Study and Implementation of a Cooperative Hoisting for Two Crawler Cranes

Dual-crane cooperative hoisting is necessary for heavy loads and certain equipment in petrochemical plants, but most dual-crane hoisting are carried out by two drivers commanded under one or more banksmen, thus leading to low hoisting efficiency and bad hoisting quality. Adopting cooperative manipulator technology, an automatic dual-crane cooperative hoisting system is proposed. The difference between the dual manipulator and the dual cranes are analyzed, and constraint conditions for dual-cranes cooperative hoisting are obtained. Four typical working modes are defined according to the features of cooperative hoisting of dual cranes, the corresponding cooperative equations are obtained and solved for every modes. The hardware, with which the information of different cranes and the lifted objects can be shared in real time via wireless communication, was designed, and the cooperation algorithm was implemented with the hardware. The usefulness and precision of the system was tested with the crawler cranes of SANY Company.

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