公开(公告)号：US06644909B2

公开(公告)日：2003-11-11

申请号：US09865422

申请日：2001-05-29

申请人： Donato Patrito

发明人： Donato Patrito

IPC分类号： B66C1306

CPC分类号： B62D65/18 ,  B66C13/06

摘要： A hanger for transportation of objects along a suspended runway includes an upper part constrained to run along a runway and a lower part which supports the load and is connected to the upper part through a raising and lowering system. Between the two parts is a stiffening structure against oscillations which comprises three stiffening members one of which has a parallelogram and is arranged on the median plane of the hanger while the other two are made with oscillating rods each of which is placed on one side of the central one. The oscillating rods are advantageously made up of pairs of triangles connected by an articulation to the vertex and hinged at the base in a direction transverse to the hanger.

摘要翻译： 用于沿着悬挂的跑道运输物体的衣架包括被限制为沿着跑道行进的上部和支撑负载的下部，并且通过升降系统连接到上部。 两个部件之间是一个抵抗振动的加强结构，包括三个加强构件，其中一个具有平行四边形，并且布置在悬挂架的中间平面上，而另外两个由摆动杆制成，每个摆动杆位于 中央一个。 振动杆有利地由成对的三角形构成，三角形通过铰接连接到顶点并且在垂直于衣架的方向上在基部处铰接。

公开(公告)号：US06712230B2

公开(公告)日：2004-03-30

申请号：US09986097

申请日：2001-11-07

申请人： Adelardo Lopez Alba

发明人： Adelardo Lopez Alba

IPC分类号： B66C1306

CPC分类号： B66C13/06 ,  B62D65/18 ,  B66F7/0616 ,  B66F7/0666 ,  C10L1/14 ,  C10L1/1616 ,  C10L1/2641 ,  C10L1/265

摘要： 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.

摘要翻译： 公开了一种用于在制造期间运输车辆的装置，其允许车辆的向上和向下运动，但是避免不利的纵向或横向摆动。 本发明的装置包括安装在固定轨道上的移动滑架，上框架，与升降机构可移动地连接的下框架以及用于稳定车辆垂直运动的至少一对关节臂。 可以提供另外的一对铰接臂，其在垂直于第一对铰接臂的平面中延伸和缩回。 连接到固定轨道的附加稳定辊元件设置在上框架的侧臂上，以防止输送装置的上框架和下框架的摆动。

公开(公告)号：US06588610B2

公开(公告)日：2003-07-08

申请号：US09800278

申请日：2001-03-05

申请人： Chong-Jin Ong ,  Elmer G. Gilbert

发明人： Chong-Jin Ong ,  Elmer G. Gilbert

IPC分类号： B66C1306

CPC分类号： B66C13/063

摘要： A system is disclosed for eliminating sway of a load in a crane or crane-like system subject to operator's command. The load is suspended by a cable from a horizontally movable trolley and can be hoisted vertically. The system uses the principle of cancellation to eliminate sway even when the crane has simultaneous horizontal trolley and vertical hoisting motions. The system takes into account the full dynamical effect in computing cancellation signals. The use of a family of ordinary differential equations for the computation of the cancellation controls is a key component of the invention. In computing these controls, the differential equations are solved in real time using sensory measurement of the cable length and its time derivative.

摘要翻译： 公开了一种系统，用于消除起重机或起重机状系统中受负载影响的操作，受制于操作人员的指令。 负载通过电缆从水平移动的手推车悬挂，并可垂直悬挂。 即使起重机同时具有水平推车和垂直提升运动，系统也采用取消原理来消除摆动。 该系统考虑了计算消除信号的全部动力学效应。 使用一般的微分方程组来计算取消控制是本发明的关键组成部分。 在计算这些控制时，使用电缆长度及其时间导数的感官测量实时求解微分方程。

公开(公告)号：US06796447B2

公开(公告)日：2004-09-28

申请号：US10068640

申请日：2002-02-06

申请人： Bradford B. Laundry ,  Li-te Liu ,  Gustavo Montemayor ,  Dan O. Popa ,  Michael K. Taylor ,  John T. Wen

发明人： Bradford B. Laundry ,  Li-te Liu ,  Gustavo Montemayor ,  Dan O. Popa ,  Michael K. Taylor ,  John T. Wen

IPC分类号： B66C1306

CPC分类号： B66C13/063 ,  B66D3/18

摘要： This crane control system with swing control and variable impedance is intended for use with overhead cranes where a line suspended from a moveable hoist suspends a load. It is responsive to operator force applied to the load and uses a control strategy based on estimating the force applied by the operator to the load and, subject to a variable desired load impedance, reacting in response to this estimate. The human pushing force on the load is not measured directly, but is estimated from measurement of the angle of deflection of the line suspending the load and measurement of hoist position.

