JP2016033076A - Crane equipment and crane control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the delay of a hoisting operation and a decrease in efficiency of a cargo handling operation, which are caused by a time lag of an engine generator.SOLUTION: Taking the opportunity of making a hoisting attachment state detection sensor S detect a hoisting preparatory state toward the start of hoisting of a container 20 on the basis of a state of a hoisting attachment 10, a control circuit 5 automatically increases a revolving speed of an engine generator 1 to a revolving speed during the hoisting, before a hoisting operation is input.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a crane device, and more particularly to a power generation control technique for an engine generator used in a crane device that supplies electric power from an engine generator and a power storage device to an electric motor.

  A crane apparatus that loads and unloads containers in a container yard at a port uses a plurality of electric motors to perform operations such as rolling the container up and down, and traveling the crane and traversing the trolley. In order to supply operating electric power to these motors, the engine-driven power generation system is configured to supply necessary electric power to each electric motor using an engine generator that drives the electric generator using a diesel engine.

  In such a crane apparatus, the maximum load is obtained when accelerating the container, but there is a case where almost no electric power is required, such as when the container is lowered, and the load fluctuation is large. Therefore, a large engine generator is required to supply the appropriate power from the generator at the maximum load, but the facility scale exceeds the average load, which is inefficient in terms of facility costs and operation costs. Met.

  Conventionally, in order to reduce the scale of such an engine generator, both the engine generator and the power storage device are mounted on the crane device as power supply sources, and power is supplied from both the engine generator and the power storage device when the load increases. A so-called hybrid crane apparatus has been proposed in which electric power generated by an engine generator at low load or surplus electric power generated during regeneration is stored in a power storage device (see, for example, Patent Document 1). Thereby, since electric power is temporarily supplied from the power storage device to the electric motor, the scale of the engine generator can be reduced and the fuel consumption can be improved.

  In addition, a technique for determining the number of rotations of an engine generator according to the operation state of a crane without using a power storage device has been proposed (see, for example, Patent Document 2). This is based on the presence / absence of suspended load, grounding of the hanging tool or container to the ground or the lower container, rope slack, presence / absence of hoisting operation, and position of suspended load. Based on this, the rotational speed of the engine generator is determined. As a result, the engine generator can be controlled to an appropriate rotational speed, and fuel consumption can be suppressed without using a power storage device.

JP 2011-038418 A Patent registration No. 5412842

  However, in such a conventional technique, when starting the winding of the container, the rotation speed of the engine generator is increased at the start of winding, which is caused by the time lag at the time of the rotation speed increase specific to the engine generator. The rotation speed does not increase immediately. For this reason, there is a delay in the power supplied from the engine generator, and sufficient power is not supplied from the engine generator at the start of operation of the motor, so that the hoisting operation is delayed and the efficiency of the cargo handling work is also reduced. There was a point.

  For example, as in Patent Document 1, a rotation speed command for increasing the rotation speed from the idling rotation speed to the rated rotation speed is given to the engine generator after a certain period of time has elapsed from the grip command from the driver instructing gripping of the container. In the case of output, the power supplied from the engine generator rises to a sufficient value after the rotation speed command, and is significantly delayed from the gripping command. This is because the rotation speed of the engine generator does not increase immediately, but the time lag of the engine generator described above, that is, rises with a certain amount of time, and the power supplied from the engine generator accordingly, This is because power is generated after a certain number of revolutions is reached after a certain amount of time.

  Therefore, following the grip command, when the driver performs the container hoisting operation, the power supplied from the engine generator is not sufficient, so that the insufficient power will be supplied from the power storage device, As a result, the hoisting operation is delayed, and the efficiency of the cargo handling work is also reduced. For this reason, a power storage device having a large capacity is required, and the scale and cost of the power storage device increase. In general, an output current is limited in a power storage device in order to suppress a temperature rise, and an expensive power storage device with high performance is required when a capability of supplying a large current is required.

  Moreover, in patent document 2, when the wire rope which hangs a container has slack and the winding operation is not commanded, the engine generator is set to the number of revolutions corresponding to the power consumption at that time, and the wire rope is slack. When the hoisting operation is commanded or the wire rope is not loosened, the maximum speed is controlled. Therefore, the engine generator is controlled to the maximum rotational speed after the hoist operation is actually instructed or when the hoist operation is actually started. For this reason, as in Patent Document 1, due to the time lag of the engine generator described above, the power supplied from the engine generator is not sufficient, resulting in a delay in the hoisting operation and a decrease in the efficiency of the cargo handling work. .

  The present invention is for solving such problems, and provides a power generation control technology for an engine generator that can improve a delay in hoisting operation caused by a time lag of the engine generator and a decrease in efficiency of cargo handling work. It is aimed.

  In order to achieve such an object, the crane apparatus according to the present invention performs a cargo handling operation such as hoisting and lowering of a container gripped by a suspension by driving an electric motor with electric power supplied from an engine generator to a common bus. A crane state detection sensor for detecting that the container is in a winding preparation state for starting the winding of the container based on the state of the suspension tool, and the suspension state detection sensor A control circuit that raises the rotation speed of the engine generator to the rotation speed at the time of winding before the winding operation for instructing the start of winding is input when it is detected that the winding preparation state is detected And.

