JP2007223745A - Container carrying crane, controller for moving body and control method for container carrying crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a container carrying crane capable of reducing adverse effects on operation by vibration of hanging load and vibration of a control room etc. and a control method for the container carrying crane etc. <P>SOLUTION: A control part 40 is provided between an operation lever 30 for operating the container carrying crane and a wire drive device 24. The control part 40 has a notch filter 41 receiving operation signals when an operator operates the operation lever 30 and removing vibration components in a specific frequency band of the operation signals. In the notch filter 41, vibration components of signals in the specific frequency band including natural frequency of the container carrying crane are removed. In the control part 40, the operation signals from which the vibration components are removed are input to the wire drive device 24. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a container transport crane used in a harbor or the like, a method for controlling a container transport crane, and the like.

To load and unload large containers on ships at harbors, large container transport cranes are used.
As shown in FIG. 1, the container transport crane 1 is movable along a rail 4 laid on an apron 7 of a quay 3 of a harbor 2, and a boom 6 extending horizontally on a leg 5. However, it is provided so that it may protrude from the apron 7 on the quay 3 above the ship 8 anchored along the quay 3 (for example, refer patent document 1).
In order to move the container to the boom 6, the wire driving device 10 that winds and unwinds the wire W and the wire W that is pulled out from the wire driving device 10 are positioned above the container so as to move along the boom 6. A carriage 11 that can be moved and moved, and a cockpit 12 for maneuvering the container transport crane 1 are provided. Here, the cockpit 12 is provided integrally with the carriage 11.
The container transport crane 1 having such a configuration is operated by an operator in the cockpit 12 to move along the rail 4, move the carriage 11 along the boom 6, and feed the wire W downward from the carriage 11. By adjusting the amount, the container can be moved freely in three directions.

JP 2005-145602 A

By the way, in the container transport crane 1, the occurrence of vibration in a suspended container has been a problem in recent years. Usually, the vibration is damped, but the vibration generated in the container when the container transport crane 1 is operated is not damped and does not stay forever. If the suspended container vibrates, it is not preferable because the container positioning operation becomes difficult and the working environment of the operator in the cockpit 12 is lowered.
The present invention has been made on the basis of such a technical problem. A container transport crane and a container transport capable of reducing the vibration of a suspended load, the vibration of a cockpit, and the like, and reducing the adverse effects of these vibrations. It aims at providing the control method of a crane, etc.

The inventors of the present invention who have conducted intensive studies to solve the above problems have found the following.
The vibration of the container during the operation of the container transport crane 1 has not occurred in the past, and has recently occurred since the weight of the container transport crane 1 has been reduced.
When the operation lever is operated in the cockpit 12 to move the container suspended by the container transport crane 1, the vibration phenomenon occurs. That is, the vibration is attenuated when the operator releases his hand from the control lever.

As a result of repeated investigations based on these events, the cause was identified.
Due to the weight reduction of the container transport crane 1, the natural frequency of the container transport crane 1 has decreased, and this has approached the natural frequency of the wire W. As a result, when the container transport crane 1 is operated to move the container and the tension of the wire W fluctuates, not only the container suspended on the wire W vibrates but also the fluctuation of the tension of the wire W results. Thus, the container transport crane 1 has come to resonate. When this vibration is transmitted to the cockpit 12 as well, the operator in the cockpit 12 is shaken, and the operation lever is moved unconsciously. As a result, the wire driving device 10 operates in response to the vibration input from the operation lever, and the wire W is wound up or fed out. As a result, the container suspended on the wire W vibrates. The vibration of the container does not stop.

The container transport crane of the present invention made for this purpose includes a pair of struts that are movable along a rail, a boom provided on the strut so as to extend in a substantially horizontal direction, and along the boom. A trolley that is movable, a wire that is drawn out from the drum provided on the boom toward the trolley along the boom, and hangs downward from the trolley to lift the container; An operation member that operates the rotation of the drum for feeding and winding, an operation chamber provided integrally with the carriage, and a control for controlling the rotation of the drum based on an operation signal input by the operation of the operation member A section. And a control part performs the process which suppresses that the vibration component of the specific frequency range contained in an operation signal is transmitted to rotation of a drum.
Thereby, when the vibration generated in the container transport crane by lifting the container is input to the operation member via the operator, the input vibration of the operation member is prevented from affecting the rotation operation of the drum. be able to.
As a process for suppressing the vibration component in the specific frequency range included in the operation signal from being transmitted to the rotation of the drum, for example, a method of positively rotating the drum in a direction to cancel the vibration component in the specific frequency range may be considered. However, it is preferable that the control unit is provided with a notch filter that removes a vibration component in a specific frequency range included in the operation signal, and the rotation of the drum is controlled based on the operation signal from which the vibration component has been removed by the notch filter. .
In addition to this, when the vibration signal in the specific frequency range is included in the operation signal, other means such as adjusting the position of the pulley of the wire so that the wire does not vibrate in the specific frequency range, etc. Thus, it is possible to perform a process of suppressing the vibration component in the specific frequency range included in the operation signal from being transmitted to the rotation of the drum.

