JP2002137888A - Crane device and cargo suspension control device for use therewith - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo suspension control device for use with a crane device capable of surely and quickly damping the oscillation of a container suspended. SOLUTION: The suspension control device for an attitude control element whose attitude is controlled by six telescopic actuators 21 on a traversing truck and which has a second horizontal support plate for suspending a container- gripping plate via wire includes: a position/attitude command part 35 for directing the position and attitude of the second horizontal support plate; a force computing part 33 for computing the force generated at each actuator; an output computing part 39 for computing, based on these forces, each axial force working on the second horizontal support plate and torque about each axis; an oscillation computing part 40 for computing the amount and angle of oscillation about each axis based on these outputs; a gain part 44 where the outputs are multiplied by gains matching the mass and suspended height of the container; and a phase adjusting part 45 where the outputs are adjusted to a phase matching the mass and suspended height of the container and are then fed back to a position/attitude command.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane device and a suspension control device for cargo in the crane device.

[0002]

2. Description of the Related Art Conventionally, a crane apparatus for loading and unloading containers has a horizontal carriage provided on a horizontal boom of a portal crane body traveling in a predetermined direction, and a spreader for suspending the container is provided on the horizontal carriage. , Suspended by four suspension wires.

[0003] Spreaders for suspending containers are:
Since the container is suspended via the four wires, the container swings with the traveling of the crane body and the traversing of the traversing trolley, which may hinder the unloading operation.

As a method for attenuating the shake of the container, the shake of the container is detected by using an image, and based on the detected shake amount, the trolley is operated or the winch device of each wire is operated. Alternatively, the run-out has been suppressed by using an auxiliary wire for vibration prevention provided separately from the wire for suspension.

[0005]

As described above, in a crane apparatus in which a container is hung on a traversing carriage by four wires, it has been difficult to determine the position of the container and the like.

Further, in order to suppress the runout of the container,
In the case of detecting the amount of shake of the container using an image, there is a problem that it is not possible to detect when the fog occurs due to the influence of the weather, for example. There is a problem that the runout cannot be quickly and easily attenuated.

Accordingly, the present invention provides a crane device for easily positioning a load such as a container and a load control for the crane device which can reliably and quickly attenuate the swing when the load is hung. It is intended to provide a device.

[0008]

In order to solve the above-mentioned problems, a crane device of the present invention is provided with a posture control body on a movable body movably provided on a horizontal member, and the posture control body includes: A first support plate that holds a gripper for luggage via four cords and holds the attitude control body on the moving body side, and a plurality of telescopic actuators mounted on the first support plate; And a winding device for winding the four ropes around the second support plate.

According to this structure, the movable body has a plurality of telescoping actuators and the second horizontal support plate that is supported by these actuators and suspends the gripper of the load. Because we have a body,
The luggage suspended by the gripper can be easily and quickly brought to an arbitrary posture by the telescopic operation of each telescopic actuator.

