JP2000191275A - Crane device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To sense the traversing deflection and revolving deflection of cargo hung by a container crane and suppress the deflections. SOLUTION: Two sets of windup cables in pairs are wound fast on sheaves 28(28a and 28b) and 29(29a and 29b) for hanger, hangup sheaves 41a and 41b thru 44a and 44b, and moving sheaves 46(46a and 46b) and 47(47a and 47b) and taken up by a winch drum 48, and a hanger 13 is lifted and lowered by these cables. The moving sheaves 46 and 47 in pairs are coupled with the two ends of chains 52a and 52b wound on supporting wheels 53a and 53b, and the sheaves 46 and 47 on one side are displaced in the traversing direction by a hydraulic cylinder 54(54a and 54b). Moving bodies are installed displaceably in the traversing direction on a trolley 26, and load cells are interposed between the trolley and moving bodies so as to sense the force in traversing direction. Using the output of load cells, the speed control of the trolley is conducted to suppress traversing deflections, or a speed or position control of the cylinder 54 is conducted. Also using the output of load cells, the speed or position control of the cylinder is conducted for suppressing the revolving deflections.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane device for detecting and stopping horizontal and swinging swings of a suspended load in a container crane and the like.

[0002] In the present specification, the term "hanging load" means not only the hanging load itself suspended by the cable, but also the term "hanging load".
Further, it may include all components and objects that are suspended by ropes and traverse or swing together with the suspended load, such as suspenders for gripping the suspended load.

[0003]

2. Description of the Related Art In recent years, in cargo handling operations using a container crane, active vibration suppression and automation have been required for the purpose of improving the efficiency of the cargo handling operation and reducing the load on an operator who operates the container crane. In order to satisfy these requirements, it is essential to detect the swing state of the suspended load, and it is possible to realize the detection of the swing state of the suspended load at low cost, have high reliability, and facilitate maintenance. It is desired to be realized.

[0004] A typical prior art is disclosed in Japanese Patent Laid-Open No. 2-1829.
3. In this prior art, the tension of a suspension rope that suspends a suspended load is detected, and the swing angle of the suspended load is detected based on a temporal change in the detected tension.

[0005] In this prior art, since the tension of the rope is detected, there is a problem in that it is easily affected by the characteristics of the rope due to aging and the like, and the measurement control is reduced. Further, according to this prior art, when the swing angle of the suspended load is increased to a certain degree or more, the rope tension corresponding to the swing angle cannot be obtained, and even if the swing angle increases, the rope tension changes. There is also a problem that the tension of the rope tends to saturate even slightly, which makes it impossible to detect an accurate deflection angle. Furthermore, in this prior art, the rope is constantly subjected to a suspended load, and the amount of change in the tension of the rope due to the deflection angle is smaller than the suspended load. There is a problem that it is difficult to detect, and an error increases. In other prior arts, in order to detect the swing angle of a suspended load, it is necessary to attach a detection sensor such as an accelerometer or a yaw rate gyro to a suspending device called a spreader or the like that grips the suspended load. Therefore, these detection sensors are used under adverse conditions where an impact force acts, and there is a problem that durability is not guaranteed.

In still another prior art, a camera is provided on a trolley that moves in a transverse direction, a target lamp is attached to a hanging tool for holding a suspended load, the target lamp is caught by a camera, the output of the camera is image-processed, and Detect the deflection angle. This prior art is complicated and expensive. Also, when the camera and the target lamp are soiled by dust or the like, the camera is likely to lose track of the target.

[0007]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an improved suspension system capable of detecting a lateral run-out and a turning run-out and suppressing them more reliably, and having a simple structure, high reliability and easy maintenance. An object of the present invention is to provide a load steadying control device.

[0008]

SUMMARY OF THE INVENTION The present invention comprises (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for driving the trolley in traverse, and (d) a trolley. To
A pair of moving bodies provided movably in the traversing direction and arranged at an interval in a direction perpendicular to the traversing direction, and each of the moving bodies is connected to a hanger via a cable. When,
(E) a load cell interposed between each moving body and the trolley and detecting transverse forces F1 and F2 acting between each moving body and the trolley, and (f) responding to the output of the load cell; And a control means for displacing the trolley or the cable to prevent the suspended load from traversing.

According to the present invention, the horizontal steady rest of the suspended load is
As described with reference to FIGS. 1 to 20, a load cell is interposed between the moving body and the trolley for the anti-traverse control, and the mobile body on the trolley is caused by the lateral shake. Applied horizontal force F1, F in the transverse direction, for example
2 is measured, and the trolley or the cable is displaced based on the measurement result to stop the horizontal movement. Therefore, the present invention does not detect the rope tension in the above-described prior art, and thereby can reduce adverse effects due to characteristics such as aging of the rope, and can accurately obtain a load cell output corresponding to traverse deflection. In addition, a large lateral vibration can be accurately detected, and the output fluctuation of the load cell due to the lateral vibration is large, so that the SN ratio is good.

Further, an important component for detecting the lateral run-out is the load cell, so that the configuration is simple, the cost is low, and the durability is excellent under adverse conditions where an impact force acts. Furthermore, since no camera or the like is used as in the prior art described above, no image processing is performed, which also simplifies the configuration, and enables high-reliability horizontal vibration even under adverse conditions with a lot of dust. Performs detection and is easy to maintain. This is the same in the present invention in which the swing load of the suspended load is prevented by the output of the load cell described later.

Furthermore, the suspended load can be displaced in the transverse direction by displacing the trolley or the cable.

[0012] The present invention also provides (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) a trolley for traversing the trolley. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) a load cell interposed between each of the moving bodies and the trolley for detecting transverse forces F1 and F2 acting between each of the moving bodies and the trolley; and (f) responding to the output of the load cell. A crane device characterized by including speed control means for controlling the speed of the trolley by the trolley drive means such that the sum of the forces F1 and F2 detected by the load cell becomes zero.

In accordance with the present invention, a first lateral steady rest scheme is implemented as described below with reference to FIG. The traversing speed of the trolley is controlled using the traversing forces F1 and F2 detected by the load cell interposed between the moving body and the trolley, and the traverse is stopped by force feedback control using the trolley.

Further, according to the present invention, (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) each pair of two sets are provided. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of trolleys movably provided in the transverse direction. Mobile objects, each of which includes:
(H) two sets of pairs of moving sheaves corresponding to the ropes, each of which is a moving body on which a lifting sheave around which each set of the ropes is wound is located near the other end in the transverse direction of the ropes. A moving sheave for each cable line around which is wound,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(1) speed control means for controlling the speed of the trolley by the trolley drive means in response to the output of the load cell so that the sum of the forces F1 and F2 detected by each load cell becomes zero. It is a crane device.

According to the present invention, in order to hoist and lower the hoist (sometimes called hoisting in general),
The hanging sheave, the cord, the lifting sheave, and the moving sheave are provided in a total of four pairs, two pairs each, and the other ends of these cords are respectively wound by a winding drum, The drum has the same outer diameter and is driven to rotate at the same peripheral speed, so that the lifting device can be lifted by the cable.

By displacing the ropes forming each pair by the displacement driving means by the moving sheave, the moving sheaves forming the respective pair are displaced and driven in mutually transverse directions. It is possible to carry out a horizontal rest of a hanging load such as a container.

Further, according to the present invention, it is possible to calculate using the output of the load cell as it is, and achieve the trolley driving means to prevent the suspended load from traversing.

The present invention also relates to (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) a trolley for traversing the trolley. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) a load cell interposed between each of the moving bodies and the trolley for detecting transverse forces F1 and F2 acting between each of the moving bodies and the trolley, and (f) suspending in response to an output of the load cell. (G) responding to the output of the traverse deflection angle calculating means, and calculating the trolley speed by the trolley driving means so that the traverse deflection angle θ1 becomes zero. And a speed control means for controlling the crane device. .

In accordance with the present invention, a second anti-sway system is implemented as described below with reference to FIG. The traverse deflection angle θ1 is estimated by calculation using the traversing forces F1 and F2 detected by the load cell interposed between the moving body and the trolley, and the traverse deflection angle θ1 is calculated based on the traverse deflection angle θ1 thus obtained. The speed of the trolley is controlled by the trolley driving means so that the deflection angle θ1 becomes zero. This makes it possible to easily realize a configuration for control.

Further, according to the present invention, there are provided (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) each pair of two sets. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of ropes provided on the trolley so as to be movable in the lateral direction. A moving body in which each moving body supports a lifting sheave around which each set of ropes is wound, A mobile sheaves forming two sets of pairs corresponding to h) rope, and moving sheaves of each rope to the other end side of the portion of the transverse direction of the rope is wound, respectively,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(L) In response to the output of the load cell, the horizontal deflection angle θ of the suspended load
And (m) speed control means for controlling the speed of the trolley by the trolley driving means in response to the output of the traverse deflection angle calculating means so as to make the traverse deflection angle θ1 zero. And a crane device comprising:

According to the present invention, similarly to the above, the hanging tool can be lifted by the cable, not only the structure of the displacement driving means can be simplified, but also the displacement driving means can be attached to the trolley. Without providing, it is provided on the crane body including the jib or boom, whereby the configuration of the trolley is simplified and the trolley can be reduced in weight. Thus, the load on the strength of the crane device can be reduced.
Moreover, there is no need to change the structure of the existing trolley, and the present invention can be easily implemented.

According to the present invention, two ropes forming each pair of pairs are wound around the moving sheave, respectively, and the tension of the ropes forming the pair is substantially equal. Therefore, an excellent effect is obtained in that only a small force is required for driving a moving sheave driving means for driving only one of the moving sheaves forming a pair in the transverse direction, for example, a double-acting hydraulic cylinder. As a result, the structure can be reduced in size and the burden on strength can be reduced.

For the purpose of the anti-rolling control, load cells are respectively interposed between the moving body and the trolley, and for example, a horizontal lateral force F1, which is applied to the moving body on the trolley due to the traverse in the traverse direction. F2 is measured, and based on the measurement result, the trolley or the cable is displaced to stop the horizontal vibration.

Also, the present invention provides (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) each pair of two sets. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of ropes provided on the trolley so as to be movable in the lateral direction. A moving body in which each moving body supports a lifting sheave around which each set of ropes is wound, A mobile sheaves forming two sets of pairs corresponding to h) rope, and moving sheaves of each rope to the other end side of the portion of the transverse direction of the rope is wound, respectively,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(L) speed control means for controlling the speed of the moving sheave by the moving sheave driving means in response to the output of the load cell so that the sum of the forces F1 and F2 detected by each load cell becomes zero. It is a crane device.

In accordance with the present invention, a third anti-sway system is implemented as described below with reference to FIG. The speed of the moving sheave is controlled by using the transverse forces F1 and F2 detected by the load cell interposed between the moving body and the trolley, and the transverse steady rest is performed. In this way, the hanging tool can be lifted by the cable, and the structure of the displacement driving means can be simplified,
The horizontal steadying of the suspended load can be performed as described above.

Further, according to the present invention, there are provided (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) each pair of two sets. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of ropes provided on the trolley so as to be movable in the lateral direction. A moving body in which each moving body supports a lifting sheave around which each set of ropes is wound, A mobile sheaves forming two sets of pairs corresponding to h) rope, and moving sheaves of each rope to the other end side of the portion of the transverse direction of the rope is wound, respectively,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(L) In response to the output of the load cell, the horizontal deflection angle θ of the suspended load
And (m) controlling the displacement position of the moving sheave by the moving sheave driving means in response to the output of the traversing shake angle calculating means so as to make the traversing shake angle θ1 zero. A crane device characterized by including a position control means.

In accordance with the present invention, a fourth anti-sway system is implemented as described below with reference to FIG. 20, wherein the fourth anti-sway system is provided in the traverse direction as detected by a load cell interposed between the moving object and the trolley. The traverse deflection angle θ1 using the forces F1 and F2
Is calculated and estimated, whereby the displacement position of the moving sheave is controlled, thereby realizing a horizontal steady rest. As a result, the control of the horizontal steady rest can be easily achieved.

Further, according to the present invention, the traverse deflection angle calculating means includes a traversing acceleration detecting means for detecting an acceleration in a traversing direction of the trolley, a weight detecting means for detecting a total weight m of the hanging tool and the suspended load, Position detecting means for detecting the position of each moving sheave by the displacement driving means, hanging distance detecting means for detecting the distance of the rope between the hanging tool and the trolley, load cell, traverse acceleration detecting means, weight detecting means, Means for calculating the traverse deflection angle θ1 in response to outputs from the position detecting means and the hanging distance detecting means.

According to the present invention, in order to calculate the traverse deflection angle θ1, not only the output of the load cell but also the acceleration of the trolley in the traverse direction and the lifting gear as described later with reference to FIG. The traverse angle θ can be calculated by using the total weight m with the suspended load, that is, the weight of all the components suspended by the cable and the position of the moving sheave.

The present invention also relates to (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) a trolley for traversing the trolley. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) a load cell interposed between each of the moving bodies and the trolley and detecting transverse forces F1 and F2 acting between each of the moving bodies and the trolley; and (f) responding to the output of the load cell, And a control means for displacing the strip to prevent swinging of the suspended load.

According to the present invention, the swing steadying of the suspended load is
It is implemented as described below in connection with FIGS. The swinging steady of the suspended load is controlled by a transverse force F detected by a load cell interposed between the moving body and the trolley.
This is realized by displacing the cable using 1, F2. The suspended load can be turned by displacing the rope that suspends the suspended load from each moving body, and thus, the swing steady of the suspended load can be achieved.

Further, according to the present invention, there are provided (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) each pair of two sets. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of trolleys movably provided in the transverse direction. Mobile objects, each of which includes:
(H) two sets of pairs of moving sheaves corresponding to the ropes, each of which is a moving body on which a lifting sheave around which each set of the ropes is wound is located near the other end in the transverse direction of the ropes. A moving sheave for each cable line around which is wound,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(L) speed control means for controlling the speed of the moving sheave by the moving sheave driving means in response to the output of the load cell such that the difference between the forces F1 and F2 detected by the load cells becomes zero. It is a crane device.

According to the present invention, the hanging tool can be hung by the cable, and the displacement driving means can be simplified as described above. As described later in connection with 23, by using the transverse forces F1 and F2 detected by the load cell interposed between the moving body and the trolley as they are, the speed of the moving sheave is controlled and the swing steady is prevented. Realize.

The present invention also relates to (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) each pair of two sets. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of ropes provided on the trolley so as to be movable in the lateral direction. A moving body in which each moving body supports a lifting sheave around which each set of ropes is wound, A mobile sheaves forming two sets of pairs corresponding to h) rope, and moving sheaves of each rope to the other end side of the portion of the transverse direction of the rope is wound, respectively,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(L) In response to the output of the load cell, the swing deflection angle θ of the suspended load
And (m) controlling the position of the moving sheave by the moving sheave driving means in response to the output of the turning swing angle calculating means so that the turning shake angle θ2 becomes zero. A crane device characterized by including a position control means.

According to the present invention, the hanging tool can be lifted by the cable, not only the displacement driving means can be simplified, but also the second turning steadying method can be used with reference to FIG. As will be described later, the swing deflection angle θ2 of the suspended load is calculated and obtained using the transverse forces F1 and F2 detected by the load cell interposed between the moving body and the trolley, and the movement is thereby performed. Control the sheave position,
Achieve a swing steady. As a result, the configuration of the control for turning steadying can be simplified.

