US3899083A - Device ofr damping pendulum movements - Google Patents

Device ofr damping pendulum movements Download PDF

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Publication number
US3899083A
US3899083A US343886A US34388673A US3899083A US 3899083 A US3899083 A US 3899083A US 343886 A US343886 A US 343886A US 34388673 A US34388673 A US 34388673A US 3899083 A US3899083 A US 3899083A
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United States
Prior art keywords
pulleys
pair
cables
frame
cylinders
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Expired - Lifetime
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US343886A
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English (en)
Inventor
Hinrich Flessner
Bernhard Hoffmeister
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VULKAN HAFENTECHNIK GmbH
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Fried Krupp AG
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Publication date
Priority claimed from DE19722214348 external-priority patent/DE2214348C3/de
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Publication of US3899083A publication Critical patent/US3899083A/en
Assigned to VULKAN HAFENTECHNIK GMBH reassignment VULKAN HAFENTECHNIK GMBH ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: FRIED. KRUPP GMBH
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Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads

Definitions

  • the pulleys pertaining to the cables of a pair of cables are coaxially and relatively rotatably and damping means are provided, preferably fluid damping means, and interposed be' tween the pulleys of each pair of pulleys so that relative movement between the pulleys is damped and thereby lateral swinging movements of the load frame are damped.
  • the present invention relates to a device for damping the pendulum movement of a load suspended on a lifting cable of a hoisting device. or of a supporting frame for a hoisting device, with pairs of pulleys which are so journaled on the upper side of the load, or the supporting frame, that in pairs they have common axes of rotation or at least axes of rotation which are approximately parallel to each other.
  • the pendulum movement of loads suspended on lifting cables cannot easily be limited when other causes such as acceleration and retardation of the carriage driving mechanisms are present or created for instance, by changes in the wind velocity and also changes in the wind direction, and wind exposed surfaces are involved during the lowering and lifting of the load.
  • an object of the present invention to provide a device of the above mentioned general type which at low structural expenses will limit the pendulum movement of loads or supporting frames suspended on lifting cables and will, in particular, limit the pendulum movement of traverses with suspended bulky load bodies such as sheet metal pieces, pipes, containers, and the like.
  • FIG. 1 illustrates an isometric view of a lifting mechanism according to the invention, of a crane carriage with the lifting cables and a traverse suspended thereon.
  • FIG. 2 is an end view, and partially a section, ofa pertaining device for damping the counter-rotary movements of two pulleys, for use in connection with the device of FIG. 1.
  • FIG. 3 is a vertical axial section taken along the line III-III of FIG. 2 through the device of FIG. 2 and also shows the pulleys and the mounting thereof.
  • FIG. ,4 shows the circuit for the hydraulic device of FIGS. 2 and 3.
  • FIG. 5 diagrammatically illustrates two coaxial pulleys in an axial section with the pertaining lifting cables in their normal position and after a pendulum movement.
  • FIG. 6 illustrates in a vertical axial section, two coaxial pulleys and the journaling thereof and also shows a hydraulic device for damping rotary movements which run counter to each other, according to a second embodiment.
  • FIG. 7 represents a section taken along the line VII- VII of FIG. 6.
  • FIG. 8 represents a section similar to that of FIG. 7, through a hydraulic device for damping the rotary movements of two pulleys running counter to each other, this arrangement illustrating a third embodiment of the invention.
  • the device according to the present invention is characterized primarily in that the two lifting cables pertaining to each of the pairs of pulleys are guided from two suspension points on the hoisting device, preferably on the hoisting drums, in two strands downwardly to the two cable pulleys and around the same and from there upwardly in a converging manner in two strands to two other suspension points which in the lifting hoist are located lower than the first mentioned suspension points, and furthermore characterized in that the two pulleys of each pair of pulleys are mounted on a suspension device of the load body or of the supporting frame, so that when pendulum movements of the load body or supporting frame occur they can, approximately in the direction of their axes of rotation, turn counter to each other, and finally characterizedin that means are provided for damping such counter-running rotary movements.
