JPH085993Y2 - Cargo handling machine - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a cargo handling machine such as a container crane having a hoisting tool and a grip, and in particular, it is intended to suppress the vibration of the hoisting tool and the grip. It relates to cargo handling machines.

[Prior Art] A container crane, which is one of loading and unloading machines, uses a rope e to spread a spreader d as a suspending tool that suspends a container c from a trolley b that can run along a girder a, as schematically shown in FIG. Carrying work is performed by moving the trolley b along the girder a or operating the spreader d up and down by suspending and operating in the cab f.

In such a container crane, the spreader d swings when the trolley b (or the swinging part) accelerates or decelerates, or receives wind. Therefore, in order to prevent the swing, the spreader d is conventionally wound up and down. A swing stop device g for spreading and holding the rope e in a V shape is provided, and fuzzy control is performed.

[Problems to be Solved by the Invention] However, in the case of the above-described shake-preventing device g, it is effective only in a limited range at the time of a large amplitude, and since disturbance due to wind occurs randomly, The reality is that there is no way to deal with the shaking. on the other hand,
In the case of fuzzy control, the motor of the drive system of the trolley b or the swing boom is controlled so that the spreader d does not swing, but it is still not possible to deal with disturbance caused by wind, and the control law for disturbance is Since it cannot be established, it is not an effective anti-sway device. What is common to these conventional sway prevention systems is that the sway of the spreader d is indirectly controlled instead of directly controlled, which is one of the causes that the sway cannot be controlled.

Therefore, the present invention directly controls the swaying of the lifting device caused by the movement of the trolley or the swing boom (acceleration, deceleration) and the factor caused by the disturbance due to the wind to perform the cargo handling work safely. In addition to the above, it is intended to reduce the swing of the hoisting or grasping device of any cargo handling machine.

[Means for Solving the Problems] In order to solve the above problems, the present invention provides a plurality of columns and a lower structural member that connects between the lower ends of the columns in an outer frame fixed on a base frame. The inner frame of the parallelogram link structure having the above is arranged so as to be swingable in the left-right direction so that single-string vibration can be performed, and the weight for damping and the movement of the weight are attached to the inner frame. A passive type vibration damping device including a damping device for damping is installed on a suspending tool or a grasping tool.

Also, an outer frame is assembled so that a parallelogram link motion can be performed with a plurality of columns that stand on the base so as to be rotatable in the left-right direction and an upper structural member that has the upper ends of the columns pivotally mounted. Alternatively, the outer frame may be provided with an attenuator.

On the other hand, a weight that is curved in an arc shape is arranged on the base so as to be swingable in the left-right direction so that single-string vibration can be performed, and a rack that extends in the vibration direction is provided on the upper surface of the weight.
Further, an active type vibration damping device in which a drive device is connected to a shaft having a pinion that meshes with the rack is installed on a suspending tool or a gripping tool, and further, the suspending tool or the gripping tool has the suspending tool or the gripping tool. A shake detecting sensor for detecting the shake is attached, and the drive device is driven by a signal from the shake detecting sensor.

Further, an inner frame of a parallelogram link structure having a plurality of struts and a lower structural member connecting the lower ends of the struts in an outer frame fixed on the base is provided in the left-right direction so as to vibrate a single string. An active type vibration damping device, which is arranged so as to be swingable, has a weight for damping on the inner frame, and further has a driving device connected to the swing fulcrum portion of the inner frame, is suspended. It is installed on a tool or a grip, and a swing detection sensor that detects a swing of the suspension or the grip is attached to the suspension or the grip, and a drive device is driven by a signal from the swing detection sensor. It may be configured.

[Operation] When a passive vibration damping device is installed on a hanger or grip, when the hanger or grip sways, an inertial force is applied to the weight with a phase delay of 90 degrees, and this weight Since the inertial force is consumed by the damper, the swing of the hanger or the gripping device is effectively suppressed.

