101 results about "Sway control" patented technology

The invention relates to a sway-prevention control method for a crane, which is characterized in that according to the operation demand of the crane, an operating instruction related to a trolley is sent to a controller by an operator; the controller works out the operating speed of the trolley according to a trolley acceleration and deceleration formula; and the operating speed of the trolley is controlled through a frequency converter and a trolley driving motor to realize the sway-prevention control on the crane. According to the sway-prevention control method for the crane, after the crane reaches a uniform motion performed at a specified speed from a stop state, a lifting hook and a load do not sway, and after the crane reaches the stop state from the uniform motion, the lifting hook and the load do not sway as well. Moreover, the control adjustment time of the dynamic process of the crane from a static state to the uniform motion and from the uniform motion to the stop state is the shortest.

A system (10) is disclosed for eliminating sway of a load (30) in a crane or crane-like system subject to operator's command. The load is suspended by a cable (40) from a horizontally movable trolley (20) and can be hoisted vertically. The system uses the principle of cancellation to eliminate sway even when the crane has simultaneous trolley and 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. The cancellation controls handle the sway induced by the operator's command. Sway can also be induced by other factors, like wind load and external disturbances. This system also includes a feedback mechanism for eliminating sway due to such factors. The system ensures saturation limits, corresponding to the velocity and acceleration limits of the drive system of the trolley are not exceeded for proper functioning of the system.

The invention discloses a tower crane, and an anti-swing controlling method, a device and a system for a lifting hook of the tower crane. The anti-swing controlling method for the lifting hook includes: acquiring present operation status parameters of the lifting hook in real time during the operation condition of the lifting hook; and when receiving a command of stopping the lifting hook operation, acquiring rotation control parameters and amplitude variation control parameters according to the acquired operation status parameters at present and a preset control role, and controlling a rotation mechanism and an amplitude variation mechanism of the tower cane to be operated reversely to the rotation control parameters and the amplitude variation control parameters, so as to reduce the horizontal shift between the lifting hook and a rotating arm support of the tower cane. Through the technical scheme, swing control of the lifting hook in the rotation direction and the amplitude variation direction can be achieved so that the tower cane can be operated stably, accidents caused by collision caused by swing of a lifted object are reduced, the working safety is improved and the working efficiency is increased.

The invention provides a swing mechanism control system for a tower crane, comprising a motor system, a driving system and a communication system. The motor system comprises two motors, two brake controllers and two breakers, wherein one end of each breaker is connected with the driving system through three power lines, and the other end is connected with each motor; one end of each brake controller is connected with the output end of the communication system through two brake communication lines, and the other end is connected with each motor through a power line. The driving system comprises a vector control module and an anti-swing control module, wherein the vector control module drives and brakes the motors by adopting a vector control mode. In the invention, uniform acceleration can be realized in the process of starting and stopping, anti-swinging control and location control can be achieved, and adjustable control of the motor in the process from operating to stopping can be realized. The invention avoids the shaking of the tower body caused by sudden releasing of stress to the maximum and has the advantages of safety, convenience, energy saving, environment protection, little noise and convenient use.

An improved vehicle sway control assembly designed to limit excessive side swaying of front engine rear axle driven motor vehicles during all driving conditions. The system utilizes two frame brackets (77), (97), one axle/spring bracket (129), and two rods (35), (67). The first rod (35) has one end attached to a frame bracket (77) and the other end to the axle/spring bracket (129). It incorporates a telescoping feature allowing the rod end nearest the frame bracket (77) to telescope. The second rod (67) is attached on the opposite side to a frame bracket (97) on one end and a mid section plate (34) on the telescoping rod (35) on the other end. The counter rotational arch of the second rod (67) will force the telescoping rod (35) to extend thus canceling the telescoping rod (35) arch curve travel if it were a solid rod. The overall design will limit axle (166) to frame (78) side movement while providing near straight vertical axle (166) travel.