  • the arrangement is such that those cable strands which are guided from the cable rollers of each cable roller pair to the lower suspension point's, cross each other.
  • hydraulic devices with two displacement parts each which are movable toward each other.
  • These displacements parts are so mounted on bodies nonrotatably connected to the two cable pulleys that these bodies during a counterrunning rotary movement of the pulleys will press liquid through the throttle elements.
  • the cylinders of two or more hydraulic devices may be connected to a body which is nonrotatably connected to one of the pulleys, and the pertaining piston rods may be connected to a body which is nonrotatably connected to the other pulley, while in at least one connecting line between the two cylinders there is inserted at least one throttle member.
  • a particularly advantageous design of a hydraulic device for damping the counter-running rotary movements of the pulleys is characterized in that on a disc which is nonrotatably connected to one of the pulleys there is provided a plurality of cylinders which are uniformly distributed around the axis of rotation of the pulleys and are, in pairs, interconnected by conduits comprising throttle members.
  • the pertaining piston rods are connected in a nonrotatable manner to a crank pin by means of an element rotatably journalled thereon, said crank pin being provided on the other pulley.
  • the cylinders may be journalled on the disc in joints with axes which are parallel to the axis of rotation of the pulleys, and the piston rods pertaining to one of the cylinders may be firmly connected to the element which is rotatably journalled on the crank pin.
  • the remaining piston rods are pivotally connected to this member.
  • each of the cylinders is connected to the two adjacent cylinders by conduits and comprises two or more conduitsthrottle elements, whereas pressure storage means are connected to the remaining conduits through check valves.
  • the cylinders are firmly mounted on the disc in radial arrangement with regard to the axis of rotation of the pulleys and that the piston rods with sliding surfaces transverse to the devices actuating the piston rods engage sliding surfaces of the member rotatably mounted on the crank pin and that the piston rods engage said sliding surfaces at a pressure which is maintained in the cylinders by at least one pressure accumulator.
  • Such a design of the hydraulic clamping device has the advantage that the pulleys can rotate opposite to each other in an unlimited manner and that no returning device is necessary.
  • a further advantage of the design of the hydraulic clamping device according to the invention consists in that with each rotary position of the pulleys relative to each other, the device according to the invention is fully effective and a damping will also be realized if the cables should slip in the grooves of the pulleys.
  • Such hydraulic clamping device may advantageously be employed in connection with other devices than with the device for damping the pendulum movement of a load suspended on lifting cables of a lifting hoist, for instance, for damping rotary oscillations of long transmission shafts.
  • H6. 1 illustrates two cable drums l, 2, forming a part of a crane carriage (not illustrated).
  • the axes of rotation of said drums l, 2 are arranged parallel to each other, and the drums 1, 2 are driven by a drive 3 common thereto.
  • a traverse 4 which may, for instance, be a spreader for conveying containers, is supported by a plate 5 through the intervention of a turntable 6, which latter is adapted to permit rotation of the traverse 4 relative to plate 5 about a vertical axis 7.
  • the turning of the transverse 4 is effected by means of a nonillustrated turning mechanism which may be arranged, for instance, on plate 5.
  • two pulleys each, for instance, pulleys and 11 have a common shaft 13, which by means of two bearings 14 carries a sheet metal box 15, which by means of a joint 16 with an axis parallel to the axis of rotation 12 has suspended thereon the above mentioned plate 5.
  • Powers 27 and 28 are located at the ends of an equalizing lever 35 which extends in its illustrated normal position parallel to the axes of rotation of the cable drums 1, 2.
  • the lever 35 is at its center connected to a holder 37 by means of a bolt 36 which extends transverse to said lever 35.
  • the holder 37 is journalled on the carriage frame in a joint 38 with its axis extending parallel to the axes of rotation of the cable drums l, 2. In this way, the holder 37 together with the lever 35 forms a rocker. Pivoting movements of the lever 35 relative to the holder 37 are cushioned by hydraulic devices, the cylinders 39 of which are mounted on the holder 37, whereas their piston rods engage the lever 35.
  • the points 29, 30 are located at the ends of a support 40 which is firmly mounted on a holder 41.
  • Holder 41 is journalled on the carriage frame in a joint 42 with its axis extending parallel to the axes of rotation of the cable drums 1, 2. The holder 41 thus together with the support 40 forms a rocker.
