and second kinematic links about the respective axis of rotation is determined. The movement device is moved along the X axis and/or the Y axis in response to the determination of the angle of rotation of the first and second kinematic links about the respective axis of rotation until first and second kinematic links are vertical.
    Type: Grant
    Filed: March 15, 2017
    Date of Patent: December 26, 2017
    Assignees: GM Global Technology Operations LLC, Universite Laval
    Inventors: Dalong Gao, Alexandre Lecours, Thierry Laliberte, Simon Foucault, Clement Gosselin, Boris Mayer-St-Onge, Roland J. Menassa, Pierre-Luc Belzile
  • Patent number: 9776838
    Abstract: Methods of detection and prevention for snags or off center lifts, and auto-centering a crane over a load. Snag detection includes monitoring angular deflection of the load with respect to an at-rest position, and halting movement of the crane in a direction of increasing angular deflection. Controlling off center lifting includes detecting a side load condition for a load, and preventing a hoist operation when the side load condition is detected. Auto-centering a load includes determining a position of a block coupled to the load with respect to a trolley of the crane, and centering the trolley over the block prior to a moving operation. Centering includes comparing a position of a block marker using a trolley camera to a known centered position of the marker with respect to the camera, and moving the trolley to match the determined position of the marker to its known centered position.
    Type: Grant
    Filed: July 31, 2015
    Date of Patent: October 3, 2017
    Assignee: PAR SYSTEMS, INC.
    Inventors: Khalid Lief Sorensen, William Singhose
  • Patent number: 9611126
    Abstract: A method for automatically landing a container on a landing target using a container crane is disclosed. The container crane includes a trolley and spreader for holding and lifting the container and a crane control system for controlling movements of the container crane. A distance from the container to the landing target is measured and the container is moved towards the landing target dependent on the measured distance. A plurality of images of the landing target is made using at least one camera mounted on the spreader. The images are processed to identify one or more landing features in the images of the landing target. Distances from the container to the landing target are calculated based on a measurement of distance between the container and the landing features in the images.
    Type: Grant
    Filed: August 12, 2013
    Date of Patent: April 4, 2017
    Assignee: ABB SCHWEIZ AG
    Inventors: Björn Holmberg, Christer Johansson
  • Patent number: 9312158
    Abstract: An article transport vehicle is provided which can prevent a lid from falling from the container gripped by grip portions and which can prevent increase in the size of the device. A lid fall prevention member is provided which can be moved between a near position in which the lid fall prevention member is close to the lid on the side the outer surface of the lid is located, to prevent the lid from falling, and an away position in which the lid fall prevention member is farther away from the lid to allow the lid to be detached and attached. An operatively connecting mechanism is also provided which moves the lid fall prevention member from the near position to the away position as a pair of the grip portions are moved from gripping positions to grip release positions by grip actuator portion, and which moves the lid fall prevention member from the away position to the near position as the pair of the grip portions are moved from the grip release positions to the gripping positions by the grip actuator portion.
    Type: Grant
    Filed: April 1, 2015
    Date of Patent: April 12, 2016
    Assignee: Daifuku Co., Ltd.
    Inventor: Yoshinari Wada
  • Publication number: 20150110582
    Abstract: A method of overboarding and lowering a load from a vessel is disclosed. The method uses a vessel-mounted crane to lift the load from a deck of the vessel, to move the load off the deck into an outboard over-water position, and to lower the load from the outboard position into the water. The method further includes placing at least one guide member acting in compression between the load and an upstanding supporting structure of the crane to restrain horizontal movement of the load relative to a boom of the crane. Then, lowering the guide member occurs to continue restraining horizontal movement of the load while lowering the load from the outboard position into the water. A related guide apparatus includes at least one guide member that is movably connected to a mount for movement relative to the mount around and parallel to a slewing axis of the crane.
    Type: Application
    Filed: May 23, 2013
    Publication date: April 23, 2015
    Inventors: Tore Jacobsen, Arun Prahash Kalyana Sundaram, Jarle Havn, Andrew Lewis, Sigbjorn Daasvatn
  • Patent number: 8978831
    Abstract: An elevator including a car is arranged in a shaft. A set of compensator cables are attached to a bottom of the car and engaged with a compensator drum. A set of hoist cables are attached to a top of the car and engaged with a hoist drum to move the car vertically in the shaft, wherein the set of compensator cables and the set of hoist cables are configured to only move the car vertically.
