FI117969B - Plant and method for stopping a rotary pendulum movement of a container - Google Patents

Description

»117969

FIELD OF THE INVENTION The present invention relates to stopping a crane-dependent load, such as a container, which is freely suspended by a rope.

The invention relates to an apparatus for stopping the rotation movement of a freely crane-dependent load, in particular a container, comprising a lifting carriage 10 and a rope-dependent gripper for catching a load, and an actuator for moving the load upper ropes of the other ropes, wherein the apparatus comprises a sensor for measuring rotational motion, which sensor is arranged to be fixed to the gripper or next with the gripper during the rotational motion, and a calculating unit to process the sensor measurement data for actuator (s) control.

The invention also relates to a method for stopping the rotational movement of a load which is freely dependent on a crane, in particular a container, comprising: ···. 20 lifting trolleys and lifting trolleys to carry the load, • ··· ·; ···, and the actuator (s) for circumventing the load: *: ··· at least one repair stroke on the crane lifting trolley *: * to move the upper ends of the first ropes and / or the upper ropes of the second ropes, whereby a transducer is next provided with the gripper to be fixed or with the gripper to measure the rotational movement, and * · • * · * to control the sensor measurement data for the actuator ... · an organized unit of account.

* it · f · • ·: ·: *** When handling containers, it is known to grip the container from above with a container gripper,. 30 which is supported by a crane on steel ropes. The gripper depends on the crane hoist • · · · ...: underneath the trolley, resting on the hoisting ropes that follow the trolley. For example, the rope 2 117969 anchorages are typically four at each corner of the gripper, but any other number of rope anchorages is possible. Container grippers are usually elongated in shape, so that there is usually at least one support rope support at each end of the gripper. Of the container grippers 5, the simpler term grippers is also used in this publication.

In known container handling cranes, where the container under load is freely hanging on the ropes, it has been found problematic that container swinging slows down operations. Previously, gantry, trolley-like, swing-10 swing movements have been suppressed by crane movements. This disclosure describes the stopping of the crane-dependent load skew movement using skew as an example of container handling, but it is clear that the invention can also be applied to stop the rotating movement of corresponding loads that are crane-free on the rope 15.

The container may start to oscillate by rotation due to the eccentric weight distribution, external force, collision with an obstacle / another container,

Due to the effect of Ien or an operation error. Previously, · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · ““: by lowering the container to the ground or onto another container. This 'grounding' is not desirable, especially when lowering the trailer, due to possible *: ··· dollar damage. Waiting or manually stopping the rotating / 1 'recoil movement with actuators designed to rotate the * 1 1 load position remains possible. Both methods slow down operations, and manual stopping is extremely difficult.

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JP-11-292465 A discloses a crane for handling containers in which the container's rotational movement of the gripper is affected by moving the lifting rope • ·: [[1] the tops of the ropes. The rotational movement is detected by the sensor based on the angular velocity of the gripper. , and the angle of rotation is determined by the unit of account.

• · · «3 117969 In order to prevent the rope-dependent load from rotating, it is known to track the rope at a right angle to each other, which is considered tight. However, when the lifting height is high, the angles of the lifting ropes are formed such that the forces preventing the rotational oscillation movement are substantially reduced in practice. In addition, such arrangements have been found impractical due to the increasing control of the ropes. An arrangement is also known in which the rotational movement of the load is prevented from being carried from the crane by means of a rod followed by the load.

It is known that optical devices, cameras, etc., which are not only expensive and complicated, but also sensitive to damage and require inspection, have also been used to stop the rotational oscillation.

Thus, there is a need for a new, simpler and more reliable solution model. no optical devices are used.

15

It is an object of the present invention to provide a novel and inventive apparatus and method for stopping the rotational movement of a load, in particular a container, which can solve or at least minimize the aforementioned problems and drawbacks.

** 20 * These objectives have been achieved by the present invention, the features of which are defined in the appended claims.

· · · 1 ·: 2: It is a common feature of the apparatus of the invention that the sensor comprised in the apparatus is configured to directly measure the rotation of the gripper by detecting ·· ♦ 3 · the extreme limits of the rotation and that the calculating unit is configured · Take the detected extreme rotational limits as sensor measurement data and *: 1 · process the identified extreme rotational limits for the actuator (s) * ·: 2: control information.