  • the arrangement is such that the planes through the strands 43, 44 of the cables 17, 18, which strands are located between the cable drum 1 and the pulleys 8, 9, and the plane through the cable strands 23, 24 extend in a V-shaped manner with regard to each other. This also applies to the planes through the strands 45, 46 of the lifting cables 19,20 between the deviating rollers 21 and the cable rollers 10, l1, and to the plane through the cable strands 25 26.
  • a pendulum movement of the traverse 4 and of the load carried thereby in the longitudinal direction of the load is counteracted.
  • the lever 35 By means of the lever 35, a three-point suspension of plate 5 is realized.
  • FIG. 5 diagrammatically illustrates the conditions when the plate 5 at traverse 4 and the suspended load carries out a pendulum movement transverse to the longitudinal direction of the load.
  • the cable rollers 10, l l are shown in their starting position, in which their center points 47, 48 are located in the vertical planes passing through the upper suspension points 33, 34, in which planes also the cable strands 45, 46 are located.
  • the cable strands 25, 26 which extend from the points 47, 48 to the lower suspension points 29, 30 cross each other.
  • the plate 5 with the traverse 4 which plate is suspended on the cable rollers carries out a pendulum movement transverse to the longitudinal direction of the traverse 4. in such an instance.
  • the center points of the cable rollers 10 and 11 will move onto elliptical paths 49, 50 into positions 47 48'.
  • the cable strands 45 and 26 will then be extended and the cable strands 25 and 46 will be shortened while the total of the cable strands, for instance, 45 and 25, of each lifting cable, for instance, 19, remains unchanged.
  • the extended and shortened cable strands are designated in FIG. 5 with the numerals 45', 26; 25', 46'.
  • the cable roller 10 is keyed to that end of shaft 12 which protrudes beyond one bearing 14, whereas the cable roller 11 is journalled on that end of shaft 12 which protrudes beyond the other bearing 14. Accordingly, the cable rollers 10 and II will rotate independently of each other about the axis 12.
  • a disc 52 is flanged to the cable roller 11. Mounted on said disc 52 are cylinders 53, 54 of two hydraulic displacing devices. At each end these displacing devices are pivotally mounted on disc 52 by means of bolts 55 which extend parallel to the axis of rotation 12, and will in the vicinity of the circumference of the disc 52 arranged in short spaced relationship to each other.
  • the pertaining piston rods 56, 57 which extend through stuffing boxes at those ends of the cylinders 53, 54 which are located opposite the bolts 55 engage through the intervention of bolts 58 the ends of a two-arm lever 59 with equally long lever arms.
  • the lever 59 is keyed to a pivot 60 of shaft 12, which pivot protrudes relative to disc 55.
  • Lever 59 has an extension 61 on that side which is located opposite the cylinders 53, 54.
  • This extension 61 is engaged by a returning device.
  • This returning device comprises two bars which from oppositely located sides pivotally engage the extension 6I and are surrounded by pressure springs 62. These springs rest on one hand on collars 63 arranged on the above mentioned bars and on the other hand rest against counterbearings which by means of two pivots 64 are held in slots of bushings 65, which bushings are adjustably connected to disc 52.
  • conduit 66 In this conduit there are provided two chokes 67. Furthermore, the oppositely located ends of the cylinders 53, 54 are interconnected by a conduit 68 in which are located two chokes 69. Branching off from the conduits 66 and 68 between one choke each and one of the cylinders are conduits 7073 which are united to a conduit 74.
  • Conduit 74 has a filling connection 75 adapted to be closed.
  • a pipe 76 coming from a pressure accumulator 77 leads into the conduit 74.
  • the conduits 70-73 have arranged therein check valves 78 in such a way that no liquid can pass from the cylinders 53, 54 into the conduit 74.
  • FIGS. 6 and 7 it is again a pulley l0 keyed to the shaft 13, whereas the other pulley 11 is, by means of bearings 51, rotatably journalled on a pivot of shaft 13. Furthermore, a disc 52 is flanged onto the pulley ll. Pivotally mounted on this disc 52 by means of bolt 84 are four cylinders 83 of a hydraulic damping device. These cylinders are uniformly distributed in the vicinity of the circumference of disc 52 over the circumference of the latter and are mounted on said disc 52. This mounting is effected by means of eyes 85 respectively located at the ends of the cylinder.
  • the pertaining piston rods 86-90 are connected to a ring 90 which, by means of a needle bearing 91, is journalled on a crank pin 92.
  • Crank pin 92 is with an eccentricity relative to the axis of rotation 12 arranged on a hub 93 keyed onto shaft 13.