    Type: Grant
    Filed: November 17, 2011
    Date of Patent: March 17, 2015
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Vijay Shilpiekandula, William Yerazunis, John C. Barnwell, III, Scott A. Bortoff, Joseph Katz
  • Patent number: 8960463
    Abstract: The present disclosure relates to a hydraulic braking apparatus for a crane drive for carrying out crane work, in particular a slewing gear, having at least one hydraulic stopping brake for braking the drive movement of the crane drive in an emergency situation, wherein at least one pressure regulation valve is provided for controlling at least one stopping brake to ensure a time-delayed braking torque build-up.
    Type: Grant
    Filed: March 27, 2012
    Date of Patent: February 24, 2015
    Assignee: Liebherr-Werk Nenzing GmbH
    Inventors: Wilhelm Kraeutler, Christof Gassner
  • Patent number: 8960462
    Abstract: A controlling method for a hook deviation to regulate the deviation angle of a telescopic crane hook, involves following steps: A. Detecting the deviation angle and deviation direction of a rope, which is linked to the hook, in the horizontal plane relative to the direction of gravitational force; B. Judging whether the deviation angle is more than the predetermined value, if the deviation angle is more than the predetermined value, then turning to step C, and if the deviation angle is less than the predetermined value, then turning to step A; C. Compensatively controlling the deviation angle of the hook according to the deviation angle and direction. And a controlling system for the hook deviation and a controlling device for the hook deviation are provided.
    Type: Grant
    Filed: June 23, 2010
    Date of Patent: February 24, 2015
    Assignees: Hunan Sany Intelligent Control Equipment Co., Ltd., Sany Automobile Manufacture Co., Ltd.
    Inventors: Jinge He, Lianxi Deng, Sui Yan
  • Patent number: 8944262
    Abstract: A crane, in particular a lattice mast crane, having a bottom hook block with a load suspension means, in particular a load hook, wherein the bottom hook block has at least one winch whose outgoing control rope is connected or connectable to the crane boom for securing and/or aligning the load position or bottom hook block position.
    Type: Grant
    Filed: March 4, 2011
    Date of Patent: February 3, 2015
    Assignee: Liebherr-Werk Ehingen GmbH
    Inventors: Hans-Dieter Willim, Yggve Richter
  • Publication number: 20140299564
    Abstract: Disclosed in the present invention is a monitoring apparatus and control method of crane hoisting vertical deviation angle; the monitoring apparatus uses a dual-axis inclinometer to measure the vertical deviation angle of the lifting pulley block of a crane, wirelessly transmits the angle signal and dynamically displays the angle by a control display; the control method adopts the monitoring apparatus mentioned above. The monitoring apparatus thereof fixes a measuring platform on the outside of the guard plate of the movable pulley of the lifting pulley block, and the dual-axis inclinometer is fixed on the measuring platform surface which becomes a horizontal plane when the crane hoisting vertical deviation angle is 0 degree. The present invention can achieve detecting and monitoring the verticality of the lifting pulley block in real time, and avoid the risk of the crane non-vertical hoisting.
    Type: Application
    Filed: October 13, 2012
    Publication date: October 9, 2014
    Inventor: Handing LIN
  • Publication number: 20140238948
    Abstract: The present invention relates to a vessel comprising:-a hull,-a support structure connected to said hull, the support structure configured for supporting the mass, the support structure being constructed to allow the mass to make a back and forth movement relative to said hull along a trajectory between opposite ends of said trajectory,-a damping device configured to dampen the movement of the mass relative to said hull. The present invention also relates to a method for damping the movements of a vessel or of a mass.
    Type: Application
    Filed: July 19, 2012
    Publication date: August 28, 2014
    Applicant: Heerema Marine Contractors Nederland SE
    Inventor: Gerardus Petrus Meskers
  • Publication number: 20140224755
    Abstract: To facilitate the use of a crane, an angle feedback information on a rope angle (?) of the crane is received, the angle feedback information being measured by means of a sensor at or adjacent to a trolley; and the angle feedback information is corrected by compensating an error caused by a speed change, and processed to provide movement instructions or other control information relating to the crane on the basis of real-time corrected angle information.