A transport arm device for carrying at least one disc comprising a driving means, a sway control member, and a swaying mechanism is disclosed. The sway control member comprises a hole in substantial middle of the sway control member for receiving a portion of the driving means and two leaf springs extending up from two sides of the sway control member respectively. The swaying mechanism is capable of grabbing the discs. The swaying mechanism comprises a rotating connection for engaging with a suspension of the transport arm device, wherein the two leaf springs are contacted with the swaying mechanism. The sway control member is moved by the driving means so as to rotate the swaying mechanism along a rotary axis on the rotating connection, and the two leaf springs provide elasticity for the swaying mechanism rotating back.

The invention discloses a device and a method for measuring a swing angle of a double-hanger bridge crane on the basis of the image detection. A lamp box is used as a main body of the device; four lateral surfaces of the lamp box are provided with linear array CCD (Charge Coupled Device) devices and LED (Light-Emitting Diode) lamps; the linear array CCD devices and the LED lamps are oppositely arranged; a lifting rope is arranged at the middle position of the lamp box; the linear array CCD devices are connected with a CCD shallow measurement device by wires; and two groups of linear array CCD devices are provided. According to a vision principle of a machine, double hangers process and calculate obtained pulsed signals to obtain the swing angle by two sets of illuminating devices and the linear array CCD shadow measurement device; and the obtained data can be used as feedback information for the anti-sway control of the bridge crane and can also be directly shown to a cab of the bridge crane. The device and the method for measuring the swing angle of the double-hanger bridge crane on the basis of the image detection have the advantages of simple structure, high accuracy, strong anti-interference capacity and the like.

A trailer hitch system for equalizing trailer loads and reducing trailer sway. The trailer hitch system may include spring bars that may be attached to a hitch head using a trunnion style connection. The spring bars may be attached to the trailer using rigid brackets that reduce swinging of the spring bars. The rigid brackets may include an upward extending portion for attaching to the trailer tongue, and a lateral extending portion for receiving the spring bars thereupon. The brackets may have a contact surface on the lateral extending portion that may be free from a coating such that a metal on metal contact is made between the spring bars and the brackets. Portions of the brackets beyond the contact surface may be covered with a protective coating.

The invention relates to the technical field of crane control, in particular to an anti-swinging control system of a crane weight and a control method of the system. The system comprises a steel wirerope length measuring unit, a pre-treatment module, an anti-swinging operation module and a frequency converter control unit, wherein the steel wire rope length measuring unit is used for accurately measuring the steel wire rope length in real time; a signal of an encoder is in communication through an optical fiber, a measuring signal is transmitted to a PLC, and communication with the PLC is achieved; the pre-treatment module and the anti-swinging operation module are used for calculating a set frequency parameter of a frequency converter according to the distance from the gravity center ofa steel wire rope length superposition gripper (or a lifting appliance) to a steel wire rope unloading buckle, data are output at right time in segments, large and small trolley speeds are controlled,and the large and small trolley speed decreasing anti-swinging purpose is achieved; and the frequency converter control unit achieves speed increasing or decreasing operation according to an output instruction of the PLC. According to the anti-swinging control system, due to production validation, swinging of a load crane during starting and stopping can be eliminated, stability and reliability are achieved, and the swinging reducing amplitude is larger than 95%.

A bracket, apparatus and method are provided for adapting a simple draw bar and hitch ball arrangement to allow connection to a sway control device. The bracket includes an aperture for receiving the threaded stem of the hitch ball, a notch for receiving and engaging the draw bar and a second aperture for receiving a sway control device connector such as a sway control ball. The bracket allows connection to any number of sway control devices available in the industry so that a simple draw bar and hitch ball may be converted for sway control capability.