  • the piston rod 86 is, by means of a threaded pin 84, rigidly connected to the ring 90, said threaded pin 84 being screwed into a bushing arranged in ring 90.
  • the other piston rods 87, 88, 89 are by means of joint bolts 95, connected to ring 90, said bolts extending parallel to the axis of rotation 12.
  • conduits 96 located opposite to each other, there are provided throttles 97, whereas in the two other conduits 96 distributing nipples 98 are inserted.
  • These nipples respectively have fill-in openings 99 which are adapted to be closed and also respectively have connections which are in communication with a pressure accumulator 100 each through a check valve 101.
  • the pressure accumulators 100 are arranged on disc 52 diametrically opposite to each other in such a way that their common center of gravity is located in the axis of rotation 12.
  • a respective undesired damping is obtained independently of the rotary position in which the two cable rollers are. Therefore, it is not necessary that each time after a rotation of the cable rollers relative to each other these rollers are by a returning device returned to their starting position. Accordingly, it is not necessary either for purposes of setting a zero point position to take off the traverse in order to have a sagging cable to permit the return movement of the spring.
  • FIG. 8 differs from that of FIGS. 6 and 7 on one hand, in that the four cylinders 102, I03, I04, and 105 are not pivotally connected to disc 52, but are rigidly connected thereto. Furthermore, on crank pin 92 instead of ring 90 there is a block 106 rotatably mounted which has four sliding surfaces. It is against these four sliding surfaces that the pistons 107-110 displaceable in the cylinders are pressed with sliding plates 111. This is effected by the liquid pres sure which prevails in those parts of the cylinders which face away from block 106. This pressure is maintained by two pressure accumulators 112 which are connected to disc 52 in a position in which they are located diagonally opposite to each other. The two pressure accumulators 12 are adapted through check valves 113 to be connected with one pair of cylinders each. The cylinders of each pair are interconnected by conduits 114, l 15 in which throttles 116 are provided.
  • a hoist structure including:
  • a damping means being operatively interposed between the pulleys of each said pair of pulleys and comprising a fluid displacement means including at least one pair of displacing members one of which is hollow and connected to one pulley of the same pair of pulleys, the other displacing member of the same pair of displacing members being guided within said first displacing member and connected to the other pulley of the same pair of pulleys,
  • said fluid displacement means including at least two volumes each being enclosed by at least one said pair of displacing members and filled with fluid
  • conduit means interconnecting said two volumes and including choke means in such an arrangement that rotation of said pulleys of the same pair of pulleys in opposite directions will cause relative movement of said two displacing members so that a portion of said fluid will flow from one of said volumes through said conduit means and through said choke means to the other said volume.
  • a hoist structure according to claim 2 which includes a pressure accumulator mounted on said body and connected to said conduits through further conduit means which include check valve means opening toward said conduits,
  • counterweight means on said body to balance the body and the parts connected thereto about the axis of rotation of said pulleys.
  • a hoist structure according to claim 1 which includes a deviating roller adjacent the pulley end of each ascending strand and about which the respective cable is entrained in the region thereof between the lower end of the respective strand and the representative pulley.
  • each said fastening means includes an arm connected to said first frame for each pair of cables and swingable on the first frame on an axis substantially parallel to the axes of the rotation of said pulleys.
  • a hoist structure according to claim 5 in which at least one of said arms is also tiltable about a further axis substantially perpendicular to the swing axis of the same arm,
  • said further axis being about midway between the said points of connection of the cables to the said arm
  • a hoist structure in which said first means comprises cylinders and said second means comprises pistons extending into said cylinders, a first body supporting said cylinders and nonrotatably connected to one of said pair of pulleys, a second body to which said pistons are connected and nonrotatably connected to the other of said pulleys, conduit means interconnecting said cylinders, said choke means com prising at least one throttle member in said conduit.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Vibration Prevention Devices (AREA)
  • Control And Safety Of Cranes (AREA)
  • Bridges Or Land Bridges (AREA)
  • Pulleys (AREA)
US343886A 1972-03-24 1973-03-22 Device ofr damping pendulum movements Expired - Lifetime US3899083A (en)