Further, when the active type vibration damping device is installed on the hanger or the grip, the control device gives a control effect to the hanger or the grip by applying a braking force to the movement of the weight by the drive device. The shaking of the grip can be suppressed quickly. Furthermore,
In this case, automation can be achieved by controlling the drive device based on the signal from the shake detection sensor.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

1 to 4 show an embodiment of the present invention, which is applied to reduce the swing of a spreader, which is a suspender of a container crane, and is applied to a trolley 2 that can run along a girder 1. In a container crane 6 in which a spreader 4 as a suspending tool for grasping and suspending the container 3 is suspended and supported via a rope 5 that can be wound up and down, a passive vibration damping device is provided on the spreader 4. 7 is installed so that the passive type vibration damping device 7 can suppress the swaying of the spreader 4 caused when the trolley 2 is accelerated or decelerated, and the swaying of the spreader 4 caused by a disturbance due to wind. In addition, in FIG. 2, 8 shows a driver's cab.

The passive vibration damping device 7 is as shown in FIGS. 3 and 4. That is, four columns 12 are erected at the front, rear, left and right positions on the base 9 fixed on the spreader 4, and the columns 12 are arranged so as to face each other so as to integrate the columns 12.
The upper ends of 12 are connected by a horizontal member 13 as an upper structural member, and the upper ends of the front and rear columns 12 facing each other are connected by a vertical member 14 as an upper structural member to form an outer frame 10. At both ends of both vertical members 14 of the outer frame 10, the upper ends of four pillars 15 shorter than the pillars 12 of the outer frame 10 are freely pivotable in the left-right direction in FIG. Each post 15 so that each post 15 is integrated
The lower end of is connected to a horizontal plate 17 as a lower structural member via a hinge 16 so as to be rotatable in the left-right direction to form an inner frame 11, and the inner frame 11 is suspended and supported by the outer frame 10 so as to be left and right. It should be possible to freely swing and displace like a parallelogram link in the direction. Further, a vibration damping weight 18 having a large specific gravity such as lead is fixed to the central portion of the horizontal plate 17 in the inner frame 11, and the weight 18 integrally vibrates a single string together with the inner frame 11. So that it can be vibrated like a pendulum,
Further, a spring (spring cylinder in the figure) 19 and an attenuator 20 are obliquely arranged in parallel between the columns 15 facing each other in the left-right direction of the inner frame 11, and a large number are provided along each column 15 in the vertical direction. The hole 21 at the required position is selected from among the holes 21 and the spring 19 and the attenuator 20 are locked.

When the traveling of the trolley 2 is accelerated or decelerated while the spreader 4 is suspended by a certain length, the spreader 4 shakes regardless of whether the spreader 4 is alone or in a suspended state. When the spreader 4 sways, the swaying energy is transmitted to the inner frame 11 via the outer frame 10, so that the weight 18 is delayed by 90 degrees with respect to the sway of the spreader 4 via the swing displacement of the inner frame 11. Start string vibration. At this time, since the attenuator 20 is interposed between the left and right columns 15 of the inner frame 11, the weight 18
As a result of the swing of the inner frame 11 including the above being damped by the attenuator 20, the swing of the spreader 4 can be quickly suppressed. That is, the swinging energy of the spreader 4 is
By converting it into kinetic energy of 18, which is consumed by the attenuator 20 via the displacement of the inner frame 11,
The swing of the spreader 4 can be directly controlled.

In the above description, the hanging length of the spreader 4 is set to be a constant length, because the length of the rope 5 from the trolley 2 (hoisting machine) to the spreader 4 is determined, the natural period T of the spreader 4 is T = Since (1 is the length of the rope 5) can be obtained, if the natural period of the vibration damping device 7 is matched by selecting the locking position of the spring 19, the maximum vibration damping effect is obtained. Because you can. Of course, a similar effect can be obtained near this natural period. Further, since the vibration damping device 7 automatically operates by suspending the spreader 4 at a fixed length position in this way, not only when the trolley 2 is accelerated or decelerated, but also when there is a disturbance due to wind. In the same manner, the swing of the spreader 4 can be suppressed.