[0010] In the crane suspension control device of the present invention, the luggage control device comprises a plurality of telescopic actuators mounted on a movable carriage movably provided on the horizontal member for suspension, and a posture of the telescopic actuators. A suspension control device for controlling the posture control body of the crane apparatus provided with a posture control body which is controlled and comprises a suspension plate body for suspending a baggage holding tool via a cord. A position / posture command unit for obtaining a position and posture command of the suspension plate in the posture control unit by inputting an operation signal from the operation device, and inputting each command from the position / posture command unit. An actuator expansion / contraction amount calculation unit that determines the expansion / contraction amount of each telescopic actuator in the attitude control body and transfers the expansion / contraction amount to a control unit of each telescopic actuator, and suspends the gripping tool. A suspending distance calculating unit for detecting a vertical distance of the body to the gripper with respect to the suspending plate body by detecting an extension amount of the body, a force calculating unit for calculating a generated force in each of the telescopic actuators, An output operation unit for obtaining each coordinate axial force and a rotational force around each coordinate axis in three-dimensional coordinates acting on the suspension plate by inputting a force, and inputting each axial force and each rotational force from this output operation unit. A shake calculation unit for obtaining a shake amount on each coordinate axis and a shake angle around each coordinate axis, and a second order differential value of a shake amount, a shake angle from the shake calculation unit, and a vertical distance from the hanging distance calculation unit. A mass calculator for calculating the mass of the baggage by inputting, and a signal of a shake amount and a shake angle from the shake calculator are input,
A gain section that multiplies the input signal by a gain according to the mass from the mass calculation section and the vertical distance from the hanging distance calculation section, and a signal from the gain section, and the phase of the input signal is After adjusting according to the mass from the mass calculating unit and the vertical distance from the hanging distance calculating unit, the phase-adjusted signal is fed back to the signal from the position / posture command unit. In the above-described configuration, the apparatus further includes a center-of-gravity position calculating unit that calculates the center of gravity of the baggage by inputting the shake amount and the shake angle from the shake calculating unit. The position of the center of gravity is input to the gain unit and the phase adjustment unit to adjust the gain and the phase, and in each of the above configurations, the shake calculation unit and the gain unit During, it is provided with a filter unit for removing noise.

[0011] According to the above construction, the posture for hanging the load, which is constituted by the plurality of telescopic actuators and the second horizontal support plate supported by these actuators and suspending the gripper of the load. The suspension control device that controls the control body, in addition to the position / posture command unit that controls the position and posture of the second horizontal support plate, based on the force generated in each actuator, the coordinate axis force in three-dimensional coordinates and An output calculation unit for determining a rotational force around each coordinate axis, and a shake calculation unit for determining a shake amount in each coordinate axis direction and a shake angle around each coordinate axis based on an output from the output calculation unit. The amount and runout angle of
A gain section for multiplying the gain according to the mass of the load and the vertical distance to the load, and a phase adjuster for adjusting the phase of the signal multiplied by the gain, similarly according to the weight of the load and the vertical distance to the load Provided, it is possible to easily and quickly attenuate the luggage of the luggage as compared with, for example, the case of using the auxiliary wire. Without being affected, the run-out of the container can be reliably attenuated.

[0012]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a crane apparatus according to an embodiment of the present invention; FIG.

In the present embodiment, a description will be given of a case in which a container is a baggage (of course, the present invention can also be applied to a container other than a container).
It is described as a portal-type traveling crane device having a long horizontal boom for loading and unloading containers.

First, the crane device will be described with reference to FIGS. The crane device includes a crane body (not shown) traveling in a predetermined direction, a horizontal boom (horizontal member for suspension) 1 provided on the crane body and in a direction orthogonal to the traveling direction, and the horizontal boom. 1 and a holding device (also referred to as a spreader) for a container W suspended on the trolley 2 via a posture control body 3.
And 4.

The traversing carriage 2 has a first horizontal support plate at the lower end of four pillars 12 having guide wheels 11 movably guided to flanges 1a on both sides of the boom 1 attached to upper ends thereof. The first horizontal support plate 13 is provided with a posture control body 3.

Then, as shown in FIG.
Are two sets of suspension pulleys 14 arranged at four corners of a second horizontal support plate (described later) on the attitude control body 3 side, and a gripping plate body (gripping tool) on the gripping device 4 side. 4) suspended by four suspending wires (one example of a cord, which may be a rope) 7 wound around each of the supporting pulleys 6 provided at the four corners of the upper surface of 5. ing. One end of each suspension wire 7 is fixed to one end of the horizontal boom 1, and the other end is near the other end via a guide pulley 8 arranged at the other end of the horizontal boom 7. Winding drum 10 of winding device 9 provided
It is connected to.

By such wire hooking, the gripping device 4 can be attached to the horizontal boom 1 without affecting the height of the gripping plate 5, that is, without affecting the hanging height of the container being hung. Can be moved along. The traversing carriage 2 that holds the gripping device 4 is connected to, for example, an endlessly wound wire (not shown) along the longitudinal direction of the horizontal boom 1 and is connected to the wire. It is configured to be able to traverse along the horizontal boom 1 by a driving device (not shown).