• «1: ·! 30 • · · · 2 * «· 3 • · 4 117969

It is generally characteristic of the method of the invention that the rotation motion is measured by a sensor that directly measures the rotation motion of the gripper by sensing the extremes of the rotation motion, and that the computing unit receives

With respect to other aspects, features, and advantages of the invention, reference will be made to the dependent claims and to the following specific part of the specification which describes in detail but only by way of example certain preferred embodiments of the invention and their embodiments.

The solution according to the invention for stopping the load, i.e. the gripper and the rotational movement of the container, which depends on the crane lifting trolley, is advantageous and reliable. The solution of the invention requires little hardware. In the solution, the motion of the container is directly measured by the motion of the gripper, and the entire measurement is made solely by the sensor in the gripper. In this case, the arrangement can easily be implemented independent of environmental factors *: ** · so that rain, fog, dirt will not affect the measurement result. The measurement result * ·· 20 is thus correct. Preferably, the measuring and computing equipment is

· * ·· J

*: **: free and temperature resistant. The rotational oscillation is completed typically * "* in about 10 seconds, up to a maximum of 15 seconds.

The invention will now be described with reference to the following exemplary figures, without, however, limiting the invention to those illustrated in the figures.

* · • ** 1 • * '··· * Figure 1 shows a crane with a lifting trolley freely suspended by ropes • · - / • ß container grippers and a container.

Figure 2 illustrates the rotational oscillation movement of the container grippers.

• · · • · * · • · 5 117969

Fig. 3 is a side view of a container trolley hanging from a lifting trolley.

Figure 4 shows a lifting carriage from above.

Figure 5 shows the angular position of the oscillating load as a function of time.

Fig. 6 is a diagrammatic example of controlling rotational oscillation movement.

Figure 1 shows a front view of a crane 1 having a frame comprising vertical legs 2 and horizontal beams 3 connecting the legs from the upper end with trolley lifting carriages 4 arranged on the upper surfaces of the guide surfaces formed by the upper surfaces thereof. motion on the surface of G (gantry).

15 '

With the freely hanging gripper 7 from the lifting carriage 4 on the ropes 6, it is possible to grab the movable container 8 and to lift it up and down. The double-headed arrow S represents the skew movement of the gripper 7 and the container 8. Container 8 may start * ··· oscillating by rotating in the direction of arrow S as described in the account of an eccentric Kauman of the weight 20, an external force because of collision with an obstacle / another container • ** i: Due to the effect of wind or due to an error in operation.

·· «·· * *

Figure 2 illustrates the rotational oscillations S of the container gripper 7 viewed vertically # · * · ... ·.

25 ** • · • ** Figure 3 shows a side trolley 4 and a rope-dependent container gripper 7 on its side.

Mt · · * ·; · * and Fig. 4 shows a lifting carriage 4 from above. The lifting carriage 4 is provided with a rope drum 10 driven by a motor 9, from which ropes 6, more particularly ropes 6.1, 6.2, · · ·.

6.3 and 6.4 lower the load by unloading and lifting the rope to 10 ropes to 30 rack. From the rope belt roll 10, the first ropes 6.2 and 6.3 are guided freely downwardly to the left end of the gripper 7 and the second ropes 6.16117969 and 6.4 are guided freely downwardly to the left end of the gripper 7 via folding wheels 11 of the lifting car.

There are four support points for the ropes in the gripper 7 of Fig. 4, at all angles in the rectangular gripper. At the support points of the ropes, the gripper 7 is provided with pivoting wheels 12 through which all ropes 6.1, 6.2, 6.3 and 6.4 are threaded back up to the lifting carriage 4. The top ends of the ropes are described by 6.Γ, 6.2 ′, 6.3 ′ and 6.4 ′ respectively. The transmission means for the upper ends of the rope suspensions are denoted by reference numerals 13 and the actuators of the transmission means 13 are denoted by reference numerals 14.

In the solution according to the embodiment illustrated by the figures of the invention for stopping the rotational movement of the container 8, the module 22 is provided in module 22 with a simple 15 sensor 16 and a calculation unit 17 for determining the rotation calculate the necessary control commands for the actuator 14 repair movements. The control information defined in module 22 is transmitted along the cable 23 to the lifting carriage.

·; · 20 · * ··· *: **: In the arrangement according to the invention, the rotational oscillation motion S of the container 8 is reduced to *; · *: to retard / stop by providing suitable corrective motion (s) or .. * · * corresponding anti-oscillatory movements a lifting trolley 1 for handling the container 1 with actuators 14, 25 for rotating the load position, which move the upper end of the rope suspension. The equipment makes a quick correction ··: "at the first repair point, that is, at the extreme end of the swing, after t * · • · * ·· ** has been triggered by the operator to stop the swing motion.

