JP2021123436A - Control device of jib crane - Google Patents

Abstract

To provide a control device of a jib crane capable of improving economical efficiency while minimizing required strength of a support structure part.SOLUTION: A control device for a jib crane includes: a revolving angle detector 100 for detecting a revolving angle of a jib 40; a working radius detector 200 for detecting a working radius of the jib 40; a load detector 300 for detecting a load weight of a suspended cargo suspended by the jib 40; a controller 400 for obtaining an actual moment at the revolving angle of the jib 40 based on the working radius of the jib 40 and the load weight of the suspended cargo, comparing a set moment, which is set in advance according to the revolving angle of the jib 40, with the actual moment, and obtaining the working radius of the jib 40 whose actual moment becomes the set moment or less; and an operation support machine 500 for transmitting the working radius of the jib 40 obtained by the controller 400 to an operator.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control device for a jib crane.

In general, track-running jib cranes are installed in docks for building ships, and climbing jib cranes are often used for building construction.

For example, Patent Document 1 shows a general technical level related to the orbital traveling type jib crane.

Further, as a general technical level related to the climbing type jib crane, for example, Patent Document 2 is available.

JP-A-2017-95237 Japanese Unexamined Patent Publication No. 2001-130870

By the way, as shown in FIG. 8, the controller of the jib crane is set with a rated load curve with respect to the working radius of the jib.

Incidentally, the moment acting on the support structure portion of the jib crane is obtained by the product of the rated load and the working radius.

In the case of the track traveling type jib crane, the strength of the gate-shaped pedestal of the traveling body and the number of traveling wheels are based on the larger value of the moment at the point A or B in the rated load curve shown in FIG. It is determined.

However, the transmitted load to the support structure of the jib crane based on the moment is at a specific turning angle determined by the wheelbase of the traveling body (wheel body spacing in the parallel direction of the rail) and the rail span (wheel body spacing in the direction perpendicular to the rail). Even if the same suspended load is lifted at the maximum, the transmitted load at a turning angle other than a specific turning angle becomes small.

Therefore, at a turning angle other than a specific turning angle, there is a margin in the strength of the gate-shaped pedestal of the traveling body and the number of traveling wheels, and a review has been desired from the viewpoint of economy.

On the other hand, in the case of the climbing type jib crane, the strength of the skeleton beam of the building supporting the gantry of the columnar structure is based on the value of the larger moment at the points A or B in the rated load curve shown in FIG. It is determined.

However, the load transmitted to the support structure of the jib crane based on the moment is maximized at a specific turning angle determined by the span of two right-angled sides of the skeleton beam assembled in a rectangular shape when viewed in a plane. Even if the same suspended load is lifted, the transmitted load at a turning angle other than a specific turning angle becomes small.

Therefore, at a turning angle other than a specific turning angle, the strength of the skeleton beam of the building has a margin, and it has been desired to review it from the viewpoint of economic efficiency as in the case of the track traveling type jib crane.

The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide a jib crane control device capable of improving economic efficiency by minimizing the required strength of the support structure portion.

The present invention includes a swivel angle detector that detects the swivel angle of the jib.
A working radius detector that detects the working radius of the jib,
A load detector that detects the load of the suspended load lifted by the jib, and
The actual moment at the turning angle of the jib is obtained based on the working radius of the jib and the load of the suspended load, and the actual moment is set by comparing the preset moment set according to the turning angle of the jib with the actual moment. A controller that finds the working radius of the jib that is less than the moment,
It relates to a control device for a jib crane equipped with a driving support device for transmitting the working radius of the jib obtained by the controller to the operator.

Further, the present invention includes a turning angle detector that detects the turning angle of the jib.
A working radius detector that detects the working radius of the jib,
A load detector that detects the load of the suspended load lifted by the jib, and
The actual moment at the turning angle of the jib is obtained based on the working radius of the jib and the load of the suspended load, and the actual moment is set by comparing the preset moment set according to the turning angle of the jib with the actual moment. A controller that finds the working radius of the jib that is less than the moment,
It relates to a control device of a jib crane provided with a jib working radius adjuster for adjusting the actual working radius of the jib so as to be equal to or less than the working radius of the jib obtained by the controller.

In the control device of the jib crane, the jib crane includes an undulating jib.
The jib working radius adjuster can adjust the working radius by changing the undulation angle of the jib.