  In addition, a configuration example of the crane device according to the present invention further includes a power storage device that stores a part of power on the common bus and discharges the common bus to supplement the power when the motor is driven. ing.

  Further, in the configuration example of the crane device according to the present invention, the hanging state detection sensor is in a state in which the hanging portion is in proximity to the container, or in a state where the hanging portion is landed on the container. Or it comprises a sensor for detecting the hoisting preparation state by detecting that the container has been gripped.

  Moreover, one structural example of the said crane apparatus concerning this invention consists of a proximity sensor in which the said hanging tool state detection sensor is provided in the bottom face of the said hanging tool, and detects that the said hanging tool approached the said container. Is.

  Also, in one configuration example of the crane device according to the present invention, the suspension state detection sensor is provided at the bottom of the suspension, the suspension is landed on the container, and the bottom is connected to the container. It consists of a landing detection sensor that detects contact.

  Also, in one configuration example of the crane device according to the present invention, the suspension state detection sensor is provided at an end of a wire rope that suspends the suspension, and the suspension device is landed on the container. It consists of a load sensor which detects that the load of the said hanging tool concerning the said wire rope fell.

  Also, in one configuration example of the crane device according to the present invention, the suspension state detection sensor is provided in a twist lock device of the suspension device, and the suspension device rotates the twist lock pin so that the container is moved. It consists of a gripping state detection sensor that detects that the gripping state has been reached.

  Further, in one configuration example of the crane device according to the present invention, the suspension state detection sensor is disposed on an operation lever for instructing to raise or lower the container, or around the operation lever, and according to a driver's operation. It consists of an operation switch for detecting that it is in the winding preparation state.

  The crane control method according to the present invention is used in a crane apparatus that performs a cargo handling operation such as lifting and lowering of a container gripped by a suspension by driving an electric motor with electric power supplied from an engine generator to a common bus. A crane control method, wherein a hoisting state detection step of detecting a hoisting preparation state toward the hoisting start of the container based on the state of the hoisting device by a hoisting state detection sensor, and the hoisting state detection sensor In response to the fact that the winding preparation state is detected by the above, the engine generator speed is increased to the winding speed before the hoisting operation instructing the hoisting start is input. And a control step.

  According to the present invention, the rotation speed of the engine generator is detected between the time when it is detected that the container is ready for winding up and the time when the driver inputs the winding command. Can be raised to a certain extent so that sufficient power can be supplied. Therefore, since a certain amount of electric power can be supplied from the engine generator when driving of the electric motor is started in accordance with the hoisting command, the amount of electric power to be supplemented by the power storage device can be suppressed.

  For this reason, the capacity | capacitance and maximum output current which are required for an electrical storage apparatus can be made small, and, as a result, the scale of an electrical storage apparatus can be reduced. Further, when the rotational speed is accelerated with a large load, the engine generator is subjected to a heavy burden and the generation of black smoke and the like increases, but according to the present invention, the rotational speed can be accelerated with a small load. And the generation of black smoke can be suppressed.

It is a block diagram which shows the structure of the crane apparatus concerning 1st Embodiment. It is a front view which shows a hanging tool. It is a bottom view which shows a hanging tool. It is explanatory drawing which shows the holding | grip operation | movement of a hanging tool. It is a timing chart which shows hoisting operation | movement of the crane apparatus concerning 1st Embodiment. It is explanatory drawing which shows the relationship between the operating state of a crane apparatus, the rotation speed of an engine generator, and power consumption. It is a side view of the hanging tool concerning a 2nd embodiment. It is a block diagram of a landing detection sensor. It is a principal part structure of a twist lock apparatus. It is explanatory drawing which shows the load sensor concerning 3rd Embodiment.

Next, embodiments of the present invention will be described with reference to the drawings.
[First Embodiment]
First, with reference to FIG. 1, the crane apparatus 100 concerning the 1st Embodiment of this invention is demonstrated. FIG. 1 is a block diagram illustrating a configuration of a crane apparatus according to the first embodiment.

  The crane apparatus 100 is an apparatus that performs various crane operations such as loading and unloading of containers and traveling by driving various electric motors with electric power generated by an engine generator mounted on the own apparatus. There are gate-type and jib-type crane devices that load and unload containers in inland container yards.

  The crane apparatus 100 includes, as main components, an engine generator 1, a main winding motor 2A, a traveling motor 2B, a transverse motor 2C, an auxiliary equipment 2D, inverters (INV) 3A, 3B, 3C, a power storage device 4, and a control circuit. 5, a spreader (Spreader) 10 and a common bus B are provided.

  The crane apparatus 100 according to the present embodiment drives the electric motors 2A to 2C with the electric power supplied from the engine generator 1 to the common bus B, so that the container 20 such as a container gripped by the hanging tool 10 can be wound up and down. A function of moving the own device (running or traversing) and a part of electric power on the common bus B are stored in the power storage device 4 and discharged to the common bus B when the electric motors 2A to 2C are driven. This is a so-called hybrid crane apparatus having a function of supplementing electric power.

  In the present embodiment, a suspension state detection sensor S that detects that the container 20 is in a winding preparation state for starting the winding of the container 20 based on the state of the suspension 10 is provided. When it is detected by the detection sensor S that it is in a state of preparation for winding up, the number of revolutions of the engine generator 1 is automatically set to the number of revolutions during winding before the winding operation is input. It is intended to be raised.