The attitude control body 3 uses a parallel link mechanism, and as shown in FIGS. 4 and 5,
Two sets constitute one set, and a total of three sets, that is, a total of six extendable actuators (hereinafter simply referred to as actuators,
Specifically, a hydraulic cylinder is used) 21 and a second horizontal support plate (suspension plate) 22 which is an end effector connected to the upper end of each of the actuators 21.

The bases 21a of the three sets of actuators 21 are arranged corresponding to the vertices of an equilateral triangle, and the bases 21a are spherical joints (an example of a connecting member, and other universal joints). Joints and the like can also be used) 23 and are connected to and supported by the first horizontal support plate 13 side.
Are connected to the second horizontal support plate 22 via a spherical joint 24 similar to the above so as to correspond to each vertex of the equilateral triangle.

On the first horizontal support plate 13 side, the connecting position at the distal end portion 21b of the actuator 21 whose base end portion 21a is grouped is one of the actuators of the other set adjacent to the base end portion 21a. 21 so as to form a pair with the front end 21b of the base 21. In the following description, the first horizontal support plate 13 may be referred to as a base and the second horizontal support plate 22 may be referred to as an end effector, and the attitude control body 3 is also referred to as a parallel link body.

On the crane device side, a suspension control device for controlling the amount of expansion and contraction of each actuator 21 to control the position and posture of the second horizontal support plate 22 is provided. The suspension control device is provided with an anti-vibration function capable of performing anti-vibration of the container suspended via the attitude control body 3.

As shown in FIG. 6, the suspension control device 25
Is a displacement detector 31 for detecting the amount of expansion and contraction of each actuator 21 (specifically, the amount of displacement or displacement of the rod portion of the hydraulic cylinder device), and the hydraulic pressure on the piston side and rod side of each actuator 21 A pressure detector 32 (32A, 32B) for detecting the pressure generated in the chamber, and a force calculation unit (piston) for inputting the detected pressure from both pressure detectors 32 and obtaining the force generated in each actuator 21 The difference between the force generated by the hydraulic pressure on the rod side and the force generated by the hydraulic pressure on the rod side is obtained) 33, and the position of the coordinate axes (x, y, (two positive and negative directions with respect to each axis of z) and postures around the coordinate axes (rotation angles α, β,
operating device 3 for operating two positive and negative directions for γ)
4 and an operation signal (operation instruction) given by the operation device 34 to input a position instruction (x, y, and x) of a second horizontal support plate (hereinafter referred to as an end effector) 22.
z) and a position / posture command unit 35 that outputs posture commands (α, β, γ), and inputs each command from the position / posture command unit 35 to determine the amount of expansion / contraction of each actuator 21 and And an actuator expansion / contraction amount calculation unit (also referred to as an actuator length conversion unit, hereinafter referred to as an expansion / contraction amount calculation unit) 36 that is output to a drive control unit (PID control unit) 26, and a hanging height of the container (for example, an end effector and a gripping unit). A hanging distance calculating unit 37 for calculating a vertical distance from the plate body based on a rotation amount input from a rotation amount detector (not shown, but using an encoder or the like) of the drum provided on the winding drum 10; This hanging distance calculation unit 3
Input the suspension height from 7 and find its second derivative 2
The component axial force (f, in the three-dimensional coordinate axis direction (x, y, z)) generated in the attitude control body 3 by inputting the forces from the force differential calculating unit 38 and the force calculating units 33 of the actuators 21 _x, f _y, the torque (rotational force at f _z) and the three-dimensional coordinate around) (t _x, t _y, also referred to as output calculation unit (output conversion section for obtaining a t _z)) and 39, the output calculation unit 39 Input each axial force and each torque, and shake amount (δ _x , δ _y , δ _z ) and shake angle (δα, δβ, δγ) in each axis direction
(Hereinafter, the shake amount and the shake angle may be collectively referred to as a shake amount, etc.)
A mass calculator 41 for inputting a shake amount from the shake calculator 40 and a second-order differential value of the suspension height from the second-order differential calculator 38 to obtain the mass of the container;
Position calculating unit 42 for obtaining the position of the center of gravity of the container by inputting the amount of shake from the robot, and the mechanical unit which receives the signal such as the amount of shake obtained by the shake calculating unit 40 and rides this signal. Filter (specifically, a low-pass filter is used) 43 for removing high-frequency noise components such as vibration of the sensor, rigidity at the mounting portion of the detector, electrical and disturbance, etc.
And a signal such as the amount of shake that has passed through the filter unit 43 is input, and the suspension height from the suspension distance calculation unit 37, the mass of the baggage from the mass calculation unit 41, and the signal from the center of gravity calculation unit 42 A gain unit 44 for inputting the position of the center of gravity and multiplying the signal by an optimum gain corresponding to each detected value, and a signal such as the amount of shake from the gain unit 44 are input. And the weight of the load from the mass calculator 41 and the position of the center of gravity from the center-of-gravity position calculator 42 are input to obtain the optimum phase according to each detected value to adjust the phase of the signal. And a subtraction unit 46 that subtracts each signal such as the amount of shake whose phase has been adjusted by the phase adjustment unit 45 from the command value from the position / posture command unit 35 and feeds back the signal. It is provided.