摘要翻译： 这种具有回转控制和可变阻抗的起重机控制系统适用于从可移动起重机悬挂的线悬挂负载的高架起重机。 它响应于施加到负载上的操作者力，并且使用基于估计操作者施加到负载的力的控制策略，并且受到可变的所需负载阻抗的响应，该响应该估计。 负载上的人力推动力不是直接测量的，而是通过测量悬挂负载的线的偏转角度和起重机位置的测量来估计的。

公开(公告)号：US06695159B2

公开(公告)日：2004-02-24

申请号：US10127867

申请日：2002-04-22

申请人： Daniel Brian Zakula, Sr.

发明人： Daniel Brian Zakula, Sr.

IPC分类号： B66C1306

CPC分类号： B66C5/00 ,  B66C19/007

摘要： In a gantry crane having a vertically movable, horizontal stabilizer beam spaced between upright columns, a shock absorbent bumper assembly is mounted to ends of the stabilizer beam to prevent direct contact against the columns. The bumper assembly includes an elastically deformable bumper body made of resilient material and a wear pad made of wear resistant material, the wear pad being secured to the bumper body so that the wear pad faces the column. The wear pad resists wear due to sliding contact against the column and the resilient bumper body absorbs energy from impacts as the stabilizer beam shifts in a transverse direction.

摘要翻译： 在具有在立柱间隔开的可垂直移动的水平稳定器梁的龙门起重机中，将缓冲器缓冲器组件安装到稳定器梁的端部以防止与柱直接接触。 保险杠组件包括由弹性材料制成的可弹性变形的保险杠主体和由耐磨材料制成的耐磨垫，所述耐磨垫固定到保险杠主体上，使得磨损垫面向柱。 耐磨垫由于与柱的滑动接触而抵抗磨损，并且弹性保险杠主体在横向沿稳定器梁移动时从冲击中吸收能量。

公开(公告)号：US06644486B2

公开(公告)日：2003-11-11

申请号：US10084158

申请日：2002-02-28

申请人： Adam Stephan Jacoff ,  Roger Vernon Bostelman ,  James Sacra Albus

发明人： Adam Stephan Jacoff ,  Roger Vernon Bostelman ,  James Sacra Albus

IPC分类号： B66C1306

CPC分类号： B66C13/08 ,  B66C13/06

摘要： A system which can both be adapted to existing single point lift mechanisms, and constrain a hoisted load in all six degrees of freedom, includes a suspension point, an assembly, a lateral tension lines member, and a control system. The assembly includes first and second platforms connected by a plurality of control cables which can precisely control the position, velocity, and force of a hoisted element in six degrees of freedom. The position or tension of the control lines can be controlled either manually, automatically by computer, or in various combinations of manual and automatic control. Advantages associated with the system include not only the ability to control the position, velocity, and force of the attached load, tool, and/or equipment in six degrees of freedom using position and tension feedback, but its ready adaptation to existing single point lift mechanisms and relatively light weight, and its flexibility, ease, and precision of operation.

公开(公告)号：US06631816B1

公开(公告)日：2003-10-14

申请号：US09479992

申请日：2000-01-10

申请人： Isao Miyazawa ,  Hiroshi Asano ,  Kunio Noui

发明人： Isao Miyazawa ,  Hiroshi Asano ,  Kunio Noui

IPC分类号： B66C1306

CPC分类号： B66C19/002 ,  B66C11/18 ,  B66C13/063 ,  B66D1/22

摘要： Drums each having an independent drive source is installed on a trolley and each of the drums has a lifting rope which is wound around it and has an unwound end locked on a suspension piece, which will suppress any need to design the lifting rope in longer length and the drums in larger size. Sun gears, carriers and planetary gears disposed in each of the drums as well as internal teeth in each of the drums so as to be integrally rotated with the drum constitute a speed reducing mechanism for transmitting rotation of a drive source to each of the drums, will enable the entire hoist to be compact in size. Unwound length of the lifting rope from each drum is adjusted to control posture of the suspension piece and load in adequate state.