Next, with reference to FIG. 1, the structure of the crane apparatus 100 concerning this Embodiment is demonstrated in detail.
The engine generator 1 has a function of generating electric power by operating a diesel engine at a rotational speed corresponding to the rotational speed command from the control circuit 5 and driving the generator, and supplying the obtained DC power to the common bus B. Have.

  The main winding motor 2A is an AC motor for moving the container 20 up and down. The traveling motor 2B is an AC motor for traveling the crane along the lane of the container yard. A winding drum DR is connected to the main winding motor 2A via a speed reducer GR, and when the main winding motor 2A rotates to drive the winding drum DR, the wire rope WR is wound up and down. The hoisting tool 10 suspended from the wire rope WR moves up and down.

  The traversing motor 2C is an AC motor for traversing the hanging tool 10 in a direction orthogonal to the lane. Auxiliary equipment 2 </ b> D is a group of various devices including a lighting device, an air conditioner, or a control device such as control circuit 5.

The inverter 3A is a DC / AC converter that converts DC power on the common bus B into AC power having an arbitrary frequency and supplies the AC power to the main winding motor 2A and the traveling motor 2B.
The inverter 3B is a DC / AC converter that converts DC power on the common bus B into AC power having an arbitrary frequency and supplies the AC power to the traverse motor 2C.
The inverter 3C is a DC / AC converter that converts DC power on the common supply bus B into AC power of an arbitrary frequency and supplies it as auxiliary equipment power source used in the auxiliary equipment 2D.

  The power storage device 4 is a circuit device that incorporates a battery such as a lithium ion battery or a storage battery such as a large-capacity capacitor. When the power from the engine generator 1 is supplied to the common bus B in a standby state, When the DC power on the common bus B has a margin, such as when regenerative power from 2A to 2C is supplied to the common bus B via the inverters 3A and 3B, a part of the DC power on the common bus B is A function for storing power and a function for supplementing the DC power on the common bus B by discharging the stored power to the common bus B when the DC power on the common bus B is insufficient when the motors 2A to 2C are driven. And have.

  The control circuit 5 is composed of, for example, a PLC (Programmable Logic Controller), has a microprocessor such as a CPU and its peripheral circuits, reads the program from a memory provided in the microprocessor or the peripheral circuit, and executes the program, It has various functions for controlling the crane apparatus 100 as a whole in cooperation with the hardware.

  The main function of the control circuit 5 is that the inverters 3 </ b> A to 3 </ b> C and the engine generator 1 are exchanged by exchanging various commands based on a driver's command input detected via an operation lever or an operation switch (master controller). In the standby state (idling state) where the motors 2A to 2C are not driven and the crane operation function for controlling various cargo handling operations such as crane lifting and lowering, and traveling of the crane and traversing the trolley, the engine generator 1 is controlled. The rotation speed of the container 20 is set to an idling rotation speed lower than the rotation speed at the time of winding up the container 20, and the hoisting state detection sensor S detects that the container 20 is ready for winding up At that time, before the hoisting operation is input, the engine generator 1 is automatically rotated to the hoisting speed. And a function.

  Usually, when the container 20 is rolled up by the crane apparatus 100, the hanger 10 is first lowered and brought close to the container 20, and then the hanger 10 is landed on the container 20 to hold the container 20, and then the operation is started. In response to the hoisting operation input by the operator, the control circuit 5 controls the inverter 3A to drive the main winding motor 2A, whereby the hoisting operation of the container 20 is started. In the present invention, the procedure for starting the winding of the container 20 (the input of the winding operation), that is, the procedure from the lowering of the hanging tool 10 to the grasping of the container 20 is performed. Each state in the period before being defined is defined as a hoisting preparation state toward the start of hoisting, and any of these hoisting preparation states is detected by the lifting device state detection sensor S, and the hoisting operation is input. Before the engine generator 1 is rotated, the engine speed of the engine generator 1 is automatically increased to the hoisting speed.

  Next, with reference to FIGS. 2-4, the hanging tool 10 of the crane apparatus 100 concerning this Embodiment is demonstrated in detail. FIG. 2 is a front view showing a hanging tool. FIG. 3 is a bottom view showing the hanger. FIG. 4 is an explanatory view showing a gripping / releasing operation of the hanging tool.

  As shown in FIG. 2, various devices such as a plurality of sheaves that are hung horizontally on the hanging tool 10 so as to be opposed to the top portion 21 of the container 20 and on which the wire rope WR from the hoisting drum DR is hung. The twist lock device 12 whose position is adjusted according to the length of the container 20 by the expansion and contraction of the hanging tool 10 is attached to both ends of the side part of the hanging tool 10.

  The twist lock device 12 is a device that grips and releases the top 21 of the container 20, and expands and contracts according to the size of the container 20. At the bottom of the twist lock device 12, a twist lock that engages with the engagement hole 23 at a position facing the oval engagement hole 23 of the engagement portion 22 provided at the four corners of the top portion 21 of the container 20. Pins 13 are provided. The container 20 is gripped and released by rotating the twist lock pin 13 inserted into the engagement hole 23 by 90 degrees in accordance with an instruction from the control circuit 5.

