JP2012184060A - Crane and control method thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a crane and a control method thereof capable of turning a cargo handling tool at an optional angle, in the crane having the cargo handling tool (for example, a crab bucket).SOLUTION: A trolley 2 has two movable sheaves 21 for supporting two suspension wire ropes W3 and W4 and moving devices 22 arranged the movable sheaves 21, and simultaneously performs at least two control or independently performs one control among cargo handling tool lifting control for winding or sending out the two suspension wire ropes W3 and W4 at the same speeds by a sea side suspension drum D3 and a land side suspension drum D4, trolley traverse motion control for winding one of the two suspension wire ropes W3 and W4 and sending out the other, and cargo handling tool turning control for turning R the cargo handling tool 3 with the vertical direction z as an axis accompanied by the movement of the movable sheaves 21 by moving the movable sheaves 21 in the traverse motion direction x of the trolley 2 by the moving devices 22.

Description

  The present invention relates to a crane having a trolley and a cargo handling device (for example, a club bucket, a mocco, a spreader, etc.) suspended by the trolley.

  A crane (also referred to as a club bucket unloader) having a club bucket is used for loading ore, minerals, etc. (hereinafter referred to as bulk cargo) (see, for example, Patent Document 1). This crane is used when handling a bulk load mounted on a bulk carrier at a port or carrying iron ore at a steelworks or the like.

  FIG. 5 shows an outline of a crane 1X having a club bucket used in a harbor or the like. The crane 1X includes a leg structure 50, a machine room 51, a boom 52 and a girder 53, a trolley 2X, and a club bucket 3X that is a cargo handling tool. The crane 1 </ b> X has a plurality of drums D installed in the machine room 51 and a plurality of sheaves S respectively installed at the ends of the boom 52 and the girder 53. A wire rope (hereinafter referred to as a rope) W is wound around each drum D. The plurality of ropes W are connected to the club bucket 3X from the drum D through the sheave S, respectively. Note that x indicates the transverse direction x of the crane 1X, and z indicates the vertical direction z.

  In FIG. 6, the schematic of the action | operation part of the crane 1X is shown. The crane 1X has a trolley 2X and a club bucket 3X. The crane 1X includes two operation wire ropes (hereinafter referred to as operation ropes) W1 and W2 for operating the opening and closing of the club bucket 3X, and two suspension wire ropes (hereinafter referred to as suspension) that support the club bucket 3X. W3, W4). Further, the crane 1X has four drums D and four sheaves S corresponding to the four ropes W. Here, D1 is a sea side operation drum, D2 is a land side operation drum, D3 is a sea side suspension drum, and D4 is a land side suspension drum. S1 is a sea side operation sheave, S2 is a land side operation sheave, S3 is a sea side suspension sheave, and S4 is a land side suspension sheave.

  The trolley 2X includes two operation rope sheaves 41 corresponding to the four ropes W and two suspension rope sheaves 42. Furthermore, the club bucket 3X includes two bucket portions 31 and an opening / closing mechanism portion 32 for opening and closing the bucket portion 31.

  Next, the operation of the crane 1X will be described. The crane 1X controls the opening / closing operation of the club bucket 3X, the vertical movement of the club bucket 3X, and the transverse operation of the trolley 2X (movement of the trolley 2X in the transverse direction x) by four drums D that can be independently controlled to rotate. be able to. This will be specifically described below.

  First, club bucket opening / closing control will be described. When opening the club bucket 3X, the drums D1 and D2 are controlled and the operation ropes W1 and W2 are fed out. When closing the club bucket 3X, the operation ropes W1 and W2 are wound up.

  Next, club bucket lifting control will be described. When raising the club bucket 3X, the drums D1 to D4 are controlled, and the operation ropes W1 and W2 and the suspension ropes W3 and W4 are wound at the same speed. When lowering the club bucket 3X, the operation ropes W1, W2 and the suspension ropes W3, W4 are sent out at the same speed.

Finally, trolley traverse control will be described. When the trolley 2X is moved to the sea side, the drums D1 to D4 are controlled, the sea side operation rope W1 and the suspension rope W3 are wound up, and the land side operation rope W2 and the suspension rope W4 are sent out. At this time, the rotational speeds of the four drums D are the same. When the trolley 2X is moved to the land side, the operation rope W2 and the suspension rope W4 on the land side are wound up, and the operation rope W1 and the suspension rope W3 on the sea side are sent out.