    Type: Application
    Filed: September 20, 2012
    Publication date: August 14, 2014
    Applicant: KONECRANES PLC
    Inventors: Lasse Eriksson, Harri Ylä-Soininmäki, Janne Salomäki
  • Patent number: 8794457
    Abstract: This invention relates to a crane, in particular a telescopic crane, with a frame suspended on the load hook for taking up a special load, in particular for taking up a rotor blade of a wind turbine. In accordance with the invention a single guide cable without guying function is provided, which proceeding from the boom foot is tensioned parallel to the direction of the longitudinal axis of the boom system and is attached to the boom system at its end, wherein a frame suspended on the load hook is connected with the guide cable via at least two control cables.
    Type: Grant
    Filed: September 2, 2011
    Date of Patent: August 5, 2014
    Assignee: Liebherr-Werk Ehingen GmbH
    Inventor: Yggve Richter
  • Patent number: 8678208
    Abstract: The present invention relates to a crane having a load hook directly/indirectly fastened to the crane hoist rope and having a frame suspended at the load hook for taking up a special load, in particular for taking up a rotor blade of a wind turbine, wherein the control element(s) of a frame suspended at the load hook is/are guided along a guider rope region of the crane hoist rope.
    Type: Grant
    Filed: November 18, 2011
    Date of Patent: March 25, 2014
    Assignee: Liebherr-Werk Ehingen GmbH
    Inventor: Yggve Richter
  • Publication number: 20130334157
    Abstract: An arrangement for damping oscillation of a loading member in a crane includes a trolley, a hoisting mechanism, hoisting ropes, and a loading member. The arrangement includes a vertical guide projection arranged in an upper part of the loading member, and a guide part arranged in the trolley and receiving the guide projection. Damping members connected to the guide part are arranged in a separate support frame which is guidable into its place in a dock arranged underneath the trolley and which is lowerable off the dock onto the loading member. The guide part is a floating guide tube structure. The damping members include a plurality of side damping modules connected between a side wall of the guide tube structure and the support frame for substantially damping horizontal movement of the guide tube structure. A support joint is arranged in an upper part of the support frame.
    Type: Application
    Filed: March 19, 2012
    Publication date: December 19, 2013
    Applicant: KONECRANES PLC
    Inventor: Jani Lappalainen
  • Patent number: 8504253
    Abstract: A device for controlling movement of a load suspended by cables from a hook point that is rotatable about a vertical axis and movable translationally along an axis of translation, the movement of rotation generating a first or sway angle of the load relative to the axis of translation. The device calculates the first or sway angle and a speed of the first or sway angle, the only input variables used being the length of the cables, the distance between the axis of rotation and the hook point, and the speed of rotation of the hook point, while the acceleration of the first or sway angle is used as an internal variable.
    Type: Grant
    Filed: December 14, 2009
    Date of Patent: August 6, 2013
    Assignee: Schneider Toshiba Inverter Europe SAS
    Inventors: Pentcho Stantchev, Dobromir Valachev
  • Publication number: 20130161279
    Abstract: The present invention relates to a crane control apparatus for a crane where a load is suspended on a crane cable from a cable suspension point of the crane, comprising an observer for estimating at least the position and/or velocity of the load from at least one sensor input of a first sensor by using a physical model of the load suspended on the crane cable, whereby the physical model of the observer uses the load position and/or the load velocity as a state variable.
    Type: Application
    Filed: August 27, 2012
    Publication date: June 27, 2013
    Applicant: Liebherr-Werk Nenzing GmbH
    Inventors: Klaus Schneider, Oliver Sawodny, Conrad Sagert, Ulf Schaper
  • Publication number: 20130032561
    Abstract: The various embodiments of the present disclosure relate generally to crane control systems. An exemplary embodiment of the present invention provides a crane control system comprising a real-time position-location module, an on-off controller module, and an input-shaper module. The real-time position-location module generates a position signal indicative of the distance between crane trolley and a desired location of safety. The on-off controller module maps the position signal to a velocity command signal, wherein the velocity command signal comprises instructions for the crane trolley to move in a vector relative to the desired location in at least a first velocity only if the distance between the crane trolley and the desired location is greater than a cut-off threshold 150. The at least a first velocity is a substantially constant. The input shaper module manipulates the velocity command signal mapped by the on-off controller module to dampen payload oscillations.