  On the bottom surface 10B of the hanging tool 10, a proximity sensor S <b> 1 that detects that the hanging tool 10 has approached the top part 21 is provided as a specific example of the hanging tool state detection sensor S at a position facing the top part 21 of the container 20. ing. The sensor detection signal of the proximity sensor S1 is notified to the control circuit 5 by wired communication. The control circuit 5 raises the rotation speed of the engine generator 1 to the winding rotation speed before the winding operation is input when it is detected from this detection output that the winding preparation state is established.

[Operation of First Embodiment]
Next, with reference to FIG. 5 and FIG. 6, operation | movement of the crane apparatus 100 concerning this Embodiment is demonstrated. FIG. 5 is a timing chart showing the hoisting operation of the crane device according to the first embodiment. FIG. 6 is an explanatory diagram showing the relationship between the operating state of the crane device, the rotational speed of the engine generator, and the power consumption.

  Prior to time T0, the crane apparatus 100 is in a standby state, and any of the electric motors 2A to 2C is stopped. At this time, the rotational speed of the engine generator 1 is controlled to the idling rotational speed Na by a rotational speed command from the control circuit 5. At this time, the standby output voltage of the power output from the engine generator 1 is Va, and the standby output current is Ia.

  In addition, the rotation speed of the engine generator 1 is preset according to the power consumption required by the electric motors 2A to 2C used in the operation for each operation to be executed. For example, in the example of FIG. 6, the idling rotation speed in the standby state is 800 rpm, and the operation rotation speed (rated rotation speed) during the winding operation is 1800 rpm. Moreover, the operation | movement rotation speed at the time of driving | running | working and a transverse operation is 1500 rpm. The highest power consumption is the hoisting operation. In the standby state, although the instantaneous electric power is small, the amount of electric power is not small because it is consumed constantly by auxiliary equipment such as lighting and air conditioning. Traveling and traversing tend to be as shown in FIG. 6 according to the output of each motor and its operating frequency.

Next, when a lowering instruction is input from the driver at time T0, the control circuit 5 drives the main winding motor 2A to start lowering the hanger 10. At this time, in the lowering operation, there is almost no power consumption in the main winding motor 2A, and conversely, regenerative power is generated and stored in the power storage device 4. Therefore, the rotational speed of the engine generator 1 is set to the idling rotational speed Na. Is maintained.
As a result of this lowering operation, the hanging tool 10 is lowered to approach the container 20, and a sensor detection signal is output from the proximity sensor S1, which is the hanging state detection sensor S, at time T1 when the hanging tool 10 is close to a certain distance.

The control circuit 5 outputs a rotational speed command to the engine generator 1 in accordance with the sensor detection signal from the proximity sensor S1, thereby increasing the rotational speed to a winding rotational speed (rated rotational speed) Nr.
Thereby, the rotation speed of the engine generator 1 starts to increase from the idling rotation speed Na, and the output voltage of the electric power output from the engine generator 1 starts to increase from the standby output voltage Va accordingly.

Subsequently, when the hanging tool 10 is landed on the container 20 and a grip command is input from the driver, the control circuit 5 controls the twist lock device 12 to rotate the twist lock pin 13 to rotate the container. Grip 20
Thereafter, when a hoisting command is input from the driver at time T2, the control circuit 5 controls the inverter 3A to drive the main winding electric motor 2A to start winding the container 20.

At this time, since the engine generator 1 has started to increase the rotational speed before time T2 when the hoisting command is operated and input, that is, from time T1, the rotational speed is the rotational speed at hoisting at time T2. The number of revolutions increases to near Nr, and the output voltage also increases to the operating output voltage (rated output voltage) Vr.
Therefore, when the main winding motor 2A is driven and the winding of the container 20 is started at time T2, sufficient power can be supplied from the engine generator 1.

  On the other hand, when it is not detected that the container 20 is in a state of being ready for winding up, and the rotation speed of the engine generator 1 is increased from time T2 when the winding command is input, the broken line in FIG. As indicated by, since the output voltage of the engine generator 1 starts to gradually increase in parallel with the start of the main winding motor 2A at time T2, the power on the common bus B is insufficient. For this reason, since the electric power supplied from the engine generator 1 is not sufficient, it is supplemented by the discharge from the power storage device 4.

  At this time, since a large amount of electric power is required at the time of acceleration of the winding speed at the start of winding of the container 20, the output current of the power storage device 4 increases to a very large peak current Ip. Therefore, the performance of the power storage device 4 not only requires a large capacity capable of storing large power, but also requires high performance capable of discharging power with the peak current Ip. Will increase.

  On the other hand, according to the present embodiment, after time T2, the load on main winding motor 2A gradually increases as the hoisting speed is accelerated, and the output current from engine generator 1 is output during operation. When the current (rated output current) Ir is reached, discharging of the power stored in the power storage device 4 to the common bus B is started. Thereby, the output current of power storage device 4 begins to flow, and when the hoisting speed is constant and the load of main winding motor 2A is stabilized, the output current of power storage device 4 is constant at operation output current Id.

