JP2019043702A - Braking device of track traveling type machine - Google Patents

Abstract

To provide a braking device of a track traveling type machine capable of precisely controlling the braking force and alleviating a load on the track traveling type machine while suppressing sudden braking.SOLUTION: The braking device includes a buffer line 60 branched from and connected to the midway of a cap-side line 17 serving as a supply passage of working fluid of a fluid pressure unit 14 that is used for pressing a brake pad 12 to a rail 4 by expanding a fluid pressure cylinder 13, a buffer accumulator 61 connected to the cap-side line 17 serving as the supply passage through the buffer line 60, a flow control valve 62 provided in the midway of the buffer line 60, and a controller 63 outputting an opening control signal 65 to the flow control valve 62 on the basis of an acceleration 64 in a traveling direction that affects on a container crane as a track traveling type machine.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a braking system for a track type machine.

  FIG. 3 shows an example of a container crane as a general track type machine, wherein 1 is a container crane, 2 is a port where the container crane 1 is deployed, 3 is a quay in the port 2 and 4 is a quay 3 3 is a rail extending in a direction perpendicular to the plane of the drawing of FIG. 3 and having a traveling wheel 7 rollable along the rail 4 on the support leg 6 of the crane main body 5 of the container crane 1 Is attached.

  If the container crane 1 is struck by a strong wind during cargo handling, it will not stop traveling contrary to the driver's will and may run away, which may lead to a collision or collapse to an adjacent machine or nearby structure .

  For this reason, as a device for preventing the runaway of the above-described track traveling type machine, there is a clamp device as disclosed in, for example, Patent Document 1 conventionally. The clamp device includes a pinching mechanism in which a pair of contacts having a pinching portion formed at a distal end portion are connected so that a substantially middle portion thereof can pivot about an axis, and a proximal end of the contacts in the pinching mechanism A spring mechanism provided on the base and narrowing the base end portions of the contacts so that the pinching portion always rotates the contacts in a closing direction sandwiching the rail; and the base ends of the pair of contacts And a rotary cam for releasing the clamping of the rail by the clamping unit by driving the cam receiving unit formed in the housing in the direction to push it open from the inside.

  However, the clamp device disclosed in Patent Document 1 adopts a method in which the rail is pinched from both sides, so that jagged teeth are attached to the contact surface on the clamp device side in order to increase the friction coefficient with the rail surface. Alternatively, if the contact surface is hardened to be a file, the side of the rail may be scratched. Also, in the case where the accuracy of the side surface of the rail is low and the dimension from the center line to the side surface in the width direction varies from side to side or corrosion of the rail or the like occurs, clamping by the pinching portion However, there is also a possibility that a sufficient holding force can not be obtained.

  In order to eliminate such problems, a braking device provided with a fluid pressure cylinder such as a hydraulic cylinder capable of pressing and separating the brake pad in a direction orthogonal to the traveling wheel rolling surface of the rail has been developed (for example, patent documents 2).

Japanese Patent Application Laid-Open No. 6-72690 JP, 2015-58805, A

  However, the braking device disclosed in Patent Document 2 has a drawback that if the braking is performed rapidly in a short time during operation, a large load is applied to the container crane 1 as a track traveling type machine, leading to derailment. I had it.

  For this reason, the inventor of the present invention has proposed and already filed an invention of relieving the load on the orbiting machine by suppressing the rapid braking by using the buffer accumulator. However, in this case, in order to control the braking force by changing the pressing force of the brake pad, a plurality of buffer storage accumulators having different capacities are prepared and the pressure supplied to the fluid pressure cylinder is appropriately switched. Need to change, there was room for improvement.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned conventional problems, and it is possible to suppress sudden braking to relieve the load on the orbiting machine and to brake the orbiting machine with appropriate control of the braking force. It is an attempt to provide a device.