  By the way, when using a notch filter, the control unit detects a vibration component of a constant frequency included in the operation signal, and removes a vibration component in a specific frequency range including the frequency of the detected vibration component from the operation signal. A filter may be set. In this way, the container transport crane can set the notch filter so that it can self-detect the frequency at which the vibration occurs and can effectively remove the vibration component included in the operation signal accordingly. Thereby, it is not necessary to set a notch filter in advance for each container transport crane, and the present invention can be made highly versatile.

The present invention is not limited to a container transport crane, and can be similarly applied to any mobile body that is self-propelled and that is operated by an operator. That is, the controller of the moving body of the present invention includes a notch filter that removes a vibration component in a specific frequency range included in an operation signal from an operation signal input by operating an operation member provided on the moving body, and a notch filter. Control means for controlling the drive of the operation target part by the operation member based on the operation signal from which the vibration component has been removed. By providing the traveling type moving body, even if the vibration generated in the moving body is transmitted to the operator and adversely affects the operation of the operation member, this can be reduced.
Such a moving body controller can be installed in an existing container transport crane.

  The present invention includes a pair of struts that are movable along a rail, a boom that is provided on the strut so as to extend in a substantially horizontal direction, a carriage that is movable along the boom, and a boom. A wire that is drawn out from the provided drum toward the carriage along the boom, hangs downward from the carriage to lift the container, and moves the column and carriage, and rotates the drum for feeding and winding the wire. It can also be set as the control method of the container conveyance crane provided with the operation member provided with the operation member operated and provided integrally with the trolley | bogie. This control method controls the rotation of the drum based on the step of removing the vibration component in the specific frequency range included in the operation signal input by the operation of the operation member by the notch filter, and the operation signal from which the vibration component has been removed. And a step.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to reduce having a bad influence on operation of a container conveyance crane or a moving body by vibration, and it can aim at the improvement of operation precision, workability | operativity, and operation environment.

Hereinafter, the present invention will be described in detail based on embodiments shown in the accompanying drawings.
FIG. 1 is a diagram for explaining a configuration of a container transport crane in the present embodiment.
As shown in FIG. 1, the container transport crane (moving body) 20 is movable along a rail 21 laid on the apron 7 of the quay 3 of the harbor 2. Above the ship 8 where a boom 23 extending horizontally extends from the apron 7 on the quay 3 along the quay 3 on the leg 22 of the container transport crane 20 that has wheels and is capable of traveling on the rail 21. It is provided to overhang.
In order to move the container to the boom 23, a wire driving device 24 for winding and unwinding the wire W and a wire W pulled out from the wire driving device 24 are positioned above the container so A cart 25 that can be moved and moved, and a cockpit 26 for maneuvering the container transport crane 20 are provided. Here, the cockpit 26 is provided integrally with the carriage 25 and is movable along the boom 23. In addition, the wire W is arranged so as to reach the carriage 25 along the boom 23 via the pulleys provided at various locations of the boom 23, and further hang down vertically from the carriage 25. A container is suspended from W.

  The container transport crane 20 having such a configuration is operated by an operator in the cockpit 26, and moves along the rail 21, moves the carriage 25 along the boom 23, and feeds the wire W downward from the carriage 25. By performing the adjustment, the container can be freely moved in three directions.

As shown in FIG. 2, in the present embodiment, the container transport crane 20 is provided in the cockpit 26, an operation lever (operation member) 30 for an operator to operate the container transport crane 20, and a wire drive A control unit (controller) 40 is provided between the device 24 and the apparatus 24.
The control unit 40 receives an operation signal when the operator operates the operation lever 30, removes a vibration component in a specific frequency range of the operation signal, and an operation signal passed through the notch filter 41 to the wire driving device 24. A driving circuit (control means) 42 is provided for driving a drum (target part) 27 that inputs and winds and winds the wire W in the wire driving device 24.

  The notch filter 41 includes a natural frequency of the container transport crane 20 (for example, (F ± t) Hz with respect to the natural frequency F of the container transport crane 20 where t is a constant value). The vibration component of the signal is set to be removed, so that the drive circuit 42 inputs the operation signal from which the vibration component in the certain frequency range is removed to the wire driving device 24.