5 and 6 show another example of the passive type vibration damping device 7 installed on the spreader 4, and the above-mentioned third type
In a structure similar to that shown in FIGS. 4 and 5, the lower ends of the columns 12 of the outer frame 10 are attached to the base 9 by the hinges 16.
Attached to the outer frame so as to be rotatable in the left-right direction
The spring 19 and the attenuator 20 are also interposed between the opposing columns 12 of the 10 in the same manner as in the case of the inner frame 11.

In the case of the passive type vibration damping device 7 shown in FIGS. 5 and 6, not only the inner frame 11 but also the outer frame 10 can be freely oscillated and displaced like a parallelogram link. Since the stroke can be taken, the weight 18 can be made lighter and the whole can be made compact, and further, the inner frame 11 and the outer frame can be made.
Since each 10 has a different natural period of single string vibration, it is possible to support higher modes.

Next, in FIG. 7, in place of the passive vibration damping device 7,
In the case where the active type vibration damping device 7'is shown, a weight 18 curved in an arc shape so as to perform a pendulum motion is formed on a base 9 and a spreader is provided via a support roller 22 provided on the base 9. 4 are arranged so as to vibrate in a single string in the swinging direction, and a spring system is constituted by a restoring force utilizing gravity, and projections 23 provided at both side ends of the weight 18 cause the weight 18 to come from both sides. Left and right buffers on the gantry 24 installed in the sandwiched position
The vibration region of the weight 18 is regulated within the range of contacting the weight 25, and the rack 26 is provided on the upper surface of the weight 18 along the vibration direction, and the rack 26 is provided above the rack 26. The shafts 27 are arranged so as to be orthogonal to each other, the shafts 27 are rotatably supported by the mounts 24 on both sides via bearings 29, and the pinion 30 is fitted in the middle portion of the shaft 27 so as to mesh with the rack 26. Further, a motor 32, which is a driving device, is installed at one end of the shaft 27 via the speed reducer 31, and the shaft 27 is driven by the motor 32.
The weight 18 is vibrated together with the rack 26 by rotating the pinion 30 via.
Further, as shown by a chain double-dashed line in FIG. 1, a shake detection sensor 28 is installed on the spreader 4, and the shake detection sensor 28
The weight 18 is vibrated with a delay of 90 degrees with respect to the vibration of the spreader 4 by processing the signal detected by the above and driving the motor 32.

In the case of the active type vibration damping device 7'shown in FIG.
When the spreader 4 shakes and the shake is detected by the shake detecting sensor 28, the motor 32 is detected based on the signal.
Is driven in the forward and reverse directions, the weight 18 is moved via the speed reducer 31, the shaft 27, the pinion 30, and the rack 26. motor
The driving force of 32 may be given as acceleration or braking force to control the phase delay by 90 degrees. This gives a damping effect. Further, in this case, the weight 32 is operated to the maximum amplitude by the motor 32, and the drive of the weight 18 is stopped when the swing of the spreader 4 reaches a certain range, or the stroke corresponding to the swing at that time is stopped. By operating with, the swing of the spreader 4 can be suppressed more quickly and effectively.

Next, FIGS. 8 and 9 show another example of the active type vibration damping device 7 ′, and like the one shown in FIG. 3, a spring 19 is provided between the fixed outer frame 10 and the column 15.
In relation to the inner frame 11 with the intermediate frame 11 interposed therebetween, the upper ends of the columns 15 of the inner frame 11 are supported by the shaft 33 as a swinging fulcrum rotatably arranged at the upper end of the outer frame 10 by bearings 29. Then, at the one end of the shaft 33, the seventh
Similar to the one shown in the figure, a motor 32 is connected via a speed reducer 31.

Even in the case of the active type vibration damping device 7'shown in FIGS. 8 and 9, the same effect as that shown in FIG. 7 can be obtained.

FIG. 10 shows still another example of the active type vibration damping device 7 ′, in which the weight 18 which is swingably arranged along the guide groove 34 provided on the base 9 is parallel to the guide groove 34. A ball screw 35 arranged in a threaded manner, the both ends of which are rotatably supported by bearings 36, and a motor (or gear mode motor) 32 is connected to one end of the ball screw 35. The weight 18 can be repeatedly moved along the guide groove 34 by rotating the ball screw 35 forward and backward by driving 32.