Here, the details of the processing performed by the above-mentioned command section, each arithmetic section and the like will be described in detail. First, position
The processing in the posture command unit 35 will be described.

The position / orientation command unit 35 calculates the expansion / contraction amount based on the operation signal input by the operation device 34.
6, a position and orientation command of the end effector 22 to be output is obtained.

That is, a total of six operation buttons, x and y, provided by the operator on the operation device 34 for operating the coordinate axes of the three-dimensional coordinates (x, y, z) in two positive and negative directions.
The movement of the container is instructed to the end effector 22 by a total of six operation buttons operated in the positive and negative directions about each of the y and z coordinate axes. For example, when an operation button in the positive direction of the x-axis is pressed, an operation amount (vector X; described later) is obtained in accordance with the pressed time, and this operation amount is output to the expansion / contraction amount calculation unit 36.

Next, the operation amount obtained by the position / posture command unit 35 is input to the expansion / contraction amount calculation unit 36, and the expansion / contraction amount of the actuator 21 according to this operation amount is obtained.

The relationship between the position and attitude of the end effector 22 of the attitude control body 3 and the amount of expansion and contraction of the actuator 21 is expressed by the following equations (1) and (2). In the following description, * (asterisk) or bold characters is used as a symbol representing a vector.

The following equation (1) indicates the amount of expansion / contraction s _i of the actuator 21. In the equation (1), the position of the end effector 22 on the three-dimensional coordinate axis is represented by * p = {x, y, z} ^T , and the rotational attitude about each axis on the three-dimensional coordinate axis is represented by * ω = {α, β, γ｝ ^T ,
The operation amount obtained by combining these positions and postures is * X =
｛P, ω｝ ^T = ｛x, y, z, α, β, γ｝ ^T
Also, the coordinates of the connecting portion (spherical joint portion) of the actuator 21 with the first horizontal support plate 13 on the base side coordinate system (first horizontal support plate side coordinate system) are represented by * a _i [i (= 1 to 6). The value of the)
Indicates the number of the actuator].
Represents coordinates in the first end effector side coordinate system (second horizontal support plate side coordinate system) (local coordinates) * in ^B b _i, also a rotation matrix for converting the coordinate system of the end effector side to the base coordinate system R And the amount of expansion / contraction * s of the actuator 21 is represented by {s ₁ , s ₂ ,... S ₆ } ^T
It is represented by

[0029]

(Equation 1) For example, when an operation is performed in the positive direction of the x-axis, while the operation button is being pressed, the position / posture command unit 35 outputs *
X of X is increased at a predetermined rate (for example, moved at a rate of 0.05 mm per 0.01 second). Of course, when the operation button in the negative direction is pressed, the value is reduced.