Further, in the control device of the jib crane, the jib crane includes a jib that expands and contracts in the horizontal direction.
The jib working radius adjuster can also adjust the working radius by changing the length of the jib.

Furthermore, in the control device of the jib crane, the jib crane includes a jib extending in the horizontal direction and a trolley arranged tramically on the jib.
The jib working radius adjuster can also adjust the working radius by changing the traversing position of the trolley.

According to the control device for the jib crane of the present invention, it is possible to obtain an excellent effect that the required strength of the support structure portion can be minimized and the economic efficiency can be improved.

It is a block diagram which shows the 1st Example of the control device of the jib crane of this invention. It is an overall schematic diagram which shows the track traveling type jib crane in the 1st Example of the control device of the jib crane of this invention. It is a top view which shows the state which reduces the working radius at a specific turning angle in the 1st Example of the control device of the jib crane of this invention. It is an overall schematic diagram which shows the climbing type jib crane in the 2nd Example of the control device of the jib crane of this invention. It is a top view which shows the state which reduces the working radius at a specific turning angle in the 2nd Example of the control device of the jib crane of this invention. It is an overall schematic view which shows the jib crane which the jib expands and contracts in the horizontal direction. It is an overall schematic view which shows the jib crane which extends in the horizontal direction, and the trolley is arranged in the jib so that the trolley can travel. It is a diagram which shows the rated load curve in a general jib crane.

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

1 to 3 are the first embodiment of the control device for the jib crane of the present invention. Incidentally, the present invention is applied to a jib crane in which the jib undulates, a jib crane in which the jib expands and contracts in the horizontal direction, and a jib crane in which the jib extends in the horizontal direction and a trolley is traversively arranged on the jib.

First, a jib crane in which the jib undulates in an orbital traveling type to which the present invention is applied will be described. As shown in FIG. 2, the jib crane includes a traveling body 10, a columnar structure 20, a swivel body 30, and a jib 40. It has.

The traveling body 10 includes a gate-shaped pedestal 11, an upper equalizer beam 12, an intermediate equalizer beam 13, a lower equalizer beam 14, and traveling wheels 15.

The gate-shaped pedestal 11 is a structure arranged in a gate shape above the rails 50 laid in parallel with the rail span S.

The upper equalizer beam 12 is swingably arranged on the bottom surface side of the gate-shaped pedestal 11 with an intermediate portion supported by a rocker pin 12a extending in a horizontal direction perpendicular to the traveling direction. The intermediate portion equalizer beam 13 is swingably arranged at one end of the upper equalizer beam 12 in the traveling direction, with the intermediate portion supported by a rocker pin 13a extending in a horizontal direction perpendicular to the traveling direction. The lower equalizer beam 14 is swingably arranged at both ends of the intermediate portion equalizer beam 13 in the traveling direction, with the intermediate portion supported by rocker pins 14a extending in the horizontal direction perpendicular to the traveling direction. In the example shown in FIG. 2, the lower equalizer beam 14 is directly oscillated by the rocker pin 14a at the other end of the upper equalizer beam 12 in the traveling direction without passing through the intermediate equalizer beam 13. ing.

The traveling wheels 15 are arranged at both ends of the lower equalizer beam 14 in the traveling direction so as to be rotatable along the rail 50.

The columnar structure 20 is a post having a circular cross section or a mast having a truss structure having a rectangular cross section, and is erected from the gate-shaped pedestal 11 of the traveling body 10.

The swivel body 30 is rotatably arranged at the upper end of the columnar structure 20.

The jib 40 is provided on the swivel body 30 so as to be undulating.

Then, in the case of the first embodiment, as shown in FIG. 1, a point including a turning angle detector 100, a working radius detector 200, a load detector 300, a controller 400, and a driving support device 500 is provided. It is a feature.

The swivel angle detector 100 is a detector such as an encoder that detects the swivel angle of the jib 40, and is attached to a swivel drive motor that drives a swivel ring (not shown). The gear of the swivel ring may be engaged with a pinion to which the swivel angle detector 100 is attached, and the swivel angle detector 100 may be attached as a separately placed detector.