    Type: Application
    Filed: April 25, 2011
    Publication date: February 7, 2013
    Applicant: GEORGIA TECH RESEARCH CORPORATION
    Inventors: William Singhose, Chen Chih Peng
  • Patent number: 8352128
    Abstract: A system and method for using a gantry crane to efficiently and safely transport loads such as containers and ship hatch covers from one location to another along a known path while avoiding collisions between the loads and obstructing objects which may be situated in the known path. A transceiver emitting laser beams may be used to establish both the position of the spreader and its load and the profile of the known path. Continuous comparisons are made by computer between the location of a dynamic digital protective envelope constructed around the crane spreader and its load, if any, and a digital representation of the profile of the known path to be traveled by the spreader and its load, if any. In the event, the comparison indicates intersection of the protective envelope and the path profile, a speed limit is imposed on the motor controlling the movement in the X axis of the trolley or in the Z axis of the spreader, as required to prevent a collision.
    Type: Grant
    Filed: September 25, 2009
    Date of Patent: January 8, 2013
    Assignee: TMEIC Corp.
    Inventors: David G. Stocker, Michael G. Bartel
  • Publication number: 20130001181
    Abstract: A system for moving a load includes a load carrier, a running rail, a traveling crab configured to move the load carrier along the running rail, a lifting device connecting the load carrier to the traveling crab and configured to move the load carrier upwardly and downwardly, and a bracing device configured to brace the load carrier.
    Type: Application
    Filed: June 28, 2012
    Publication date: January 3, 2013
    Applicant: KRONES AG
    Inventor: Kai Wegener
  • Publication number: 20120168397
    Abstract: A hoist apparatus including a hoist and control method are provided. The hoist includes a cable to which an object is connected, a motor, a drum to wind or unwind the cable in linkage with rotation of the motor, a pulley connected to the drum via the cable to guide the cable to the drum, and an angle detection assembly to detect an angle of the cable between the pulley and the object. A control unit detects whether the object shakes based on the angle of the cable and controls shaking restriction if shaking of the object is detected. User force and angle of the cable are detected and movement of the object is controlled, the object is easily moved by the user, auxiliary force is applied to the object, and vibration of the object is minimized.
    Type: Application
    Filed: November 17, 2011
    Publication date: July 5, 2012
    Applicant: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: San Lim, Kwang Kyu Lee, Kyung Won Moon, Kyung Shik Roh
  • Patent number: 8200401
    Abstract: The invention relates to a method of determining changes in loads on lifting gear, whereby a change in load is determined within load curve data at a transition point of the load curve gradient, and whereby the load curve is broken down into discrete-time observation intervals at the transition points. It further relates to a method of reconstructing load situations on lifting gear, for which such a method of determining changes in load is used.
    Type: Grant
    Filed: May 18, 2009
    Date of Patent: June 12, 2012
    Assignee: Manitowoc Crane Group France SAS
    Inventors: Thomas Heidrich, Hasko Karge
  • Patent number: 8191721
    Abstract: A method for mounting a wind turbine blade to a wind turbine hub by use of a crane boom is provided. The orientation of the blade is kept substantially horizontal when the blade is lifted off the ground and mounted to the rotor hub. Control wires which connect the blade via the crane boom to a winch arrangement are used for keeping the blade orientation substantially horizontal in addition to at least one bearing wire for bearing the blade weight.
    Type: Grant
    Filed: November 19, 2007
    Date of Patent: June 5, 2012
    Assignee: Siemens Aktiengesellschaft
    Inventors: Henrik Lynderup Hansen, Jesper Moeller
  • Publication number: 20120132604
    Abstract: A controlling method for a hook deviation to regulate the deviation angle of a telescopic crane hook, involves following steps: A. Detecting the deviation angle and deviation direction of a rope, which is linked to the hook, in the horizontal plane relative to the direction of gravitational force; B. Judging whether the deviation angle is more than the predetermined value, if the deviation angle is more than the predetermined value, then turning to step C, and if the deviation angle is less than the predetermined value, then turning to step A; C. Compensatively controlling the deviation angle of the hook according to the deviation angle and direction. And a controlling system for the hook deviation and a controlling device for the hook deviation are provided.
    Type: Application
    Filed: June 23, 2010
    Publication date: May 31, 2012
    Applicants: SANY AUTOMOBILE MANUFACTURE CO., LTD., HUNAN SANY INTELLIGENT CONTROL EQUIPMENT CO., LTD.
    Inventors: Jinge He, Lianxi Deng, Sui Yan
  • Patent number: 8190288
    Abstract: The invention describes a method and a position control system (22?) for controlling operation of a computer-controlled load handling device, with a displacement drive for a displacement unit, a lift drive for a vertically displaceable lifting unit and an actuator drive for a loading and unloading device, and a computer predefines a target position for the displacement and lifting units and loading and unloading device and controls the travel to it. Time-minimized reference trajectories are set first of all, optimized with respect to the maximum permissible loads of the load handling device and with respect to the displacement between the start and target positions, and from these, the desired trajectories are calculated for desired positioning forces (Fxsoll, Fysoll, Fzsoll) of the displacement and lifting units and the loading and unloading.