The operation amount (* X) is input to the expansion / contraction amount calculating section 36, and the expansion / contraction amount (s _i ) of each actuator 21 is obtained based on the above equation (2). Next, the output operation unit 39 will be described.

In the output calculating section 39, the force (f) generated in each actuator 21 based on the following equation (3)
_x, f _y, f _z) and the torque _{(t x, t y, t} z) is obtained. However, (3) where, J ^T denotes a transposed matrix of the Jacobian matrix, also * F _{is, {f x, f y,} f z, t x, t y,
_tz ｝ ^T.

[0032]

(Equation 2) Next, the mass calculation unit 41 performs the following calculation processing.

That is, the mass of the container is the sum of the vertical components of the respective wire tensions, and is the vertical component f _z in the output of the attitude control unit 3. However, when the winding operation is performed, the effect of the acceleration at the time of winding is performed. It is included. Therefore,
According to the following equation (4), the effect is removed in consideration of the hoisting acceleration (second-order differential value of s). However, (4)
Where g is the gravitational acceleration and m is the mass of the container.

[0034]

(Equation 3) Next, calculation processing in the center-of-gravity position calculation unit 42 will be described.

As shown in FIG. 7, since the change in the position of the center of gravity G of the container W at the time of suspension mostly occurs in the longitudinal direction, the torque acting on the attitude control body 3 around the x-axis is t _x
And its vertical component as f _z, and the container W
Let h be the distance from the center position C to the center of gravity G of
The following equation (5) holds.

[0036]

(Equation 4) Next, a description will be given of a process of obtaining a shake amount or the like in the shake calculation unit 40.

Traveling direction in container W (y-axis direction)
As shown in FIG. 7, since the wires are parallel to each other, y acts on the posture control body 3 in the same manner as the simple pendulum.
In the transverse direction (x-axis direction), since the wires are not parallel as shown in FIG. 8, the force is detected as the x-direction force acting on the attitude control body 3 and the torque around the y-axis. , The skew direction (z-axis direction)
As shown in FIG. 9, it is detected as a torque acting on the attitude control body 3 around the z-axis.

Therefore, the amount of deflection of the container W in each axis direction is (δ _x , δ _y , δ _z ), and the deflection angle around each axis is (δα,
δβ, δγ), the output * F of the attitude control body 3 is
The _{{f x, f y, f} z, t x, t y, t z} T and shake the transformation matrix A, can be represented by the following equation (6).

[0039]

(Equation 5) The transformation matrix A can be expressed by the following equation (7) using the coefficient c.

[0040]

(Equation 6) Next, suspension control of a load, that is, a container will be described.

The operator presses the operation button of the operation device 34 in the direction in which the container W is to be moved, that is, x,
When a positive / negative direction in each of the y and z axes and a positive / negative direction around each of the x, y and z axes are input, an operation amount (* X) is obtained by the position / posture command unit 35 according to the operation signal. Can be

The operation amount (* X) is input to the expansion / contraction amount calculating section 36, and the expansion / contraction amount (displacement amount) of each actuator 21 is obtained.
1 to the end effector 2
The PID control is performed for the position and orientation of No. 2 and the container W is moved to a predetermined position. The amount of expansion and contraction of each actuator 21 is determined by the displacement detector 31.
Are fed back to the drive control unit 26.

When the container W is shaken during the operation of moving the container, the shake is attenuated by the shake suppression function of the suspension control device 25.
Hereinafter, the shake suppression function will be described.

When a vibration occurs in the container W, the force and torque acting on the end effector 22 change based on the vibration, and thus these forces and torque are obtained.

That is, the forces generated by the actuators 21 are obtained by the respective force calculation units 33, and the obtained forces are input to the output calculation unit 39, and as described above, the equation (3) is used. using Jacobian matrix J ^T as shown in, the axial direction acting on the end effector 22 (x,
y, components axial force in _{z) (f x, f y} , f z) and the axis of the torque _{(t x, t y, t} z) is obtained.