• · * ♦ · • · * · • · ·.

• *. # T 30 Kite motion is achieved by moving the gripper 7 to the left end region and / or · * '*: to the right end region of the first ropes 6.2, 6.3 top ends 6.2', • ♦ · 7 117969 6.3 'and / or to the second ropes 6.1, 6.4 top ends 6 Γ, 6.4 'anchor points on lifting trolley 4, transverse to longitudinal direction of lifting trolley 4. The repair motion (s) is made in the same direction in which the pivot 7 of the gripper 7 was last directed, i.e. in the direction of the rotational pivoting motion S of the gripper 7.

5 The repairs move the tops of the ropes slightly above the load, with the ropes hanging approximately vertically. The actuator 14 moves the lifting carriage at a sufficient speed in the transverse direction to the upper end transferring means 13, shown in the example of Figures 3 and 4, on the lifting carriage 4 for reciprocating carriage. The transmission-10 speed of the actuator 14 is arranged to be sufficiently large, faster than that normally provided by manually operated actuators for rotating the load position.

According to the present invention, the rotational motion of the load is outlined in the so-called. 15 in a "dynamic" manner such that the detection of a rotational oscillation occurs along with a volatile load. It is not necessary to measure the absolute angular value of the oscillating load from the rotational motion, but it is sufficient to recognize the extreme limits of the motion.

* · ItV 20 The angular position of the oscillating load as a function of time can be represented by a sine wave as shown in Figure 5. In the coordinate system of Figure 5, the horizontal axis represents the time and the vertical axis the angular position. The graph is shown as the length of two non-attenuated rotational oscillations. The angular velocity of the load is 0 with the load at the peak of the blue · · · * ... · * wave (point A) and at the bottom of the sine wave (point B) with 25 loads at the extreme angles of the oscillation. The load angular velocity is maximum when the sine wave intersects the horizontal axis of the coordinate system (dot • ® * ·; ** te C), with the angular position O and the load is straight.

• ♦ * · · · ··· · · · ·

Fig. 6 is a diagrammatic representation of rotary swing stop control. In the arrangement according to the invention, the sensor 16 arranged in motion with the motion of the container gripper 7 and the sensor 16 arranged in the module 22 of the container gripper 7 measures the rotational oscillation movement of the container gripper 7. As sensor 16, an angular velocity sensor, a gyroscope, an accelerometer sensor, or the like, a rotation sensor, a reciprocating motion sensor, a speed sensor, or the like, can be used, which can directly or computedly obtain an angular speed.

The angular velocity sensor used in the preferred embodiment of the invention preferably continuously measures the oscillation so that the calculating unit 17 also located in the module 22 can immediately generate a control command for the acoustic motion of the actuator 14 when the rotation stop function of the apparatus is initiated.

Thus, the calculating unit 17 preferably knows at any time the angular position of the gripper 7 and the direction in which the gripper 7 is rotating. Thus, the calculating unit 17 can also calculate in real time the compensatory movements required to stop the load.

15

The calculation unit 17 is thus preferably also located in the container gripper 7 and calculates the movement of the gripper 7 from the measurement data obtained. The calculating unit 17 calculates the kite movements for this motion and gives control commands for the crane control, such as PLCrile 18, to actuators *; **: 14 to effect the correction movements. In essence, the stopping (V 20) algorithm is based on the theory of free oscillation.

• · · · * • ·

One practical implementation example is described below. The equipment to prevent the rotation of the container .. * · * is especially designed to facilitate the operator - * · *: ... · as the operator knows best where the load to be transported is to be transported. To facilitate the operator, there is a light on the operator control panel 21 which indicates whether or not the ♦ · • ** system considers that the rotational oscillation motion should be stopped. When the operator wishes to M * • m * ··· 'start the hardware by pressing the start-up button ♦ · · *.' ·; a switch from which the automatic operation of the equipment can also be deactivated ···. When the operator manually actuates the actuator 14, the auto-actuating apparatus 30 prevents the container from rotating, by terminating the operation -: ***; tansa. The encoder and calculator 16,17 9 117969 for measuring the rotation of the load is located in a module 22 in the container gripper 7. The calculator is an embedded computer. Connection to the gripper 7 is made by bus 19, for example CAN bus. The uppermost lifting carriage 4 has a bus converter over which the module 22 is connected via the control bus 20 to the machine PLC 18. The operator 21 panel 21 is connected to the control by the control bus 20. The sensor and calculating unit 16,17 in the gripper 7 processes the gripper motion data to the actuator 14. In other words, the sensor and counting unit 16,17 calculates the repair movements of, for example, hydraulic cylinders intended to rotate the gripper and the load position, and transmits this information to the PLC 18. The PLC 18 acts as a slave in this respect. a rotary-10 motion stop module 22 consisting of a gripper motion sensor 16 and a calculating unit 17. In real time, at a speed of 0 from the angular velocity sensor, the actuator 14 is controlled to make a correction motion. From the amplitude of the swinging motion S after each swing, the magnitude of any further corrective motion that may still be needed can be determined. The direction of the correction movement can be determined from the direction S of the rotation helix-15.