  However, the crane 1X has a problem that the opening / closing direction of the club bucket 3X cannot be controlled. That is, the club bucket 3X cannot turn in the turning direction R (see FIG. 6) with the vertical direction z as the central axis. Therefore, there are places in the crane 1X where it is difficult to carry out the cargo handling work by the club bucket 3X, such as the vicinity of the side wall in the bulk of the bulk carrier. In the past, a bulldozer was carried into the hold, and the bulldozer was used to collect bulk cargo in the center of the hold. The handling work by the crane 1X requires a lot of time and personnel, and there is a problem that the handling efficiency is low.

EP 0920399 Specification

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a crane capable of turning a cargo handling tool at an arbitrary angle in a crane having a cargo handling tool (for example, a club bucket) and a control method thereof. Is to provide.

  The crane control method according to the present invention for achieving the above object is a crane having a leg structure, a boom and a girder installed on the leg structure, a trolley, and two suspension wire ropes. One of the suspension wire ropes is connected from the sea side suspension drum to the sea side suspension sheave installed on the boom and the cargo handling equipment via the trolley, and the other suspension wire rope is connected to the land. A land-side suspension sheave installed on the girder from a side suspension drum, and two movable sheaves connected to the cargo handling equipment via the trolley, the trolley supporting the two suspension wire ropes; , Having a moving device installed on the movable sheave, and in a plan view of the upper surface of the cargo handling equipment, the location where the cargo handling equipment and the two suspension wire ropes are connected as two suspension points, A straight line connecting the suspension points A crane control method configured to have a predetermined angle with respect to the transverse direction of the trolley, wherein the two suspension wire ropes are connected to each other by the sea side suspension drum and the land side suspension drum. The lifting / lowering control of the cargo handling equipment that winds or sends out at the same speed, the trolley traverse control that winds one of the two suspended wire ropes and sends the other, and the movable sheave is moved in the traverse direction of the trolley by the moving device. In addition, at least two controls among the cargo handling device turning control in which the cargo handling device turns around the vertical direction as the movable sheave moves are performed simultaneously, or any one of the controls is performed independently.

  With this configuration, when the movable sheave is moved, the cargo handling tool can be turned around the vertical direction. Therefore, cargo handling efficiency can be improved. Further, for example, a plurality of controls can be realized at the same time, for example, turning the cargo handling equipment (loading equipment turning control) while turning the cargo handling equipment (loading equipment turning control), so that the handling time can be shortened. .

In order to achieve the above object, a crane control method according to the present invention includes a leg structure, a boom and a girder installed on the leg structure, a trolley, two suspension wire ropes, and two operations. A crane having a wire rope, wherein one of the suspension wire ropes is connected from a sea side suspension drum to a sea side suspension sheave installed on the boom and a club bucket via the trolley; A suspension wire rope is connected from a land side suspension drum to a land side suspension sheave installed on the girder and the club bucket via the trolley, and one of the operation wire ropes is connected to the sea side operation drum. The sea-side operation sheave installed on the boom and the club-bucket connected to the club bucket via the trolley, and the other operation wire rope is installed on the girder from the land-side operation drum. Connected to the club bucket via the trolley, the trolley supporting two movable sheaves supporting the two suspension wire ropes, a moving device installed on the movable sheave, and two Two fixed sheaves for supporting the operation wire rope, and the club bucket has two bucket parts, an opening / closing mechanism part, and two arm parts, and the two operation wire ropes, Each is connected to the opening / closing mechanism via the fixed sheave, and the two suspension wire ropes are connected to the arm via the movable sheave, respectively, in plan view of the upper surface of the club bucket, A clay constructed such that a portion where the arm portion and the suspension wire rope are connected is defined as two suspension points, and a straight line connecting the suspension points has a predetermined angle with respect to the transverse direction of the trolley. A control method for winding and unloading the two operation wires and ropes at the same speed with the sea side operation drum and the land side operation drum, and the sea side suspension drum and the sea side operation drum. A load lifting control that winds or sends the two suspension wire ropes at the same speed with a land-side suspension drum, and a trolley traverse control that winds one of the two suspension wire ropes and sends the other. The movable sheave is moved in the transverse direction of the trolley by the moving device, and at least two of the cargo handling device turning controls in which the cargo handling device is swung around the vertical direction as the movable sheave moves, Or any one control is performed independently, It is characterized by the above-mentioned. With this configuration, the same effects as described above can be obtained.