In order to achieve the above object, a braking device of a track traveling type machine according to the present invention comprises a traveling device provided with traveling wheels rollable along rails.
A fluid pressure cylinder capable of pressing and disengaging a brake pad in a direction orthogonal to the traveling wheel rolling surface of the rail;
And a fluid pressure unit configured to extend and retract the fluid pressure cylinder by supplying and discharging a working fluid to and from the fluid pressure cylinder.
A buffer line branched and connected in the middle of the hydraulic fluid supply flow path of the fluid pressure unit for extending the fluid pressure cylinder and pressing the brake pad against the rail;
A buffer accumulator connected to the supply channel via the buffer line;
A flow control valve provided in the middle of the buffer line;
And a controller that outputs an opening control signal to the flow control valve based on an acceleration in a traveling direction acting on the track type machine.

  In the braking system of the track type machine, the acceleration may be obtained by differentiating a speed detected by a traveling motor of the traveling device.

  In the braking system of the track type machine, the supply flow path may be a cap-side line connected from the fluid pressure unit to the cap-side chamber of the fluid pressure cylinder.

  According to the braking system of the track running type machine of the present invention, it is possible to suppress the rapid braking to relieve the load on the track running type machine and to obtain the excellent effect of being able to control the braking force accurately.

It is a front view which shows the Example of the damping device of the track type machine of this invention. It is a schematic block diagram which shows the Example of the damping | braking apparatus of the track type machine of this invention. It is a whole side view showing an example of a container crane as a track traveling type machine.

  Hereinafter, embodiments of the present invention will be described with reference to the attached drawings.

  FIGS. 1 and 2 show an embodiment of a braking system for a track running machine according to the present invention, in which the parts assigned the same reference numerals as in FIG. 3 represent the same things.

  In the container crane 1 as a track traveling type machine shown in FIG. 1, a lower frame 6a extending along the rail 4 is provided between the support legs 6 of the crane main body 5 so as to connect the support legs 6 A plurality of (two in the example of FIG. 1) traveling devices 8 are provided on the bottom surface side.

  The traveling device 8 includes an upper equalizer beam 9 a, an intermediate equalizer beam 9 b, a lower equalizer beam 9 c, and traveling wheels 7.

  The upper equalizer beam 9a has a middle portion supported by a rocker pin 10a extending in the horizontal direction perpendicular to the traveling direction on the bottom side of the lower frame 6a, and is pivotally disposed. An intermediate portion of the middle equalizer beam 9b is swingably supported by rocker pin 10b extending in the horizontal direction perpendicular to the traveling direction at both ends in the traveling direction of the upper equalizer beam 9a. The lower equalizer beam 9c is swingably provided with an intermediate portion supported by rocker pins 10c extending in the horizontal direction perpendicular to the traveling direction at both ends in the traveling direction of the intermediate equalizer beam 9b.

  The traveling wheels 7 are disposed so as to be able to roll along the rails 4 at both ends in the traveling direction of the lower equalizer beam 9c.

  In the example shown in FIG. 1, the equalizer apparatus 9A including the upper equalizer beam 9a and the middle equalizer beam 9b, and the equalizer apparatus 9B including the middle equalizer beam 9b and the lower equalizer beam 9c are formed in upper and lower two stages. It is done. Incidentally, the upper equalizer beam 9a in the upper equalizer apparatus 9A is an upper equalizer beam, and the middle equalizer beam 9b is a lower equalizer beam. Further, the middle equalizer beam 9b in the lower equalizer apparatus 9B is relatively the upper equalizer beam, and the lower equalizer beam 9c is the lower equalizer beam. However, according to the scale of the container crane 1 as the track traveling type machine, the equalizer device 9A is formed in one step, and the traveling wheel 7 is disposed on the lower equalizer beam (in this case, the middle equalizer beam 9b). You may. Further, the equalizer device may be formed in three or more upper and lower stages, and traveling wheels 7 which can roll along the rails 4 may be disposed at both ends of the lower equalizer beam in the lowermost equalizer device in the traveling direction.

  A braking mechanism 40 is disposed on the bottom side of the lower frame 6a.

  The braking mechanism 40 is attached to a brake bracket 51 held by a tension rod 50 on the bottom side of the lower frame 6a, and as shown in FIG. 2, a fluid pressure cylinder 13 constituting a fluid pressure actuator, a fluid pressure unit 14 and Is equipped.