For this reason, when the output current of the power storage device 4 starts to flow, the output current from the engine generator 1 has risen to the operating output current (rated output current) Ir that is the maximum value according to the rotational speed. Thus, the output current at the time of discharging from the power storage device 4 can be reduced to the operating output current Id lower than the peak current Ip. Therefore, an increase in the scale of the power storage device 4 can be suppressed.
Actually, as a result of the verification of operating the engine generator 1 at the rotational speed shown in FIG. 5, the maximum output current required for the power storage device 4 made of a lithium ion battery is about ½ that is 600A of the related art. It was confirmed that the reduction could be made to the corresponding 300A.

When the container 20 is rolled up to a sufficient height and the driver stops the hoisting command at time T3, the control circuit 5 controls the inverter 3A to stop driving the main winding motor 2A.
Thereafter, when a low load continues for a certain period of time, such as waiting for a load, the engine generator 1 enters a standby state, the output current of the engine generator 1 decreases from the operating output current Ir to the standby output current Ia, and the discharge from the power storage device 4 also stops. The output current is also zero.

  In addition, the control circuit 5 sets the rotation speed of the engine generator 1 for a predetermined time so that the operation according to the next command can be started immediately after the driver stops the winding command at time T3. The rotation speed Nr is maintained. When there is no next command from time T3 to time T4 after a lapse of a predetermined time, the control circuit 5 outputs the rotational speed command to the engine generator 1 to reduce the rotational speed to the idling rotational speed Na. Let As a result, the output voltage of the engine generator 1 also decreases to the standby output voltage Va.

[Effect of the first embodiment]
Thus, this embodiment is the time (time T1) when it is detected by the hanging tool state detection sensor S that it is in the winding preparation state for starting the winding of the container 20 based on the state of the hanging tool 10. ), The control circuit 5 automatically increases the rotational speed of the engine generator 1 to the rotational speed at the time of winding before the winding operation is input.

  Thus, the rotational speed of the engine generator 1 is increased to some extent from time T1 until the time when the driver inputs the hoisting command (time T2) so that sufficient power can be supplied. Can do. Therefore, since a certain amount of electric power can be supplied from the engine generator 1 when the driving of the main winding electric motor 2A is started in accordance with the hoisting command, the amount of electric power to be supplemented by the power storage device 4 can be suppressed. .

  For this reason, the capacity | capacitance and maximum output current which are required for the electrical storage apparatus 4 can be made small, and the increase in the scale of the electrical storage apparatus 4 can be suppressed as a result. Further, in the case of the engine generator 1 equipped with a mechanical governor with poor responsiveness, when the rotational speed is accelerated with a heavy load, the engine generator 1 is subjected to a large burden and the generation of black smoke or the like increases. However, according to the present embodiment, the rotational speed can be accelerated with a small load, and the generation of black smoke can be suppressed.

  In the present embodiment, the hanging tool state detection sensor S is a sensor that detects that the hanging tool 10 is in a state of being close to the container 20, and is specifically provided on the bottom surface 10 </ b> B of the hanging tool 10. And since it comprised from proximity | contact sensor S1 which detects that the hanging tool 10 approached the container 20, based on the state of the hanging tool 10, it can detect reliably that it is a winding preparation state.

  Further, since the proximity sensor S1 detects that the hanger 10 has approached the container 20, the driver then issues a winding command via the gripping operation of the container 20, so that the winding is actually performed. A sufficient time can be secured before the operation is started. For this reason, when the hoisting operation is started, the engine generator 1 can be raised to a certain number of revolutions. As a result, when the driver starts the hoisting operation according to the hoisting command, Sufficient power can be stably supplied from the engine generator 1 to the main winding motor 2A.

  In addition, in this Embodiment, although the hybrid type crane apparatus 100 which mounted the electrical storage apparatus 4 in the crane apparatus 100 was demonstrated as an example, it is not limited to this. For example, even in the crane device 100 that does not include the power storage device 40, the engine is applied between time T1 and the time point when the driver inputs the hoisting command (time T2) by applying this embodiment. The number of rotations of the generator 1 can be increased to some extent so that sufficient power can be supplied. Accordingly, similarly to the above, it is possible to improve the delay of the hoisting operation and the efficiency reduction of the cargo handling work due to the time lag of the engine generator, and further suppress the generation of black smoke.

[Second Embodiment]
Next, with reference to FIG. 7, the crane apparatus 100 concerning this Embodiment is demonstrated. FIG. 7 is a side view of a hanging tool according to the second embodiment.

  In the first embodiment, the proximity sensor S <b> 1 provided on the bottom surface 10 </ b> B of the hanging tool 10 is used as the hanging tool state detection sensor S to detect that the state of the hanging tool 10 is close to the container 20. Thus, the case where it is detected that the container 20 is in the winding preparation state toward the start of winding has been described as an example. In the present embodiment, a case will be described in which it is detected that the hoisting device 10 is in a state of being prepared for hoisting by detecting that the state of the hanging tool 10 has reached the top 21 of the container 20.

  As shown in FIG. 7, in the present embodiment, the suspender state detection sensor S includes an landing detection sensor S <b> 2 provided on the bottom 12 </ b> B of the twist lock device 12. This landing detection sensor S <b> 2 is a sensor that is disposed around the twist lock pin 13 and detects that the hanging tool 10 has come into contact with the top 21 when landing on the top 21 of the container 20.