Further, in the present invention, the turning deflection angle calculating means detects a hanging distance detecting means for detecting a distance between the hanging tool and the trolley by a cable, and detects a total weight m of the hanging tool and the suspended load. Weight detecting means, a position detecting means for detecting the position of each moving sheave by each displacement driving means, and a swing deflection angle in response to outputs of the load cell, the hanging distance detecting means, the weight detecting means and the position detecting means. and means for calculating θ2.

According to the present invention, in order to calculate the swing deflection angle θ2, as will be described later with reference to FIG. And the total weight m of the hanging tool and the suspended load, that is, the total weight of the object suspended by the cable, and the position of the moving sheave, the turning deflection angle θ2 can be calculated and estimated. .

[0038] The present invention also provides (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) a trolley for traversing the trolley. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) Two sets of each pair of hanging sheaves, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the transverse direction, and each pair of hanging sheaves for each pair. And (f) two pairs of ropes corresponding to the hanging sheave provided on the hanging equipment at intervals in the transverse direction, and each of the ropes is wound around the hanging sheave. The pair of ropes of each set includes a rope supported at one end in the transverse direction, and (g) a suspension around which each of the ropes is wound. (H) a drum for winding the other end of the cable, and (i) a transverse direction interposed between each moving body and the trolley and acting between each moving body and the trolley. Load cells for detecting the forces F1 and F2, (j) hanging distance detecting means for detecting the distance between the hanging tool and the trolley by a cable, and (k) traversing acceleration for detecting the traverse acceleration of the trolley. Detecting means; (l) weight detecting means for detecting a total weight m of the hanging tool and the suspended load;
(M) traversing deflection angle calculating means for calculating a traversing deflection angle θ1 in response to outputs of the load cell, the traversing acceleration detecting means, the weight detecting means, the position detecting means and the hanging distance detecting means. It is a crane device characterized by the following.

According to the present invention, not only the output of the load cell but also the distance between the suspended load and the trolley, the transverse acceleration of the trolley, and the Using the total weight m with the suspended load, that is, the weight of all the components suspended by the cable,
Can be calculated.

The present invention also relates to (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for driving the trolley in a traversing manner, and (d) a trolley in a traversing direction. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) Two sets of each pair of hanging sheaves, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the transverse direction, and each pair of hanging sheaves for each pair. And (f) two pairs of ropes corresponding to the hanging sheave provided on the hanging equipment at intervals in the transverse direction, and each of the ropes is wound around the hanging sheave. The pair of ropes of each set includes a rope supported at one end in the transverse direction, and (g) a suspension around which each of the ropes is wound. (H) a drum for winding the other end of the cable, and (i) a transverse direction interposed between each moving body and the trolley and acting between each moving body and the trolley. Load cells for detecting the forces F1 and F2, (j) hanging distance detecting means for detecting a distance between the hanging tool and the trolley by a cable, and (k) a total weight m of the hanging tool and the suspended load. (L) a swing deflection angle calculation means for calculating a swing deflection angle θ2 in response to outputs of the load cell, the hanging distance detection means, the weight detection means, and the position detection means. It is a crane device characterized by including.

In accordance with the present invention, as described below in connection with FIG. 25, the output of the load cell, the hanger by the cable, and thus the distance between the hanger and the trolley, the hanger and the hanger , That is, the total weight m of the object suspended by the cable, the swing deflection angle θ2 can be calculated and estimated.

[0042]

FIG. 1 is a perspective view showing a partial configuration of a container crane apparatus 15 according to an embodiment of the present invention. FIG. 2 is a perspective view showing the overall configuration of the hoist meter of the container crane device 15 including the configuration shown in FIG. In the hoisting means 11, a suspended load, for example, a container 12 is detachably connected to a lower portion of a hoisting device 13, and the hoisting device 13 is moved up and down by the hoisting device 11, and is moved in a horizontal transverse direction in an xyz rectangular coordinate system. It can be displaced transversely before and after x, and can be displaced pivotally around the axis in the vertical direction z in the direction of arrow 14 and in the opposite direction. Further, the hanging member 13 is arranged in a horizontal direction y perpendicular to the transverse direction x.
Can be tilted about the axis.

FIG. 3 is a side view of the container crane device 15 provided with the hoisting means 11 shown in FIG. 1, and FIG. 4 is a front view of the container crane device 15 as viewed from the left in FIG. A pair of traveling rails 17 extending in a traveling direction perpendicular to the transverse direction x are laid on the land 16 on the land. The legs 18 are guided along the traveling rail 17 in the traveling direction y. A girder 19 is fixed to the upper part of the leg 18 horizontally in the transverse direction x. The base of a boom 21 that can be raised and lowered is connected to the leg 18 by a hinge pin 20 that is parallel to the running direction y. The legs 18, the girder 19, the boom 21 and the like constitute a crane body 40.

The boom 21 is angularly displaced between a state in which the boom 21 protrudes into the sea 22 on the extension of the girder 19 and is cantilevered as shown in FIGS. Can be The container 12 loaded on the transport ship 24 on the sea 22 is detachably gripped by the hanging device 13, traversed and moved to the ground 16 below the leg 18.
Is mounted on a transport vehicle 25 by being wound down on the transport vehicle 25 or from the transport vehicle 25 to the transport ship 24. The hanging tool 13 is lifted immediately below the trolley 26. The trolley 26 can traverse along a traversing rail 45 provided on the girder 19 and the boom 21.

The trolley 26 is provided with an operator cab 27. The operator in the driver's cab 27 moves from the land to the sea 22 side (FIG. 2).
Of the trolley 26 and the trolley 26 can be viewed by looking at the left side to the right side.

Referring to FIGS. 1 and 2 again, in the hoisting means 11, one set of the sheaves 28a, 2 is provided on both the left and right sides of the upper part of the hanger 13 in the transverse direction x.
8b, and the other set of sheaves 29a, 29b for hanging tools are provided. These hanging sheaves 28a and 28b form a pair, and another pair of hanging sheaves 29a and 29b form a pair. One set of a pair of hanging sheaves 28a, 28b
Are provided on the hanger 13 at intervals in the transverse direction x. The other pair of hanging sheaves 29a, 29b is also provided on the hanging member 13 at intervals in the transverse direction x. One set of hanging sheaves 28a, 28b and the other set of hanging sheaves 29a, 29b are in a direction y perpendicular to the transverse direction x.
Are spaced apart from each other. In this way, a total of four sheaves for hanging equipment 28a, 28b, 29a, 29b are arranged at the vertices of the virtual first rectangle.

Each of the sheaves 28a, 28b, 29a,
29b includes ropes 31a and 31 as hoisting ropes.
b, 32a, 32b are respectively wound around
Wind up. The ropes 31a, 31b form one set of pairs, and the ropes 32a, 32b form the other set of pairs.

One end of each of the ropes 31a and 32b wound around the two sheaves 28a and 29b for diagonal lines of the hanger 13 is connected to the free end 33 (see FIG. 3). Similarly, the ropes 31 wound around the two sheaves 28b and 29a for the hanger arranged in the diagonal direction of the hanger 13 respectively.
One ends of b and 32a are also fixed to the free end 33 of the boom 21. In another embodiment, the ropes 31a, 32b
May be wound around the sheaves 28a, 29a arranged not in the diagonal direction but in the traversing direction x, the same applies to the ropes 31b, 32a.

One pair of ropes 31a, 31b forming a pair
Is wound around the winding sheaves 41 and 42,
It is further wound around the upper sheaves 28a, 28b
One end thereof is fixed to the end 33 in the fixed position.
The other ends of the ropes 31a and 31b are connected to a winding drum 48a.
Are wound in the same direction.

The other pair of ropes 32a,
The rope 32b is wound around the lifting sheaves 43 and 44 and further wound around the lifting sheaves 29a and 29b. One end of each of the ropes 32a and 32b is fixed to the end 33. The other ends of the ropes 32a and 32b are wound around the winding drum 48b in the same winding direction as the other ends of the ropes 31a and 31b.

In this embodiment, in particular, a pair of sheaves is provided on the trolley 26 with movable bodies 38 and 39 movably in the transverse direction x at intervals in the direction y perpendicular to the transverse direction x. Can be The moving bodies 38 and 39 can be displaced in the transverse direction x. On one moving body 38, lifting sheaves 41 and 42 are supported. The other moving body 39 supports lifting sheaves 43 and 44.

The trolley 26 and the movable bodies 38 and 39 are displaced and driven in the same direction and in the opposite direction in the traversing direction x, so that the suspension of the hanging member 13 can be achieved.
The hydraulic cylinders 54a and 54b are driven so as to achieve the traverse steadying and the swing steadying.

The trolley 26 is provided with a moving body 38 in the transverse direction x.
The movable body 38 includes a rope 3
Lifting sheaves 41a and 41b around which 1a is wound are provided. Similarly, on the trolley 26, a lifting sheave 42 around which the rope 31b is wound around the moving body 38.
a, 42b are provided. Further, another moving body 39 is provided on the trolley 26 so as to be movable in the transverse direction x as described above, and the moving body 39 is provided with lifting sheaves 43a and 43b around which the rope 32a is wound.
The ropes 32b are lifted sheaves 44a, 44b provided on a moving body 39 which is movable on the trolley 26 in the transverse direction.
Wound around. In the following description, the suffixes a and b may be omitted, and may be indicated only by numerals.

In FIG. 1, load cells 76 and 77 are interposed between the moving bodies 38 and 39 and the brackets 78 and 79 erected on the trolley 26, respectively. These load cells 76 and 77 respectively detect the forces F1 and F2 acting between the moving bodies 38 and 39 and the trolley 26 in the transverse direction x. The load cells 76 and 77 are
Although they are arranged on the same side (left side in FIG. 1) in the transverse direction x of 8, 39, they may be arranged on the right side in FIG. 1 or may be arranged in mutually opposite directions. The polarities of the outputs of the load cells 76 and 77 may be determined according to the arrangement.

Lifting sheaves 41, 42, 43, 44
Are arranged at each vertex position of the virtual second rectangle. The second rectangle has a length x in the transverse direction,
8 and 29 are longer than the length of the first rectangle in the horizontal direction x. Therefore, the rope 31a is connected to the
a and the lifting sheave 41 are inclined with respect to the vertical line. Similarly, the rope 31b is inclined with respect to the vertical line between the lifting implement sheave 28b and the lifting sheave 42. The same applies to the remaining ropes 32a and 32b. Thus these four ropes 3 in total
1a, 31b, 32a, 32b, and
3, it is easily possible to traverse and pivotally displace the container 12.

The moving sheaves 46a, 46b; 47a, corresponding to the ropes 31a, 31b; 32a, 32b, respectively.
47b is arranged at the end 37 which is a fixed position on the opposite side of the girder 19 from the boom 21. Moving sheave 46a, 4
6b form one set of pairs. Moving sheave 47a, 47
b forms the other pair of pairs. Ropes 31a, 31b; 3
The other ends of 2a and 32b are movable sheaves 46a and 46b;
47a, 47b, and the winding drums 48a,
48b is wound in the same winding direction. These hoisting drums 48a and 48b have the same outer diameter and are driven to rotate in the forward and reverse directions by a common hoisting motor 49.

A displacement driving means 51a is provided for driving one set of moving sheaves 46a, 46b in mutually opposite directions along the transverse direction x. Similarly, a displacement driving means 51b is provided for driving the other set of moving sheaves 47a, 47b in the mutually opposite directions along the transverse direction x.

FIG. 5 shows these displacement driving means 51a, 5a.
It is a figure which shows the structure of 1b. One displacement driving means 51a
In, the moving sheaves 46a and 46b are connected to both ends of the displacement chain 52a. This displacement chain 52a
Is wound around a sprocket wheel 53a which is a support wheel provided at a fixed position which is the end 37 of the girder 19. One of the moving sheaves 46b is driven to reciprocate in the transverse direction x by a double-acting hydraulic cylinder 54a. Another one
In the two displacement driving means 51b, the moving sheave 47a is reciprocally displaced by the double-acting hydraulic cylinder 54b, and the other components are the same as those of the displacement driving means 51a. Shown.

The tension acting on one of the ropes 31a and 31b is substantially equal. Therefore, moving sheaves 46a, 4
There is an excellent advantage that the driving force of the hydraulic cylinder 54a required to drive the 6b in the transverse direction x is relatively small. This is another hydraulic cylinder 54
The same applies to b.

By extending the hydraulic cylinders 54a and 54b and displacing the movable sheaves 46b and 47a to the left in FIGS. 2 and 5, the distance between the lifting sheave 42 and the lifting sheave 28b is reduced. Similarly, the distance between the lifting sheave 43 and the lifting implement sheave 29a is reduced. On the other hand, since the moving sheaves 46a and 47b are displaced rightward in FIGS. 2 and 5, the lifting sheave 41 and the lifting sheave 2
8a and the sheave 4 for lifting
4, and the distance between the sheaves 29b for hanging tools is increased. As a result, the hanging member 13 and the container 12 can be pivotally displaced clockwise (in a direction opposite to the reference numeral 14) around the vertical axis. When the hydraulic cylinders 54a and 54b are contracted, the operation reverse to the above is performed, and the lifting tool 13 and the container 12 rotate counterclockwise around the vertical axis (reference numeral 1).
(4 directions).

By mutually reversing the extension / reduction of the hydraulic cylinders 54a, 54b in the displacement drive means 51a, 51b, it is also possible to traverse the hanger 13 and the container 12 in the traverse direction x. For example, by reducing the hydraulic cylinder 54a and extending the hydraulic cylinder 54b, the lifting sheave 41 and the
8a and the distance between the lifting sheave 43 and the lifting sheave 29a, and the distance between the lifting sheave 42 and the lifting sheave 28b and the distance between the lifting sheave 44 and the lifting sheave 29b. Can be longer. As a result, the hanging member 13 can be displaced to the left in FIG. 2 in the transverse direction x. By extending the hydraulic cylinder 54a and contracting the hydraulic cylinder 54b, the hanging member 13 can be displaced rightward in FIG. Hydraulic cylinder 54
a, 54b, and therefore the moving sheave 46b,
In order to detect the position of 47b, moving sheave position detecting means 71a and 71b are provided.

In this way, the displacement driving means 51a, 51
By controlling the drive of b, the hanging member 13 is displaced in the traverse and turning directions, so that the oscillating and the oscillating rest can be achieved.

FIG. 6 is a simplified perspective view of the trolley driving means 58 for driving the trolley 26 in traverse. At both ends in the transverse direction of the trolley 26, two pairs of transverse sheaves 61a, 61b; 62 are formed at intervals in the vertical direction y at each end.
a, 62b, and these transverse sheaves 61, 6
2, traverse ropes 59 and 60 are wound. Traversing sheaves 63 to 66 are provided at the end 37 of the girder 19 and the free end 33 of the beam 21 at both ends of the traversing range of the trolley 26. A cylinder 67 for applying tension is connected to the sheaves 63 and 64, respectively. The traversing rope 5 wound around these sheaves 63 to 66
9 and 60 are wound around a traversing drum 68. The traversing drum 68 is driven by a traversing motor 69 so as to be able to rotate forward and backward.

Current position detecting means 70 which is an encoder
Is the output shaft of the motor 69 and therefore the traversing drum 68
, The current position of the trolley 26 in the transverse direction x is detected. Further, the rotation speed of the motor 69 and the traversing drum 68, that is, the traversing speed of the trolley 26 in the traversing direction is detected by the trolley speed detecting means 73. The traversing speed of the trolley 26 may be obtained by differentiating the output of the current position detecting means 70.

FIG. 7 shows x indicating the hanging tool 13 and the trolley 26.
It is a side view along a z plane. A state is shown in which the hanging tool 13 traverses and is displaced from the natural state by the traverse deflection angle θ1 as indicated by reference numeral 13a. The transverse deflection angle θ1 is x
Hanging tool 13 for the z-axis which is a vertical axis in the z-plane
Is the amount of angular displacement.