  In the crane control method described above, the two suspension wire ropes are unwound or wound when the cargo handling device turning control is performed, and the suspension wire from the movable sheave to the cargo handling device or the club bucket. Control is performed to keep the length of the rope constant. With this configuration, it is possible to prevent the height of the cargo handling tool from changing as the cargo handling tool turns. Further, when the cargo handling tool is a club bucket, the club bucket can be prevented from opening and closing as the club bucket turns.

  A crane according to the present invention for achieving the above object is a crane having a leg structure, a boom and a girder installed on the leg structure, a trolley, and two suspension wire ropes. The suspension wire rope is connected from the sea side suspension drum to the sea side suspension sheave installed on the boom and the cargo handling equipment via the trolley, and the other suspension wire rope is coupled to the land side suspension. From a drum, a land-side suspension sheave installed in the girder, and a crane connected to the cargo handling equipment via the trolley, the trolley supports two movable sheaves that support the two suspension wire ropes; A moving device installed on the movable sheave; in plan view of the upper surface of the cargo handling equipment, the location where the cargo handling equipment and the two suspension wire ropes are connected is defined as two suspension points; Tied a hanging point Line, characterized by being configured so as to have a predetermined angle with respect to the transverse direction of the trolley. With this configuration, the same effects as described above can be obtained.

In order to achieve the above object, a crane according to the present invention comprises a leg structure, a boom and a girder installed on the leg structure, a trolley, two suspension wire ropes, and two operation wire ropes. A crane having
One of the suspension wire ropes is connected from the sea side suspension drum to the sea side suspension sheave installed on the boom and the club bucket via the trolley, and the other suspension wire rope is connected to the land side. From the suspension drum to the land side suspension sheave installed on the girder, and connected to the club bucket via the trolley, one of the operation wire ropes from the ocean operation drum to the sea side installed on the boom The operation sheave is connected to the club bucket via the trolley, and the other operation wire rope is connected from the land-side operation drum to the land-side operation sheave installed in the girder and the club bucket via the trolley. In the crane, the trolley has two movable sheaves supporting the two suspended wire ropes, a moving device installed on the movable sheave, and the two operations. There are two fixed sheaves that support the ear rope, and the club bucket has two bucket parts, an opening / closing mechanism part, and two arm parts, and the two operation wire ropes are fixed respectively. Connected to the opening / closing mechanism through a sheave, and the two suspension wire ropes are connected to the arm through the movable sheave, respectively, and in the plan view of the upper surface of the club bucket, A portion where the suspension wire rope is connected is defined as two suspension points, and a straight line connecting the suspension points is configured to have a predetermined angle with respect to the transverse direction of the trolley. .

  According to the crane according to the present invention, in a crane having a cargo handling tool (for example, a club bucket), a crane capable of turning the cargo handling tool at an arbitrary angle and a control method thereof can be provided.

It is the figure which showed the trolley and club bucket of the crane of embodiment which concerns on this invention. It is the figure which showed the trolley and club bucket of the crane of embodiment which concerns on this invention. It is a plane schematic diagram of the club bucket of the crane of an embodiment concerning the present invention. It is a plane schematic diagram of the club bucket of the crane of an embodiment concerning the present invention. It is the figure which showed the conventional crane. It is the figure which showed the operation part of the conventional crane.