The actuators 14 are fast, according to a preferred embodiment of the invention the actuators 14 are provided in addition to the normal speed driving mode. quick - *; ··: with driving mode. The actuators 14 are, for example, hydraulic, whereby the PLC 18 controls the actuators 14 based on the control commands of the calculating unit 17. In this case, for example, the upper ends 6.2 ', 6.3' and / or 6. 6.4, 6.4 'of the lifting ropes Hydraulic circuits comprising a pressure accumulator with valves, ·· * * ... * control valves and a hydraulic cylinder are provided in the first direction for moving the lifting ropes and in the opposite direction .. * ♦ * The quick action of the hydraulic actuator 25 is arranged by means of a pressure accumulator. The PLC 18 transmits the control information required to stop the rotation movement * * *: ** to the control valves upstream of the hydraulic cylinder • * ··· * * If the gripper rotation movement is large, it is advisable to use the rapid movement and the rotator movement must be corrected. small, ··· can be used for normal movement.

·! ♦ 117969 ιο It is not necessary to build the system according to the above practical example, but modifications are possible. Thus, the bus solutions used; 19, 20 may vary from machine to machine, and the calculating unit 17 may be different. f

Also, the actuators for controlling the gripper and the load can be, for example, electromechanical actuators such as two or more speed electric motors.

The apparatus for stopping the rotational motion of the container according to the invention can be used continuously or once. It can also be used simultaneously with movement corrections in the direction of crane movements (gantry, trolley). ·:

In continuous operation, the system keeps the load fluctuating at all times within the permissible limits, thus preventing it from swinging too much, is

In a one-time operation, the operator makes the control panel 21 by selecting when the load should be stopped. When he notices that the load is swinging too much and wants it to stop, he presses the rotary stop button.

·, ··; The equipment stops the burden on the operator as it continues to operate. • · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · ·

· ·· **.

• ·> t * · * One-time operation is advantageous due to energy efficiency and the ··· ί.,. Ϊ duration of the actuators.

25: ** The invention has been described above by way of example only with reference to the figures in the accompanying drawings * · * · .. *. However, the invention is not limited to the figures, but different embodiments of the invention may vary within the scope of the inventive idea defined in the appended claims.

30 ··· • · · · · · ··· 11 117969

Thus, the arrangement according to the invention can in principle be used in any crane having a freely suspended load and controllable actuators for evading the load.

* · • 1 • · * * · * * 1 · • 1 • · · ·.

* ·· • 1 «· * · 1 • t • · t # · • · • 1 * 1 · * • · • · · M * · • 1 ·« · ♦ 1 • · 1 ·· • • 1 ·. · · · · * *

Claims (21)