FIG. 8 is a plan view of the hanging member 13 along the xy plane. The swing deflection angle θ2 of the reference numeral 13a is an angular displacement amount of the hanging tool 13 about the vertical axis z in the xy plane.

FIG. 9 is a block diagram showing an electrical configuration of the control means 81 according to one embodiment of the present invention shown in FIGS. A speed pattern generating circuit 82 is provided for controlling the speed of the traversing motor 69 shown in FIG. 9 for traversing the trolley 26. This speed pattern generation circuit 8
2 changes the speed of the trolley 26 until it reaches a predetermined target position in the transverse direction, as shown in FIGS. 26 (1) to 27 (1) described later. For example, in one example of the speed pattern, the speed is first increased, then the speed is made constant, then the speed is reduced, and finally the vehicle reaches the target position.

The output of the anti-sway control circuit 83 for preventing the anti-sway of the container 12, that is, the hanging member 13, is supplied to the adder 84. This adder 8
4 is supplied with an output from the speed pattern generation circuit 82. The traverse steadying control circuit 83 derives a signal for traversing steadying. The output of the adder 84 is
5, the motor 69 is controlled to control the speed of the trolley 69. The control circuit 85 performs proportional-integral-derivative (abbreviated as PID) control.

A configuration for controlling the hydraulic cylinders 54a and 54b to perform the traverse steadying control and the swing steadying control will be described. The positions of the moving sheaves 46b, 47a in the transverse direction x are determined by the moving sheave position detecting means 71a,
71b.

A center position signal is generated from the center position setting circuit 86 so that the center position of the moving sheaves 46b and 47a is set to a neutral position which is substantially the center of the range of movement in the transverse direction. By keeping the position of the moving sheaves 46b, 47a, and thus the pistons of the hydraulic cylinders 54a, 54b in a substantially neutral position, approximately in the middle of the full stroke, the moving sheaves 46b, 47a are traversed for traversing and pivoting steady rests. It is possible to control quickly back and forth in the direction.

The output of the center position setting circuit 86 is supplied to the subtracter 87 together with the output of the moving sheave position detecting means 71, and to the adder 88 via the line 89. The adder 121 has a line 1 from the anti-sway control circuit 118.
Via 19 and 120, a horizontal anti-sway signal is given, respectively. The adder 88 includes a swing steadying control circuit 92.
, Via lines 93 and 94, respectively. The output of the adder 88 is supplied to a control circuit 89 for performing PID control, and thereby the hydraulic cylinder 54 is driven. With these hydraulic cylinders 54, the moving sheaves 46 and 47 can be speed-controlled or position-controlled to execute the traverse steadying and the swing steadying. As described above, for example, the hydraulic cylinders 54a and 54b are reduced in size to reduce the hydraulic cylinders 54a and 54b so as to pivotally drive the hanging member 13 in the clockwise direction 14; By reducing the size of the cylinder 54b, the hanging member 13 can be driven to be displaced rightward in FIG. 2 in the transverse direction x.

Moving sheaves 46a, 46b; 47a, 47
Although b is provided so as to be displaceable in the transverse direction x in the above-described embodiment, in another embodiment of the present invention, each of the ropes 31a, 31b; 32a, 32b is connected to the moving sheave 46a, The moving sheaves 46b and 47a are guided by the hydraulic cylinders 54a and 54b in accordance with the moving sheaves 46b and 47a.
May be displaced in a direction different from the transverse direction x. In the present invention, such hydraulic cylinders 54a, 54
b or, in another embodiment of the invention, by a configuration including a motor, the moving sheaves 46a, 46b;
a, 47b are ropes 31a, 31b; 32a, 32b
May be displaced. Hydraulic cylinders 54a, 5
Instead of 4b, for example, a nut may be rotatably provided on the sheaves 46b, 47a, and another driving structure may be used, such as a structure in which a screw rod screwed to the nut is rotated by an electric motor, or The sheaves 46b and 47a may be angularly rotated by driving means such as a motor.

Referring to FIG. 10, the principle of the present invention of the anti-rolling control of the container 12 will be described. This FIG.
It is a figure explaining a one point suspension pendulum. In this analysis model, in general, in the case of a single-point pendulum (FIG. 10), the following equations of motion 1 and 1a are satisfied. Where Equation 1
“a” is an approximate expression obtained by first calculating the force of the tangential component of the force generated by the mass of the pendulum and calculating the horizontal component of the force. In FIG. 10 and other drawings, the container 12 may be indicated by the same reference numeral 12 as a weight. In FIG. 10, the length of the ropes 74, which are the ropes 31 and 32 suspending the weight 12, is indicated by a reference numeral L.
, The mass of the weight 12 is indicated by reference numeral m, the horizontal force is indicated by F, the angle with respect to the vertical line is indicated by θ0, and the traverse deflection angle θ1 is sometimes indicated. The weight m is the total weight of an object that is a component suspended by a cable such as the container 12 and the hanging tool 13. s is a Laplace operator.

F = m (Ls ² θ0 + s ² x) (1) F = −mg θ0 (1a) FIG. 11 is a simplified side view showing the above-described embodiment of the present invention. In the case of the container crane device 15, the structure is originally a two-point pendulum as shown in FIG.
When considered on the basis of force, it can be basically considered the same as a one-point pendulum. Therefore, also in the container crane device ^{15, F = m (Ls 2} θ0 + s 2 x) = -mgθ0 ... (2) is satisfied.

The principle of the first anti-sway system for controlling the speed of the trolley 26 by force feedback will be described.
FIG. 12 is a side view showing the configuration of the container 12, the hanging tool 13, the trolley 26, and the like. Container 12 and hanging tool 1
3 is indicated generally by the suspended load 123, the mass of which is indicated by the reference m as described above. The horizontal force acting on the suspended load 123 is indicated by reference numeral F1. Figure F1 of 12 represents a horizontal force generated by that deflection is suspended load mass m, since it corresponds to F in Equation ^{2, F1 = m (Ls 2} θ0 + s 2 x) = -mgθ0 (3) x: position of the trolley 26 This force is the reaction force of the moving object 3
8, 39, and acts as a compressive force on the load cells 76, 77. Further, when the trolley 26 is accelerated by the acceleration α to move the suspended load 123, a force of F2 = Mα (4) is applied to the moving bodies 38 and 39, which are sheave carts, as a reaction force. M is the mass of the moving bodies 38 and 39. This force F2 acts as a compressive force on the load cells 76 and 77, similarly to F1. Therefore, a force of F = F1 + F2 (5) is applied to the load cells 76 and 77. However, the positive direction of F is the same as the positive direction of the trolley position (x). Eliminating θ0 from Equation 3 gives

[0076]

(Equation 1)

The following relationship is obtained. Therefore, using Equations 4 to 6, the following equation is finally obtained.

[0078]

(Equation 2)

In the case of the container crane device 15, the mass M of the moving bodies 38 and 39 is equal to the weight of the suspended load 123 including the container 12.
Is sufficiently smaller than the mass m, that is, M << m. From Expression 7, it can be seen that the controlled object is a vibration system having an anti-resonance point in a region higher than the resonance frequency. The fact that the anti-resonance point exists in a higher frequency region than the resonance point has no problem in the vibration control, and has the effect of increasing the phase margin.

Therefore, the control law for feeding back the force F to the trolley speed command v is as follows: v = −fto · F (8) fto: The feedback gain makes F = 0, and from equation 2, θ0 = 0 can be realized. .

FIG. 13 is a block diagram showing a specific configuration of the anti-traverse control circuit 83 according to the first anti-traverse system of the present invention. The anti-rolling control circuit 83 shown in FIG. 13 derives a signal for performing the force feedback control using the trolley 26 shown in the above equation 8 on a line 95. Outputs of the load cells 76 and 77 are provided to an adder 96, and are provided to a subtractor 98 via a coefficient unit 97.
The output from the trolley speed detecting means 73 is given to the subtractor 98. Thus, force feedback control of the trolley 26 by the motor 69 is achieved.

The second based on the estimated transverse deflection angle feedback
The principle of the steady rest will be described. In the second anti-sway system of the present invention, the anti-sway angle θ1 is calculated and estimated, and the speed of the trolley 26 is controlled by the anti-sway angle feedback using the trolley 26.

From equation 3, according to θ0 = −F1 / mg (9), the traverse deflection angle θ0 can be detected, but F1 cannot be directly measured in practice. Therefore, since the trolley acceleration is available, first, F2 is obtained according to Equation 4, F1 is indirectly obtained from Equation 5, and the traverse deflection angle θ0 is derived from Equation 9. If the traverse deflection angle θ0 can be derived, the feedback law, v = −ft1 · θ0 (10) ft1: Feedback gain, and the traversing deflection control (that is, θ0 = 0)
Is feasible.

FIG. 14 is a block diagram showing the configuration of the horizontal anti-sway control circuit 83 for realizing the second horizontal anti-sway system according to the above-mentioned equation (10). The traverse deflection angle θ0 calculated and estimated by the traverse deflection angle calculation means 101
Is supplied to a coefficient unit 102 and further to a subtractor 103. The subtractor 103 includes a trolley speed detecting means 73.
The output from is given. The output of subtractor 103 is derived via line 95 and provided to adder 84 shown in FIG.

FIG. 15 is a diagram showing a specific configuration of the traverse swing angle detecting means 101 shown in FIG. Trolley 2
An accelerometer 105 for detecting trolley acceleration is fixed to 6. The tension of each rope 31, 32 is
Load cells 10 provided on bearings for supporting the bearings 6 and 47 or a bracket to which the bearings are attached.
6,107. These load cells 1
The outputs of 06 and 107 are added by an adder 108. Thus, the mass m of the suspended load 123 is calculated. Traverse deflection angle θ
1 is represented by equation 10a.

[0086]

(Equation 3)

The above equation 10a is achieved by the configuration shown in FIG. The drum 48 around which the ropes 31 and 32 are wound is driven by the motor 49 as described above,
The amount of winding of the ropes 31 and 32 by the drum 48, that is, the hanging distance L from the moving bodies 38 and 39 on the trolley 26 to the hanging implement 13 is detected by the encoder 75.

The output of the accelerometer 105 is calculated by a coefficient unit 111 and supplied to a subtractor 112. Furthermore, arithmetic circuit 1
13 are provided. The positions of the moving sheaves 46b and 47a driven by the hydraulic cylinder 54 are detected by the moving sheave position detecting means 71, and are provided to a subtractor 114, and further to a coefficient unit 115 and an arithmetic circuit 116.
The output of the arithmetic circuits 113 and 116 to which the output from the motor encoder 75 is given is input to the adder 11.
7 and is added to the coefficient unit 102 in FIG.

FIG. 16 is a block diagram showing an electrical configuration of a control means 81 according to another embodiment of the present invention. The embodiment shown in FIG. 16 is similar to the embodiment related to FIG. 9 described above, and corresponding portions are denoted by the same reference numerals. In this embodiment, the speed control or position control of the hydraulic cylinder 54 is performed for the anti-lateral motion, and the speed control or position control of the hydraulic cylinder 54 is performed for the anti-rotation motion. The motor 69 for driving the trolley 26 is driven by the output of the speed pattern generation circuit 82. The outputs of the horizontal anti-vibration control circuit 118 are output from lines 119 and 120 by adders 121a and 121b to lines 89a and 89b.
9b.

The principle of the horizontal rest of the suspended load by the hydraulic cylinder 54 will be described. FIG. 17 shows that the trolley 2
6 shows a state of being suspended from the moving bodies 38 and 39 of FIG. The ropes 31a, 32a are designated by the reference W1,
1b and 32b are indicated by reference numeral W2. From FIG. 17, the suspended load 123 is connected to the trolley 26 by the ropes W1 and W2.
It is suspended in a more trapezoidal shape. Since it is suspended in a trapezoidal shape, the land-end hydraulic cylinder 54 is operated to operate the rope W1.
, And the rope W2 is sent out, the stable point 124 moves, and the suspended load 123 moves in the direction of A1 in FIG. The anti-sway motion by the land end cylinder 54 utilizes this principle.

Hydraulic cylinder 54 by force feedback
The principle of the third anti-sway system for controlling the speed will be described.

By eliminating θ0 from Equation 2, and obtaining the relational expression between F and v (ie, sx),

[0093]

(Equation 4)

Is obtained. Here, regarding the dynamics of the traverse runout, operating the land end cylinder 54 at the speed vc is equivalent to moving the trolley 26 at the speed v,
v = k * vc
... (12) k: The relational expression of the constant holds. Therefore, from Expressions 11 and 12, the relational expression between F and the moving speed vc of the land end cylinder 54 is as follows.

[0095]

(Equation 5)

Thus, it can be seen that this is a very orthodox secondary vibration system. Therefore, if vc = −fc0 · F (14) fc0: feedback gain is used as a feedback rule, F = 0, and θ0 = 0 can be realized from Expression 2.

Speed command vc for hydraulic cylinder 54a
27 and the speed command v28 for the other hydraulic cylinder 54b are expressed by the following equation according to the feedback gain fc0.

Vc27 = −fc0 * F (14a) vc28 = fc0 * F (14b) FIG. 18 derives the speed control signal for the hydraulic cylinder 54 to the lines 119 and 120 in accordance with the third traverse steadying method. FIG. 4 is a block diagram showing a configuration of a horizontal anti-sway control circuit 118. The output of the load cells 76 and 77 is the adder 1
25, and is added to the coefficient
27 and 128, respectively. Coefficient unit 127, 1
Each output of 28 is provided to subtractors 129 and 130.
The outputs of the moving sheave speed detecting means 131 and 132 are given to the subtracters 129 and 130. The moving sheave speed detecting means 131, 132 is provided with hydraulic cylinders 54a, 54
The speed of the moving sheaves 46 and 47 is detected. The moving sheave speed detecting means 131, 132 may be configured to calculate and calculate the time change rate of the output of the moving sheave position detecting means 71a, 71b, or directly detect the speed of the moving sheave 46, 47. May be provided. The feedback gains -fc0 and fc0 of the coefficient units 127 and 128 have opposite polarities. Outputs of the subtracters 129 and 130 are supplied to adders 121a and 121b shown in FIG. 16 via lines 119 and 120, respectively. In this way, the speed of the hydraulic cylinder 54 is controlled using the outputs of the load cells 76 and 77 as they are, thereby achieving the third anti-sway system.

In another embodiment of the present invention, the displacement driving means 51 including the hydraulic cylinder 54 may be provided on the moving bodies 38 and 39, respectively. In still another embodiment of the present invention, the ropes 31a and 32a and the ropes 31b and 32 which are arranged at intervals in the traversing direction for suspending the hanging members 13 are provided.
b may be lifted in the opposite direction to each other, and may be hung and vertically displaced.

Fourth Estimation Based on Estimated Lateral Swing Angle Feedback
The principle of the horizontal steady rest method will be described.