FIG. 8 is a configuration diagram of the landing detection sensor. FIG. 9 shows a main configuration of the twist lock device. The landing detection sensor S <b> 2 includes an landing detection rod 14 and a landing detection switch 15.
The landing detection rod 14 is supported by protruding from the bottom 12B of the twist lock device 12 toward the top 21 of the container 20. Usually, the spring is pressed outward and downward from the bottom 12B. When the bottom 12B comes into contact with the top 21, the landing detection rod 14 is pressed by the top 21 and pressed upward inside the bottom 12B.

The landing detection switch 15 includes a proximity sensor that detects optically and magnetically and a limit switch that mechanically detects, and the hanging tool 10 is landed on the top portion 21 of the container 20 and the landing detection rod 14 is moved upward. It detects that it was displaced.
The sensor detection signal of the landing detection sensor S2 is notified to the control circuit 5 by wired communication. The control circuit 5 raises the rotation speed of the engine generator 1 to the winding rotation speed when it is detected from this detection output that it is in the winding preparation state.

  As shown in FIG. 9, in the twist lock device 12, the operation of gripping or releasing the container 20 by rotating the twist lock pin 13 is a state in which the lifting tool 10 is landing on the top portion 21 of the container 20. As a configuration for limiting to the above, there is one provided with an interlock mechanism. This interlock mechanism has a landing sensor S2A composed of the above-described landing detection rod 14 and landing detection switch 15, and the landing state is detected by this landing detection sensor S2. Only the rotation of the twist lock pin 13 is permitted. Therefore, you may utilize such landing sensor S2A as landing detection sensor S2.

[Effect of the second embodiment]
As described above, in the present embodiment, the hanging device state detection sensor S includes a sensor that detects that the hanging device 10 has landed on the top 21 of the container 20. Since it is provided on the bottom portion 12B of the (twist lock device 12) and is configured by the landing detection sensor S2 that detects that the hanging tool 10 has landed on the container 20 and the bottom portion 12B has come into contact with the container 20, the hanging tool 10 Based on the state, it is possible to reliably detect that it is in the winding preparation state.

  Further, after the landing detection sensor S2 detects that the hanging tool 10 has landed on the container 20, the driver issues a winding command through the gripping operation of the container 20, so that the winding operation is actually performed. Sufficient time can be secured before it is started. For this reason, when the hoisting operation is started, the engine generator 1 can be raised to a certain number of revolutions. As a result, when the driver starts the hoisting operation according to the hoisting command, Sufficient power can be stably supplied from the engine generator 1 to the main winding motor 2A.

  Thereby, the capacity | capacitance and maximum output current which are required for the electrical storage apparatus 4 can be made small, and the increase in the scale and cost of the electrical storage apparatus 4 can be suppressed as a result. Further, in the case of the engine generator 1 equipped with a mechanical governor with poor responsiveness, when the rotational speed is accelerated with a heavy load, the engine generator 1 is subjected to a large burden and the generation of black smoke or the like increases. However, according to the present embodiment, the rotational speed can be accelerated with a small load, and the generation of black smoke can be suppressed.

  As shown in FIG. 9, the twist lock device 12 includes a grip state detection sensor S <b> 3 as a configuration for detecting the grip state of the container 20 by the twist lock pin 13. The gripping state detection sensor S3 includes a proximity sensor that detects optically and magnetically and a limit switch that mechanically detects the gripping state, and the gripping state detection sensor S3 detects the displacement of the lever 16 for rotating the twist lock pin 13. Is detected. Therefore, you may utilize such a holding | grip state detection sensor S3 as the suspender state detection sensor S. FIG.

  Thereby, the sensor detection signal of the gripping state detection sensor S3 is notified to the control circuit 5 by wired communication. The control circuit 5 raises the rotation speed of the engine generator 1 to the winding rotation speed when it is detected from this detection output that it is in the winding preparation state.

  Therefore, in this case, it is composed of a sensor that detects that the hanging tool 10 has gripped the container 20. Specifically, the hanging tool 10 is provided in the twist lock device 12, and the hanging tool 10 pulls the twist lock pin 13. Since the gripping state detection sensor S3 that detects that the container 20 has been gripped by rotating is configured, it is possible to reliably detect the winding preparation state based on the state of the hanger 10.

  According to this configuration, since the driver then issues a winding command through the gripping operation of the container 20, it is not possible to secure a sufficient time until the winding operation is actually started. When the hoisting operation is started, the engine generator 1 can be raised to a certain number of revolutions. As a result, when the driver starts the hoisting operation according to the hoisting command, A certain amount of power from the machine 1 can be stably supplied to the main winding motor 2A. Further, since the gripping state is detected, the hoisting operation is always executed thereafter, and the engine generator 1 is not commanded to uselessly increase the rotational speed.

[Third Embodiment]
Next, with reference to FIG. 10, the crane apparatus 100 concerning the 3rd Embodiment of this invention is demonstrated. FIG. 10 is an explanatory diagram illustrating a load sensor according to the third embodiment.

  In the second embodiment, as a sensor for detecting that the state of the hanging tool 10 has reached the top portion 21 of the container 20, the hanging tool 10 has landed on the container 20 and the bottom portion 12 </ b> B has the container 20. The case where the landing detection sensor S <b> 2 that detects contact with the head is used as an example has been described. This Embodiment demonstrates the case where the load sensor S4 which detects that the load of the hanging tool 10 concerning the wire rope WR which hangs the hanging tool 10 and suspends the hanging tool 10 fell has been used for the container 20 is used.