    Type: Grant
    Filed: March 2, 2006
    Date of Patent: May 29, 2012
    Assignee: TGW Mechanics GmbH
    Inventors: Markus Rohrauer, Rainer Obwaller
  • Publication number: 20110272375
    Abstract: The present disclosure relates to a method for telescoping a main boom consisting of a telescopic boom, which is guyed via a spatial boom guying, wherein the erected main boom is guyed during the telescoping operation by means of the spatial guying. Furthermore, the present disclosure relates to a crane with a telescopable main boom, a spatial guying and a crane controller, wherein the crane controller includes a means for determining the necessary guy dimension of the spatial guying in dependence on the current main boom length during the telescoping operation.
    Type: Application
    Filed: May 9, 2011
    Publication date: November 10, 2011
    Applicant: LIEBHERR-WERK EHINGEN GMBH
    Inventor: Hans-Dieter Willim
  • Patent number: 8025167
    Abstract: The present invention shows a crane control of a crane which includes at least one cable for lifting a load, wherein at least one sensor unit is provided for determining a cable angle relative to the direction of gravitational force. Furthermore, there is shown a crane control for driving the positioners of a crane which includes at least one first and one second strand of cables for lifting the load, with a load oscillation damping for damping spherical pendular oscillations of the load, wherein first and second sensor units are provided, which are associated to the first and second strands of cables, in order to determine the respective cable angles and/or cable angular velocities, and the load oscillation damping includes a control in which the cable angles and/or cable angular velocities determined by the first and second sensor units are considered. Furthermore, a corresponding crane and a method are shown.
    Type: Grant
    Filed: May 16, 2008
    Date of Patent: September 27, 2011
    Assignee: Liebherr-Werk Nenzing GmbH
    Inventors: Klaus Schneider, Oliver Sawodny, Jörg Neupert
  • Patent number: 8005598
    Abstract: A method and a system for controlling a crane drive unit so as to suppress sway of a load suspended by a rope of a crane, which sway occurs when the load has been transported from a first position to a second position, the control being made by operating a controller having a filter unit by using a feedforward control program.
    Type: Grant
    Filed: August 5, 2004
    Date of Patent: August 23, 2011
    Assignees: Sintokogio, Ltd.
    Inventors: Kazuhiko Terashima, Makio Suzuki
  • Patent number: 7913930
    Abstract: A spray linkage (10) for a crop sprayer includes a support (16) and a central frame (18) pivotally connected to the support (16), the central frame (18) being pivotable about an axis (32) from a neutral position. At least one hydraulic cylinder (34, 36) is fastened at one end to the support (16) and at the other end to the central frame (18). To damp the spray linkage (10) during oscillating movements, at least a first hydraulic cylinder (34, 36) has a first and a second hydraulic chamber (44, 46, 48, 50), a first hydraulic line (52, 54) is provided which discharges into the first hydraulic chamber (44, 46) and a second hydraulic line (54, 52) is provided which discharges into the second hydraulic chamber (48, 50). Restrictor structure (58, 60, 62, 64) throttles hydraulic flow from a hydraulic chamber (44, 46, 48, 50) while hydraulic flow into a hydraulic chamber (44, 46, 48, 50) is relatively unthrottled.
    Type: Grant
    Filed: November 26, 2008
    Date of Patent: March 29, 2011
    Assignee: John Deere Fabriek Horst B.V.
    Inventors: Hans Andre Johan Theeuwen, Petrus Johannes Maria Fransen, Kent Alvin Klemme
  • Publication number: 20110006025
    Abstract: The present invention relates to a crane for handling a load hanging on a load cable, comprising a slewing gear for rotating the crane, a luffing gear for luffing up the boom, and a hoisting gear for lowering or lifting the load hanging on the load cable, with a control unit for calculating the actuation of slewing gear, luffing gear and/or hoisting gear, wherein the calculation of the actuation commands for actuating slewing gear, luffing gear and/or hoisting gear is effected on the basis of a desired movement of the load indicated in Cartesian coordinates.