Apparatus for stopping the rotation-swinging motion (S) of a freely suspended load, in particular a container (8), comprising a lifting carriage (4) and a lifting carriage (7) suspended by ropes (6), and actuator (s) (14) for circumventing the load, the actuator (14) being able to move the upper ends (6.2 ', 6.3') of the first ropes (6.2, 6.3 ') supported by the crane (1) on the lifting carriage (4) and / or the upper ends (6.Γ, 6.4 ') of the ropes (6.1, 6.4), wherein the apparatus comprises a sensor (16) for measuring rotational movement, which is tracked on the gripper (7) fixed or next to the gripper during the rotational movement, and a calculating unit (17). ) for processing the measurement data of the sensor (16) into control data of the actuator (s) (14), characterized in that the sensor (16) is configured to directly measure the rotational oscillation (S) of the gripper (17) by sensing the extreme limits of the rotation, and that the calculating unit (17) is configured to receive the detected extreme limits of the rotation as measurement data of the sensor (16) and process the detected extreme limits of the rotation as control information of the actuator (s). • m * · * · Φ * Apparatus according to claim 1, characterized in that the counting unit (17) is arranged in the gripper (7). • · • · 9 · · · · Apparatus according to claim 1 or 2, characterized in that the sensor (16) * * · * and the counting unit (17) are arranged as a module (22) in the gripper (7). • »· 25 * · ... Device according to one of Claims 1 to 3, characterized in that the sensor (16) and the calculating unit (17) and the control panel (21) of the crane (1): and the crane control of the crane such as the PLC (18) and there is a bus-based connection (19,20) between the actuator • «. · * ·, (14). * ·· ... 30 • * * ··· · • · • · ♦ ♦♦ 9 117969 Device according to one of Claims 1 to 4, characterized in that the actuator (14) is an electromechanical or hydraulic actuator. Apparatus according to one of Claims 1 to 5, characterized in that the actuator (14) is provided with a rapid movement. Apparatus according to Claim 1, characterized in that it comprises a transfer means (13) to which the upper ends of the ropes (6.2, 6.3; 6.1, 6.4) are fixed, and which transfer means can be moved by the actuator (14). 10 Apparatus according to claim 7, characterized in that the transfer means (13); is a reciprocating wagon with wheels (15). Apparatus according to Claim 1, characterized in that the sensor (16) is an angle sensor, a gyroscope, an accelerometer or the like, a sensor for detecting rotation, a sensor for detecting a reciprocating motion or a sensor for detecting speed. Apparatus according to any one of claims 1 to 9, characterized in that: • ·. 20 ri (16) is continuously measuring rotational oscillation and the calculating unit (17) is continuously calculating rotational oscillation. • · ····· · · A method for stopping a freely suspended load of a crane (1), in particular a container (8), a rotational movement (S) comprising a lifting carriage (4) * · • * · 25 and an actuator (s) (14) for engaging the load and for rotating the rear of the hoist (7), which is dependent on the rope (6), for engaging the load. at least one repair stroke (14) on the crane (1) on the lifting carriage (4) supported • · ·. *. to move the upper ends (6.2 ', 6.3') of the first ropes (6.2, 6.3) and / or the upper ends (6. 6., 6.4 ') of the second * * * ropes (6.1, 6.4'), whereby the gripper (7) is fixed. Next, a sensor (16) for measuring rotational motion and a sensor (16) for measuring the measuring path of the sensor (16) for control of the actuator (s) (14) is next provided, or a calculation unit (17), characterized in that the rotational oscillation (S) is measured by a sensor (16) which directly measures the rotational oscillation (S) of the gripper (7) by detecting the rotational oscillation! 5, and that the computing unit (17) receives the detected rotational motion limits as measurement data from the sensor (16) and processes the identified rotational motion limits as control information for the actuator (s) (14). The method according to claim 11, characterized in that the control information is transmitted (19,20) to the actuator (14). Method according to Claim 11 or 12, characterized in that the actuator (14) makes a repair movement to move the transfer means (13) to which the upper ends of the ropes (6.2, 6.3; 6.1, 6.4) are fixed. Method according to one of Claims 11 to 13, characterized in that the control information formed by the sensor (16) and the calculation unit (17) is transmitted to the bus bases. and (19, 20) via a crane control included in the crane (1) such as PLC (18) for the actuator (14). «* ·» «♦ · Method according to one of Claims 11 to 14, characterized in that the actuator (14) is selected from an electromechanical or hydraulic actuator. · 1 2 3 · 1 ·. * 1 1. • · * · * ·· Method according to one of Claims 11 to 15, characterized in that the actuator (14) is provided with a rapid movement. • · 1 The method according to claim 11, characterized in that the transducer • «·; • ·. ···. (16) riveting rotation, reciprocal motion, acceleration or velocity, with the angle (16) being selected as the transducer, gyroscope, acceleration sensor, or a motion detector (16). phase detector or speed sensor. Method according to one of Claims 11 to 17, characterized in that the 5 sensors (16) measure and the counting unit (17) continuously calculates the rotational oscillation movement (S). Method according to one of Claims 11 to 18, characterized in that the method is repeated until a certain acceptable limit of residual oscillation 10 is reached. Method according to one of Claims 11 to 19, characterized in that the method is used one at a time until the rotational oscillation movement (S) has been stopped. 15 ' Method according to one of Claims 11 to 18, characterized in that the method is used continuously. • Mtf • 1 • · · · · · · · ·································································································································································· · * 1 · • · • »* • • • • • • • • • • • • • • • • • • • • • • • • • •••••••••• 1 1 7969 Patentkrav 1