Mitsubishi Heavy Industries Limited

Mitsubishi Jukogyo Kabushiki Kaisha

Masaki Nishioka

Kanji Obata

Hiroshi Shiota

Ken Murakami

Koji Uchida

Noriaki Miyata

Tadaaki Monzen

Hironari Okitomo

Hirofumi Yoshikawa

Kensuke Ide

Yuso Matsunaga

Nobuo Yoshioka

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.

Crane and method for controlling the crane

A spreader for multistage container stacking comprising a flipper beam having a pair of corner flippers upwardly and downwardly movable along the end surface of an end beam of the spreader; a couple of right and left wires paid out from a pair of drums on the end beam, guided vertically downwardly along the opposite ends of the end beam, and tied at the ends thereof to positions straddling the center of gravity of the cross sections of the flipper beam and the corner flipper to support the flipper beam; a flipper lock pin mounting/removing device provided on the vertical side surface of the corner flipper, the flipper lock pin mounting/removing device having a lock pin insertible into and removable from a side surface opening of the spreader or a lower corner fitting of a container; a rotary encoder provided in association with the drums for detecting the amount of upward or downward movement of the flipper beam; and a lower end detecting sensor provided on the flipper beam for detecting the lower end of the container with a layout in which its light is transmitted obliquely in a horizontal plane beside each of the lower corners of the container.

Spreader for multistage container stacking

An improved profiling control apparatus controls a profiling machine so that the apparatus judges whether an exact profiling operation is performed by the machine at a place where a surface shape of the model to be profiled is suddenly changed, for example at a step, without jumping of a stylus from the model surface, and the profiling machine performs the exact profiling operation without jumping of the stylus. The profiling control apparatus, which detects a displacement of the stylus pressed on the model surface from a tracer head and controls the profiling machine in accordance with the displacement detection signal, includes a displacement compounding unit for compounding three dimensional displacement signal .epsilon.x, .epsilon.y and .epsilon.z to produce a displacement signal .epsilon.(=.sqroot..epsilon.x.sup.2 +.epsilon.y.sup.2 +.epsilon.z.sup.2), a displacement differentiating unit for differentiating the displacement signal to produce a differentiated value d.sup.2 .epsilon./dt.sup.2, a comparison voltage producing unit for producing a comparison voltage Vc corresponding to a maximum acceleration .beta.max of the pressed stylus which can be produced thereon, and a comparison unit for comparing the comparison voltage Vc with the differentiated value d.sup.2 .epsilon./dt.sup.2 to produce a jumping detection signal when d.sup.2 .epsilon./dt.sup.2 =Vc. The profiling control unit is particularly suitable for profiling the model surface of which a shape is suddenly changed.

Profiling control apparatus and control method thereof

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Hiroshima, Japan

Masaki Nishioka