    Type: Application
    Filed: July 8, 2010
    Publication date: January 13, 2011
    Applicant: Liebherr-Werk Nenzing GmbH
    Inventors: Klaus Schneider, Oliver Sawodny, Joerg Neupert, Eckard Arnold, Karl Lukas Knierim
  • Patent number: 7850024
    Abstract: A control system for a boom crane, having a tower and a boom pivotally attached to the tower, a first actuator for creating a luffing movement of the boom, a second actuator for rotating the tower, first means for determining the position rA and/or velocity {dot over (r)}A of the boom head by measurement, second means for determining the rotational angle ?D and/or the rotational velocity {dot over (?)}D of the tower by measurement, the control system controlling the first actuator and the second actuator. In the control system of the present invention the acceleration of the load in the radial direction due to a rotation of the tower is compensated by a luffing movement of the boom in dependence on the rotational velocity {dot over (?)}D of the tower determined by the second means. The present invention further comprises a boom crane having such a system.
    Type: Grant
    Filed: October 16, 2007
    Date of Patent: December 14, 2010
    Assignee: Liebherr-Werk Nenzing GmbH
    Inventors: Klaus Schneider, Oliver Sawodny, Joerg Neupert
  • Patent number: 7845087
    Abstract: A magnetically damped inclinometer has a shaft with attached pendulum that rotates. The rotation causes an index member to rotate past one or a set of magnets or electromagnets that are connected to the load. The magnet or electromagnet may be mounted directly to the load or it may be in the form of an off center ring. Another embodiment uses a spring to bias two magnets apart. A cam is attached to the shaft such that, as the pendulum and shaft rotate, a roller connected with the load or spreader bar allows the spring to push the magnets farther apart. The damped inclinometers are used to determine and provide information to respond to the initial sway of a load prior to bringing the load to a stop.
    Type: Grant
    Filed: July 8, 2008
    Date of Patent: December 7, 2010
    Inventor: Larry A. Voecks
  • Publication number: 20100252523
    Abstract: A transporting apparatus for transporting loads to storage places, in particular in a high-bay warehouse, with a crane trolley and with a load-picking-up means which is suspended on the crane trolley, has mechanical damping means for damping pendulum oscillations of the load-picking-up means while the crane trolley is at a standstill.
    Type: Application
    Filed: January 21, 2010
    Publication date: October 7, 2010
    Inventors: Juergen KRAFT, Hubert KLEINEWIETFELD, Georg RIEGAS
  • Patent number: 7793763
    Abstract: A vibration damped elevator system is provided that includes a damper or dampers attached to the elevator cable. The damping coefficients of the damper or dampers are chosen to provide optimum dissipation of the vibratory energy in the elevator cable. A method of determining the optimum placement of the damper or dampers and their respective damping coefficients is also provided.
    Type: Grant
    Filed: May 8, 2006
    Date of Patent: September 14, 2010
    Assignee: University of Maryland, Baltimore County
    Inventors: Weidong Zhu, Yan Chen
  • Publication number: 20100012611
    Abstract: The invention concerns a crane or excavator for traversing a load hanging from a load cable, which is movable in three spatial directions. The crane or excavator has a computer-controlled regulation for the damping of load swings, which contains a path planning module, a centripetal force compensation unit and at least one shaft regulator for the rotating gear, one shaft regulator for the luffing gear and one shaft regulator for the lifting gear.
    Type: Application
    Filed: June 22, 2009
    Publication date: January 21, 2010
    Inventors: Oliver Sawodny, Jörg Kümpel, Cristina Tarin-Sauer, Harald Aschemann, Eberhard P. Hofer, Klauss Schneider
  • Patent number: 7648036
    Abstract: Systems, methods and computer program code for the measurement and control of sway in load transportation systems are provided which include using Micro-Electro-Mechanical Systems (MEMS) devices to measure and control the sway of suspended loads such as loads suspended from cranes.
    Type: Grant
    Filed: September 26, 2007
    Date of Patent: January 19, 2010
    Assignee: Siemens Aktiengesellschaft
    Inventors: Alois Recktenwald, Wolfgang Wichner, Farshid Arman
  • Publication number: 20080210652
    Abstract: The invention relates to hydraulic motors for actuating and controlling an anti-swing system in container-handling cranes. Container-handling cranes pose the following problem, namely that, when the trolley moves, the cables supporting the load spreader oscillate longitudinally in relation to the aforementioned movement. Systems currently used to reduce said swinging movement are inconvenient because (i) they comprise numerous power transmission elements, thereby generating maintenance problems, and (ii) the main two functions thereof are performed separately, i.e. movement transmission and oscillation reduction. The aforementioned problems can be resolved with an autonomous, independent drive system using hydraulic motors, thereby rendering the power transmission drive chain simple, robust, reliable and easy to maintain. In addition, the motors perform the main functions simultaneously, i.e. producing the movement and reducing the oscillations.
