Stabilized shipboard crane
First Claim
1. A stabilized crane apparatus for transferring cargo from a first deck at one location to a second deck at another location wherein there may be relative motion therebetween, such as heaving, pitching, rolling, yawing and moving longitudinally and laterally, said apparatus comprisinga plurality of winches associated with the first deck;
- a support cable attached to each of said winches;
an upper cable guide including means for guiding pairs of said support cables;
means for suspending said upper cable guide generally above the second deck;
spreader means for connecting to and supporting the cargo;
means for securing different pairs of said cables to said spreader means;
position sensing means for measuring the distance from and the attitude of said spreader means relative to the second deck; and
circuit means responsive to the output of said position sensing means for providing control signals to said winches to control the length of said cables and thereby maintain a stable positional relationship between the cargo and the second deck.
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Accused Products
Abstract
The invention is directed to a stablilized cargo-handling system using means for stabilizing suspended cargo in all six degrees of freedom using six individually controlled cable in tension in a unique kinematic arrangement. Inertial and distance sensors, coupled with high-performance cable drives, provide the means to control the multi-cabled crane automatically. The distance sensors are used to track the target container or lighter during the pickup and setdown modes of operation; the inertial sensors are used to prevent pendulation during transfer of the cargo from the seagoing cargo ship to the vicinity of the receiving lighter. The complete stabilized shipboard crane system permits safe and efficient operations in relatively high sea states.
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Citations
8 Claims
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1. A stabilized crane apparatus for transferring cargo from a first deck at one location to a second deck at another location wherein there may be relative motion therebetween, such as heaving, pitching, rolling, yawing and moving longitudinally and laterally, said apparatus comprising
a plurality of winches associated with the first deck; -
a support cable attached to each of said winches; an upper cable guide including means for guiding pairs of said support cables; means for suspending said upper cable guide generally above the second deck; spreader means for connecting to and supporting the cargo; means for securing different pairs of said cables to said spreader means; position sensing means for measuring the distance from and the attitude of said spreader means relative to the second deck; and circuit means responsive to the output of said position sensing means for providing control signals to said winches to control the length of said cables and thereby maintain a stable positional relationship between the cargo and the second deck. - View Dependent Claims (2, 3, 4)
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5. A stabilized crane apparatus for transferring cargo from a first deck at one location to a second deck at another location wherein there may be relative motion therebetween, such as heaving, pitching, rolling, yawing and moving longitudinally and laterally, said apparatus comprising
an upper cable guide including bearing means for accommodating two support cables at each of three spaced apart locations thereon; -
means for suspending said upper cable guide above the second deck; a spreader including means for connecting to and supporting the cargo; six cables extending from each of six winches, associated with said first deck, to three separate positions on said spreader through said upper cable guide, wherein first and second cables extend through said first bearing means, third and fourth cables extend through said second bearing means, and fifth and sixth cables extend through said third bearing means, and means for securing said cables to said spreader wherein said first and sixth cables are connected to a first common point on said spreader, said second and third cables are connected to a second common point on said spreader, and said fourth and fifth cables are connected to a third common point on said spreader. - View Dependent Claims (6, 7)
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8. A stabilized crane apparatus for transferring cargo from a firsts deck at one location to a second deck at another location wherein there may be relative motion therebetween, such as heaving, pitching, rolling, yawing and moving longitudinally and laterally, said apparatus comprising
a plurality of winches associated with the first deck; -
a support cable attached to each of said winches; an upper cable guide including means for guiding pairs of said support cables; means for suspending said upper cable guide generally above the second deck; spreader means for connecting to and supporting the cargo; means for securing different pairs of said cables to said spreader means; inertial sensing mans for sensing the movement of said spreader means relative to inertial space; and circuit means responsive to the output of said sensing means for providing control signals to said winches to control the length of said cables and thereby to minimize swinging of the cargo.
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Specification