From equation 3, θ0 = −F / mg (15)

FIG. 19 is a side view showing the suspended load 123, the trolley 26 and the like for explaining the principle of the fourth horizontal steady rest system. The configuration in FIG. 19 corresponds to the configuration in FIG. 17 described above. In the container crane device 15,
In performing control by the fourth horizontal steady rest method, the land end cylinder 54 is operated. In this case, since the balance of the rope suspending the suspended load 123 is lost, the stable point of the deflection is changed from the center A (suspended central point) of two physical suspended points in FIG. Go to). While the configuration for detecting shake using a camera detects the angle θc,
In the case of traversing shake detection using the load cells 76 and 77, θ
This means that 0 has been detected. Here, between θ0 and θ1,

[0103]

(Equation 6)

Since the relational expression of (4) holds, the expressions (4), (5), (1)
5, 16, 16a,

[0105]

(Equation 7)

By using the above equation, the value F of the load cells 76 and 77 is obtained.
It is possible to estimate the camera-type shake angle from the above. Since the camera-type shake angle can be estimated from Expression 17, the anti-shake control is based on the feedback rule, xc = −f dt (θ1) / dt (18) f: feedback gain d (x) / dt is the time of x Shows differentiation. Can be realized by:

Position command xc for hydraulic cylinder 54a
27 and the position command xc28 for the other hydraulic cylinder 54b are expressed as follows using the feedback gain fc1.

Xc27 = −fc1 * d (θ1) / dt (18a) xc28 = fc1 * d (θ1) / dt (18b) FIG. 20 shows the anti-rolling control for realizing the fourth anti-rolling method. FIG. 3 is a block diagram illustrating an electrical configuration of a circuit 118. Traversing deflection angle calculating means 10 for detecting traversing deflection angle θ1
1 may have the configuration shown in FIG. 15 described above. The output of the traverse swing angle calculation means 101 is supplied from the digital filter 133 to the coefficient units 134 and 135, respectively, and further supplied to the subtracters 136 and 137, respectively. The subtractors 136 and 137 include the hydraulic cylinder 54
moving sheave position detecting means 71a, 71b for detecting the positions of the moving sheaves 46, 47,
Are respectively given. Subtractors 136, 137
Are supplied to adders 121a and 121b shown in FIG. 16 via lines 119 and 120, respectively.

The principle of controlling the speed or the position of the hydraulic cylinder 54 by the traverse steadying control circuit 92 shown in FIG. 9 and FIG. 16 to perform the swing steadying control of the hanger 13 and the container 12 will be described.

FIG. 21 is a simplified plan view showing a state in which the suspended load 123 has turned, and FIG. 22 is a yz plane showing the suspended load 123 including the hangers 13 and the container 12, the trolley 26 and the like. It is the simplified front view of the turning state along. Reference numeral 138 is not the ropes 31 and 32 but a line connecting the center of the trolley 26 and the center of the suspended load 123. The swing deflection angle θ00 corresponds to the angle φ00 in the front view of FIG.

The turning forces Fa and Fb act on the turning center 141 in FIG. 21 at a distance r from the suspended load 123, and these forces Fa and Fb act on the load cells 76 and 77. At this time, Expression 19 is established.

R * (Fa−Fb) = I (s ² * φ00 + s ² * k1 * xc) = − r * m * g * φ00 = r * Fc (19) Fa: Force applied to the load cell 76 Fb: Force applied to the load cell 77 Fc = Fa−Fb (19a) m: hanging load (including the weight of the hanger 13 as a spreader) I: moment of inertia g: gravitational acceleration xc: land end cylinder position (= (cylinder Position 54a +
The position of the cylinder 54b) / 2) k1: a constant s: a Laplace operator The principle of the first swing steadying system for controlling the speed of the hydraulic cylinder 54 by force feedback will be described.

By eliminating φ00 from the above equation 19 and equation 24 described later, the relational expression between Fc and vc (that is, sxc) is obtained.

[0114]

(Equation 8)

Thus, it can be seen that this is a very orthodox secondary vibration system. Therefore, if the speed command vc27 = −fc2 * Fc (21) Fc2: feedback gain for the land-end cylinder 54b, the speed command vc28 = −fc2 * Fc (22) for the land-end cylinder 54b is used as a feedback law, Fc = 0, and finally φ00 (θ0
0) = 0 can be realized.

FIG. 23 is a block diagram showing the electrical configuration of the swing steadying control circuit 92 for realizing the first swing steadying method described above. The outputs of the load cells 76 and 77 are provided to a subtractor 143 to be subtracted, whereby the force Fc is reduced.
Is obtained and given to the coefficient unit 144. The output of the coefficient unit 144 is provided to subtractors 145 and 146. Outputs of the moving sheave speed detecting means 131 and 132 are given to the subtracters 145 and 146, respectively. Outputs of the subtracters 145 and 146 are supplied from lines 93 and 94 to adders 88a and 88b, respectively. In this manner, the force feedback control is performed using the hydraulic cylinder 54, and the swinging rest of the suspended load 123 can be achieved by using the horizontal forces Fa and Fb in the transverse direction measured by the load cells 76 and 77 as they are.

The principle of the second turning steadying system for controlling the position of the hydraulic cylinder 54 based on the estimated turning angle feedback will be described.

From equation 19,

[0119]

(Equation 9)

Is obtained. Here, from the relational expression of L * φ00 = r * θ00 (24),

[0121]

(Equation 10)

Is obtained. When the land end cylinder 54 is operated, as in the case of the anti-lateral motion, the stable point of the rotational vibration moves from the rotational angle θc2 detected by the camera to the rotational vibration angle θ2,

[0123]

[Equation 11]

By using the above, it is possible to estimate the swing deflection angle θ2 from the values of the load cells 76 and 77, and the swing steady control is based on a feedback control law and a position command xc27 = −fc2 * d (Lc) for the land end cylinder 54a. θ2) / dt (28) fc2: feedback gain This can be realized by the position command xc28 = −fc2 * d (θ2) / dt (29) for the land-end cylinder 54b.

FIG. 24 is a block diagram showing the electrical configuration of the swing steadying control circuit 92 for realizing the above-described second swing steadying method. A signal representing the turning deflection angle θ2 detected by the turning deflection angle calculation means 148 is supplied to the digital filter 149, and thereby, d (θ2) / d
t is calculated. The output of the digital filter 149 is provided to a coefficient unit 150, and the output of the coefficient unit 150 is provided to subtractors 151 and 152. Outputs of the moving sheave position detecting means 71a and 71b are given to the subtracters 151 and 152, respectively. Outputs of the subtracters 151 and 152 are supplied to adders 88a and 88b via lines 93 and 94, respectively.

FIG. 25 is a block diagram showing a specific electrical configuration of the turning deflection angle calculating means 148 shown in FIG. The turning contact angle θ2 is expressed by Expression 30.

[0127]

(Equation 12)

In FIG. 25, the output of the encoder 75 and
The output of the subtractor 153 and the output of the adder 154 are provided to the arithmetic circuit 155. The outputs of the load cells 76 and 77 are given to the subtractor 153, and thereby the force Fa,
The difference Fc of Fb is calculated. The outputs of the load cells 106 and 107 are given to the adder 154 and added.

The outputs of the moving sheave position detecting means 71a and 71b for detecting the position of the hydraulic cylinder 54 are
The position xc is calculated by a coefficient unit 157 and further added to a coefficient unit 158. The output of the arithmetic circuit 155 and the output of the coefficient unit 158 are subtracted by the subtractor 15.
9 given. The output of the subtractor 159 is the swing deflection angle θ.
2 and is provided to the digital filter 149 of FIG.

The simulation results of the inventor's anti-lateral movement control will be described with reference to FIGS. 26 to 29.
In the simulation results of FIG. 26 to FIG. 29, the moving body 3 which is a
The weight (2 pieces) of 8, 39 is 6 ton, and the length of the rope 74 suspended from the ropes 31, 32 is 33.5 m. FIG.
FIG. 27 is a graph showing a simulation result of the first horizontal steady rest system, FIG. 27 is a graph showing a simulation result of the second horizontal steady rest system, and FIG.
FIG. 29 is a graph showing a simulation result of the horizontal anti-sway method, and FIG. 29 is a graph showing a simulation result of the fourth horizontal anti-sway method.

FIGS. 26 (1) and 27 (1) show the trolley 26.
28 (1), FIG. 29 (1)
Is a graph showing the lapse of time of the moving sheaves 46b and 47a. 26 (2), FIG. 27 (2), FIG. 28 (2),
FIG. 29 (2) is a diagram showing the time course of the force acting on the load cells 76 and 77. FIG. 26 (3), FIG. 27 (3),
FIGS. 28 (3) and 29 (3) show the container 1 as a suspended load.
2 is the horizontal swing amount. With reference to FIGS. 26 to 29, a comparison between before and after the control shows that the anti-rolling effect is successfully achieved by the present invention.

[0132]

According to the first aspect of the present invention, a load cell is interposed between the moving body and the trolley with the load cell interposed between the moving body and the trolley in order to realize the horizontal movement of the suspended load. The forces F1 and F2 in the transverse direction are detected, and the detected force F
The trolley or the cable is displaced by 1 and F2 to achieve the horizontal steady rest. Therefore, the present invention does not detect the rope tension in the above-described prior art, and thereby can reduce adverse effects due to characteristics such as aging of the rope, and can accurately obtain a load cell output corresponding to traverse deflection. In addition, a large lateral vibration can be accurately detected, and the output fluctuation of the load cell due to the lateral vibration is large, so that the SN ratio is good.

Further, an important component for detecting the lateral run-out is the load cell. Therefore, the load cell has a simple structure, can be manufactured at low cost, and has excellent durability under adverse conditions in which an impact force acts. Furthermore, since no camera or the like is used as in the prior art described above, no image processing is performed, which also simplifies the configuration, and enables high-reliability horizontal vibration even under adverse conditions with a lot of dust. Performs detection and is easy to maintain.

According to the second aspect of the present invention, in the first anti-sway system, the traverse speed of the trolley is controlled by directly using the traverse forces F1 and F2 detected by the load cell. Simplified.

[0135] According to the third aspect of the present invention, it is possible to achieve the horizontal and vertical steadying of the suspended load by the displacement driving means provided in connection with the cable for hoisting the hoist. The displacement driving means is provided at a fixed position such as a crane body, thereby reducing the weight of the trolley and reducing the load on the strength of the crane device. Further, it is not necessary to modify the existing trolley, and it is sufficient to provide the displacement driving means in connection with the cable for hoisting, so that the present invention can be easily implemented. In addition, in order to realize the horizontal movement of the suspended load, a load cell is interposed between the moving body and the trolley to detect transverse forces F1 and F2 acting between the moving body and the trolley. With the applied forces F1 and F2, the trolley or the cable is displaced, and the horizontal steady rest is achieved.

According to the present invention, the moving sheave driving means drives the moving sheave to be displaced in the direction in which the cable is stretched, whereby the other moving sheave is displaced in the opposite direction. It can be carried out. Since the tension of the rope wound around each set of moving sheaves is substantially equal, the force for driving the moving sheave by the moving sheave driving means is relatively small, and the size can be reduced.

According to the fourth aspect of the present invention, the traverse deflection angle θ1 is obtained by using the traversing forces F1 and F2 detected by the load cell in order to achieve the second traversing deflection system.
Is calculated and estimated, whereby the speed of the trolley is controlled, so that the configuration of the control is simplified.

According to the fifth aspect of the present invention, the hanging member can be lifted by the cable, or the structure of the displacement driving means can be simplified, and the force required for driving the moving sheave driving means can be achieved. However, the structure can be downsized and the load on strength can be reduced. In addition, in order to realize the horizontal movement of the suspended load, a load cell is interposed between the moving body and the trolley to detect transverse forces F1 and F2 acting between the moving body and the trolley. The trolley or the cable is displaced by the applied forces F1 and F2,
Achieve a steady rest.

According to the sixth aspect of the present invention, the speed of the moving sheave can be controlled by using the output of the load cell as it is in the third anti-sway system, and thus the lifting device can be lifted by the cable. Not only can the structure of the displacement driving means be simplified, but also the horizontal movement of the suspended load can be prevented as described above.

According to the seventh aspect of the present invention, the traverse deflection angle θ1 is calculated and estimated based on the output of the load cell in the fourth traverse steadying method, the displacement position of the moving sheave is controlled, and thus the traversing deflection is prevented. Control can be easily achieved.

According to the eighth aspect of the present invention, the traverse deflection angle θ
1 is calculated using the output of the load cell, the acceleration of the trolley in the transverse direction, the weight m of the suspended load, and the position of the moving sheave, and thus the second and fourth transverse shakes described above are calculated. A detent scheme can be achieved.

According to the ninth aspect of the present invention, the rope can be displaced by using the output of the load cell interposed between the moving body and the trolley, and the swing steady can be achieved. As a result, in the same manner as the effect described in relation to the above-mentioned claim 1, the turning steady can be accurately detected even when a large turning shake is detected without causing an adverse effect due to characteristics such as aging of the rope, and a good SN can be obtained. The swing steady can be achieved in a ratio. In addition, the use of a load cell provides low cost, excellent durability, simplification of the structure, reliable detection of swing run-out even under bad dusty conditions, and maintenance. Easy.

According to the tenth aspect of the present invention, in the first turning steadying system, the speed of the moving sheave is controlled by using the forces F1 and F2 detected by the load cell as they are, thereby realizing the turning steadying. be able to.

According to the eleventh aspect of the present invention, in the second swing steadying system, the swing swing angle θ2 is calculated and estimated by using the output of the load cell, thereby controlling the position of the moving sheave, and Realize steady rest. As a result, the configuration of the control for turning steadying can be simplified.

According to the twelfth aspect of the present invention, in order to calculate the swing deflection angle θ2, the swing deflection angle is calculated using the output of the load cell, the distance between the suspended load and the trolley, the weight m and the position of the moving sheave. θ2 can be calculated and estimated.

According to the thirteenth aspect of the present invention, as will be described later with reference to FIG. 15, not only the output of the load cell but also the distance between the suspended load and the trolley, and the acceleration of the trolley in the transverse direction. The traverse deflection angle θ can be calculated using the total weight m of the hanging tool and the suspended load, that is, the weight of all the components suspended by the cable.

According to the fourteenth aspect of the present invention, as will be described later with reference to FIG. 25, the output of the load cell, the distance between the cable and the trolley, and the distance between the load and the trolley, And the suspended load m, that is, the total weight of the object suspended by the cable, the swing deflection angle θ2
Can be calculated and estimated.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of a part of a container crane device 15 according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the overall configuration of a hoist meter of the container crane device including the configuration shown in FIG.

FIG. 3 is a side view of the container crane device 15 including the hoisting means 11 shown in FIG.

FIG. 4 is a container crane device 15 viewed from the left side of FIG.
FIG.

FIG. 5 is a diagram illustrating a configuration of displacement driving units 51a and 51b.

FIG. 6 is a trolley driving means 58 for driving the trolley 26 in traverse.
FIG. 4 is a simplified perspective view of FIG.

FIG. 7 is a side view showing the hanging tool 13 and the trolley 26 along the xz plane.

FIG. 8 is a plan view of the hanger 13 along the xy plane.

FIG. 9 is a block diagram showing an electrical configuration of the control means 81 according to the embodiment of the present invention shown in FIGS. 1 to 8;

FIG. 10 is a diagram illustrating a one-point suspension pendulum.

FIG. 11 is a side view schematically showing the above-described embodiment of the present invention.

FIG. 12 is a side view showing the configuration of the container 12, the hanging tool 13, the trolley 26, and the like.

FIG. 13 is a block diagram showing a specific configuration of a horizontal anti-sway control circuit 83 according to the first horizontal anti-sway system of the present invention.

FIG. 14 is a horizontal anti-sway control circuit 83 for realizing the second horizontal anti-sway system according to the above-described equation (10).
FIG. 3 is a block diagram showing the configuration of FIG.

15 shows a traverse deflection angle detection unit 101 shown in FIG.
FIG. 3 is a diagram showing a specific configuration of FIG.

FIG. 16 is a block diagram showing an electrical configuration of a control unit 81 according to another embodiment of the present invention.