  Hereinafter, a crane according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows an outline of the vicinity of a trolley 2 and a cargo handling equipment (hereinafter, described as an example of a club bucket) 3 of a crane 1 (not shown) according to an embodiment of the present invention. The trolley 2 has two movable sheaves 21 each having a moving device 22 and two fixed sheaves 23. The club bucket 3 has two bucket portions 31, an opening / closing mechanism portion 32, and two arm portions 33. Further, the two operation wire ropes (operation ropes) W <b> 1 and W <b> 2 are connected to the opening / closing mechanism unit 32 via the fixed sheave 23. Further, the two suspension wire ropes (suspension ropes) W3 and W4 are connected to the arm portion 33 of the club bucket 3 via the movable sheave 21, respectively. In addition, x indicates the transverse direction x of the crane 1 and trolley 2, y indicates the traveling direction y of the crane 1, z indicates the vertical direction, and R indicates the turning direction R of the club bucket 3.

  Here, in the arm part 33, the point which connected the suspension ropes W3 and W4 is made into the suspension points P1 and P2. The suspension points P1 and P2 are positioned away from the center of the club bucket 3 in plan view. Further, in a plan view, the straight line connecting the two suspension points P1 and P2 is determined so as to intersect with the transverse direction x of the trolley 2 (crane 1) at a predetermined angle.

  The moving device 22 may be configured to be able to control the position of the movable sheave 21. Specifically, an electric actuator, a hydraulic cylinder, an air cylinder, a screw jack cylinder, a rack and pinion mechanism, and the like can be used.

Next, turning control (cargo implement turning control) of the club bucket 3 of the crane 1 will be described. First, the moving mechanism 22 is operated to move the position of the movable sheave 21. The two movable sheaves 21 move in directions opposite to each other (such as a direction of approaching or separating) in the transverse direction x. The movement of the movable sheave 21 causes the club bucket 3 to turn in the turning direction R with the vertical direction z as the central axis (see FIG. 2). At this time, according to the moving distance of the movable sheave 21,
It is desirable to perform control of feeding (or winding) the suspension ropes W3 and W4 from the drum D. This is because the length of the suspension ropes W3 and W4 from the movable sheave 21 to the suspension points P1 and P2 is changed due to the movement of the movable sheave 21, and this affects the height of the club bucket 3 and the opening / closing operation. This is because

  In addition, the position where the mating surface of the bucket part 31 in the club bucket 3 is parallel to the transverse direction x is the initial position of the club bucket 3 (state of FIG. 1), and the mating surface of the bucket part 31 is the transverse direction x. Although the position at right angles is the turning state (the state shown in FIG. 2), the present invention is not limited to this configuration. The initial position of the club bucket 3 may be a position where the mating surface of the bucket portion 31 is perpendicular to the transverse direction x (state shown in FIG. 2). Furthermore, a state where the mating surface of the bucket portion 31 has a predetermined angle with the transverse direction x can be set as the initial position.

  With the above configuration, the following operational effects can be obtained. First, turning control of the club bucket 3 of the crane 1 becomes possible, and cargo handling efficiency can be improved. In particular, since the work of collecting bulk cargo by a bulldozer or the like is reduced or unnecessary, the time and personnel required for the cargo handling work can be suppressed.

  Secondly, the time required for the cargo handling work can be shortened. This is because cargo handling equipment (club bucket) turning control can be executed simultaneously with other club bucket opening / closing control, club bucket lifting control, and trolley traverse control. That is, for example, the club bucket 3 can be swung while being lowered into the hold.

  3rdly, according to the structure which performs the control which pays out or winds a suspension rope according to the moving distance of the movable sheave 21, the operativity of a crane can improve and cargo handling efficiency can be improved. This is because it is possible to prevent the club bucket from moving up and down or opening and closing with the cargo handling device turning control.

  Note that the turning angle of the club bucket 3 is not limited to the above-described 90-degree turning, and can be any angle between 0 degree and 90 degrees depending on the moving distance of the movable sheave 21.

  3 and 4 are schematic views showing the positional relationship of the club bucket 3, the movable sheave 21, and the fixed sheave 23 in plan view. The trolley 2 (not shown) has two fixed sheaves 23 and two movable sheaves 21. The club bucket 3 has two bucket portions 31 and two arm portions 33 projecting from the center portion of the club bucket 3 in the outer circumferential direction. Suspension ropes W3 and W4 (not shown) are connected to the arm portion 33 via the movable sheave 21, and the connection points are shown as suspension points P1 and P2. Further, in a plan view, an angle formed by a diagonal line connecting the two suspension points P1 and P2 and the transverse direction x is shown as an angle θ.