FIG. 3 shows the effect of removing the vibration component of the signal in the specific frequency range in the notch filter 41, and the operation signal (A) including the vibration component in the specific frequency range passes through the notch filter 41 to generate vibration. The operation signal (B) having no component can be obtained. Thereby, when an operation (motion) having vibration in a specific frequency range is input to the operation lever 30, an operation signal from which the operation lever 30 has been removed can be transmitted to the wire driving device 24.
Therefore, when the container transport crane 20 is operated to move the container, and the fluctuation of the tension of the wire W occurs, the container suspended on the wire W vibrates, and the fluctuation of the tension of the wire W is caused. Even when the container transport crane 20 resonates and this vibration is transmitted to the cockpit 26, and vibration is input to the operation lever 30 unintentionally through the operator in the cockpit 26, this influence is removed, Originally, only the operation signal of the operation lever 30 that the operator has intentionally operated is input to the wire driving device 24. As a result, even when vibration occurs in the container, it can be quickly damped, and it is possible to avoid a decrease in the accuracy of the container moving operation and to prevent the work environment in the cockpit 26 from being deteriorated. It becomes possible.
Moreover, since such a control part 40 does not require a complicated program and can be realized by a simple circuit including the notch filter 41, the above-described effects can be obtained at low cost.

In the above embodiment, the notch filter 41 is used to remove the vibration component of the operation signal. However, a plurality of notch filters 41 having different frequency ranges for removing the vibration component may be provided. good. Thereby, it is also possible to reduce the influence of vibrations at a plurality of frequencies.
Further, the operation signal input to the control unit 40 is analyzed by an FFT (Fast Fourier Transform) analysis circuit to detect the peak frequency of the vibration component included in the operation signal, and the detected frequency is input to the notch filter 41. It is also possible to provide a program for setting. With such a configuration, even when the natural frequency of each container transport crane 20 is different, it is not necessary to set the notch filter 41 according to the natural frequency in advance, and it is more versatile. be able to.
In addition, the notch filter 41 does not remove the vibration component in the specific frequency range included in the operation signal, but the vibration component of the specific frequency is extracted from the operation signal by the notch filter or the like, and the vibration component of the specific frequency is extracted. When this is detected, it is also possible to adopt an active vibration suppression method in which the wire driving device 24 drives the wire W in the direction opposite to the vibration component.
Furthermore, the control unit 40 as described above is not limited to the container transport crane 20 and can be used to move various devices, vehicles, aircraft, ships, and the like as long as an operator (operator) gets on and operates (operates). It can be applied to the body as well, and this can effectively prevent the generated vibration from being transmitted to the operator and affecting the operation of the operator.
In addition to this, as long as it does not depart from the gist of the present invention, the configuration described in the above embodiment can be selected or changed to another configuration as appropriate.

It is a figure which shows the structure of the container conveyance crane in this Embodiment. It is a figure which shows the structure for suppressing the vibration in a container conveyance crane. It is an example of the operation signal when the vibration component of a specific frequency range is removed by the notch filter, and when it is not so.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 20 ... Container conveyance crane (moving body), 21 ... Rail, 22 ... Leg part, 23 ... Boom, 24 ... Wire drive device, 25 ... Dolly, 26 ... Cockpit, 27 ... Drum (target part), 30 ... Operation lever (Operation member), 40 ... control unit (controller), 41 ... notch filter, 42 ... drive circuit (control means), W ... wire

Claims (5)

A pair of struts capable of traveling along the rail,
A boom provided on the support column so as to extend in a substantially horizontal direction;
A carriage that is movable along the boom;
A wire that is drawn from the drum provided on the boom toward the carriage along the boom, and hangs downward from the carriage to lift the container;
An operation chamber that is provided integrally with the carriage, comprising an operation member that operates the rotation of the drum for moving the column and the carriage, and feeding and winding the wire;
A control unit that controls rotation of the drum based on an operation signal input by operating the operation member;
With
The said control part performs the process which suppresses that the vibration component of the specific frequency range contained in the said operation signal is transmitted to rotation of the said drum, The container conveyance crane characterized by the above-mentioned.   The control unit includes a notch filter that removes a vibration component in a specific frequency range included in the operation signal, and controls rotation of the drum based on the operation signal from which the vibration component has been removed by the notch filter. The container transport crane according to claim 1.   The control unit detects a vibration component having a constant frequency included in the operation signal, and sets the notch filter so as to remove a vibration component in a specific frequency range including the frequency of the detected vibration component from the operation signal. The container transport crane according to claim 2, wherein the container transport crane is performed. It is a mobile controller that is self-propelled and is operated by an operator.
A notch filter for removing a vibration component in a specific frequency range included in the operation signal from an operation signal input by an operation of an operation member provided on the moving body;
Based on the operation signal from which the vibration component has been removed by the notch filter, control means for controlling the driving of the operation target site by the operation member;
A controller of a moving object comprising: A pair of struts capable of traveling along the rail,
A boom provided on the support column so as to extend in a substantially horizontal direction;
A carriage that is movable along the boom;
A wire that is drawn from the drum provided on the boom toward the carriage along the boom, and hangs downward from the carriage to lift the container;
A container transport crane comprising an operation member for operating movement of the column and the carriage and rotation of the drum for feeding and winding the wire, and an operation chamber provided integrally with the carriage Control method,
Removing a vibration component in a specific frequency range included in an operation signal input by operating the operation member with a notch filter;
Controlling the rotation of the drum based on the operation signal from which vibration components have been removed;
A control method for a container transport crane.

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