  The fluid pressure cylinder 13 of the fluid pressure actuator includes a fluid pressure cylinder body 13a, a fluid pressure piston 13b slidably fitted into the fluid pressure cylinder body 13a, and a piston extended from the fluid pressure piston 13b. A rod 13c, a cap side chamber 13d (a chamber on the side where the piston rod 13c is not projected) defined by the fluid pressure piston 13b inside the fluid pressure cylinder body 13a, and a rod side chamber 13e (a piston rod 13c protrudes The fluid pressure cylinder main body 13 a is attached to the inside of the outer case 52 provided at the lower part of the brake bracket 51 downward. A brake pad 12 is connected to the lower end of the piston rod 13 c of the fluid pressure cylinder 13 so as to be able to press and separate in a direction perpendicular to the rail 4 with respect to the traveling wheel rolling surface 4 a of the rail 4. .

  The fluid pressure unit 14 includes a pumping line 16 extending from a tank 15 in which the working fluid is stored, a cap side line 17 connected to the cap side chamber 13 d of the fluid pressure cylinder 13, and a rod side chamber 13 e of the fluid pressure cylinder 13. And a return line 19 leading to the tank 15. A pump 21 driven by a motor 20 and a check valve 22 for preventing a back flow of the working fluid pumped by the pump 21 are provided in the middle of the pumping line 16. The pumping line 16 and the return line 19, and the cap side line 17 and the rod side line 18 are connected via a solenoid valve 23, and from the middle of the pressure feeding line 16 between the check valve 22 and the solenoid valve 23. An accumulator 25 is connected to the branched pressure accumulation line 24.

  The solenoid valve 23 has a brake actuation position 23A and a brake release position 23B. The brake operating position 23A brings the hydraulic fluid pressure-fed by the pump 21 into the cap-side chamber 13d of the fluid pressure cylinder 13 by connecting the pumping line 16 and the cap-side line 17 to the rod-side line. The position 18 is a position for discharging the working fluid of the rod side chamber 13 e of the fluid pressure cylinder 13 to the tank 15 by connecting the return line 19 to the return line 19. The brake release position 23 B communicates the pumping line 16 with the rod side line 18 to introduce the working fluid pressure-fed by the pump 21 into the rod-side chamber 13 e of the fluid pressure cylinder 13 while the cap side is connected. By connecting the line 17 and the return line 19, the working fluid in the cap side chamber 13 d of the fluid pressure cylinder 13 is discharged to the tank 15. The solenoid valve 23 is designed to be switched to the brake operating position 23A mechanically by the spring force when the power supply to the solenoid is stopped at the time of an emergency stop (at the time of an intentional power supply interruption requiring an emergency) or at power failure. ing.

  A relief line 26 leading to the tank 15 is branched and connected midway in the pumping line 16 between the pump 21 and the check valve 22, and the pressure of the working fluid in the pumping line 16 is midway in the relief line 26. A relief valve 27 is provided which opens to return the working fluid to the tank 15 when the pressure exceeds a set pressure.

  In the middle of the pressure accumulation line 24, the high pressure switch 28H operated when the pressure of the working fluid in the pressure accumulation line 24 reaches the high setting pressure, and the pressure of the working fluid in the pressure accumulation line 24 reaches the low setting pressure A low pressure switch 28L operating at the same time, and a shutoff valve 28V which is normally open (normally open) and closed when the high pressure switch 28H is activated. Thereby, when the pressure of the working fluid in the pressure accumulation line 24 reaches the set pressure of the accumulator 25, the high pressure switch 28H operates to stop the motor 20 of the pump 21 from a control device not shown. While the command is output and the shutoff valve 28V is closed, the low pressure switch 28L is activated when the pressure is reduced to the pressure set in the accumulator 25 or lower, and the control of the motor 20 of the pump 21 is performed. The drive command is output from the device and the shutoff valve 28V is opened.

  A drain line 29 for draining the working fluid of the accumulator 25 to the tank 15 during maintenance or the like is connected to the middle of the pressure accumulation line 24, and the drain line 29 is a manual on-off valve opened and closed by a worker. 30 are provided.