  Next, the turning control of the club bucket 3 will be described. First, as shown in FIG. 3, the two movable sheaves 21 are moved in the transverse direction x and in a direction (or a direction away from each other). Due to the movement of the movable sheave 21, the positions of the suspension ropes W3 and W4 (not shown) are changed, and a rotational force is generated in the club bucket 3 (see FIG. 4). FIG. 4 shows a state where the club bucket 3 is turned 90 degrees. The club bucket 3 can control the turning angle according to the moving distance of the movable sheave 21.

  In addition, the club bucket 3 should just have two suspension points P1 and P2 in the position shifted | deviated outside from the center of the club bucket 3 in planar view. Therefore, a club bucket that does not particularly form the arm portion 33 can be used.

  The positions of the suspension points P1 and P2 are preferably determined so that a straight line (diagonal line) connecting the suspension points P1 and P2 passes through the center of the club bucket 3 in plan view. Furthermore, if the suspension points P1 and P2 are positioned far from the center of the club bucket 3 in plan view, the accuracy of determining the turning angle of the club bucket 3 can be improved. On the other hand, if the suspension points P1 and P2 are close to the center of the club bucket 3 in plan view, the turning angle of the club bucket 3 can be increased even if the moving distance of the movable sheave 21 is small. That is, the trolley 2 can be reduced in size.

  In addition, the angle θ formed by the straight line (diagonal line) connecting the suspension points P1 and P2 in the initial state (state of FIG. 3) and the transverse direction x can be arbitrarily determined. Specifically, the range is 5 ° ≦ θ ≦ 175 °, preferably 30 ° ≦ θ ≦ 150 °, and more preferably θ = 45 ° or 135 °. This is because it becomes easy to maintain the opening direction of the club bucket 3 at a right angle or parallel to the wall surface of the hold. When θ = 45 degrees or 135 degrees and the turning angle of the club bucket 3 is 90 degrees, the length of the suspension rope from the movable sheave to the club bucket does not change. For this reason, it is not necessary to control the extending or winding of the suspension rope.

  From the above, it is possible to provide the crane 1 that can turn the club bucket 3 (loading implement) suspended by the trolley 2 in the turning direction R with the vertical direction z as the central axis. In addition to the crane having the club bucket 3, the present invention can also be employed in a crane having a cargo handling tool such as a mocco carrying a bulk load or a spreader handling a container. This crane makes it possible to change the direction of the container that handles the cargo.

DESCRIPTION OF SYMBOLS 1 Crane 2 Trolley 3 Cargo implement, Club bucket 21 Movable sheave 22 Moving device 23 Fixed sheave 31 Bucket part 32 Opening / closing mechanism part 33 Arm part W Wire rope, rope W1, W2 Operation wire rope, Operation rope W3, W4 Suspension wire rope , Suspension ropes P1, P2 suspension point x (crane and trolley) transverse direction R turning direction θ (angle formed by diagonal line connecting trolley transverse direction x and suspension points P1, P2)

Claims (5)

