公开(公告)号：US06644485B2

公开(公告)日：2003-11-11

申请号：US10067313

申请日：2002-02-07

申请人： Kouji Uchida ,  Noriaki Miyata ,  Kanji Obata ,  Tadaaki Monzen

发明人： Kouji Uchida ,  Noriaki Miyata ,  Kanji Obata ,  Tadaaki Monzen

IPC分类号： B66C1318

CPC分类号： B66C19/007 ,  B66C13/085 ,  B66C13/46

摘要： 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.

摘要翻译： 用于控制起重机的载荷的堆叠的装置估计了工具的水平位置的周期性位移。 控制工具下降的速度，使得当周期性位移的振幅变得最大时，由刀具保持的工具或负载着陆在所需位置。

公开(公告)号：US06880712B2

公开(公告)日：2005-04-19

申请号：US10195387

申请日：2002-07-16

申请人： Koji Uchida ,  Nobuo Yoshioka ,  Kanji Obata ,  Noriaki Miyata ,  Masaki Nishioka ,  Tadaaki Monzen

发明人： Koji Uchida ,  Nobuo Yoshioka ,  Kanji Obata ,  Noriaki Miyata ,  Masaki Nishioka ,  Tadaaki Monzen

IPC分类号： B66C13/08 ,  B66C13/22 ,  B66C13/46 ,  B66C13/48 ,  B66C19/00

CPC分类号： B66C13/46

摘要： 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.

摘要翻译： 具有手推车，悬挂构件，绳索构件和起重装置的起重机。 起重机包括水平位置位移检测单元，其检测货物的至少两个角落与两个角落的着陆部位之间的水平位置偏移; 以及水平位置位移校正单元，其基于来自水平位置位移检测单元的检测信号，校正货物的至少两个角部与两个角落的落地位置之间的水平位置偏移，当两个角落已经降落时。 水平位置位移校正单元校正货物拐角的位置，使得角落落在角落的着陆处，然后校正另一角的位置，使角落落在角落的着陆处。

公开(公告)号：US06182844B2

公开(公告)日：2001-02-06

申请号：US09628642

申请日：2000-07-31

申请人： Tadaaki Monzen ,  Susumu Kouno ,  Takashi Toyohara ,  Yoshiaki Okubo ,  Noriaki Miyata

发明人： Tadaaki Monzen ,  Susumu Kouno ,  Takashi Toyohara ,  Yoshiaki Okubo ,  Noriaki Miyata

IPC分类号： B66C1308

CPC分类号： B66C13/06

摘要： 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. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors 31 through 38 and 40, and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

摘要翻译： 横向推车11可在起重机梁上横向移动。 为横向手推车11提供驱动器。可以相对于横向滑车11移动的一对滑轮滑块14,15布置在横向滑车11的两侧（左右两侧）上。为滑轮组提供驱动器 。 提供检测器31至38，其检测横向滑车11的位移和速度，两个（右侧和左侧）侧的提升的负载件23的摆动位移和速度以及两个滑轮组14的位移和速度， 在横向手推车11的操作控制面板上设有切口，用于由操作者设定手推车横向速度。 提供横向切口驱动控制量检测器40，其输出表示通过操作凹口设定的切口驱动控制量（小车横向速度设定值）的信号。 提供了一种控制器，其基于从检测器31至38和40获得的检测信号来实现负载件起吊装置的摆动阻尼控制，并且优化控制单元基于以下方式执行具有最佳控制量的摇摆阻尼控制： 根据位移和速度以及切口驱动控制量预设最佳增益K。

公开(公告)号：US5642822A

公开(公告)日：1997-07-01

申请号：US629090

申请日：1996-04-08

申请人： Tadaaki Monzen ,  Susumu Kono ,  Yoshiaki Ohkubo ,  Toshiyuki Fujii ,  Kouji Uchida

发明人： Tadaaki Monzen ,  Susumu Kono ,  Yoshiaki Ohkubo ,  Toshiyuki Fujii ,  Kouji Uchida

IPC分类号： B66C13/22 ,  B66C13/06 ,  B66C13/46 ,  B66C15/00

CPC分类号： B66C13/46 ,  B66C13/063

摘要： 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.