FIG. 17 is a perspective view showing a state in which the suspended loads 123 are moving bodies 38 and 39 of the trolley 26;
It is a figure showing the state where it was suspended from.

FIG. 18 is a block diagram showing a configuration of a traverse steadying control circuit 118 that derives a speed control signal for the hydraulic cylinder 54 to lines 118 and 119 according to a third traversing steadying mode.

FIG. 19 is a side view showing a suspended load 123, a trolley 26, and the like for explaining the principle of the fourth horizontal steady rest method.

FIG. 20 is a block diagram illustrating an electrical configuration of a horizontal anti-sway control circuit 118 that implements a fourth horizontal anti-sway system.

FIG. 21 is a simplified plan view showing a state where the suspended load 123 has turned.

FIG. 22 shows a suspended load 12 including a suspender 13 and a container 12.
FIG. 3 is a simplified front view of a turning state along a yz plane showing a trolley 26 and a trolley 26;

FIG. 23 is a block diagram showing an electrical configuration of a swing-sway control circuit 92 for realizing the above-described first swing-sway restraint method.

FIG. 24 is a block diagram showing an electrical configuration of a swing steady control circuit 92 for realizing the above-described second swing steady system.

FIG. 25 is a turning deflection angle calculating means 148 shown in FIG. 24;
FIG. 2 is a block diagram showing a specific electrical configuration of the embodiment.

FIG. 26 is a graph showing a simulation result of the first horizontal steady rest method.

FIG. 27 is a graph showing a simulation result of the second horizontal steady rest method.

FIG. 28 is a graph showing a simulation result of the third horizontal steady rest method.

FIG. 29 is a graph showing a simulation result of the fourth horizontal steady rest method.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 Hoisting means 12 Container 13 Hanging tool 15 Container crane apparatus 26 Trolley 28a, 28b, 29a, 29b Lifting sheave 31a, 31b, 32a, 32b Hoisting rope 40 Crane main body 41a, 41b, 42a, 42b, 43a, 43b, 4
4a, 44b Lifting sheaves 46a, 46b, 47a, 47b Moving sheaves 51a, 51b Displacement drive means 52a, 52b Displacement chains 53a, 53b Sprocket wheels 54a, 54b Hydraulic cylinders 58 Trolley drive means 59-60 Rope for traverse 68 Drum 69 Traversing motor 70 Current position detecting means 71a, 71b Moving sheave position detecting means 73 Trolley speed detecting means 81 Control means 82 Speed pattern generating circuit 118 Traverse steadying control circuit 123 Suspended load 131, 132 Moving sheave speed detecting means 148 Turning Deflection angle calculation means

────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] November 29, 1999 (1999.11.
29)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] Full text

[Correction method] Change

[Correction contents]

[Document Name] Statement

[Title of the Invention] Crane device

[Claims]

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane device for detecting and stopping horizontal and swinging swings of a suspended load in a container crane and the like.

[0002] In the present specification, the term "hanging load" means not only the hanging load itself suspended by the cable, but also the term "hanging load".
Further, it may include all components and objects that are suspended by ropes and traverse or swing together with the suspended load, such as suspenders for gripping the suspended load.

[0003]

2. Description of the Related Art In recent years, in cargo handling operations using a container crane, active vibration suppression and automation have been required for the purpose of improving the efficiency of the cargo handling operation and reducing the load on an operator who operates the container crane. In order to satisfy these requirements, it is essential to detect the swing state of the suspended load, and it is possible to realize the detection of the swing state of the suspended load at low cost, have high reliability, and facilitate maintenance. It is desired to be realized.

[0004] A typical prior art is disclosed in Japanese Patent Laid-Open No. 2-1829.
3. In this prior art, the tension of a suspension rope that suspends a suspended load is detected, and the swing angle of the suspended load is detected based on a temporal change in the detected tension.

[0005] In this prior art, since the tension of the rope is detected, there is a problem in that it is easily affected by the characteristics of the rope due to aging and the like, and the measurement control is reduced. Further, according to this prior art, when the swing angle of the suspended load is increased to a certain degree or more, the rope tension corresponding to the swing angle cannot be obtained, and even if the swing angle increases, the rope tension changes. There is also a problem that the tension of the rope tends to saturate even slightly, which makes it impossible to detect an accurate deflection angle. Furthermore, in this prior art, the rope is constantly subjected to a suspended load, and the amount of change in the tension of the rope due to the deflection angle is smaller than the suspended load. There is a problem that it is difficult to detect, and an error increases. In other prior arts, in order to detect the swing angle of a suspended load, it is necessary to attach a detection sensor such as an accelerometer or a yaw rate gyro to a suspending device called a spreader or the like that grips the suspended load. Therefore, these detection sensors are used under adverse conditions where an impact force acts, and there is a problem that durability is not guaranteed.

In still another prior art, a camera is provided on a trolley that moves in a transverse direction, a target lamp is attached to a hanging tool for holding a suspended load, the target lamp is caught by a camera, the output of the camera is image-processed, and Detect the deflection angle. This prior art is complicated and expensive. Also, when the camera and the target lamp are soiled by dust or the like, the camera is likely to lose track of the target.

[0007]

SUMMARY OF THE INVENTION It is an object of the present invention to provide an improved suspension system capable of detecting a lateral run-out and a turning run-out and suppressing them more reliably, and having a simple structure, high reliability and easy maintenance. An object of the present invention is to provide a load steadying control device.

[0008]

SUMMARY OF THE INVENTION The present invention comprises (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for driving the trolley in traverse, and (d) a trolley. To
A pair of moving bodies provided movably in the traversing direction and arranged at an interval in a direction perpendicular to the traversing direction, and each of the moving bodies is connected to a hanger via a cable. When,
(E) a load cell interposed between each moving body and the trolley and detecting transverse forces F1 and F2 acting between each moving body and the trolley, and (f) responding to the output of the load cell; Forces F1 and F2 detected by each load cell
And a speed control means for controlling the speed of the trolley by the trolley driving means so as to suppress the sway of the suspended load so that the sum of the trolley driving means becomes zero.

The present invention also relates to (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) a trolley for traversing the trolley. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) a load cell interposed between each mobile unit and the trolley and detecting transverse forces F1, F2 acting between each mobile unit and the trolley, respectively; and (f) two pairs of ropes forming a pair. Wherein each part of each set of cords is arranged on the mobile at intervals in a direction perpendicular to the transverse direction, and each said pair of cords is traversed by the mobile, (G) cable driving means for driving other parts of the cable; A) the speed at which the rope driving means controls the speed of the rope so that the sum of the forces F1 and F2 detected by the load cells becomes zero in response to the output of the load cell to stop the horizontal movement of the suspended load; A crane device comprising a control unit.

[0010] According to the present invention, the horizontal steady rest of the suspended load is
As described with reference to FIGS. 1 to 16, for the anti-lateral movement control, a load cell is interposed between the moving body and the trolley, and the mobile body on the trolley is caused by the lateral movement. Applied horizontal force F1, F in the transverse direction, for example
2 is measured, and the trolley or the cable is speed-controlled based on the measurement result to prevent the horizontal sway. Therefore, the present invention does not detect the rope tension in the above-described prior art, and thereby can reduce adverse effects due to characteristics such as aging of the rope, and can accurately obtain a load cell output corresponding to traverse deflection. In addition, a large lateral vibration can be accurately detected, and the output fluctuation of the load cell caused by the lateral vibration is large.
The ratio is good.

Further, an important component for detecting the lateral runout is the load cell. Therefore, the configuration is simple, the cost can be reduced, and the durability is excellent under adverse conditions where an impact force acts. . Furthermore, since no camera or the like is used as in the prior art described above, no image processing is performed, which also simplifies the configuration, and enables high-reliability horizontal vibration even under adverse conditions with a lot of dust. Performs detection and is easy to maintain. This is the same in the present invention in which the swing load of the suspended load is prevented by the output of the load cell described later.

Further, the suspended load can be displaced in the transverse direction by displacing the trolley or the cable.

[0013] The present invention also provides (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) a trolley for traversing the trolley. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) a load cell interposed between each of the moving bodies and the trolley for detecting transverse forces F1 and F2 acting between each of the moving bodies and the trolley; and (f) responding to the output of the load cell. A crane device characterized by including speed control means for controlling the speed of the trolley by the trolley drive means such that the sum of the forces F1 and F2 detected by the load cell becomes zero.

In accordance with the present invention, a first lateral steady rest scheme is implemented as described below with reference to FIG. The traversing speed of the trolley is controlled using the traversing forces F1 and F2 detected by the load cell interposed between the moving body and the trolley, and the traverse is stopped by force feedback control using the trolley.

Further, according to the present invention, there are provided (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) each pair of two sets. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of trolleys movably provided in the transverse direction. Mobile objects, each of which includes:
(H) two sets of pairs of moving sheaves corresponding to the ropes, each of which is a moving body on which a lifting sheave around which each set of the ropes is wound is located near the other end in the transverse direction of the ropes. A moving sheave for each cable line around which is wound,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(1) speed control means for controlling the speed of the trolley by the trolley drive means in response to the output of the load cell so that the sum of the forces F1 and F2 detected by each load cell becomes zero. It is a crane device.

According to the present invention, in order to hoist and lower the hoist (sometimes called hoisting),
The hanging sheave, the cord, the lifting sheave, and the moving sheave are provided in a total of four pairs, two pairs each, and the other ends of these cords are respectively wound by a winding drum, The drum has the same outer diameter and is driven to rotate at the same peripheral speed, so that the lifting device can be lifted by the cable.

By displacing the ropes constituting each pair by the displacement driving means by the moving sheave, the moving sheaves constituting each pair of the pair are displaced and driven in mutually opposite transverse directions. It is possible to carry out a horizontal rest of a hanging load such as a container.

Further, according to the present invention, it is possible to calculate using the output of the load cell as it is, and to achieve the trolley driving means to prevent the suspended load from traverse.

Further, according to the present invention, (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) each pair of two sets are provided. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of trolleys movably provided in the transverse direction. Mobile objects, each of which includes:
(H) two sets of pairs of moving sheaves corresponding to the ropes, each of which is a moving body on which a lifting sheave around which each set of the ropes is wound is located near the other end in the transverse direction of the ropes. A moving sheave for each cable line around which is wound,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(L) speed control means for controlling the speed of the moving sheave by the moving sheave driving means in response to the output of the load cell so that the sum of the forces F1 and F2 detected by each load cell becomes zero. It is a crane device.

In accordance with the present invention, a second anti-sway system is implemented as described below with reference to FIG. The speed of the moving sheave is controlled by using the transverse forces F1 and F2 detected by the load cell interposed between the moving body and the trolley, and the transverse steady rest is performed. In this way, the hanging tool can be lifted by the cable, and the structure of the displacement driving means can be simplified,
The horizontal steadying of the suspended load can be performed as described above.

The present invention also relates to (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for driving the trolley in a traversing manner, and (d) a trolley in a traversing direction. A pair of movable bodies that are provided movably and that are arranged at intervals in a direction perpendicular to the traversing direction, and each of the movable bodies is connected to a hanger via a cable; e) a load cell interposed between each mobile unit and the trolley and detecting transverse forces F1, F2 acting between each mobile unit and the trolley, respectively; and (f) two pairs of ropes forming a pair. Wherein each part of each set of cords is arranged on the mobile at intervals in a direction perpendicular to the transverse direction, and each said pair of cords is traversed by the mobile, (G) cable driving means for driving other parts of the cable; A) the speed at which the rope driving means controls the speed of the ropes in response to the output of the load cells so that the difference between the forces F1 and F2 detected by the load cells becomes zero, and the swing load of the suspended load is prevented. A crane device comprising a control unit.

Further, according to the present invention, (a) a lifting device for lifting a load, (b) a trolley for traversing, (c) trolley driving means for traversing the trolley, and (d) two pairs of each pair are provided. A hanging sheave to be formed, wherein each set of hanging sheaves is arranged at intervals in a direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is spaced at a distance in the traversing direction. (E) two pairs of ropes corresponding to the hanger sheave provided on the hanger, wherein the ropes are wound around the hanger sheave, respectively, and the hanger is lifted. A pair of ropes supported at one end in the transverse direction, (f) a lifting sheave around which each of the ropes is wound, and (g) a pair of trolleys movably provided in the transverse direction. Mobile objects, each of which includes:
(H) two sets of pairs of moving sheaves corresponding to the ropes, each of which is a moving body on which a lifting sheave around which each set of the ropes is wound is located near the other end in the transverse direction of the ropes. A moving sheave for each cable line around which is wound,
(I) a drum for winding the other end of the cable;
(J) displacement driving means for displacing and driving each set of moving sheaves, wherein displacement ropes having both ends connected to the moving sheave;
A displacement driving means provided at a fixed position and having a support wheel around which the displacement rope is wound, and a moving sheave driving means for displacing and driving the moving sheave; and (k) interposed between each moving body and the trolley. A load cell for detecting transverse forces F1 and F2 acting between the moving bodies and the trolley, respectively;
(L) speed control means for controlling the speed of the moving sheave by the moving sheave driving means in response to the output of the load cell such that the difference between the forces F1 and F2 detected by the load cells becomes zero. It is a crane device.

According to the present invention, the hanging tool can be hung by the cable, and the displacement driving means can be simplified as described above. As will be described later, by using the transverse forces F1 and F2 detected by the load cell interposed between the moving body and the trolley, the speed of the moving sheave is controlled to realize the turning steady.

[0024]

FIG. 1 is a perspective view showing a partial configuration of a container crane apparatus 15 according to an embodiment of the present invention. FIG. 2 is a perspective view showing the entire configuration of the hoisting system of the container crane device 15 including the configuration shown in FIG. In the hoisting means 11, a suspended load, for example, a container 12 is detachably connected to a lower portion of a hoisting device 13, and the hoisting device 13 is moved up and down by the hoisting device 11, and is moved in a horizontal transverse direction in an xyz rectangular coordinate system. It can be displaced transversely before and after x, and can be displaced pivotally around the axis in the vertical direction z in the direction of arrow 14 and in the opposite direction. Further, the hanging member 13 is arranged in a horizontal direction y perpendicular to the transverse direction x.
Can be tilted about the axis.

FIG. 3 is a side view of the container crane device 15 provided with the hoisting means 11 shown in FIG. 1, and FIG. 4 is a front view of the container crane device 15 as viewed from the left in FIG. A pair of traveling rails 17 extending in a traveling direction perpendicular to the transverse direction x are laid on the land 16 on the land. The legs 18 are guided along the traveling rail 17 in the traveling direction y. A girder 19 is fixed to the upper part of the leg 18 horizontally in the transverse direction x. The base of a boom 21 that can be raised and lowered is connected to the leg 18 by a hinge pin 20 that is parallel to the running direction y. The legs 18, the girder 19, the boom 21 and the like constitute a crane body 40.

The boom 21 is angularly displaced between a state in which the boom 21 protrudes into the sea 22 on the extension of the girder 19 and is cantilevered as shown in FIGS. Can be The container 12 loaded on the transport ship 24 on the sea 22 is detachably gripped by the hanging device 13, traversed and moved to the ground 16 below the leg 18.
Is mounted on a transport vehicle 25 by being wound down on the transport vehicle 25 or from the transport vehicle 25 to the transport ship 24. The hanging tool 13 is lifted immediately below the trolley 26. The trolley 26 can traverse along a traversing rail 45 provided on the girder 19 and the boom 21.

The trolley 26 is provided with an operator cab 27. The operator in the driver's cab 27 moves from the land to the sea 22 side (FIG. 2).
Of the trolley 26 and the trolley 26 can be viewed by looking at the left side to the right side.

