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1. 发明授权

US11649143B2 Crane 有权
公开(公告)号：US11649143B2
公开(公告)日：2023-05-16
申请号：US16650197
申请日：2018-09-28
申请人： TADANO LTD.
发明人： Shinsuke Kanda , Kazuma Mizuki
IPC分类号： B66C13/06 , B66C13/22
CPC分类号： B66C13/066 , B66C13/063 , B66C13/22
摘要： The resonant frequency ωx(n) of horizontal shaking of a suspended load W suspended from the distal end of a telescopic boom 9 via wire ropes 14·16 is calculated on the basis of the suspension length Lm(n)·Ls(n) of the wire ropes 14·16; the characteristic frequency ωy(n) in the raising and lowering direction of the telescopic boom 9 is calculated; and, in accordance with an operation for raising and lowering the telescopic boom 9, the filtering control signal Cd(n) of an actuator is generated in which a frequency component in a discretionary frequency range is attenuated at a discretionary ratio with reference to the resonant frequency ωx(n) of the suspended load W, and in which a frequency component in a discretionary frequency range is attenuated at a discretionary ratio with reference to the characteristic frequency ωy(n) in the raising and lowering direction of the telescopic boom 9.

2. 发明授权

US12066823B2 Remote control terminal, and working vehicle provided with remote control terminal 有权
公开(公告)号：US12066823B2
公开(公告)日：2024-08-20
申请号：US16977695
申请日：2019-03-08
申请人： TADANO LTD.
发明人： Hiroyuki Hayashi , Shinsuke Kanda
IPC分类号： G05D1/00 , B66C13/16 , B66C13/40 , B66C13/46 , B66F9/075 , B66F11/04
CPC分类号： G05D1/0016 , B66C13/16 , B66C13/40 , B66C13/46 , G05D1/0038 , B66F9/07581 , B66F11/04
摘要： The purpose of the present invention is to provide: a remote control terminal which can perform a remote control on a working vehicle easily and simply; and a working vehicle provided with a remote control terminal. The present invention is provided with: a vehicle-side azimuth sensor (29) which detects the azimuth around a crane device (6); a remote control terminal (32) having a hung cargo movement control tool which is a first control part that remotely controls the crane device (6), and a reference change control tool (34) which is a second control tool that sets a reference for the azimuth in which the crane device (6) operates according to a control of the hung cargo movement control tool (35); and a control device (31) which is configured to be able to communicate with the remote control terminal (32) and controls the operation of the crane device (6), wherein the control device (31) causes the crane device (6) to operate in the azimuth in which the crane device (6) operates, when acquiring, from the remote control terminal (32), a signal of the azimuth in which the crane device (6) operates according to a control of the hung cargo movement control tool (35) and which is calculated on the basis of a set value of the reference change control tool (34).

3. 发明授权

US11926509B2 Crane 有权
公开(公告)号：US11926509B2
公开(公告)日：2024-03-12
申请号：US17041231
申请日：2019-07-18
申请人： TADANO LTD.
发明人： Shinsuke Kanda , Kazuma Mizuki
IPC分类号： B66C13/06 , B66C13/30
CPC分类号： B66C13/063 , B66C13/066 , B66C13/30
摘要： This crane is provided with: a operable functional part that is supported on a pair of lower bases; a driving device; a detection unit that detects information about the attitude of the operable functional part; a target signal generation unit that generates a target signal regarding the moving direction and the moving speed of a suspended load on the basis of information about an operation input for instructing the moving direction and the moving speed of the suspended load; a filter unit that generates a filtering target signal by filtering the target signal; a control signal generation unit that generates a speed control signal for controlling the operation speed of the driving device on the basis of the information about the attitude and the filtering target signal; and a control unit that controls the driving device on the basis of the speed control signal.

4. 发明授权

US11518658B2 Crane 有权
公开(公告)号：US11518658B2
公开(公告)日：2022-12-06
申请号：US16650170
申请日：2018-09-28
申请人： TADANO LTD.
发明人： Shinsuke Kanda , Kazuma Mizuki
IPC分类号： B66C13/06 , B66C13/22 , B66C23/42
摘要： Provided is a crane that is capable of effectively suppressing oscillation related to the pendulum resonance frequency generated in a suspended load on the basis of the suspended length of a wire rope. The crane 1 calculates a suspended load oscillation resonance frequency ωx(n) determined on the basis of the suspended length L(n) of a wire rope (14·16), and generates a control signal C(n) for an actuator according to an arbitrarily defined operation signal, and, on the basis of the resonance frequency ωx(n), generates from the control signal C(n) a filtering control signal Cd(n) for the actuator in which a frequency component in an arbitrarily defined frequency range is attenuated by an arbitrarily defined percentage. The frequency range of the attenuated frequency component and/or the percentage of attenuation is altered on the basis of the suspended length L(n) of the wire rope (14·16).

5. 发明授权

US11840427B2 Crane 有权
公开(公告)号：US11840427B2
公开(公告)日：2023-12-12
申请号：US16492406
申请日：2018-03-07
申请人： TADANO LTD.
发明人： Masaki Shindo , Hiroshi Yamauchi , Hiroki Mizobuchi , Naoki Ishihara , Shinsuke Kanda
IPC分类号： B66C13/12 , H02J50/80 , H02J50/10 , H02J50/20 , B66C13/44 , H02J50/00
CPC分类号： B66C13/12 , B66C13/44 , H02J50/00 , H02J50/10 , H02J50/20 , H02J50/80 , B66C2700/085
摘要： A crane comprising a traveling body and a turning body turnably supported by the traveling body, the crane performing power feeding and communication between the traveling body and the turning body. The traveling body is provided with: a power supply; a lower controller which controls the traveling body and transmits power to the devices included in the traveling body; and a lower transmitter-receiver which wirelessly transmits and receives the power and data signal from the power supply. The turning body is provided with: an upper controller which controls the turning body and transmits power to the devices included in the turning body; and an upper transmitter-receiver which wirelessly transmits and receives the power and data signal to and from the lower transmitter-receiver.

