Main kinematic mechanism of gantry crane for ship building

• upper cart hoisting ½ mechanism
• lower cart main/slave hoisting mechanism
• running mechanism for upper/lower cart
• rigid leg running mechanism of carrier, flexible leg running mechanism of carrier

key technique of gantry crane for ship building

1. Multiple main hooks can combinational synchronous as spe™ed/position synchronizing, auto trace, auto synchronizing, auto rectification
2. Dual cart auto synchronizing control and soft limiting control
3. The precision of auto synchronizing achieves millimete​r level
4. Encoder auto correction
5. Multiple main hooks auto flux-weakening according to t he load
6. Carrier auto rectification, accurate speed synchronizing output, encoder accurate co€rrection at multi-sections

Optimized error correction algorithm, PI control, soft rectifi×cation and low speed auto rectification