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DE19722214348 DE2214348C3 (de) 1972-03-24 Seilhubwerk mit Pendeldämpfung

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US3899083A true US3899083A (en) 1975-08-12

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IT (1) IT981544B (it)

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4135628A (en) * 1976-11-12 1979-01-23 Marathon Letourneau Company Hoisting apparatus with improved anti-sway system
US4168857A (en) * 1976-12-29 1979-09-25 B.V. Machinefabriek Figee Crane with luffing system suitable for handling both general cargo and cargo containers
DE3126206A1 (de) * 1981-07-03 1983-01-20 Fried. Krupp Gmbh, 4300 Essen Einrichtung zur daempfung von lastpendelbewegungen an kranen
US4531647A (en) * 1976-01-14 1985-07-30 Hitachi, Ltd. Device for stopping the swinging movement of a load hung by a crane
US5186342A (en) * 1990-11-07 1993-02-16 Paceco Corp. Integrated passive sway arrest system for cargo container handling cranes
US5257891A (en) * 1991-02-19 1993-11-02 Mi-Jack Products, Inc. Bi-planar cable cross reeving system
US5314262A (en) * 1991-12-23 1994-05-24 Man Gutehoffnungshuette Aktienegesellschaft Hoisting gear on the trolley of a container crane
US5909817A (en) * 1995-10-12 1999-06-08 Geotech Crane Controls, Inc. Method and apparatus for controlling and operating a container crane or other similar cranes
US6102372A (en) * 1997-07-23 2000-08-15 Mannesmann Ag Rope arrangement for the suspension of attachment means at a carrying device arranged above it
KR100304341B1 (ko) * 1999-04-30 2001-09-13 신영균 인양 화물의 진자진동 방지 장치
US6439407B1 (en) 1998-07-13 2002-08-27 The United States Of America As Represented By The Secretary Of Commerce System for stabilizing and controlling a hoisted load
US20050016005A1 (en) * 1999-12-14 2005-01-27 Voecks Larry A. Apparatus and method for measuring and controlling pendulum motion
US20050230670A1 (en) * 2002-12-19 2005-10-20 Hhh Manufacturing Co. Electric hoist
US20060065884A1 (en) * 2004-09-08 2006-03-30 Morris Material Handling, Inc. Upper block
WO2006065145A1 (en) * 2004-12-13 2006-06-22 Norsafe A/S Damping pendelum for damping of pendelum movement
US20070114505A1 (en) * 2005-11-01 2007-05-24 International Business Machines Corporation Hoisting apparatus
US20080271329A1 (en) * 1999-12-14 2008-11-06 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US8708172B2 (en) * 2010-04-08 2014-04-29 Korea Advanced Institute Of Science And Technology Multi-stage trolley for a crane and a crane therewith
WO2014071949A1 (en) * 2012-11-06 2014-05-15 Liftra Ip Aps Crane with double wire guide and anchoring bracket arranged in the nacelle of a wind turbine.
US8800791B2 (en) 2008-12-09 2014-08-12 Gottwald Port Technology Gmbh Bridge crane or gantry crane comprising a revolving arrangement and lifting frames suspended thereunder
CN104649162A (zh) * 2015-01-30 2015-05-27 芜湖合建路桥机械有限公司 一种吊装设备
US9834418B2 (en) 2012-09-21 2017-12-05 Par Systems, Inc. Boat deployment assembly and method
US9908750B2 (en) 2010-04-01 2018-03-06 Par Systems, Inc. Tensile truss mast
CN108706458A (zh) * 2018-07-27 2018-10-26 湖南科技大学 一种吊钩摆动阻尼装置
US20180339888A1 (en) * 2017-05-29 2018-11-29 B&R Industrial Automation GmbH Method for damping rotational oscillations of a load-handling element of a lifting device
US20190092605A1 (en) * 2017-09-28 2019-03-28 Mohr Lizenz Verwaltungs Gmbh Lifting apparatus for raising and lowering heavy objects
US10494233B2 (en) 2013-02-06 2019-12-03 Par Systems, Llc Relocatable fine motion positioner assembly on an overhead crane