6. 发明授权

US11434111B2 Crane 有权
公开(公告)号：US11434111B2
公开(公告)日：2022-09-06
申请号：US16603732
申请日：2018-06-13
申请人： TADANO LTD.
发明人： Shinsuke Kanda , Kazuma Mizuki , Tatsuya Yanagisawa , Tomokazu Goto
IPC分类号： B66C13/00 , B66C13/22 , B66C23/42 , B66C13/48 , B66C23/70 , B66D1/44
摘要： A crane calculates the resonance frequency of the fluctuation of a suspended load determined from the hanging length of a main wire rope or a sub wire rope, generates a control signal for actuators, in accordance with the operation of a turning operation tool, a hoisting operation tool and the like, and generates a filtering control signal for the actuators in which a frequency component in any frequency range has been attenuated from the control signal at any ratio in reference to the resonance frequency. When the actuators are controlled by the operation of the respective operation tool and when the actuators are controlled regardless of the operation of the respective operation tool, the frequency range to be attenuated and the attenuation ratio are switched to different settings.

7. 发明授权

US11267681B2 Crane 有权
公开(公告)号：US11267681B2
公开(公告)日：2022-03-08
申请号：US16976275
申请日：2019-02-28
申请人： TADANO LTD.
发明人： Tomokazu Goto , Shinsuke Kanda , Kazuma Mizuki
IPC分类号： B66C13/00 , B66C13/18
摘要： This crane is provided with: a operable functional unit; an operation unit for receiving an operation input for operating the operable functional unit; an actuator that drives the operable functional unit; a first generation unit that generates a first control signal for the actuator on the basis of the operation input; a switch unit that can be switched between a first state and a second state; a first filter unit that filters the first control signal to generate a second control signal when the switch unit is in the second state; and a control unit that controls the actuator on the basis of the first control signal when the switch unit is in the first state, and controls the actuator on the basis of the second control signal when the switch unit is in the second state.

8. 发明授权

US11926510B2 Crane 有权
公开(公告)号：US11926510B2
公开(公告)日：2024-03-12
申请号：US16976358
申请日：2019-02-28
申请人： TADANO LTD.
发明人： Tomokazu Goto , Shinsuke Kanda , Kazuma Mizuki
IPC分类号： B66C13/20 , B66C13/48 , B66C23/00 , B66C23/90 , B66C13/06
CPC分类号： B66C13/20 , B66C13/48 , B66C23/54 , B66C23/90 , B66C13/06
摘要： This crane is provided with: a operable functional unit; an actuator; a generation unit that generates a first control signal including a first deceleration signal section composed of a control signal for decelerating a speed of the operable functional unit from a first speed to a second speed and a first constant-speed signal section composed of a control signal for maintaining the speed of the operable functional unit at the second speed; a filter unit for filtering the first control signal to generate a second control signal; and a control unit that controls the actuator so as to decelerate the operable functional unit based on the second control signal, then controls the actuator so as to maintain the speed at the second speed, and controls the actuator so as to zero the speed when a load has been moved to a location satisfying a prescribed condition.

9. 发明授权

US11905145B2 Remote control terminal and work vehicle 有权
公开(公告)号：US11905145B2
公开(公告)日：2024-02-20
申请号：US16977637
申请日：2019-03-08
申请人： TADANO LTD.
发明人： Hiroyuki Hayashi , Shinsuke Kanda
IPC分类号： B66C13/40 , B66C13/16 , G05D1/00
CPC分类号： B66C13/40 , B66C13/16 , G05D1/0016 , G05D1/0038 , G05D2201/0202
摘要： The present invention provides a remote control terminal which achieves both easy visibility and easy control by indicating the movement direction and the movement speed of a work device as a directed segment according to the operation direction and the operation amount of an operation tool. The present invention provides a remote control terminal which remotely controls a crane device of a crane, the remote control terminal being provided with: a terminal-side communication unit; a suspended load movement operation tool; a terminal-side display device; and a terminal-side control device. The terminal-side control device calculates a vector which represents the movement direction and the movement speed of the crane device according to the operation direction and the operation amount of the suspended load movement operation tool, and the terminal-side control device displays an image in which the directed segment representing the vector is superimposed on the image captured by the camera.

10. 发明授权

US11787668B2 Crane 有权
公开(公告)号：US11787668B2
公开(公告)日：2023-10-17
申请号：US16978990
申请日：2019-03-15
申请人： TADANO LTD.
发明人： Shinsuke Kanda , Kazuma Mizuki
IPC分类号： B66C13/30 , B66C13/06 , B66C23/42
CPC分类号： B66C13/30 , B66C13/063 , B66C23/42
摘要： This crane is provided with: a operable function unit; an operation unit; an actuator; a generation unit which generates a first control signal for the actuator on the basis of an operation input; a plurality of wire ropes; a plurality of hooks suspended from a leading end section of a boom by the plurality of wire ropes, respectively; a hook detection unit which detects, from among the plurality of hooks, an unused hook suspending no load; a calculation unit which calculates a resonance frequency for a wire rope, among the plurality of wire ropes, that suspends the detected unused hook; a filter unit which generates a filter on the basis of the resonance frequency and generates a second control signal by filtering the first control signal using the filter; and a control unit which controls the actuator on the basis of the second control signal.

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