Referring again to FIGS. 1 and 2, in the hoisting means 11, one pair of sheaves 28a, 2
8b, and the other set of sheaves 29a, 29b for hanging tools are provided. These hanging sheaves 28a and 28b form a pair, and another pair of hanging sheaves 29a and 29b form a pair. One set of a pair of hanging sheaves 28a, 28b
Are provided on the hanger 13 at intervals in the transverse direction x. The other pair of hanging sheaves 29a, 29b is also provided on the hanging member 13 at intervals in the transverse direction x. One set of hanging sheaves 28a, 28b and the other set of hanging sheaves 29a, 29b are in a direction y perpendicular to the transverse direction x.
Are spaced apart from each other. In this way, a total of four sheaves for hanging equipment 28a, 28b, 29a, 29b are arranged at the vertices of the virtual first rectangle.

Each of the sheaves 28a, 28b, 29a,
29b includes ropes 31a and 31 as hoisting ropes.
b, 32a, 32b are respectively wound around
Wind up. The ropes 31a, 31b form one set of pairs, and the ropes 32a, 32b form the other set of pairs.

One end of each of the ropes 31a and 32b wound around two sheaves 28a and 29b for diagonal lines of the hanging member 13 is connected to a free end 33 of the boom 21 at a fixed position (see FIG. 3). Similarly, the ropes 31 wound around the two sheaves 28b and 29a for the hanger arranged in the diagonal direction of the hanger 13 respectively.
One ends of b and 32a are also fixed to the free end 33 of the boom 21. In another embodiment, the ropes 31a, 32b
May be wound around the sheaves 28a, 29a arranged not in the diagonal direction but in the traversing direction x, the same applies to the ropes 31b, 32a.

One pair of ropes 31a, 31b forming a pair
Is wound around the winding sheaves 41 and 42,
It is further wound around the upper sheaves 28a, 28b
One end thereof is fixed to the end 33 in the fixed position.
The other ends of the ropes 31a and 31b are connected to a winding drum 48a.
Are wound in the same direction.

The other pair of ropes 32a,
The rope 32b is wound around the lifting sheaves 43 and 44 and further wound around the lifting sheaves 29a and 29b. One end of each of the ropes 32a and 32b is fixed to the end 33. The other ends of the ropes 32a and 32b are wound around the winding drum 48b in the same winding direction as the other ends of the ropes 31a and 31b.

In this embodiment, in particular, moving bodies 38 and 39, which are a pair of sheave trucks, are provided on the trolley 26 at intervals in a direction y perpendicular to the transverse direction x so as to be movable in the transverse direction x. Can be The moving bodies 38 and 39 can be displaced in the transverse direction x. On one moving body 38, lifting sheaves 41 and 42 are supported. The other moving body 39 supports lifting sheaves 43 and 44.

The trolley 26 and the moving bodies 38 and 39 are displaced and driven in the same direction and in the opposite direction in the traversing direction x, so that the suspension of the hanging member 13 can be achieved.
The hydraulic cylinders 54a and 54b are driven so as to achieve the traverse steadying and the swing steadying.

The trolley 26 is provided with a moving body 38 in the transverse direction x.
The movable body 38 includes a rope 3
Lifting sheaves 41a and 41b around which 1a is wound are provided. Similarly, on the trolley 26, a lifting sheave 42 around which the rope 31b is wound around the moving body 38.
a, 42b are provided. Further, another moving body 39 is provided on the trolley 26 so as to be movable in the transverse direction x as described above, and the moving body 39 is provided with lifting sheaves 43a and 43b around which the rope 32a is wound.
The ropes 32b are lifted sheaves 44a, 44b provided on a moving body 39 which is movable on the trolley 26 in the transverse direction.
Wound around. In the following description, the suffixes a and b may be omitted, and may be indicated only by numerals.

In FIG. 1, load cells 76 and 77 are interposed between the moving bodies 38 and 39 and brackets 78 and 79 erected on the trolley 26, respectively. These load cells 76 and 77 respectively detect the forces F1 and F2 acting between the moving bodies 38 and 39 and the trolley 26 in the transverse direction x. The load cells 76 and 77 are
Although they are arranged on the same side (left side in FIG. 1) in the transverse direction x of 8, 39, they may be arranged on the right side in FIG. 1 or may be arranged in mutually opposite directions. The polarities of the outputs of the load cells 76 and 77 may be determined according to the arrangement.

Lifting sheaves 41, 42, 43, 44
Are arranged at each vertex position of the virtual second rectangle. The second rectangle has a length x in the transverse direction,
8 and 29 are longer than the length of the first rectangle in the horizontal direction x. Therefore, the rope 31a is connected to the
a and the lifting sheave 41 are inclined with respect to the vertical line. Similarly, the rope 31b is inclined with respect to the vertical line between the lifting implement sheave 28b and the lifting sheave 42. The same applies to the remaining ropes 32a and 32b. Thus these four ropes 3 in total
1a, 31b, 32a, 32b, and
3, it is easily possible to traverse and pivotally displace the container 12.

The moving sheaves 46a, 46b; 47a, respectively, correspond to the ropes 31a, 31b; 32a, 32b, respectively.
47b is arranged at the end 37 which is a fixed position on the opposite side of the girder 19 from the boom 21. Moving sheave 46a, 4
6b form one set of pairs. Moving sheave 47a, 47
b forms the other pair of pairs. Ropes 31a, 31b; 3
The other ends of 2a and 32b are movable sheaves 46a and 46b;
47a, 47b, and the winding drums 48a,
48b is wound in the same winding direction. These hoisting drums 48a and 48b have the same outer diameter and are driven to rotate in the forward and reverse directions by a common hoisting motor 49.

A displacement driving means 51a is provided for driving one set of moving sheaves 46a, 46b in opposite directions along the transverse direction x. Similarly, a displacement driving means 51b is provided for driving the other set of moving sheaves 47a, 47b in the mutually opposite directions along the transverse direction x.

FIG. 5 shows these displacement driving means 51a, 5a.
It is a figure which shows the structure of 1b. One displacement driving means 51a
In, the moving sheaves 46a and 46b are connected to both ends of the displacement chain 52a. This displacement chain 52a
Is wound around a sprocket wheel 53a which is a support wheel provided at a fixed position which is the end 37 of the girder 19. One of the moving sheaves 46b is driven to reciprocate in the transverse direction x by a double-acting hydraulic cylinder 54a. Another one
In the two displacement driving means 51b, the moving sheave 47a is reciprocally displaced by the double-acting hydraulic cylinder 54b, and the other components are the same as those of the displacement driving means 51a. Shown.

The tension acting on one of the ropes 31a, 31b is substantially equal. Therefore, moving sheaves 46a, 4
There is an excellent advantage that the driving force of the hydraulic cylinder 54a required to drive the 6b in the transverse direction x is relatively small. This is another hydraulic cylinder 54
The same applies to b.

By extending the hydraulic cylinders 54a and 54b and displacing the movable sheaves 46b and 47a to the left in FIGS. 2 and 5, the distance between the lifting sheave 42 and the lifting sheave 28b is reduced. Similarly, the distance between the lifting sheave 43 and the lifting implement sheave 29a is reduced. On the other hand, since the moving sheaves 46a and 47b are displaced rightward in FIGS. 2 and 5, the lifting sheave 41 and the lifting sheave 2
8a and the sheave 4 for lifting
4, and the distance between the sheaves 29b for hanging tools is increased. As a result, the hanging member 13 and the container 12 can be pivotally displaced clockwise (in a direction opposite to the reference numeral 14) around the vertical axis. When the hydraulic cylinders 54a and 54b are contracted, the operation reverse to the above is performed, and the lifting tool 13 and the container 12 rotate counterclockwise around the vertical axis (reference numeral 1).
(4 directions).

By reversing the extension / reduction of the hydraulic cylinders 54a, 54b in the displacement driving means 51a, 51b, it is also possible to traverse the hanger 13 and the container 12 in the traverse direction x. For example, by reducing the hydraulic cylinder 54a and extending the hydraulic cylinder 54b, the lifting sheave 41 and the
8a and the distance between the lifting sheave 43 and the lifting sheave 29a, and the distance between the lifting sheave 42 and the lifting sheave 28b and the distance between the lifting sheave 44 and the lifting sheave 29b. Can be longer. As a result, the hanging member 13 can be displaced to the left in FIG. 2 in the transverse direction x. By extending the hydraulic cylinder 54a and contracting the hydraulic cylinder 54b, the hanging member 13 can be displaced rightward in FIG. Hydraulic cylinder 54
a, 54b, and therefore the moving sheave 46b,
In order to detect the position of 47b, moving sheave position detecting means 71a and 71b are provided.

Thus, the displacement driving means 51a, 51
By controlling the drive of b, the hanging member 13 is displaced in the traverse and turning directions, so that the oscillating and the oscillating rest can be achieved.

FIG. 6 is a simplified perspective view of the trolley driving means 58 for driving the trolley 26 in traverse. At both ends in the transverse direction of the trolley 26, two pairs of transverse sheaves 61a, 61b; 62 are formed at intervals in the vertical direction y at each end.
a, 62b, and these transverse sheaves 61, 6
2, traverse ropes 59 and 60 are wound. Traversing sheaves 63 to 66 are provided at the end 37 of the girder 19 and the free end 33 of the beam 21 at both ends of the traversing range of the trolley 26. A cylinder 67 for applying tension is connected to the sheaves 63 and 64, respectively. The traversing rope 5 wound around these sheaves 63 to 66
9 and 60 are wound around a traversing drum 68. The traversing drum 68 is driven by a traversing motor 69 so as to be able to rotate forward and backward.

Current position detecting means 70 which is an encoder
Is the output shaft of the motor 69 and therefore the traversing drum 68
, The current position of the trolley 26 in the transverse direction x is detected. Further, the rotation speed of the motor 69 and the traversing drum 68, that is, the traversing speed of the trolley 26 in the traversing direction is detected by the trolley speed detecting means 73. The traversing speed of the trolley 26 may be obtained by differentiating the output of the current position detecting means 70.

FIG. 7 shows x indicating the hanging tool 13 and the trolley 26.
It is a side view along a z plane. A state is shown in which the hanging tool 13 traverses and is displaced from the natural state by the traverse deflection angle θ1 as indicated by reference numeral 13a. The transverse deflection angle θ1 is x
Hanging tool 13 for the z-axis which is a vertical axis in the z-plane
Is the amount of angular displacement.

FIG. 8 is a plan view of the hanging member 13 along the xy plane. The swing deflection angle θ2 of the reference numeral 13a is an angular displacement amount of the hanging tool 13 about the vertical axis z in the xy plane.

FIG. 9 is a block diagram showing an electrical configuration of the control means 81 according to the embodiment of the present invention shown in FIGS. A speed pattern generating circuit 82 is provided for controlling the speed of the traversing motor 69 shown in FIG. 9 for traversing the trolley 26. This speed pattern generation circuit 8
2 changes the speed of the trolley 26 until it reaches a predetermined target position in the transverse direction, as shown in FIGS. 26 (1) to 27 (1) described later. For example, in one example of the speed pattern, the speed is first increased, then the speed is made constant, then the speed is reduced, and finally the vehicle reaches the target position.

The output of the traverse steadying control circuit 83 for traversing the container 12, which is a suspended load, and therefore the hanging implement 13 is fed to an adder 84. This adder 8
4 is supplied with an output from the speed pattern generation circuit 82. The traverse steadying control circuit 83 derives a signal for traversing steadying. The output of the adder 84 is
5, the motor 69 is controlled to control the speed of the trolley 69. The control circuit 85 performs proportional-integral-derivative (abbreviated as PID) control.

A configuration for controlling the hydraulic cylinders 54a and 54b to perform the traverse steadying control and the swing steadying control will be described. The positions of the moving sheaves 46b, 47a in the transverse direction x are determined by the moving sheave position detecting means 71a,
71b. Moving sheave 46b, 47a
The center position setting circuit 86 generates a center position signal for setting the center position to a neutral position which is substantially the center of the moving range in the horizontal direction. By keeping the position of the moving sheaves 46b, 47a, and thus the pistons of the hydraulic cylinders 54a, 54b in a substantially neutral position, approximately in the middle of the full stroke, the moving sheaves 46b, 47a are traversed for traversing and pivoting steady rests. It is possible to control quickly back and forth in the direction.

The output of the center position setting circuit 86 is supplied to the subtracter 87 together with the output of the moving sheave position detecting means 71, and to the adder 88 via the line 89. The adder 121 has a line 1 from the anti-sway control circuit 118.
Via 19 and 120, a horizontal anti-sway signal is given, respectively. The adder 88 includes a swing steadying control circuit 92.
, Via lines 93 and 94, respectively. The output of the adder 88 is supplied to a control circuit 89 for performing PID control, and thereby the hydraulic cylinder 54 is driven. With these hydraulic cylinders 54, the moving sheaves 46 and 47 can be speed-controlled or position-controlled to execute the traverse steadying and the swing steadying. As described above, for example, the hydraulic cylinders 54a and 54b are reduced in size to reduce the hydraulic cylinders 54a and 54b so as to pivotally drive the hanging member 13 in the clockwise direction 14; By reducing the size of the cylinder 54b, the hanging member 13 can be driven to be displaced rightward in FIG. 2 in the transverse direction x.

Moving sheaves 46a, 46b; 47a, 47
Although b is provided so as to be displaceable in the transverse direction x in the above-described embodiment, in another embodiment of the present invention, each of the ropes 31a, 31b; 32a, 32b is connected to the moving sheave 46a, The moving sheaves 46b and 47a are guided by the hydraulic cylinders 54a and 54b in accordance with the moving sheaves 46b and 47a.
May be displaced in a direction different from the transverse direction x. In the present invention, such hydraulic cylinders 54a, 54
b or, in another embodiment of the invention, by a configuration including a motor, the moving sheaves 46a, 46b;
a, 47b are ropes 31a, 31b; 32a, 32b
May be displaced. Hydraulic cylinders 54a, 5
Instead of 4b, for example, a nut may be rotatably provided on the sheaves 46b, 47a, and another driving structure may be used, such as a structure in which a screw rod screwed to the nut is rotated by an electric motor, or The sheaves 46b and 47a may be angularly rotated by driving means such as a motor.

Referring to FIG. 10, the principle of the present invention of the anti-rolling control of the container 12 will be described. This FIG.
It is a figure explaining a one point suspension pendulum. In this analysis model, in general, in the case of a single-point pendulum (FIG. 10), the following equations of motion 1 and 1a are satisfied. Where Equation 1
“a” is an approximate expression obtained by first calculating the force of the tangential component of the force generated by the mass of the pendulum and calculating the horizontal component of the force. In FIG. 10 and other drawings, the container 12 may be indicated by the same reference numeral 12 as a weight. In FIG. 10, the length of the ropes 74, which are the ropes 31 and 32 suspending the weight 12, is indicated by a reference numeral L.
, The mass of the weight 12 is indicated by reference numeral m, the horizontal force is indicated by F, the angle with respect to the vertical line is indicated by θ0, and the traverse deflection angle θ1 is sometimes indicated. The weight m is the total weight of an object that is a component suspended by a cable such as the container 12 and the hanging tool 13. s is a Laplace operator.

F = m (Ls ² θ0 + s ² x) (1) F = −mg θ0 (1a) FIG. 11 is a simplified side view showing the above-described embodiment of the present invention. In the case of the container crane device 15, the structure is originally a two-point pendulum as shown in FIG.
When considered on the basis of force, it can be basically considered the same as a one-point pendulum. Therefore, also in the container crane device ^{15, F = m (Ls 2} θ0 + s 2 x) = -mgθ0 ... (2) is satisfied.

