Swing-Reduced Crane Control

Category: Dismantlement > Heavy Equipment > Robotic System
Reference # : OST No 1815 , DOE/EM-0475 Model No : No-Sway

During movements of an overhead crane, a pendulum-like swing is naturally induced in a suspended load. DOE's Robotics Technology Development Program (RTDP) funded the installation of a swing-reducing crane control system and other upgrades to the polar crane at the Argonne National Laboratory CP-5 facility. No-Sway crane control, supplied by Convolve, Inc., is a digital control system that adjusts the bridge and trolley motion of the crane to limit the induced sway in the load. The system uses AC vector motors and drives in place of the original bridge and trolley AC motors. The polar crane at the Argonne National Laboratory Chicago Pile 5 facility was modified with a No-Sway„ crane control system. The swing-reduced control system adjusts the bridge and trolley motion of the crane to limit the induced sway in the load. The system uses AC vector motors and drives in place of the original bridge and trolley AC motors. Additional features added to the crane include the following commercially available upgrades: a radio control system for remote operation of the crane; a motorized rotating block; a remotely operated, onboard video camera; and load cells with remote load displays. Dimensions of Tech Model (LxWxH):Weight of Tech Model (lb.):

Benefits

-Reduced personnel exposure to radiation -The system showed it could perform extremely delicate and intricate operation -Swing measurements for different bridge and trolley motions -Crane hook heights indicate a reduction in the induced swing of 61% to 86% -Increased productivity and safety compared to standard baseline crane configurations -Allows for the remote lifting and positioning of heavy components and deployment of tooling systems in highly radioactive areas

Limitations

-If load is swinging because it was picked up off center it bumped something this system cannot be used to stop the swinging. The way the system is currently configured, the operator would have to turn off the swing reducing controller and manually bup the control button or paddle to stop the oscillations. The controller could be turned back on and the load movedú -The technology is not well suited for work in the exact center of a polar crane

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Pictures

	Programmable Logic Controller (PLC) mounted on the CP-5 Crane
	Electrically powered 5-ton rotating hook

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