  And in the case of a present Example, the point provided with the buffer line 60, the accumulator 61 for buffers, the flow control valve 62, and the controller 63 is characterized.

  The buffer line 60 is branched and connected in the middle of the cap side line 17 as a supply flow path of the working fluid of the fluid pressure unit 14 for extending the fluid pressure cylinder 13 and pressing the brake pad 12 against the rail 4.

  The buffer accumulator 61 is connected to the cap side line 17 as the supply flow path via the buffer line 60.

  The flow control valve 62 is provided in the middle of the buffer line 60, and includes a variable throttle valve 62a and a check valve 62b. The check valve 62 b blocks the flow in the direction from the cap side line 17 to the buffer accumulator 61, and allows the flow in the direction from the buffer accumulator 61 to the cap line 17.

  The controller 63 is configured to output an opening degree control signal 65 to the flow rate control valve 62 based on the acceleration 64 in the traveling direction acting on the orbiting type machine. In the controller 63, a set value of the acceleration 64 is set in advance, and the opening degree of the variable throttle valve 62a of the flow control valve 62 is expanded or reduced in accordance with the comparison result with the set value. .

  The acceleration 64 is obtained by differentiating the speed detected by the traveling motor 8 a of the traveling device 8. However, a dedicated speed detector or acceleration detector may be provided to input a detection signal to the controller 63.

  Next, the operation of the above embodiment will be described.

  As shown in FIG. 2, when the solenoid valve 23 of the fluid pressure unit 14 is switched to the brake operating position 23A, the hydraulic pressure line 16 and the cap side line 17 communicate with each other, whereby the working fluid pumped by the pump 21 is transferred. The working fluid in the rod side chamber 13 e of the fluid pressure cylinder 13 is discharged to the tank 15 by the rod side line 18 communicating with the return line 19 while being introduced into the cap side chamber 13 d of the fluid pressure cylinder 13. As a result, the fluid pressure piston 13b is driven to move the piston rod 13c in the direction in which it protrudes from the fluid pressure cylinder 13, and the brake pad 12 is pressed against the traveling wheel rolling surface 4a of the rail 4 to perform braking.

  Here, by differentiating the speed detected by the traveling motor 8a of the traveling device 8, an acceleration 64 in the traveling direction acting on the container crane 1 as a track traveling type machine is determined, and control is performed based on the acceleration 64. An opening degree control signal 65 is output from the unit 63 to the flow control valve 62.

  When the acceleration 64 is larger than the set value, the opening degree of the variable throttle valve 62a of the flow control valve 62 is expanded, and flows into the buffer accumulator 61 through the buffer line 60 from the cap side line 17 as a supply flow path. The fluid is increased, the working fluid is prevented from rapidly flowing from the cap side line 17 into the cap side chamber 13d of the fluid pressure cylinder 13, and the impact pressure is absorbed. When the acceleration 64 is smaller than the set value, the opening degree of the variable throttle valve 62a of the flow control valve 62 is reduced, and flows into the buffer accumulator 61 from the cap side line 17 as the supply flow path through the buffer line 60. The working fluid decreases, and the working fluid smoothly flows from the cap side line 17 to the cap side chamber 13 d of the fluid pressure cylinder 13.

  As a result, unlike the braking device disclosed in Patent Document 2, the braking is not performed rapidly in a short time during operation, and a large load is not applied to the container crane 1 as a track traveling type machine, There is no need to worry about leaving the car. In addition, since a servo valve or the like is not used, complicated control is not required, the structure is simple, and cost reduction can be achieved.

  In addition, even if a plurality of buffer storage accumulators 61 having different capacities are prepared and the switch is not appropriately switched, the pressing force of the brake pad 12 is changed according to the acceleration 64 to appropriately control the braking force. It becomes possible.