The principle of the first anti-sway system for controlling the speed of the trolley 26 by force feedback will be described.
FIG. 12 is a side view showing the configuration of the container 12, the hanging tool 13, the trolley 26, and the like. Container 12 and hanging tool 1
3 is indicated generally by the suspended load 123, the mass of which is indicated by the reference m as described above. The horizontal force acting on the suspended load 123 is indicated by reference numeral F1. Figure F1 of 12 represents a horizontal force generated by that deflection is suspended load mass m, since it corresponds to F in Equation ^{2, F1 = m (Ls 2} θ0 + s 2 x) = -mgθ0 (3) x: position of the trolley 26 This force is the reaction force of the moving object 3
8, 39, and acts as a compressive force on the load cells 76, 77. Further, when the trolley 26 is accelerated by the acceleration α to move the suspended load 123, a force of F2 = Mα (4) is applied to the moving bodies 38 and 39, which are sheave carts, as a reaction force. M is the mass of the moving bodies 38 and 39. This force F2 acts as a compressive force on the load cells 76 and 77, similarly to F1. Therefore, a force of F = F1 + F2 (5) is applied to the load cells 76 and 77. However, the positive direction of F is the same as the positive direction of the trolley position (x). Eliminating θ0 from Equation 3 gives

[0057]

(Equation 1)

The following relationship is obtained. Therefore, using Equations 4 to 6, the following equation is finally obtained.

[0059]

(Equation 2)

In the case of the container crane device 15, the mass M of the moving bodies 38 and 39 is equal to the weight of the suspended load 123 including the container 12.
Is sufficiently smaller than the mass m, that is, M << m. From Expression 7, it can be seen that the controlled object is a vibration system having an anti-resonance point in a region higher than the resonance frequency. The fact that the anti-resonance point exists in a higher frequency region than the resonance point has no problem in the vibration control, and has the effect of increasing the phase margin.

Accordingly, the control law for feeding back the force F to the trolley speed command v is as follows: v = −fto · F (8) fto: The feedback gain becomes F = 0, and from equation 2, θ0 = 0 can be realized. .

FIG. 13 is a block diagram showing a specific configuration of the anti-traverse control circuit 83 according to the first anti-traverse system of the present invention. The anti-rolling control circuit 83 shown in FIG. 13 derives a signal for performing the force feedback control using the trolley 26 shown in the above equation 8 on a line 95. Outputs of the load cells 76 and 77 are provided to an adder 96, and are provided to a subtractor 98 via a coefficient unit 97.
The output from the trolley speed detecting means 73 is given to the subtractor 98. Thus, force feedback control of the trolley 26 by the motor 69 is achieved.

FIG. 14 is a block diagram showing an electrical configuration of a control means 81 according to another embodiment of the present invention. The embodiment shown in FIG. 14 is similar to the embodiment related to FIG. 9 described above, and corresponding portions are denoted by the same reference numerals. In this embodiment, the speed control or position control of the hydraulic cylinder 54 is performed for the anti-lateral motion, and the speed control or position control of the hydraulic cylinder 54 is performed for the anti-rotation motion. The motor 69 for driving the trolley 26 is driven by the output of the speed pattern generation circuit 82. The outputs of the horizontal anti-vibration control circuit 118 are output from lines 119 and 120 by adders 121a and 121b to lines 89a and 89b.
9b.

The principle of the second horizontal steady rest of the suspended load by the hydraulic cylinder 54 will be described. FIG. 15 shows a state where the suspended load 123 is suspended from the moving bodies 38 and 39 of the trolley 26. The ropes 31a, 32a are indicated by reference W1, and the ropes 31b, 32b are indicated by reference W2. This figure 1
5, the suspended load 123 is suspended in a trapezoidal shape from the trolley 26 by the ropes W1 and W2. Since it is suspended in a trapezoidal shape, the land-end hydraulic cylinder 54 is operated to pull the rope W1 and send out the rope W2.
The stable point 124 moves, and the suspended load 123 moves in the direction of A1 in FIG. The anti-sway motion by the land end cylinder 54 utilizes this principle.

Hydraulic cylinder 54 by force feedback
The principle of the second horizontal anti-sway system for controlling the speed will be described.

When θ0 is eliminated from Expression 2, and a relational expression between F and v (that is, sx) is obtained,

[0067]

(Equation 3)

Is obtained. Here, with respect to the dynamics of the lateral run-out, operating the land-end cylinder 54 at the speed vc is equivalent to moving the trolley 26 at the speed v, and v = k * vc (12) k: constant The formula holds. Therefore, from Equations 9-11 and 12,
The relational expression between F and the moving speed vc of the land-end cylinder 54 is

[0069]

(Equation 4)

It follows that it is a very orthodox secondary vibration system. Therefore, if vc = −fc0 · F (14) fc0: feedback gain is used as a feedback rule, F = 0, and θ0 = 0 can be realized from Expression 2.

Speed command vc for hydraulic cylinder 54a
27 and the speed command v28 for the other hydraulic cylinder 54b are expressed by the following equation according to the feedback gain fc0.

Vc27 = −fc0 * F (14a) vc28 = fc0 * F (14b) FIG. 16 derives the speed control signal for the hydraulic cylinder 54 to the lines 119 and 120 according to the second anti-sway system. FIG. 4 is a block diagram showing a configuration of a horizontal anti-sway control circuit 118. The output of the load cells 76 and 77 is the adder 1
25, and is added to the coefficient
27 and 128, respectively. Coefficient unit 127, 1
Each output of 28 is provided to subtractors 129 and 130.
The outputs of the moving sheave speed detecting means 131 and 132 are given to the subtracters 129 and 130. The moving sheave speed detecting means 131, 132 is provided with hydraulic cylinders 54a, 54
The speed of the moving sheaves 46 and 47 is detected. The moving sheave speed detecting means 131, 132 may be configured to calculate and calculate the time change rate of the output of the moving sheave position detecting means 71a, 71b, or directly detect the speed of the moving sheave 46, 47. May be provided. The feedback gains -fc0 and fc0 of the coefficient units 127 and 128 have opposite polarities. Outputs of the subtracters 129 and 130 are supplied to adders 121a and 121b shown in FIG. 14 via lines 119 and 120, respectively. In this way, the speed of the hydraulic cylinder 54 is controlled using the outputs of the load cells 76 and 77 as they are, and the second horizontal steady rest system is achieved.

In another embodiment of the present invention, the displacement driving means 51 including the hydraulic cylinder 54 may be provided on the moving bodies 38 and 39, respectively. In still another embodiment of the present invention, the ropes 31a and 32a and the ropes 31b and 32 which are arranged at intervals in the traversing direction for suspending the hanging members 13 are provided.
b may be lifted in the opposite direction to each other, and may be hung and vertically displaced.

The principle of controlling the speed or position of the hydraulic cylinder 54 by the traverse steadying control circuit 92 shown in FIG. 9 and FIG. 14 to perform the swing steadying control of the hanging member 13 and the container 12 will be described.

FIG. 17 is a simplified plan view showing a state in which the suspended load 123 has turned, and FIG. 18 is a yz plane showing the suspended load 123 including the suspender 13 and the container 12, the trolley 26 and the like. It is the simplified front view of the turning state along. Reference numeral 138 is not the ropes 31 and 32 but a line connecting the center of the trolley 26 and the center of the suspended load 123. The swing deflection angle θ00 corresponds to the angle φ00 in the front view of FIG.

The turning forces Fa and Fb act on the turning center 141 in FIG. 21 at a distance r from the suspended load 123, and these forces Fa and Fb act on the load cells 76 and 77. At this time, Expression 19 is established.

R * (Fa−Fb) = I (s ² * φ00 + s ² * k1 * xc) = − r * m * g * φ00 = r * Fc (15-19) Fa: Force applied to the load cell 76 Fb: Force applied to the load cell 77 Fc = Fa−Fb (19a) m: Lifting load (including the weight of the lifting tool 13 as a spreader) I: Moment of inertia g: Gravitational acceleration xc: Land-end cylinder position (= (Position of cylinder 54a +
The position of the cylinder 54b) / 2) k1: constant s: Laplace operator The principle of the swing steadying system for controlling the speed of the hydraulic cylinder 54 by force feedback will be described.

From the above equation (15-19) and equation 24 to be described later, φ00 is eliminated, and the relational expression between Fc and vc (that is, sxc) is obtained.

[0079]

(Equation 5)

Thus, it can be seen that this is a very orthodox secondary vibration system. Therefore, if the speed command vc27 = −fc2 * Fc (21) Fc2: feedback gain for the land-end cylinder 54b, the speed command vc28 = −fc2 * Fc (22) for the land-end cylinder 54b is used as a feedback law, Fc = 0, and finally φ00 (θ0
0) = 0 can be realized.

FIG. 19 is a block diagram showing the electrical configuration of the swing steadying control circuit 92 for realizing the above described swing steadying method. The output of the load cells 76 and 77 is a subtractor 1
The signal F 43 is subtracted from the signal F 43, thereby obtaining a signal representing the force Fc. Coefficient unit 14
The output of 4 is provided to subtractors 145 and 146. The subtracters 145 and 146 have moving sheave speed detecting means 13.
1,132 outputs are provided, respectively. Subtractor 14
The output of 5,146 is supplied to adder 88 from lines 93,94.
a, 88b. Thus, the force feedback control is performed using the hydraulic cylinder 54, and the horizontal force F in the transverse direction measured by the load cells 76 and 77 is obtained.
By using a and Fb as they are, the swing steadying of the suspended load 123 can be achieved.

A simulation result of the inventor of the present invention will be described with reference to FIGS. 20 and 21. FIG. In the simulation results of FIGS. 20 and 21, the hanging load 14 ton, the weight (two pieces) 6 ton of the moving bodies 38 and 39, which are the sheave carts,
The length of the 32 suspended ropes 74 is 33.5 m. FIG. 20 is a graph showing a simulation result of the first horizontal steady rest system, and FIG. 21 is a graph showing a simulation result of the second horizontal steady rest system.

FIG. 20 (1) shows the lapse of time of the speed of the trolley 26, and FIG. 21 (1) shows the moving sheaves 46b and 47a.
5 is a graph showing the time elapsed. FIG. 20 (2), FIG.
(2) is a diagram showing the time course of the force acting on the load cells 76 and 77. FIGS. 20 (3) and 21 (3) show the traversing amount of the container 12, which is a suspended load. These figures 2
Referring to FIG. 0 and FIG. 21, a comparison between before and after the control shows that the present invention successfully achieved the anti-rolling effect.

[0084]

According to the first and second aspects of the present invention, a load cell is interposed between the moving body and the trolley so that the suspended load is prevented from traversing. The acting transverse forces F1 and F2 are detected, and the trolley or the cable is speed-controlled by the detected forces F1 and F2.
Achieve a steady rest. Therefore, the present invention does not detect the rope tension in the prior art described above,
As a result, adverse effects due to characteristics such as secular change of the rope can be reduced, a load cell output corresponding to the horizontal runout can be accurately obtained, and even a large horizontal runout can be accurately detected. Therefore, the output fluctuation of the load cell due to the above is large, so that the SN ratio is good.

Further, a load cell is an important component for detecting the lateral run-out, so that the configuration is simple, the cost can be reduced, and the durability under the adverse conditions where an impact force acts is excellent. Furthermore, since no camera or the like is used as in the prior art described above, no image processing is performed, which also simplifies the configuration, and enables high-reliability horizontal vibration even under adverse conditions with a lot of dust. Performs detection and is easy to maintain.

According to the third aspect of the present invention, in the first anti-sway system, the traverse speed of the trolley is controlled by using the traverse forces F1 and F2 detected by the load cell without change. Simplified.

According to the fourth aspect of the present invention, it is possible to achieve the horizontal and vertical swing prevention of the suspended load by the displacement driving means provided in connection with the cable for hoisting the lifting tool. The displacement driving means is provided at a fixed position such as a crane body, thereby reducing the weight of the trolley and reducing the load on the strength of the crane device. Further, it is not necessary to modify the existing trolley, and it is sufficient to provide the displacement driving means in connection with the cable for hoisting, so that the present invention can be easily implemented. In addition, in order to realize the horizontal movement of the suspended load, a load cell is interposed between the moving body and the trolley to detect transverse forces F1 and F2 acting between the moving body and the trolley. With the applied forces F1 and F2, the trolley or the cable is displaced, and the horizontal steady rest is achieved.

According to the present invention, the moving sheave driving means drives the moving sheave to be displaced in the direction in which the cable is stretched, whereby the other moving sheave is displaced in the opposite direction. It can be carried out. Since the tension of the rope wound around each set of moving sheaves is substantially equal, the force for driving the moving sheave by the moving sheave driving means is relatively small, and the size can be reduced.

According to the fifth aspect of the present invention, the speed of the moving sheave can be controlled by using the output of the load cell as it is in the second horizontal steady rest method, and thus the hanging tool can be lifted by the cable. Not only can the structure of the displacement driving means be simplified, but also the horizontal movement of the suspended load can be prevented as described above.

According to the sixth and seventh aspects of the present invention, in the swing steadying system, the force F detected by the load cell is used.
By using 1 and F2 as they are, the speed of the moving sheave can be controlled, and the swing steady can be realized.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration of a part of a container crane device 15 according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the overall configuration of a hoist meter of the container crane device including the configuration shown in FIG.

FIG. 3 is a side view of the container crane device 15 including the hoisting means 11 shown in FIG.

FIG. 4 is a container crane device 15 viewed from the left side of FIG.
FIG.

FIG. 5 is a diagram illustrating a configuration of displacement driving units 51a and 51b.

FIG. 6 is a trolley driving means 58 for driving the trolley 26 in traverse.
FIG. 4 is a simplified perspective view of FIG.

FIG. 7 is a side view showing the hanging tool 13 and the trolley 26 along the xz plane.

FIG. 8 is a plan view of the hanger 13 along the xy plane.

FIG. 9 is a block diagram showing an electrical configuration of the control means 81 according to the embodiment of the present invention shown in FIGS. 1 to 8;

FIG. 10 is a diagram illustrating a one-point suspension pendulum.

FIG. 11 is a side view schematically showing the above-described embodiment of the present invention.

FIG. 12 is a side view showing the configuration of the container 12, the hanging tool 13, the trolley 26, and the like.

FIG. 13 is a block diagram showing a specific configuration of a horizontal anti-sway control circuit 83 according to the first horizontal anti-sway system of the present invention.

FIG. 14 is a block diagram illustrating an electrical configuration of a control unit 81 according to another embodiment of the present invention.

FIG. 15 shows that the suspended load 123 is a moving body 38, 39 of the trolley 26.
It is a figure showing the state where it was suspended from.

FIG. 16 is a block diagram showing a configuration of a traverse steadying control circuit 118 that derives a speed control signal for the hydraulic cylinder 54 to lines 118 and 119 in accordance with a second traversing steadying mode.

FIG. 17 is a simplified plan view showing a state where the suspended load 123 has turned.

FIG. 18 shows a suspended load 12 including a suspender 13 and a container 12.
FIG. 3 is a simplified front view of a turning state along a yz plane showing a trolley 26 and a trolley 26;

FIG. 19 is a block diagram showing an electrical configuration of a swing steadying control circuit 92 that implements the above-described swing steadying method.

FIG. 20 is a graph showing a simulation result of the first horizontal steady rest method.

FIG. 21 is a graph showing a simulation result of the second horizontal steady rest method.