    Type: Application
    Filed: November 3, 2005
    Publication date: September 4, 2008
    Applicant: MAERSK ESPANA S.A.
    Inventors: Miguel Angel Tavio Diaz, Manoli Vilchez Vilchez
  • Publication number: 20080156761
    Abstract: A control system for a boom crane, having a tower and a boom pivotally attached to the tower, a first actuator for creating a luffing movement of the boom, a second actuator for rotating the tower, first means for determining the position rA and/or velocity {dot over (r)}A of the boom head by measurement, second means for determining the rotational angle ?D and/or the rotational velocity {dot over (?)}D of the tower by measurement, the control system controlling the first actuator and the second actuator. In the control system of the present invention the acceleration of the load in the radial direction due to a rotation of the tower is compensated by a luffing movement of the boom in dependence on the rotational velocity {dot over (?)}D of the tower determined by the second means. The present invention further comprises a boom crane having such a system.
    Type: Application
    Filed: October 16, 2007
    Publication date: July 3, 2008
    Inventors: Klaus Schneider, Oliver Sawodny, Joerg Neupert
  • Patent number: 7331477
    Abstract: A method and a device for determining the rotary oscillation of a load suspended from a lifting gear are disclosed. The lifting gear includes a trolley equipped with a camera that can be oriented towards the load. The load includes at least two spaced apart markers, with one marker located on or near the axis of rotation, which extends in the lifting direction. A rotary oscillation of the load can be determined from the position of two markers, whereby at least one marker is recorded by the camera and its position is determined. At least at certain points in time, the rotary oscillation is determined by including a virtual position of a marker.
    Type: Grant
    Filed: March 29, 2005
    Date of Patent: February 19, 2008
    Assignee: Siemens Aktiengesellschaft
    Inventors: Peter Schulte, Peter Maurer, Ingbert Strebel
  • Patent number: 7308337
    Abstract: A crane installation, especially a container crane, for moving a load, especially a container, includes a first stored-programmable control unit which, if required, receives signals resulting in a safety-related control command to one or several electric or electro-mechanical operational elements, and a second stored-programmable control unit which is configured in such a way that it can at least partially monitor the control operation of the first control unit on the basis of safety-related signals transmitted to the second control unit. If the safety-related control command of the first control unit is improper, the second control unit is able to issue its own control command to an operating element.
    Type: Grant
    Filed: January 25, 2005
    Date of Patent: December 11, 2007
    Assignee: Siemens Aktiengesellschaft
    Inventors: Ernst Sparenborg, Jorg Meyer, Uwe Meyer
  • Patent number: 7289875
    Abstract: Systems, methods and computer program code for the measurement and control of sway in load transportation systems are provided which include using Micro-Electro-Mechanical Systems (MEMS) devices to measure and control the sway of suspended loads such as loads suspended from cranes.
    Type: Grant
    Filed: June 15, 2004
    Date of Patent: October 30, 2007
    Assignees: Siemens Technology-To-Business Center LLC, Siemens Aktiengesellschaft
    Inventors: Alois Recktenwald, Wolfgang Wichner, Farshid Arman
  • Patent number: 7210589
    Abstract: The present invention provides an apparatus for suspending and transporting articles, and is provided with a wobble prevention member that is capable of moving between a support position where it abuts against a lateral surface of an article and a release position, and in the support position keeps the article from wobbling in at least one direction. The wobble prevention member has a roller capable of rotation about a vertical shaft, and by the roller abutting against the article when the wobble prevention member is in the support position, wobbling of the article is reduced.
    Type: Grant
    Filed: May 6, 2004
    Date of Patent: May 1, 2007
    Assignee: Daifuku Co., Ltd.
    Inventor: Yukio Iizuka
  • Patent number: 7128226
    Abstract: The invention relates to a lifting device for loads, especially to a suspension lift for vehicles or vehicle parts. Said lifting device comprises load receiving means (14) with at least one longitudinal beam (17) mounted on the load receiving means (14) and substantially aligned in the lifting and lowering direction (S). The device further comprises at least one guide element (15) mounted on the base frame (5) for laterally guiding the longitudinal beam and thus the load receiving element (14) and a lifting gear (19) for performing the lifting and lowering movement of the load receiving means (14). The aim of the invention is to provide a lifting device that facilitates an ample lifting/lowering movement of the load while considerably reducing the overall height of the lifting device. To this end, the longitudinal beam (17) is subdivided in at least two sections (17a, 17b, 17c) in the manner of a link chain.