Also in the case of the active type vibration damping device 7'shown in FIG.
By moving the weight 18 with a delay of 90 degrees with respect to the swing of the spreader 4, it is possible to directly suppress the swing of the spreader 4.

Next, FIG. 11 shows still another example of the active type vibration damping device 7 ', which includes an upper damping device 7a and a lower damping device which are adapted to independently perform a damping motion by receiving shaking energy.
7b and 7b are arranged so that their respective movement directions are orthogonal to each other in the horizontal plane. More specifically, the upper vibration damper 7a has the same structure as the vibration damper 7'itself shown in FIG. 7, and instead of being mounted on the base 9, it is mounted on the weight 18 of the lower vibration damper 7b. On the other hand, the lower vibration damper 7b has substantially the same structure as the vibration damper 7'shown in FIG.
The upper surface of the weight 18 is flat so that the weight can be placed on the lower surface of the weight 18, and a portion to which the driving force of the motor 32 is transmitted is provided on the lower surface side of the weight 18. Machine
Separate swing detection sensors are mounted on the spreader 4 for the 7a and the lower vibration damper 7b. In FIG. 11, the same parts as those in FIG. 7 are designated by the same reference numerals.

In the case of the active type vibration damping device 7'shown in Fig. 11,
Since the weight 18 of the upper vibration damper 7a and the weight 18 of the lower vibration damper 7b can be vibrated in the directions orthogonal to each other, the spreader 4
It is possible to deal with the swaying in the front-back and left-right directions, that is, the swaying in all horizontal directions. Further, in this case, since the vibration dampers 7a and 7b are vertically arranged so as to be orthogonal to each other, the mass of the weight 18 of the lower vibration damper 7b is equal to that of the weight of the upper vibration damper 7a. Since the overall load including the weight is superimposed, the weight 18 of the lower vibration suppressor 7b may have a simple frame structure, as compared with the case where the two weights 18 are simply arranged in the front-rear direction and the left-right direction. Will be extremely advantageous.

In the above example, the case where the vibration control device is installed in the spreader that is hung from the trolley of the container crane is shown.However, it may be installed in a hanger that is hung from the swing boom, or any cargo handling machine other than the container crane. Needless to say, the present invention may be applied to the hanging tool or the gripping tool of the present invention, and various changes may be made without departing from the scope of the present invention.

[Advantages of the Invention] As described above, according to the cargo handling machine of the present invention, (i) the inner frame having the parallelogram-shaped link structure is arranged in the outer frame fixed on the base frame so as to vibrate a single string. A passive type vibration damping device comprising a weight and an attenuator for damping the movement of the weight, the suspension being supported so as to be swingable in a direction.
Since it is installed on the hanger or grip, if the trolley or swing boom moves, or if the hanger or grip sways due to wind disturbance,
An inertial force can be applied in a phase with a delay of 90 degrees, and the inertial force can be optimally damped by a damper to directly and effectively suppress the shaking of the hanger or grasping tool, allowing smooth cargo handling work. Moreover, since the weight adopts the pendulum principle (single-string vibration), reliable operation can be obtained. (Ii) The outer frame of the passive type vibration damping device described in (i) above. By assembling so that it can perform parallelogram link motion, it is possible to support higher order modes. (Iii) Arrange the arc-shaped weight so that it vibrates in a single string,
A rack extending in the vibration direction is provided on the upper surface of the weight, and an active type vibration damping device in which a drive device is connected to a shaft of a pinion that meshes with the rack is installed on a hanger or a grip, and further a hanger. Alternatively, by attaching a sway detection sensor to the grip and driving the drive device by a signal from the sway detection sensor, a braking force can be applied to the movement of the weight by the drive device so that the suspension can be suspended. The swing of the tool or the gripping tool can be suppressed quickly and effectively, and since the arcuate weight oscillates as a single string, it can be moved with a small driving force and the cycle can be easily adjusted. (Iv) The vibration damping device according to the above item (i) is provided with a drive device to be configured as an active type, and the drive device is driven by a signal from a shake detection sensor mounted on a hanging tool or a grip tool. By doing It exhibits excellent effects such as the ability to quickly and effectively suppress the shaking of the hanging or grasping tool.