DESCRIPTION OF SYMBOLS 11 Hoisting means 12 Container 13 Hanging device 15 Container crane device 26 Trolley 28a, 28b, 29a, 29b Lifting sheave 31a, 31b, 32a, 32b Hoisting rope 38, 39 Moving body 40 Crane body 41a, 41b , 42a, 42b, 43a, 43b, 4
4a, 44b Lifting sheave 46a, 46b, 47a, 47b Moving sheave 51a, 51b Displacement drive means 52a, 52b Displacement chain 53a, 53b Sprocket wheel 54a, 54b Hydraulic cylinder 58 Trolley drive means 59-60 Rope for traversing 68 Drum 69 Traverse motor 70 Current position detecting means 71a, 71b Moving sheave position detecting means 73 Trolley speed detecting means 76, 77 Load cell 81 Control means 82 Speed pattern generating circuit 118 Anti-sway control circuit 123 Suspended load 131, 132 Moving sheave speed Detection means

[Procedure amendment 2]

[Document name to be amended] Drawing

[Correction target item name] All figures

[Correction method] Change

[Correction contents]

FIG.

FIG. 2

FIG. 4

FIG. 5

FIG.

FIG.

FIG. 3

FIG. 6

FIG. 7

FIG. 10

FIG.

FIG. 13

FIG.

FIG. 8

FIG. 9

FIG. 11

FIG. 16

FIG.

FIG. 14

FIG.

FIG. 21

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshiteru Harada 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside Akashi Plant Co., Ltd. (72) Tomoyuki Uno 1-1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Inside the Akashi Plant (72) Inventor Shigeru Sasaki 8th, Niijima, Harima-cho, Kako-gun, Hyogo Kawasaki Heavy Industries Ltd. Harima Plant F-term (reference) 3F204 AA02 CA03 DA02 DA08 EA03 EA06 EA11 EB08 EB09

Claims (14)

[Claims] 1. A trolley for lifting a suspended load; (b) a trolley for traversing; (c) a trolley driving means for traversing the trolley; and (d) a trolley movably in a traversing direction. A pair of moving bodies provided at intervals in a direction perpendicular to the traversing direction, wherein each moving body includes a moving body to which a hanger is connected via a cable; A load cell interposed between the moving body and the trolley for detecting transverse forces F1 and F2 acting between the moving body and the trolley, respectively; (f) a trolley or a cable in response to an output of the load cell; And a control means for displacing the suspension to prevent the suspended load from traversing. 2. A trolley for lifting a suspended load; (b) a trolley for traversing; (c) a trolley driving means for driving the trolley in a traverse manner; A pair of moving bodies provided at intervals in a direction perpendicular to the traversing direction, wherein each moving body includes a moving body to which a hanger is connected via a cable; A load cell interposed between the moving body and the trolley and detecting transverse forces F1 and F2 acting between the moving body and the trolley, respectively; and (f) detected by each load cell in response to the output of the load cell. And a speed control means for controlling the speed of the trolley by the trolley drive means such that the sum of the applied forces F1 and F2 becomes zero. 3. A trolley for lifting a suspended load; (b) a trolley for traversing; (c) a trolley driving means for driving the trolley in a traverse manner; The sheaves for each pair of hanging sheaves are arranged at intervals in the direction perpendicular to the transverse direction, and a pair of sheaves for each pair of hanging gears (E) two sets of pairs of ropes corresponding to the sheaves for hanging equipment, wherein the ropes are wound around the sheaves for hanging equipment, respectively, and the lifting gear is lifted. The cable is a cable supported at one end in the transverse direction; (f) a lifting sheave around which each cable is wound; and (g) a pair of moving bodies provided on the trolley so as to be movable in the transverse direction. Wherein each of the moving bodies supports a lifting sheave around which each set of ropes is wound, and (h) Two sets of moving sheaves corresponding to the strips, each of which has a portion near the other end in the transverse direction of the rope, the moving sheave for each of the ropes; and (i) the other end of the rope. (J) displacement driving means for driving each set of moving sheaves in a displaced manner, and a displacement cord having both ends connected to the moving sheave; a displacement cord provided at a fixed position, And (k) interposed between each moving body and the trolley, and between each moving body and the trolley. (1) a trolley driven by trolley driving means so as to respond to the output of the load cell so that the sum of the forces F1 and F2 detected by each load cell becomes zero. Speed controlling speed A crane device comprising a control unit. 4. A trolley for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) a trolley movably in a traversing direction. A pair of moving bodies provided at intervals in a direction perpendicular to the traversing direction, wherein each moving body includes a moving body to which a hanger is connected via a cable; A load cell interposed between the moving body and the trolley and detecting transverse forces F1 and F2 acting between the moving body and the trolley, respectively; and (f) traverse of the suspended load in response to the output of the load cell. Swing angle θ
(G) speed control means for controlling the speed of the trolley by the trolley driving means in response to the output of the traverse deflection angle calculating means so as to make the traverse deflection angle θ1 zero. And a crane device comprising: 5. A trolley for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) two sets of pairs of hanger. The sheaves for each pair of hanging sheaves are arranged at intervals in the direction perpendicular to the transverse direction, and a pair of sheaves for each pair of hanging gears (E) two sets of pairs of ropes corresponding to the sheaves for hanging equipment, wherein the ropes are wound around the sheaves for hanging equipment, respectively, and the lifting gear is lifted. The cable is a cable supported at one end in the transverse direction; (f) a lifting sheave around which each cable is wound; and (g) a pair of movable bodies provided on the trolley so as to be movable in the horizontal direction. Wherein each moving body supports a lifting sheave around which each set of ropes is wound; A pair of moving sheaves corresponding to the above, wherein a moving sheave for each of the ropes around which a portion near the other end in the transverse direction of the rope is wound, and (i) the other end of the rope is (J) displacement driving means for displacing and driving each set of moving sheaves, a displacement rope having both ends connected to the moving sheave, and a displacement rope provided at a fixed position, A displacement driving means having a support wheel to be wound and a moving sheave driving means for displacing the moving sheave; and (k) interposed between each moving body and the trolley and acting between each moving body and the trolley. (1) responding to the output of the load cell, and traverse the swing angle θ of the suspended load.
And (m) speed control means for controlling the speed of the trolley by the trolley drive means in response to the output of the traverse deflection angle calculating means so that the traverse deflection angle θ1 becomes zero. And a crane device comprising: 6. A trolley for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) two sets of pairs of hanger. The sheaves for each pair of hanging sheaves are arranged at intervals in the direction perpendicular to the transverse direction, and a pair of sheaves for each pair of hanging gears (E) two sets of pairs of ropes corresponding to the sheaves for hanging equipment, wherein the ropes are wound around the sheaves for hanging equipment, respectively, and the lifting gear is lifted. The cable is a cable supported at one end in the transverse direction; (f) a lifting sheave around which each cable is wound; and (g) a pair of movable bodies provided on the trolley so as to be movable in the horizontal direction. Wherein each moving body supports a lifting sheave around which each set of ropes is wound; A pair of moving sheaves corresponding to the above, wherein a moving sheave for each of the ropes around which a portion near the other end in the transverse direction of the rope is wound, and (i) the other end of the rope is (J) displacement driving means for displacing and driving each set of moving sheaves, a displacement rope having both ends connected to the moving sheave, and a displacement rope provided at a fixed position, A displacement driving means having a support wheel to be wound and a moving sheave driving means for displacing the moving sheave; and (k) interposed between each moving body and the trolley and acting between each moving body and the trolley. And (1) moving by the moving sheave driving means in response to the output of the load cell so that the sum of the forces F1 and F2 detected by each load cell becomes zero. Control sheave speed Crane apparatus characterized by comprising a speed control means that. 7. A lifting device for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for driving the trolley in a traversing manner, and (d) a pair of lifting devices for each pair. The sheaves for each pair of hanging sheaves are arranged at intervals in the direction perpendicular to the transverse direction, and a pair of sheaves for each pair of hanging gears (E) two sets of pairs of ropes corresponding to the sheaves for hanging equipment, wherein the ropes are wound around the sheaves for hanging equipment, respectively, and the lifting gear is lifted. The cable is a cable supported at one end in the transverse direction; (f) a lifting sheave around which each cable is wound; and (g) a pair of moving bodies provided on the trolley so as to be movable in the transverse direction. Wherein each of the moving bodies supports a lifting sheave around which each set of ropes is wound, and (h) Two sets of moving sheaves corresponding to the strips, each of which has a portion near the other end in the transverse direction of the rope, the moving sheave for each of the ropes; and (i) the other end of the rope. (J) displacement driving means for driving each set of moving sheaves in a displaced manner, comprising: a displacement cord having both ends connected to the moving sheave; and a displacement cord provided at a fixed position. And (k) interposed between each moving body and the trolley, and between each moving body and the trolley. A load cell for detecting the acting transverse forces F1 and F2, respectively; (l) a transverse deflection angle θ of the suspended load in response to the output of the load cell;
(M) responding to the output of the traverse deflection angle calculating means, and controlling the displacement position of the moving sheave by the moving sheave driving means so that the traverse deflection angle θ1 becomes zero. A crane device comprising: a position control unit. 8. A traversing deflection angle calculating means, a traversing acceleration detecting means for detecting an acceleration in a traversing direction of the trolley, a weight detecting means for detecting a total weight m of the hanging tool and the suspended load, and each displacement driving means. Position detecting means for detecting the position of each moving sheave by means of: a hanging distance detecting means for detecting the distance of the rope between the hanging tool and the trolley; a load cell, a transverse acceleration detecting means, a weight detecting means, and a position detecting means 8. The crane apparatus according to claim 5, further comprising: means for calculating a traverse swing angle θ1 in response to outputs from the suspension distance detecting means. 9. A trolley that lifts a suspended load, (b) a trolley that traverses, (c) a trolley drive unit that traverses the trolley, and (d) a trolley movably in the traverse direction. A pair of moving bodies provided at intervals in a direction perpendicular to the traversing direction, wherein each moving body includes a moving body to which a hanger is connected via a cable; A load cell interposed between the moving body and the trolley and detecting transverse forces F1 and F2 acting between the moving body and the trolley, respectively; and (f) displacing the cable in response to the output of the load cell. And a control means for preventing swinging of the suspended load. 10. A trolley for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) two sets of pairs of hanger. The sheaves for each pair of hanging sheaves are arranged at intervals in the direction perpendicular to the transverse direction, and a pair of sheaves for each pair of hanging gears (E) two sets of pairs of ropes corresponding to the sheaves for hanging equipment, wherein the ropes are wound around the sheaves for hanging equipment, respectively, and the lifting gear is lifted. The cable is a cable supported at one end in the transverse direction; (f) a lifting sheave around which each cable is wound; and (g) a pair of moving bodies provided on the trolley so as to be movable in the transverse direction. Wherein each moving body supports a lifting sheave around which each set of ropes is wound, and (h) Two sets of pairs of moving sheaves corresponding to the ropes, each of which has a portion near the other end in the traversing direction of the rope, each of which has a moving sheave; (i) the other end of the rope. (J) displacement driving means for displacing and driving each set of moving sheaves, a displacement rope having both ends connected to the moving sheave, and a displacement rope provided at a fixed position, A displacement driving means having a support wheel around which the strip is wound, and a moving sheave driving means for displacing the moving sheave; and (k) interposed between each moving body and the trolley, and between each moving body and the trolley. And (1) a moving sheave driving means for responding to the output of the load cell so that the difference between the forces F1 and F2 detected by each load cell becomes zero. Moving sheave speed by Crane apparatus which comprises a Gosuru speed control means. 11. A hanging tool for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) two sets of hanging tools for each pair. The sheaves for each pair of hanging sheaves are arranged at intervals in the direction perpendicular to the transverse direction, and a pair of sheaves for each pair of hanging gears (E) two sets of pairs of ropes corresponding to the sheaves for hanging equipment, wherein the ropes are wound around the sheaves for hanging equipment, respectively, and the lifting gear is lifted. The cable is a cable supported at one end in the transverse direction; (f) a lifting sheave around which each cable is wound; and (g) a pair of movable bodies provided on the trolley so as to be movable in the horizontal direction. Wherein each of the moving bodies supports a lifting sheave around which each set of ropes is wound, and (h) Two sets of moving sheaves corresponding to the ropes, each of which has a portion near the other end in the transverse direction of the rope, each of which has a moving sheave; (i) the other end of the rope. (J) displacement driving means for driving each set of moving sheaves in a displaced manner, comprising: a displacement cord having both ends connected to the moving sheave; and a displacement cord provided at a fixed position. And (k) interposed between each moving body and the trolley, and between each moving body and the trolley. A load cell for detecting the acting transverse forces F1 and F2, respectively, and (l) a swing deflection angle θ of the suspended load in response to the output of the load cell.
And (m) controlling the position of the moving sheave by the moving sheave driving means in response to the output of the turning deflection angle calculating means so that the turning deflection angle θ2 becomes zero. A crane device comprising: a position control unit. 12. A swing deflection angle calculating means, a hanging distance detecting means for detecting a distance of a cable between the hanging tool and the trolley, and a weight detecting means for detecting a total weight m of the hanging tool and the suspended load. Means, a position detecting means for detecting the position of each moving sheave by each displacement driving means, and a swing deflection angle θ2 in response to outputs of the load cell, the hanging distance detecting means, the weight detecting means and the position detecting means. The crane apparatus according to claim 11, further comprising means for calculating. 13. A trolley for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) a trolley movably in a traversing direction. (E) 2 a pair of moving bodies provided and spaced from each other in a direction perpendicular to the traversing direction, wherein each of the moving bodies has a hanging member connected thereto via a cable; A pair of hanging sheaves for each pair of sets, wherein the sheaves for each pair of hanging members are arranged at intervals in a direction perpendicular to the traversing direction, and the pair of sheaves for hanging members of each pair is And (f) two pairs of ropes corresponding to the sheaves for the hanger, which are respectively wound around the sheaves for the hanger. And (g) a lifting cable around which each cable is wound. (H) a drum that winds the other end of the cable, respectively; and (i) a transverse force that is interposed between each moving body and the trolley and acts between each moving body and the trolley. Load cells for detecting F1 and F2 respectively; (j) hanging distance detecting means for detecting a distance between the hanging tool and the trolley by a cable; and (k) traversing acceleration detecting for detecting traverse acceleration of the trolley. Means: (l) a weight detecting means for detecting a total weight m of the hanging tool and the suspended load; and (m) a load cell, a transverse acceleration detecting means, a weight detecting means, a position detecting means, and a hanging distance detecting means. A crane device that calculates a traverse deflection angle θ1 in response to the output. 14. A trolley for lifting a suspended load; (b) a trolley for traversing; (c) a trolley driving means for traversing the trolley; and (d) a trolley movably in a traversing direction. (E) 2 a pair of moving bodies provided and spaced from each other in a direction perpendicular to the traversing direction, wherein each of the moving bodies has a hanging member connected thereto via a cable; A pair of hanging sheaves for each pair of sets, wherein the sheaves for each pair of hanging members are arranged at intervals in a direction perpendicular to the traversing direction, and the pair of sheaves for hanging members of each pair is And (f) two pairs of ropes corresponding to the sheaves for the hanger, which are respectively wound around the sheaves for the hanger. And (g) a lifting cable around which each cable is wound. (H) a drum for winding the other end of the cable, and (i) a transverse force F1 interposed between each mobile unit and the trolley and acting between each mobile unit and the trolley. , F2, respectively, (j) hanging distance detecting means for detecting the distance of the cable between the hanging tool and the trolley, and (k) detecting the total weight m of the hanging tool and the suspended load. (L) a swing deflection angle calculation means for calculating a swing deflection angle θ2 in response to outputs of the load cell, the hanging distance detection means, the weight detection means, and the position detection means. A crane device.