Each of these outputs is input to the shake calculating unit 40, and as described above, the shake amounts (δ _x , δ _y , δ _z ) in the respective axis directions and the respective axes are calculated based on the equation (6). Are obtained (δα, δβ, δγ).

The signals such as the amount of shake are input to the filter unit 43, where high-frequency noise components are removed. Next, the signal of the shake amount or the like from which the noise has been removed is input to the phase adjustment unit 45, where the mass from the mass calculation unit 41, the center of gravity position from the center of gravity calculation unit 42, and the suspension distance calculation are calculated. Optimal gain * K = ｛k _x , k _y , k _z , according to the hanging height of the container from the section 37
k _x , k _y , k _z } are obtained.

That is, when the mass is large, the gain is set small, or when the suspension height is long (large), the swing cycle is long and the response is slow, so that the gain is set large.

Then, the signal is multiplied by the gain and input to the phase adjusting section 45. Also in the phase adjustment unit 45, the attenuation of the run-out is optimal according to the mass from the mass calculation unit 41, the center of gravity from the center of gravity calculation unit 42, and the hanging height of the container from the suspension distance calculation unit 37. (Vibration cycle).

That is, when the mass is large or the suspension height is long (large), the swing cycle is long,
A large phase shift (advancing phase amount) is set. Then, the phase-adjusted signal is subtracted from the signal from the position / posture command unit 35 by the subtraction unit 46, and the vibration of the container is reliably and quickly attenuated.

Here, the control of the phase adjustment will be described. For example, in a crane device, as a method of stopping the deflection of the load, there is a method of detecting the deflection of the load and feeding it back to the displacement of the traversing cart, but simply feeding back the detected deflection amount attenuates the deflection. I can't let that happen.

Therefore, it is conceivable to feed back the first-order differential value of the shake. That is, by feeding back an amount (signal) whose phase is advanced by 90 degrees from the detected shake amount, the shake can be attenuated.

However, in general, when the detected shake is differentiated, the noise component is amplified, and the behavior of the traversing carriage may become oscillating and unstable. For this reason, it is conceivable to insert a filter that cuts noise. However, since the noise filter has a property of delaying the phase, the performance of the feedback control of the shake is reduced.

Therefore, in the phase adjusting section 45,
The signal whose phase is delayed by the filter unit 43 is inverted to 1
By delaying an amount obtained by subtracting the phase from 90 degrees by proceeding by 80 degrees, a signal whose phase is advanced by 90 degrees is obtained as a whole.

In other words, the signal from the position / posture instructing section 35 is fed back by adjusting the detected signal such as the amount of shake of the container so that the phase is advanced by 90 degrees, so that the shake of the container is ensured. And quickly decay.

The run-out period varies depending on the height of the suspension, the number of suspension wires or the manner of suspension, the mass of the container, the position of the center of gravity, and the like. However, it is preferable to use the measured value, and the delay in the filter section. The time also changes depending on the frequency of the shake, but it is also preferable to use the measured value.

The command to the telescopic actuator 21 also detects the torque acting on the end effector 22 and feeds back a signal about the deflection angle. That is, it is possible to attenuate even torsion.

As described above, the trolley of the crane device comprises a plurality of telescoping actuators and the second horizontal support plate which is supported by these actuators and suspends the container gripper. Since the posture control body is provided, the container suspended by the gripper can be easily and quickly brought into an arbitrary posture by the expansion and contraction operation of each telescopic actuator.

Further, as described above, the attitude control body constituted by the plurality of telescopic actuators and the second horizontal support plate supported by these actuators and suspending the holding tool of the container is provided. In addition to the position / posture command unit that controls the position and posture of the second horizontal support plate, the control unit controls the suspension control device to control each axial force in the three-dimensional coordinates and around each axis based on the force generated in each actuator. An output calculation unit for obtaining the torque of the shaft, a shake calculation unit for obtaining a shake amount in each axis direction and a shake angle around each axis based on an output from the output calculation unit, and a shake amount and a shake from the shake calculation unit. The gain section multiplies the corner by a gain according to the mass of the container and the hanging height to the container, and the signal multiplied by the gain is similarly applied to the mass and the container of the container. Since the phase adjuster that adjusts the phase according to the hanging height to the container is provided, the runout of the container can be attenuated easily and quickly compared to the case where the conventional auxiliary wire is used. As compared with the case where the captured image of the container is used, the shake of the container can be reliably attenuated without being affected by external factors such as weather.