The invention discloses a logistics vehicle swing control mechanism based on man-machine interaction, which is characterized by comprising a front vehicle body, a rear vehicle body, a swing mechanism,a driving motor, a signal acquisition part and a vehicle body controller, wherein the signal acquisition part comprises a seat detection unit, a vehicle speed detection unit and a handle detection unit; the vehicle body controller is used for receiving the seat signal, the vehicle speed signal and an angle signal and carrying out judgment; when the logistics vehicle is ridden, the vehicle body controller controls the driving motor to enter a pre-separation state, and judges one by one that when the vehicle speed is larger than a preset value and the rotation angle of the handle is larger thana threshold value, the vehicle body controller controls the driving motor to act so as to drive a locking rod to separate from a locking hole. The data in the logistics vehicle is acquired by the signal acquisition part, the acquired data is judged by the vehicle body controller, and the control mechanism of whether the front vehicle body swings or not is established so as to effectively improvethe use convenience of the logistics vehicle.

A crane period anti-swing control method is characterized in that the crane hoisting process is divided into a constant acceleration process, a constant speed process and a constant deceleration process, and the load swing angle is zero in the constant speed process and during stopping; in the constant acceleration process, a trolley adopts the accelerated speed a as the input, the acceleration duration is a period or an integral number of periods nT, T is the swing period, n is a natural number, the accelerated speed a=garctan (theta<max>/2), and the constraint condition of the maximum allowable swing angle theta<max> is met; in the constant speed process, the trolley carries out hoisting at the constant speed of V<constant>=naT; and the constant deceleration process is the inverse process of the constant acceleration process, that is, the trolley adopts the accelerated speed -a as the input, and the lasting duration is the same as the acceleration duration. The crane period anti-swing control method starts with the kinematics, it can be theoretically achieved that the load swing angle is zero during constant-speed running and stopping, no swing angle senor is needed, engineeringimplementation is easy, and cost is low. When the limiting conditions such as the swing angle, the expected constant speed and the stroke are given, the specific acceleration and deceleration processes meeting all expected conditions can be planned easily.

A trailer hitch system for equalizing trailer loads and reducing trailer sway. The trailer hitch system may include spring bars that may be attached to a hitch head using a trunnion style connection. The spring bars may be attached to the trailer using rigid brackets that reduce swinging of the spring bars. The rigid brackets having a plurality of contact points may include an upward extending portion for attaching to the trailer tongue, and a lateral extending portion for receiving the spring bars thereupon. The rigid brackets may include a spacing member and an attachment member.

The invention discloses a gradient induction encrypting method, it is mainly composed of sensor chip 1 and microprocessor 2, the balancing induction signal of sensor chip is transmitted to timer/ counter port of microprocessor, the microprocessor decodes the balancing induction signal, and records the moving trail of cursor as keyword of moving intelligent terminal, the keyword is inputted by swaying control panel of intelligent terminal, compares the new cursor moving trail with stored keyword in memory to complete encrypting. The excellence of the invention is using the cursor moving trail as keyword of intelligent terminal, which replaces the traditional key-press or touch screen, avoids the shortage of number and letter being not easy to remember, reduces many unnecessary trouble due to forgetting keyword. The encrypting method do not influence portability of moving intelligent terminal, so it has the characters such as simple structure, strong operating reliability, it is a ideal moving intelligent terminal for all computer users.

The invention discloses a crane anti-swing control method based on machine vision, and the method is used for identifying and tracking the swing track of a lifting hook in real time, self-adaptively controlling and adjusting an acceleration and deceleration frequency curve of a large car and a small car when the large car and the small car accelerate or decelerate according to the swing angle, amplitude and frequency of the lifting hook, and realizing an intelligent anti-swing function. The crane anti-swing control method aims at the real-time anti-swing of the closed loop of a load, and is strong in adaptability and good in anti-swing effect.