  On the other hand, when the solenoid valve 23 of the fluid pressure unit 14 is switched to the brake release position 23B from the state shown in FIG. 2, the pressure feed line 16 and the rod side line 18 communicate with each other, whereby the working fluid pumped by the pump 21 is The working fluid in the cap side chamber 13 d of the fluid pressure cylinder 13 is discharged to the tank 15 by the cap side line 17 communicating with the return line 19 while being introduced into the rod side chamber 13 e of the fluid pressure cylinder 13. As a result, the fluid pressure piston 13b is driven to move the piston rod 13c in a direction in which the piston rod 13c contracts inside the fluid pressure cylinder 13, and the brake pad 12 separates from the traveling wheel rolling surface 4a of the rail 4 to release the braking. It is possible to move the container crane 1.

  Also, when the pressure of the working fluid in the pressure accumulation line 24 reaches the high setting pressure of the accumulator 25, the high pressure switch 28H operates to control the motor 20 of the pump 21 from a control device not shown. The stop command is output and the shutoff valve 28V is closed. On the other hand, when the pressure drops below the low set pressure of the accumulator 25, the low pressure switch 28L is activated to output a drive command from the control device to the motor 20 of the pump 21 and the shut. The off valve 28V opens. Thereby, the accumulator 25 is always accumulated to a pressure between the high setting pressure and the low setting pressure. Moreover, the solenoid valve 23 is deenergized to the solenoid at the time of emergency stop and power failure, and is mechanically switched to the brake operating position 23A by the spring force. The shutoff valve 28V is normally open (normally open) and is open at the time of emergency stop and power failure. Therefore, at the time of emergency stop and power failure, the working fluid accumulated in the accumulator 25 is led from the pressure accumulation line 24 to the cap side chamber 13d of the fluid pressure cylinder 13 via the cap side line 17 to drive the fluid pressure piston 13b. The piston rod 13 c moves in the protruding direction, and the brake pad 12 is pressed against the traveling wheel rolling surface 4 a of the rail 4. As a result, even when the pump 21 stops at the time of emergency stop and power failure, it is possible to operate the brake.

  In this way, sudden braking can be suppressed, the load on the container crane 1 as an orbital machine can be alleviated, and control of the braking force can be accurately performed.

  Further, in the case of the present embodiment, the acceleration 64 can be obtained by differentiating the speed detected by the traveling motor 8 a of the traveling device 8. With such a configuration, it is not necessary to newly provide a speed detector, an acceleration detector, or the like, and the overall cost can be suppressed.

  The supply flow path is a cap-side line 17 connected from the fluid pressure unit 14 to the cap-side chamber 13 d of the fluid pressure cylinder 13. According to this configuration, the buffer accumulator 61 can block the rapid flow of the working fluid into the cap side chamber 13d, which is the side of the fluid pressure cylinder 13 where the piston rod 13c does not protrude, and can absorb impact pressure. It is effective for smooth braking.

  The braking system for a track running machine according to the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the scope of the present invention.

1 Container crane (tracking machine)
4 rail 4a traveling wheel rolling surface 7 traveling wheel 8 traveling device 8a traveling motor 12 brake pad 13 fluid pressure cylinder 13d cap side chamber 14 fluid pressure unit 17 cap side line (supply flow path)
60 buffer line 61 buffer accumulator 62 flow control valve 63 controller 64 acceleration 65 opening control signal

Claims (3)

A traveling device provided with traveling wheels rollable along the rails;
A fluid pressure cylinder capable of pressing and disengaging a brake pad in a direction orthogonal to the traveling wheel rolling surface of the rail;
And a fluid pressure unit configured to extend and retract the fluid pressure cylinder by supplying and discharging a working fluid to and from the fluid pressure cylinder.
A buffer line branched and connected in the middle of the hydraulic fluid supply flow path of the fluid pressure unit for extending the fluid pressure cylinder and pressing the brake pad against the rail;
A buffer accumulator connected to the supply channel via the buffer line;
A flow control valve provided in the middle of the buffer line;
A controller for outputting an opening degree control signal to the flow rate control valve based on acceleration in a traveling direction acting on the orbital type machine.   The braking system according to claim 1, wherein the acceleration is obtained by differentiating a speed detected by a traveling motor of the traveling device.   The braking system according to claim 1 or 2, wherein the supply flow path is a cap side line connected from the fluid pressure unit to a cap side chamber of the fluid pressure cylinder.

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