Families Citing this family (5)

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Publication number Priority date Publication date Assignee Title
JPS5635005B2 (it) * 1973-11-16 1981-08-14
JPS6077129A (ja) * 1983-09-30 1985-05-01 Toshiba Corp バリウムフエライト磁性粉
JP7372851B2 (ja) * 2020-02-21 2023-11-01 株式会社三井E&S クレーンおよびクレーンのロープ張設方法
CN113233313A (zh) * 2021-04-14 2021-08-10 谢柏红 一种可以自动稳定起吊物的起重机
US11608252B1 (en) * 2022-02-15 2023-03-21 Innovative Minds, LLC Damper systems for suspended loads

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US3179259A (en) * 1963-08-12 1965-04-20 Dravo Corp Snubbing system for cranes
US3476263A (en) * 1966-08-02 1969-11-04 Ishikawajima Harima Heavy Ind Device for preventing the swaying of the suspending means in a crane
US3702647A (en) * 1970-01-06 1972-11-14 Raymond M Richardson Frequency sensitive suspension system fluid damper
US3746182A (en) * 1970-07-08 1973-07-17 H Tax Oscillation damping arrangement for the load carrier of a hoist

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3179259A (en) * 1963-08-12 1965-04-20 Dravo Corp Snubbing system for cranes
US3476263A (en) * 1966-08-02 1969-11-04 Ishikawajima Harima Heavy Ind Device for preventing the swaying of the suspending means in a crane
US3702647A (en) * 1970-01-06 1972-11-14 Raymond M Richardson Frequency sensitive suspension system fluid damper
US3746182A (en) * 1970-07-08 1973-07-17 H Tax Oscillation damping arrangement for the load carrier of a hoist