In addition, a center-of-gravity position calculating unit for obtaining the center-of-gravity position of the container is provided, and the center-of-gravity position is input to the gain unit and the phase adjusting unit, so that the vibration of the container can be more reliably attenuated. it can.

Further, between the shake calculating section and the gain section,
Since the filter unit for removing noise is provided, the shake of the container can be more reliably attenuated. By the way, in the attitude control body according to the above-described embodiment, the second horizontal support plate, which is an end effector that directly hangs the load, is positioned above the telescopic actuator. The position may be arranged upside down. That is, as shown in FIG. 10 and FIG. 11, in this attitude control body 3 ′, the base end 21 a of each extendable actuator 21 is connected to and hung from the lower surface of the first horizontal support plate 13, and The second horizontal support plate 22 may be connected and held to the lower end portion 21b. With such a configuration, the traversing trolley (moving trolley) 2 ′
Can be made smaller to make it more compact.

In the above embodiment, the attitude control body is constituted by six telescopic actuators, but may be constituted by, for example, eight telescopic actuators.

In this case, as shown in FIGS. 12 and 13, the telescopic actuator 5 constituting the attitude control body 51 is used.
The two base ends 52a are connected and supported one by one at four corners of a first horizontal support plate 53 formed in a rectangular shape,
The tip 52b of each actuator 52 is connected to the center of each side of the second horizontal support plate 54 on the end effector side formed in a rectangular shape.

[0064]

As described above, according to the construction of the crane apparatus of the present invention, the movable body is provided with a plurality of telescopic actuators and the second horizontal plane supported by these actuators and suspending the baggage holder. Since the posture control body composed of the support plate is provided, the luggage suspended by the gripping tool can be easily and quickly brought into an arbitrary posture by the expansion and contraction operation of each telescopic actuator. .

Further, according to the structure of the apparatus for controlling the suspension of the load in the crane apparatus of the present invention, in addition to the position / posture command section for controlling the position and the posture of the second horizontal support plate, it is generated for each telescopic actuator. An output calculating unit for calculating the coordinate axial force and the rotational force around each coordinate axis in the three-dimensional coordinates based on the force to be applied, and determining the amount of shake in each coordinate axis direction and the shake angle around each axis based on the output from the output arithmetic unit A shake calculation unit is provided, a gain unit that multiplies the shake amount and the shake angle from the shake calculation unit by a gain according to the mass of the load and the vertical distance to the load, and a signal obtained by multiplying the gain by the gain Because a phase adjustment unit that adjusts the phase according to the mass and the vertical distance to the load is provided,
Compared to the case where a conventional auxiliary wire is used, the swing of the load can be easily and quickly attenuated,
Compared to the case of using the photographed image of the conventional luggage, the swing of the luggage can be reliably attenuated without being affected by external factors such as climate.

[Brief description of the drawings]

FIG. 1 is a side view of a main part of a crane device according to an embodiment of the present invention.

FIG. 2 is a front view of a main part of the crane device.

FIG. 3 is a perspective view showing a wire hook in the crane device.

FIG. 4 is a side view showing a schematic configuration of a posture control body in the crane device.

FIG. 5 is a plan view showing a schematic configuration of a posture control body in the crane device.

FIG. 6 is a block diagram showing a schematic configuration of a suspension control device of the crane device.

FIG. 7 is a schematic side view illustrating a swing state of a container in the crane device.

FIG. 8 is a schematic front view illustrating a swing state of a container in the crane device.

FIG. 9 is a schematic plan view illustrating a swing state of a container in the crane device.

FIG. 10 is a side view showing a schematic configuration of a posture control body according to a modification of the embodiment.