The invention discloses a multifunctional control device for a swaying testing stand. The multifunctional control device for a swaying testing stand comprises a host computer, a lower computer, a control sensor, and a servo control system for the swaying testing stand, wherein the host computer and the lower computer are connected through the Ethernet; both the control sensor and the servo control system are electrically connected with the lower computer; and an inclination angle sensor is arranged on the swaying testing stand. The invention also discloses a multifunctional control method for a swaying testing stand. The multifunctional control method for a swaying testing stand comprises a sine frequency fixing swaying control method, a sine frequency sweeping control method, a random swaying control method and a time domain tracking swaying control method. The multifunctional control method and control device for a swaying testing stand of the invention can realize sine frequency fixing, sine frequency sweeping, random and time domain tracking swaying control, and at the same time the control device has the advantages of being simple in system, having few modules, being easy to install and being convenient to maintain, and is suitable for the swaying control field.

The invention provides a swaying platform under the control of a cross-shaped sliding table. The swaying platform under the control of the cross-shaped sliding table mainly comprises a training platform, cross-shaped sliding rails, sliding blocks, a bottom board, longitudinal hydraulic cylinders, support rods and horizontal hydraulic cylinders. Compared with the scheme of the traditional swaying platform, the scheme provided by the invention has the advantage that the integral height of the swaying platform provided by the invention is greatly reduced, and thus the influences of the inertia force when the swaying platform sways are reduced; compared with other schemes, the scheme provided by the invention has the advantage that the swaying platform can truly simulate various swaying postures; compared with the similar swaying platforms, the swaying platform provided by the invention has the advantages that the weight of the swaying platform under the control of the cross-shaped sliding table is reduced, meanwhile, the weight of the training platform is born by the support rods but not the hydraulic cylinders, thus most of the work of the hydraulic cylinders is used for realizing the swaying of the swaying platform, and therefore, the burden of a hydraulic device is alleviated.

The invention provides a built-in crane anti-sway control system. The system comprises a crane, the crane is formed by a main lifting motor, an auxiliary lifting motor, a cargo motor and a trolley motor, the main lifting motor is provided with a main lifting frequency converter, the auxiliary lifting motor is provided with an auxiliary lifting frequency converter, the cargo motor is provided with a cargo frequency converter, and the trolley motor is provided with a trolley frequency converter; the main lifting frequency converter, the auxiliary lifting frequency converter, the cargo frequency converter and the trolley frequency converter communicate with and are connected to a built-in sway controller through a CAN bus; the main lifting frequency converter, the auxiliary lifting frequency converter, the cargo frequency converter and the trolley frequency converter are respectively connected to an electric appliance controller through wires, and the electric appliance controller is connected to an operating platform; and the operating platform transmits a signal to the built-in sway controller. The anti-sway control system calculates the running speeds of the cargo and the trolley of the sway eliminated crane through the built-in anti-swing controller according to an operating instruction and the real-time running condition of the crane in order to accurately eliminate the load sway phenomenon of the crane.

The invention provides an anti-swing control method and a travelling crane. The anti-swing control method comprises the steps that a cart or a trolley is started, and a starting acceleration pulse A0 and a driving anti-swing acceleration pulse A1 are determined; a theoretical driving swing angle theta1 is calculated; a first actual swing angle theta2 is measured, a disturbance swing angle theta3 is calculated and whether the disturbance swing angle theta3 is larger than the minimum disturbance swing angle or not is judged, and if not, the cart or the trolley is controlled to work according to the driving anti-swing acceleration pulse A1; if yes, the cart or the trolley is controlled to work according to the driving anti-swing acceleration pulse A1, a first disturbance anti-swing acceleration pulse A2 is calculated, and then the cart or the trolley is controlled to work according to the first disturbance anti-swing acceleration pulse A2; in the constant speed stage, a second actual swing angle theta3 is measured and whether the second actual swing angle theta3 is larger than the minimum disturbance swing angle or not is judged, if yes, a second disturbance anti-swing acceleration pulse A3 is calculated, and the cart or the trolley is controlled to work according to the second disturbance anti-swing acceleration pulse A3; and the steps of the constant speed stage are repeated. According to the anti-swing control method, swing closed-loop control of a lifting hook can be achieved, the control precision is high, and the working efficiency of the travelling crane is high.