    Type: Grant
    Filed: January 26, 2005
    Date of Patent: October 31, 2006
    Assignee: Siemens AG
    Inventor: Roland Assmann
  • Patent number: 7044314
    Abstract: A control system for reducing cargo pendulation. The control system calculates a correction factor and adds the correction factor for the operator input motions in addition to the motion of the platform in order to provide a reference position of the suspension point of the hoisting cable. The reference position is then provided to a tracking controller so that the crane can be forced to track the needed motions for reducing the cargo pendulation.
    Type: Grant
    Filed: October 6, 2003
    Date of Patent: May 16, 2006
    Assignee: Virginia Tech Intellectual Properties, Inc.
    Inventors: Ali Hasan Nayfeh, Dean Trischler Mook, Ryan James Henry, Zivad Navif Masoud
  • Patent number: 6857529
    Abstract: A pantographic device for conveying loads in vehicle assembly lines includes a horizontal assembled drive shaft on an upper frame and with the capacity to rotate, several parallel pulleys fixed to a drive shaft, two motors acting on the opposing ends of the drive shaft providing its rotational movement, and several flat belts fixed to the pulleys of the drive shaft on one end and two a lower frame on the opposite end, so that the rotation of the drive shaft in one direction and the other determines vertical lifting and lowering of the lower frame with regard to the upper frame.
    Type: Grant
    Filed: November 27, 2002
    Date of Patent: February 22, 2005
    Assignee: Transportes Continuos Interiores, S.A.
    Inventor: Adelardo Lopez Alba
  • Publication number: 20040164041
    Abstract: The invention concerns a crane or excavator for traversing a load hanging from a load cable, which is movable in three spatial directions. The crane or excavator has a computer- controlled regulation for the damping of load swings, which contains a path planning module, a centripetal force compensation unit and at least one shaft regulator for the rotating gear, one shaft regulator for the luffing gear and one shaft regulator for the lifting gear.
    Type: Application
    Filed: January 16, 2004
    Publication date: August 26, 2004
    Inventors: Oliver Sawodny, Jorg Kumpel, Cristina Tarin-Sauer, Harald Aschemann, E.P. Hofer, Klaus Schneider
  • Patent number: 6755313
    Abstract: An overhead traveling crane system has cylindrical guide members (16d, 18d) and guide bars (15a, 16a) installed on a moving device (18) and a lifting device (15), respectively. The guide bars (15a, 16a) are inserted nestably into the cylindrical guide members (16d, 18d) so [as to move] that the lifting device (15) can be raised and lowered by wires only substantially vertically relative to the moving device (18) when wires (15b, 16b) are wound up and down. The lower end parts of the cylindrical guide members (16d, 18d) are expanded in a flared shape so that the upper end parts of the guide bars (15a, 16a) can be moved minutely horizontally in the period between the start of engagement and the completion of engagement. Similarly, a flared position guide means may be provided on a lower part of the lifting device for engagement with positioning means located on the target on the ground.
    Type: Grant
    Filed: October 9, 2001
    Date of Patent: June 29, 2004
    Assignee: Nippon Mining & Metals, Co., Ltd.
    Inventors: Shiko Kishimoto, Katsuto Ito, Yoshihiro Naka
  • Patent number: 6712230
    Abstract: A device for transporting vehicles during manufacturing is disclosed that allows for upward and downward movement of the vehicle but avoids adverse longitudinal or transverse swinging. The inventive device includes a moving carriage mounted on a fixed rail, an upper frame, a lower frame moveably connected with an elevation mechanism and at least one first pair of articulated arms for stabilizing the vertical movement of the vehicle. An additional pair of articulated arms may be provided which extend and retract in a plane that is perpendicular to the first pair of articulated arms. Additional stabilizing roller elements connected to a fixed rail are provided on a lateral arm of the upper frame to prevent swinging of the upper and the lower frames of the transporting device.
    Type: Grant
    Filed: November 7, 2001
    Date of Patent: March 30, 2004
    Assignee: Transportes Continuos Interiores, S.A.
    Inventor: Adelardo Lopez Alba