[Brief description of drawings]

FIG. 1 is a schematic front view showing an embodiment of the cargo handling machine of the present invention, FIG. 2 is a side view of FIG. 1, and FIG. 3 is an outline showing an example of a passive type vibration damping device installed on a hanger. Fig. 4, Fig. 4 is a side view of Fig. 3, Fig. 5 is a schematic view showing another example of the passive type vibration damping device, Fig. 6 is a side view of Fig. 5, and Fig. 7 is installed on a hanger. FIG. 8 is a perspective view showing an example of the active type vibration damping device, FIG. 8 is a schematic view showing another example of the active type vibration damping device, FIG. 9 is a side view of FIG. 8, and FIG. FIG. 11 is a schematic view showing still another example of the device, FIG. 11 is a perspective view showing still another example of the active vibration damping device, and FIG. 12 is a schematic view showing an example of a container crane. 4 ... Spreader (7), 7 ... Passive type vibration control device, 7 '... Active type vibration control device, 9 ... Base, 10
…… Outer frame, 11 …… Inner frame, 12 …… Posts,
13 …… Horizontal material (upper structural material), 14 …… Vertical material (upper structural material), 15 …… Posts, 17 …… Horizontal plate (lower structural material), 18…
… Weight, 20 …… Attenuator, 26 …… Rack, 27 …… Axis, 28…
… Sway detection sensor, 30 …… pinion, 32 …… motor (driving device), 33 …… shaft (swing fulcrum).

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masanori Kawada 1-19-10 Mori, Koto-ku, Tokyo Ema Tadashi Building Ishikawajima Harima Heavy Industries Co., Ltd. Koto Office (56) References: 63-8285, JP U) Actual development Sho 63-183187 (JP, U)

Claims (4)

[Scope of utility model registration request] 1. An inner frame of a parallelogram link structure having a plurality of struts and a lower structural member connecting the lower ends of the struts in an outer frame fixed on a base frame, wherein a single string vibration is generated. A passive type vibration damping device, which is hung so that it can swing in the left-right direction so that it can be carried out, and in which the inner frame is provided with a damping weight and a damper for damping the movement of the weight. A cargo handling machine having a configuration installed on a hanging tool or a grasping tool. 2. A parallelogram link motion can be carried out between a plurality of columns of which an outer frame is erected on a base so as to be rotatable in the left-right direction and an upper structural member having upper ends of the columns rotatably attached. The cargo handling machine according to claim 1, wherein the outer frame is provided with a damper. 3. A weight, which is curved in an arc shape, is arranged on a base so as to be swingable in the left-right direction so that single-string vibration can be performed, and a rack extending on the upper surface of the weight in the vibration direction is provided. And an active type vibration damping device, in which a drive device is connected to a shaft having a pinion that meshes with the rack, is installed on a hanger or a grip, and further, the hanger or the grip is attached to the hanger or the grip. A cargo handling machine having a structure in which a sway detection sensor for detecting sway of a tool is attached, and a drive device is driven by a signal from the sway detection sensor. 4. An inner frame of a parallelogram link structure having a plurality of struts and a lower structural member connecting between lower ends of the struts in an outer frame fixed on a base so that single-string vibration can be performed. It is placed so that it can swing freely to the left and right,
In addition, the inner frame is provided with a damping weight, and further,
An active type vibration damping device in which a drive device is connected to a swing fulcrum portion of the inner frame is installed on a hanging tool or a gripping tool, and the hanging tool or the gripping tool detects a swing of the hanging tool or the gripping tool. A cargo handling machine having a structure in which a sway detection sensor is attached and a drive device is driven by a signal from the sway detection sensor.