摘要翻译： 在集装箱起重机等中设置有用于同时控制防止悬挂载荷的摇摆并抑制结构体的振动的悬挂式负载摇摆和防振装置。 手推车位置和手推车速度由台车位置检测器和手推车检测器检测。 通过图像传感器检测悬挂载荷的摇摆移动和摇摆速度。 此外，通过结构体振动检测器检测结构体的偏移和速度。 控制器从这些部分接收检测信号，根据控制理论计算出最佳的滑车速度，并输出小车速度指令。 然后，根据来自控制器的手推车速度命令来驱动手推车驱动装置。 在悬挂载荷的摆动和结构体的振动受到抑制的条件下，悬挂的载荷以稳定的方式输送到期望的位置。

公开(公告)号：US06234332B1

公开(公告)日：2001-05-22

申请号：US09629129

申请日：2000-07-31

申请人： Tadaaki Monzen ,  Susumu Kouno ,  Takashi Toyohara ,  Yoshiaki Okubo ,  Noriaki Miyata

发明人： Tadaaki Monzen ,  Susumu Kouno ,  Takashi Toyohara ,  Yoshiaki Okubo ,  Noriaki Miyata

IPC分类号： B66C1306

CPC分类号： B66C13/06

摘要： 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. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors 31 through 38 and 40, and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

公开(公告)号：US6135301A

公开(公告)日：2000-10-24

申请号：US948122

申请日：1997-10-09

申请人： Tadaaki Monzen ,  Susumu Kouno ,  Takashi Toyohara ,  Yoshiaki Okubo ,  Noriaki Miyata

发明人： Tadaaki Monzen ,  Susumu Kouno ,  Takashi Toyohara ,  Yoshiaki Okubo ,  Noriaki Miyata

IPC分类号： B66C13/06 ,  B66C13/16

CPC分类号： B66C13/06

摘要： 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. A controller is provided which effects sway-damping control of the load-piece hoisting device based on detection signals obtained from the detectors (31 through 38 and 40) and an optimizing control unit performs sway-damping control with optimal controlling quantities on the basis of a preset optimal gain K in accordance with the displacement and velocity and the notch-driving control quantity.

摘要翻译： 横向推车（11）可在起重机大梁上横向移动。 为横向手推车（11）提供驾驶员。 相对于横向推车（11）可移动的一对滑轮块（14,15）设置在横向推车（11）的两侧（左右）侧。 驱动器为滑轮组提供。 提供检测器（31至38），其检测横向推车（11）的位移和速度，两（左和右）侧的提升的载荷件（23）的摆动位移和速度以及两个（右侧和左侧）的位移和速度 两个滑轮块（14,15）。 在横向手推车（11）的操作控制面板上设置有用于由操作者设定手推车横向速度的凹口。 提供横向切口驱动控制量检测器（40），其输出指示通过操作凹口设定的切口驱动控制量（小车横向速度设定值）的信号。 提供了一种控制器，其基于从检测器（31至38和40）获得的检测信号来实现负载件提升装置的摆动阻尼控制，并且优化控制单元基于最佳控制量执行摇摆阻尼控制 根据位移和速度以及切口驱动控制量预设的最佳增益K。

公开(公告)号：US5754672A

公开(公告)日：1998-05-19

申请号：US528154

申请日：1995-09-14

申请人： Tadaaki Monzen ,  Yoshiaki Ohkubo

发明人： Tadaaki Monzen ,  Yoshiaki Ohkubo

IPC分类号： B66C13/06 ,  B66C13/22 ,  G06K9/00

CPC分类号： B66C13/063

摘要： 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.

摘要翻译： 偏转装置允许对具有平行偏转和偏斜偏转部件的偏转的悬挂货物的偏转校正控制。 悬挂货物由悬挂工具保持，悬挂工具通过绳索从手推车悬挂，并与手推车的运动携带在一起。 该装置具有设置在手推车下面的标记检测器，其具有向下的视觉范围和与悬挂工具上的标记检测器相对设置的对应的多个标记。 图像处理装置生成由标记检测器检测出的第一和第二标记的图像信号。 偏差量计算装置计算第一和第二标记的偏差，并且偏转量计算装置基于计算出的偏差量来计算平行偏转量和偏斜量。