  In the rope hanging diagram shown in FIG. 10, the hanging tool 10 is suspended from the hoisting drum DR via four wire ropes WR. Among these, the wire rope WR1 is connected to a fixed end via a load sensor (load cell) S4 after passing through a sheave SV1 fixed to the upper surface 10U of the hoist 10 from the hoisting drum DR. Further, the wire rope WR2 passes through the sheave SV5 connected to the crane mount from the hoisting drum DR, passes through the sheave SV2 fixed to the upper surface 10U of the hanging tool 10, and then passes through the load sensor (load cell) S4. Connected to the fixed end.

  On the other hand, the wire rope WR3 passes through the sheave SV3 fixed to the upper surface 10U of the hanger 10 from the hoisting drum DR, and then passes through the sheaves SV6 and SV7 connected to the crane mount. It is connected to the. In addition, the wire rope WR4 passes through the sheave SV8 connected to the trolley from the hoisting drum DR, passes through the sheave SV4 fixed to the upper surface 10U of the hanging tool 10, and then is connected to the trolley. It is connected to the lifting device tilting device RH via SV10.

  When lifting the container 20, first, the wire ropes WR <b> 1 to WR <b> 4 are unwound from the hoisting drum DR and the hoisting tool 10 is rolled down above the container 20. At this time, when the hanging tool 10 is landed on the container 20, the wire ropes WR1 to WR4 are loosened and the load (tension) is reduced by the hanging tool 10 minutes. Generally, the weight of the hanging tool 10 itself is about 10 t. In the present embodiment, the load applied to the wire ropes WR1 and WR2 is monitored by the load sensor S4, and by detecting the load reduction, the state of the hanging device 10 is in a state of landing on the top portion 21 of the container 20. Is detected.

Thereby, the sensor detection signal of the load sensor S4 is notified to the control circuit 5 by wired communication. The control circuit 5 raises the rotation speed of the engine generator 1 to the winding rotation speed when it is detected from this detection output that it is in the winding preparation state.
The load applied to the wire ropes WR1 and WR2 may be detected by comparing the control circuit 5 with a threshold value.

  In the present embodiment, the case where the load sensor S4 connected to the end of the wire rope WR detects that the load of the hanging tool 10 applied to the wire rope WR has decreased is described as an example, but the present invention is not limited thereto. Is not to be done. For example, a load sensor S4 may be provided in the middle of the wire rope WR to detect the load on the wire rope WR.

[Effect of the third embodiment]
As described above, in the present embodiment, the suspension state detection sensor S includes a sensor that detects that the suspension device 10 has landed on the top portion 21 of the container 20. Since it comprised from load sensor S4 which detects that the load of the hanging tool 10 concerning the wire rope WR which hangs the hanging tool 10 and suspends the hanging tool 10 fell, it prepares for winding based on the state of the hanging tool 10 The state can be reliably detected.

  In addition, since it is detected by the load sensor S4 that the hanging tool 10 has landed on the container 20, the driver issues a winding command through the gripping operation of the container 20, so that the winding operation actually starts. Sufficient time can be ensured before it is done. For this reason, when the hoisting operation is started, the engine generator 1 can be raised to a certain number of revolutions. As a result, when the driver starts the hoisting operation according to the hoisting command, Sufficient power can be stably supplied from the engine generator 1 to the main winding motor 2A.

  Thereby, the capacity | capacitance and maximum output current which are required for the electrical storage apparatus 4 can be made small, and the increase in the scale and cost of the electrical storage apparatus 4 can be suppressed as a result. Further, in the case of the engine generator 1 equipped with a mechanical governor with poor responsiveness, when the rotational speed is accelerated with a heavy load, the engine generator 1 is subjected to a large burden and the generation of black smoke or the like increases. However, according to the present embodiment, the rotational speed can be accelerated with a small load, and the generation of black smoke can be suppressed.

[Fourth Embodiment]
Next, the crane apparatus 100 concerning the 4th Embodiment of this invention is demonstrated.
In the present embodiment, a case will be described in which an operation switch is used as the lifting device state detection sensor S that detects that the container 20 is in a winding preparation state for starting the winding of the container 20.

  When performing various crane operations such as winding the container 20, the driver inputs commands according to the various crane operations to the control circuit 5 by operating the operation lever of the driver's seat. At this time, since the driver knows that the hoisting preparation state is established based on the state of the hanging tool 10, the driver is placed on the operation lever for instructing the winding of the container 20 or its surroundings (master controller). If the operation switch S5 for detecting that the hoisting preparation state is detected in accordance with the operation, the hoisting preparation state can be reliably detected based on the state of the hanging tool 10.

  In addition, since the operation switch S5 can be operated at any time immediately before the start of hoisting, it is possible to start the increase in the rotational speed of the engine generator 1 at an arbitrary timing according to the driver's intention. As a result, for example, the engine generator 1 can be operated at an optimum timing according to the variation in the speed of increase in the rotational speed depending on the model and performance of the engine generator 1, the variation in the output characteristics according to the rotational speed, and the operation capability of the driver. It is possible to start the increase in the number of revolutions of 1, and the winding operation can be performed very efficiently.