摘要翻译： 每个具有独立驱动源的鼓被安装在手推车上，并且每个鼓具有卷绕在其上的提升绳，并且具有锁定在悬挂件上的展开端，这将抑制任何需要设计更长长度的提升绳 以及更大尺寸的鼓。设置在每个滚筒中的太阳齿轮，载体和行星齿轮以及每个滚筒中的内齿以与滚筒一体地旋转构成用于传送的减速机构 驱动源向每个滚筒的旋转将使得整个起重机的尺寸变得紧凑。调整每个滚筒上的起重绳索的卷绕长度以控制悬挂件的姿态并将其装载到足够的状态。

公开(公告)号：US06460711B1

公开(公告)日：2002-10-08

申请号：US09285002

申请日：1999-04-01

申请人： Kazumichi Kato ,  Yuushi Sato ,  Susumu Nakagawa ,  Katsumi Yasuda ,  Tsukasa Sugino

发明人： Kazumichi Kato ,  Yuushi Sato ,  Susumu Nakagawa ,  Katsumi Yasuda ,  Tsukasa Sugino

IPC分类号： B66C1306

CPC分类号： B66C13/063

摘要： A suspension type hoisting apparatus has the position of an elevating portion, which is elevatably suspended from a base via a suspension member, adjusted by a positioning member for positioning the suspension member suspended from a carriage in the horizontal plane. The suspension type hoisting apparatus also includes a position controller for outputting a velocity reference signal on the basis of a deviation between a position reference signal of the positioning member and the actual position thereof, and a velocity controller for outputting a force reference signal being a manipulated variable of the positioning member on the basis of a deviation between the velocity reference signal, of the positioning member, outputted from the position controller and the actual velocity thereof; wherein a sway velocity of the elevating portion is detected. A sway controlling signal, with respect to the positioning member, is generated on the basis thereof, and the sway controlling signal is added to the force reference signal outputted from the velocity controller. Thereby, in a case where there is sway at the elevating portion, the positioning member is equivalently displaced in proportion to a sway velocity of the elevating portion, the sway of the elevating portion is suppressed in a remarkably short time, and at the same time, the elevating portion is accurately positioned at a reference position along with attenuation of sway of the elevating portion.

摘要翻译： 悬挂式起重设备具有升降部分的位置，该升降部分通过悬挂构件从基座可升降地悬挂，由定位构件调节，用于将悬挂构件悬挂在水平面中。 悬架式起重设备还包括位置控制器，用于基于定位构件的位置参考信号与其实际位置之间的偏差输出速度参考信号，以及速度控制器，用于输出作为被操纵的力参考信号 基于从位置控制器输出的定位构件的速度参考信号与其实际速度之间的偏差，定位构件的变化; 其中检测到升降部分的摆动速度。 相对于定位构件产生摆动控制信号，并且摇摆控制信号被加到从速度控制器输出的力参考信号。 因此，在升降部分摆动的情况下，定位部件与升降部的摆动速度成比例地等位移位，在非常短的时间内抑制升降部的摆动，同时， 升降部分与升降部分的摆动的衰减一起精确地定位在基准位置。

公开(公告)号：US06439407B1

公开(公告)日：2002-08-27

申请号：US09350998

申请日：1999-07-12

申请人： Adam Stephan Jacoff ,  Roger Vernon Bostelman ,  James Sacra Albus

发明人： Adam Stephan Jacoff ,  Roger Vernon Bostelman ,  James Sacra Albus

IPC分类号： B66C1306

CPC分类号： B66C13/08 ,  B66C13/06

摘要： A system which can both be adapted to existing single point lift mechanisms, and constrain a hoisted load in all six degrees of freedom, includes a suspension point, an assembly, a lateral tension lines member, and a control system. The assembly includes first and second platforms connected by a plurality of control cables which can precisely control the position, velocity, and force of a hoisted element in six degrees of freedom. The position or tension of the control lines can be controlled either manually, automatically by computer, or in various combinations of manual and automatic control. Advantages associated with the system include not only the ability to control the position, velocity, and force of the attached load, tool, and/or equipment in six degrees of freedom using position and tension feedback, but its ready adaptation to existing single point lift mechanisms and relatively light weight, and its flexibility, ease, and precision of operation.

摘要翻译： 既可以适应于现有的单点提升机构又能以所有六个自由度限制提升的载荷的系统包括悬挂点，组件，横向张力线构件和控制系统。 组件包括通过多个控制电缆连接的第一和第二平台，其可以以六个自由度精确地控制提升元件的位置，速度和力。 控制线的位置或张力可以手动控制，通过计算机自动控制，也可以以手动和自动控制的各种组合进行控制。 与系统相关的优点不仅包括使用位置和张力反馈在六个自由度中控制所附载荷，工具和/或设备的位置，速度和力的能力，而且可以适应现有的单点提升 机构重量轻，灵活性，易操作性和操作精度。

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.