Cited By (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4531647A (en) * 1976-01-14 1985-07-30 Hitachi, Ltd. Device for stopping the swinging movement of a load hung by a crane
US4135628A (en) * 1976-11-12 1979-01-23 Marathon Letourneau Company Hoisting apparatus with improved anti-sway system
US4168857A (en) * 1976-12-29 1979-09-25 B.V. Machinefabriek Figee Crane with luffing system suitable for handling both general cargo and cargo containers
DE3126206A1 (de) * 1981-07-03 1983-01-20 Fried. Krupp Gmbh, 4300 Essen Einrichtung zur daempfung von lastpendelbewegungen an kranen
US5186342A (en) * 1990-11-07 1993-02-16 Paceco Corp. Integrated passive sway arrest system for cargo container handling cranes
US5257891A (en) * 1991-02-19 1993-11-02 Mi-Jack Products, Inc. Bi-planar cable cross reeving system
US5314262A (en) * 1991-12-23 1994-05-24 Man Gutehoffnungshuette Aktienegesellschaft Hoisting gear on the trolley of a container crane
US5909817A (en) * 1995-10-12 1999-06-08 Geotech Crane Controls, Inc. Method and apparatus for controlling and operating a container crane or other similar cranes
US6102372A (en) * 1997-07-23 2000-08-15 Mannesmann Ag Rope arrangement for the suspension of attachment means at a carrying device arranged above it
US6439407B1 (en) 1998-07-13 2002-08-27 The United States Of America As Represented By The Secretary Of Commerce System for stabilizing and controlling a hoisted load
US6644486B2 (en) 1998-07-13 2003-11-11 The United States Of America As Represented By The Secretary Of Commerce System for stabilizing and controlling a hoisted load
KR100304341B1 (ko) * 1999-04-30 2001-09-13 신영균 인양 화물의 진자진동 방지 장치
US20050016005A1 (en) * 1999-12-14 2005-01-27 Voecks Larry A. Apparatus and method for measuring and controlling pendulum motion
US20080271329A1 (en) * 1999-12-14 2008-11-06 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7395605B2 (en) 1999-12-14 2008-07-08 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7121012B2 (en) 1999-12-14 2006-10-17 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US20070033817A1 (en) * 1999-12-14 2007-02-15 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US7845087B2 (en) 1999-12-14 2010-12-07 Voecks Larry A Apparatus and method for measuring and controlling pendulum motion
US20050230670A1 (en) * 2002-12-19 2005-10-20 Hhh Manufacturing Co. Electric hoist
US7014172B2 (en) * 2002-12-19 2006-03-21 Hhh Manufacturing Co. Electric hoist
US20080023682A1 (en) * 2004-09-08 2008-01-31 Waisanen Steven K Upper block
US7293670B2 (en) * 2004-09-08 2007-11-13 Mhe Technologies, Inc. Upper block
US7735662B2 (en) * 2004-09-08 2010-06-15 Mhe Technologies, Inc. Upper block
US20060065884A1 (en) * 2004-09-08 2006-03-30 Morris Material Handling, Inc. Upper block
US7611022B2 (en) 2004-09-08 2009-11-03 Mhe Technologies, Inc. Upper block
US20100018938A1 (en) * 2004-09-08 2010-01-28 Waisanen Steven K Upper block
WO2006065145A1 (en) * 2004-12-13 2006-06-22 Norsafe A/S Damping pendelum for damping of pendelum movement
US7287740B2 (en) * 2005-11-01 2007-10-30 International Business Machines Corporation Hoisting apparatus
US20070114505A1 (en) * 2005-11-01 2007-05-24 International Business Machines Corporation Hoisting apparatus
US8800791B2 (en) 2008-12-09 2014-08-12 Gottwald Port Technology Gmbh Bridge crane or gantry crane comprising a revolving arrangement and lifting frames suspended thereunder
US9908750B2 (en) 2010-04-01 2018-03-06 Par Systems, Inc. Tensile truss mast
US8708172B2 (en) * 2010-04-08 2014-04-29 Korea Advanced Institute Of Science And Technology Multi-stage trolley for a crane and a crane therewith
US9834418B2 (en) 2012-09-21 2017-12-05 Par Systems, Inc. Boat deployment assembly and method
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Also Published As

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JPS496636A (it) 1974-01-21
GB1393512A (en) 1975-05-07
DE2214348B2 (de) 1976-04-22
DE2214348A1 (de) 1973-10-18
IT981544B (it) 1974-10-10

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