[Extended embodiment]
The present invention has been described above with reference to the embodiments, but the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. In addition, each embodiment can be implemented in any combination within a consistent range.

  DESCRIPTION OF SYMBOLS 100 ... Crane apparatus, 1 ... Engine generator, 2A ... Main winding motor, 2B ... Traveling motor, 2C ... Traverse motor, 3A, 3B, 3C ... Inverter, 4 ... Power storage device, 5 ... Control circuit, 10 ... Hanging tool, 10B ... bottom surface, 10U ... top surface, 12 ... twist lock device, 12B ... bottom, 13 ... twist lock pin, 14 ... landing detection rod, 15 ... landing detection switch, 16 ... lever, 20 ... container, 21 ... top, DESCRIPTION OF SYMBOLS 22 ... Engagement part, 23 ... Engagement hole, B ... Common bus, S ... Suspension state detection sensor, S1 ... Proximity sensor, S2 ... Landing detection sensor, S3 ... Grasping state detection sensor, S4 ... Load sensor, S5 ... operation switch, GR ... speed reducer, DR ... winding drum, WR, WR1 to WR4 ... wire rope, SV1 to SV10 ... sheave.

In order to achieve such an object, the crane apparatus according to the present invention performs a cargo handling operation such as hoisting and lowering of a container gripped by a suspension by driving an electric motor with electric power supplied from an engine generator to a common bus. A crane state detection sensor for detecting that the container is in a winding preparation state for starting the winding of the container based on the state of the suspension tool, and the suspension state detection sensor A control circuit that raises the rotation speed of the engine generator to the rotation speed at the time of winding before the winding operation for instructing the start of winding is input when it is detected that the winding preparation state is detected with the door, the load block state detection sensor, that the suspension link is in a state of close proximity with the container, that a state of being implanted in the container, or grasping the container By detecting that it is now on purpose, it is made of a sensor for detecting the winding preparation state.

The crane control method according to the present invention is used in a crane apparatus that performs a cargo handling operation such as lifting and lowering of a container gripped by a suspension by driving an electric motor with electric power supplied from an engine generator to a common bus. A crane control method, wherein a hoisting state detection step of detecting a hoisting preparation state toward the hoisting start of the container based on the state of the hoisting device by a hoisting state detection sensor, and the hoisting state detection sensor In response to the fact that the winding preparation state is detected by the above, the engine generator speed is increased to the winding speed before the hoisting operation instructing the hoisting start is input. and a control step, the suspension link state detection sensor, that the suspension link is in a state of close proximity with the container, that a state of being implanted in the container, or, By detecting that a state of gripping the serial container is made of a sensor for detecting the winding preparation state.

Claims (9)

A crane device that performs a cargo handling operation such as hoisting and lowering of a container gripped by a hanging tool by driving an electric motor with electric power supplied from an engine generator to a common bus,
A suspension state detection sensor that detects that the container is in a state of being prepared for winding up based on the state of the suspension, and
In response to the fact that the hoisting state detection sensor has detected that the hoisting preparation state has been established, before the hoisting operation instructing the hoisting start is input, the rotational speed of the engine generator is hoisted. A crane circuit comprising: a control circuit for increasing the rotational speed to hour. The crane apparatus according to claim 1,
A crane apparatus further comprising a power storage device that stores a part of power on the common bus and discharges the common bus to supplement the power when the electric motor is driven. In the crane apparatus of Claim 1 or Claim 2,
The hanging tool state detection sensor detects that the hanging tool has come close to the container, has landed on the container, or has gripped the container. Accordingly, the crane device comprises a sensor for detecting the hoisting preparation state. The crane apparatus according to claim 3,
The crane apparatus according to claim 1, wherein the hanging state detecting sensor is a proximity sensor that is provided on a bottom surface of the hanging piece and detects that the hanging piece is close to the container. The crane apparatus according to claim 3,
The suspension state detection sensor is provided at the bottom of the suspension, and includes a landing detection sensor that detects that the suspension has landed on the container and that the bottom has contacted the container. Crane equipment. The crane apparatus according to claim 3,
The suspension state detection sensor is provided at an end portion of a wire rope that suspends the suspension, and the suspension of the suspension applied to the wire rope is reduced when the suspension is landed on the container. A crane apparatus comprising a load sensor for detection. The crane apparatus according to claim 3,
The suspension state detection sensor is provided in a twist lock device of the suspension, and from a grip state detection sensor that detects that the suspension has turned the twist lock pin and grips the container. The crane apparatus characterized by becoming. In the crane apparatus of Claim 1 or Claim 2,
The lifting device state detection sensor is an operation lever for instructing to raise or lower the container, or an operation switch disposed around the operation lever to detect that the container is in the winding preparation state in response to a driver's operation. A crane apparatus characterized by that. A crane control method used in a crane apparatus that performs a cargo handling operation such as hoisting and lowering of a container gripped by a hanging tool by driving an electric motor with electric power supplied to a common bus from an engine generator,
A suspension state detection step of detecting, by a suspension state detection sensor, a winding preparation state for starting the winding of the container based on the state of the suspension,
In response to the fact that the hoisting state detection sensor has detected that the hoisting preparation state has been established, before the hoisting operation instructing the hoisting start is input, the rotational speed of the engine generator is hoisted. A crane control method comprising: a control step of increasing the rotational speed to hour.

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