FIG. 11 is a plan view showing a schematic configuration of a posture control body according to a modification of the embodiment.

FIG. 12 is a side view showing a schematic configuration of a posture control body according to another embodiment of the present invention.

FIG. 13 is a plan view showing a schematic configuration of a posture control body according to another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Horizontal boom 2 Traversing carriage 3 Attitude control body 4 Grasping device 5 Grasping plate 7 Hanging wire 13 First horizontal support plate 21 Telescopic actuator 22 Second horizontal support plate 26 Drive control unit 31 Displacement detector 32 Pressure detector 33 Force calculation unit 34 Operating device 35 Position / posture command unit 36 Actuator expansion / contraction amount calculation unit 37 Hanging distance calculation unit 38 Second-order differentiation calculation unit 39 Output calculation unit 40 Shake calculation unit 41 Mass calculation unit 42 Center of gravity calculation Unit 43 filter unit 44 gain unit 45 phase adjustment unit

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Shuji Miyake 1-7-89 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Osamu Murakami 1-chome, Minami-Kohoku, Suminoe-ku, Osaka-shi, Osaka No. 7-89 Hitachi Zosen Corporation (72) Inventor Toshiaki Morii 1-89 Minami Kohoku, Suminoe-ku, Osaka City, Osaka Prefecture F-term in Hitachi Zosen Corporation 3F004 EA24 KB01 3F203 AA06 CA02 CC02 DA08 EC08 3F204 BA04 DA02 EA01

Claims (4)

[Claims] An attitude control body is provided on a movable body movably provided on a horizontal member.
A first support plate that holds a baggage holding tool via four ropes and holds the attitude control body on the moving body side; and a plurality of telescopic actuators mounted on the first support plate. And a second support plate provided through the first support plate, and a winding device for winding the four ropes is disposed on the second support plate. 2. A plurality of telescopic actuators, a posture of which is controlled by the telescopic actuators, and a luggage grasping tool attached to a movable carriage movably provided on the horizontal member for suspension via a cord. A suspension control device for controlling the posture control body of a crane device provided with a posture control body comprising a suspension plate body to be suspended, comprising: an operation signal input from an operation device; A position / posture command unit for obtaining a position and posture command of the suspension plate body in the control body; and inputting each command from the position / posture command unit to obtain an expansion / contraction amount of each telescopic actuator in the posture control body. And an actuator expansion / contraction amount calculation unit that transfers the expansion / contraction amount to the control unit of each telescopic actuator. A suspension distance calculation unit for obtaining a direct distance, a force calculation unit for obtaining a force generated in each of the telescopic actuators, and a force in the three-dimensional coordinates acting on the plate for suspension by inputting a force from the force calculation unit. An output calculation unit for calculating the coordinate axial force and the rotational force around each coordinate axis; and a shake for obtaining the shake amount on each coordinate axis and the shake angle around each coordinate axis by inputting each axial force and each rotational force from the output calculation unit. A calculation unit; a mass calculation unit that calculates the mass of the baggage by inputting a shake amount and a shake angle from the shake calculation unit and a second-order differential value of the vertical distance from the hanging distance calculation unit; And a gain unit for multiplying the input signal by a gain according to the mass from the mass calculation unit and the vertical distance from the suspension distance calculation unit, and a gain unit from the gain unit. Turn on signal At the same time, after adjusting the phase of this input signal according to the mass from the mass calculation unit and the vertical distance from the suspension distance calculation unit, the signal whose phase has been adjusted is transmitted from the position / posture command unit. And a phase adjuster for feeding back the signal to the crane device. 3. A center of gravity calculation unit for calculating the position of the center of gravity of the baggage by inputting a shake amount and a shake angle from the shake calculation unit, and a gain unit for calculating the position of the center of gravity determined by the center of gravity calculation unit. 3. The apparatus according to claim 2, wherein the gain and the phase are adjusted by inputting the gain and the phase to the phase adjuster. 4. 4. A filter unit for removing noise is provided between the shake calculating unit and the gain unit.
Or the suspension control device for cargo in the crane device according to item 3.