A leg structure, a boom and a girder installed on the leg structure, a trolley, and a crane having two suspension wire ropes, one of the suspension wire ropes from the sea side suspension drum, A sea-side suspended sheave installed on the boom, and a suspender wire sheave connected to the cargo handling equipment via the trolley, and a land-side suspended sheave installed on the girder from the land-side suspension drum; The trolley has two movable sheaves that support the two suspended wire ropes, and a moving device installed on the movable sheave.
In a plan view of the upper surface of the cargo handling equipment, the location where the cargo handling equipment and the two suspension wire ropes are connected is defined as two suspension points, and a straight line connecting the suspension points extends in the transverse direction of the trolley. A crane control method configured to have a predetermined angle with respect to the crane,
A load lifting control that winds or feeds the two suspension wire ropes at the same speed in the sea-side suspension drum and the land-side suspension drum;
A trolley traverse control for winding one of the two suspended wire ropes and feeding the other;
The movable sheave is moved in the traversing direction of the trolley by the moving device, and at least two of the cargo handling device turning controls in which the cargo handling device turns around the vertical direction as the movable sheave moves, or at the same time, A crane control method characterized by performing any one control independently. A crane having a leg structure, a boom and a girder installed on the leg structure, a trolley, two suspension wire ropes, and two operation wire ropes; From the side suspension drum, connected to the club bucket via the sea side suspension sheave installed on the boom and the trolley, the other suspension wire rope was installed from the land side suspension drum to the girder. A land-side suspended sheave and a club bucket connected to the club bucket via the trolley, and one of the operation wire ropes from a sea-side operation drum to a sea-side operation sheave installed on the boom. Connected to the bucket, the other operation wire rope, from the land side operation drum, to the land side operation sheave installed in the girder and to the club bucket via the trolley,
The trolley includes two movable sheaves that support the two suspended wire ropes, a moving device installed on the movable sheave, and two fixed sheaves that support the two operation wire ropes, The club bucket has two bucket parts, an opening / closing mechanism part, and two arm parts, and the two operation wire ropes are connected to the opening / closing mechanism part via the fixed sheaves, respectively. Connecting the suspension wire ropes of the books to the arm portions via the movable sheaves,
In a plan view of the upper surface of the club bucket, the portion where the arm portion and the suspension wire rope are connected is defined as two suspension points, and a straight line connecting the suspension points is preliminarily defined in the traversing direction of the trolley. A crane control method configured to have a predetermined angle,
Club bucket opening and closing control for winding or sending out the two operation wais and ropes at the same speed with the sea side operation drum and the land side operation drum;
A load lifting control that winds or feeds the two suspension wire ropes at the same speed in the sea-side suspension drum and the land-side suspension drum;
A trolley traverse control for winding one of the two suspended wire ropes and feeding the other;
The movable sheave is moved in the traversing direction of the trolley by the moving device, and at least two of the cargo handling device turning controls in which the cargo handling device turns around the vertical direction as the movable sheave moves, or at the same time, A crane control method characterized by performing any one control independently. During the cargo handling device turning control, the two suspension wire ropes are fed out or wound, and the length of the suspension wire rope from the movable sheave to the cargo handling device or the club bucket is kept constant. The crane control method according to claim 1, wherein the control is performed. A crane having a leg structure, a boom and a girder installed on the leg structure, a trolley, and two suspended wire ropes;
One of the suspension wire ropes is connected from a sea side suspension drum to a sea side suspension sheave installed on the boom and the cargo handling equipment via the trolley, and the other suspension wire rope is connected to the land side. From a suspension drum, a land-side suspension sheave installed in the girder, and a crane connected to the cargo handling equipment via the trolley,
The trolley has two movable sheaves supporting the two suspended wire ropes, and a moving device installed on the movable sheave;
In a plan view of the upper surface of the cargo handling equipment, the location where the cargo handling equipment and the two suspension wire ropes are connected is defined as two suspension points, and a straight line connecting the suspension points extends in the transverse direction of the trolley. A crane configured to have a predetermined angle with respect to the crane. A crane having a leg structure, a boom and a girder installed on the leg structure, a trolley, two suspension wire ropes, and two operation wire ropes;
One of the suspension wire ropes is connected from the sea side suspension drum to the sea side suspension sheave installed on the boom and the club bucket via the trolley, and the other suspension wire rope is connected to the land side. From the suspension drum, connected to the club bucket via the land-side suspension sheave installed in the girder and the trolley,
One of the operation wire ropes is connected from the sea side operation drum to the sea side operation sheave installed in the boom and the club bucket via the trolley, and the other operation wire rope is connected from the land side operation drum. In a crane connected to the club bucket via the trolley and a land side operation sheave installed in the girder,
The trolley has two movable sheaves that support the two suspended wire ropes, a moving device installed on the movable sheave, and two fixed sheaves that support the two operation wire ropes,
The club bucket has two bucket parts, an opening / closing mechanism part, and two arm parts,
Two operation wire ropes are connected to the opening / closing mechanism part via the fixed sheaves, respectively, and the two suspension wire ropes are connected to the arm parts via the movable sheaves, respectively.
In a plan view of the upper surface of the club bucket, the portion where the arm portion and the suspension wire rope are connected is defined as two suspension points, and a straight line connecting the suspension points is preliminarily defined in the traversing direction of the trolley. A crane configured to have a predetermined angle.

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