The working radius detector 200 is a detector that detects the working radius of the jib 40. In the case of a jib crane provided with an undulating jib 40 as shown in FIG. 2, as the working radius detector 200, a detector such as an encoder that detects the undulating angle of the jib 40 is used, and the undulating angle of the jib 40 is used. The working radius is calculated from, and it is attached to the undulation drive motor of the undulation rope drive winch (not shown). A pinion to which the working radius detector 200 (undulating angle detector) is attached is engaged with a gear provided on the outer circumference of a pin that is the center of undulation of the jib 40, and the working radius is used as a separate detector. A detector 200 (undulation angle detector) may be attached.

The load detector 300 is a detector such as a load cell that detects the load of the suspended load lifted by the jib 40, and is attached to a sheave provided at the tip of the jib 40 or a hoisting rope hung around the sheave. It is attached.

The controller 400 obtains an actual moment at the turning angle of the jib 40 based on the working radius of the jib 40 and the load of the suspended load, and sets a preset moment and the actual moment according to the turning angle of the jib 40. , And the working radius of the jib 40 whose actual moment is equal to or less than the set moment is obtained. As shown in FIG. 8, the controller 400 is set with a rated load curve with respect to the working radius of the jib 40.

The driving support device 500 is adapted to inform the operator of the working radius of the jib 40 obtained by the controller 400. The driving support device 500 includes, for example, a display in the driver's cab that displays the working radius of the jib 40 obtained by the controller 400, and a speaker that conveys the working radius of the jib 40 obtained by the controller 400 by voice. Either one or both can be selected.

Further, instead of the driving support device 500, a jib working radius adjuster 600 may be provided as shown by a virtual line in FIG.

The jib working radius adjuster 600 adjusts the actual working radius of the jib 40 so as to be equal to or less than the working radius of the jib 40 obtained by the controller 400. The working radius of the jib 40 is adjusted by changing the undulation angle of the jib 40.

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

When operating a track-traveling jib crane, the turning angle detector 100 detects the turning angle of the jib 40, the working radius detector 200 (undulating angle detector) detects the undulating angle of the jib 40, and the load detector 300 The load of the suspended load lifted by the jib 40 is detected, and each detected value is input to the controller 400.

In the controller 400, the working radius is calculated from the undulating angle of the jib 40, the actual moment at the turning angle of the jib 40 is obtained based on the working radius and the load of the suspended load, and the actual moment at the turning angle of the jib 40 is obtained according to the turning angle of the jib 40. The preset set moment is compared with the actual moment, and the working radius of the jib 40 at which the actual moment is equal to or less than the set moment is obtained.

The working radius of the jib 40 obtained by the controller 400 is transmitted to the operator by the driving support device 500 in the form of display output or audio output.

The operator may adjust the undulation angle of the jib 40 so as to have a working radius of the jib 40 that is displayed or output by the driving support device 500.

Incidentally, when the jib working radius adjuster 600 is provided, the actual working radius of the jib 40 is the undulation angle of the jib 40 so as to be equal to or less than the working radius of the jib 40 obtained by the controller 400. It is automatically adjusted by changing.

Here, the working radius at point A in the rated load curve shown in FIG. 8 is RA, and the working radius at point B is RB. Further, the turning angle at which the transmission load to the support structure of the jib crane based on the moment is maximized is the wheelbase W (wheel body spacing in the rail parallel direction) and the rail span S (rail right angle) of the traveling body 10 shown in FIG. It is calculated from the wheelbase distance in the direction), and it is assumed that the turning angle is, for example, θ1, θ2, θ3, θ4 shown in FIG. In this case, the working radius of the jib 40 at point A in the rated load curve shown in FIG. 8 is not uniformly RA, but as shown in FIG. 3, the required angles of the turning angles θ1, θ2, θ3, and θ4 are respectively required. In the range, it is smaller than RA. Similarly, the working radius of the jib 40 at point B in the rated load curve shown in FIG. 8 does not uniformly become RB, but as shown in FIG. 3, the required angles of the turning angles θ1, θ2, θ3, and θ4 are respectively required. In the range, it is smaller than RB.

The working radius of the jib 40 is a continuous and smooth curve as shown by a virtual line in FIG. 3 by deriving a theoretical formula instead of reducing it to a concave shape as shown by a solid line in FIG. It is also possible to change it as.

As a result, in the case of the track traveling type jib crane, the strength of the gantry stand 11 of the traveling body 10 and the number of traveling wheels 15 are not selected based on a specific turning angle, but turning other than a specific turning angle. It is possible to set the angle to a necessary and sufficient value.

In this way, in the track traveling type jib crane of the first embodiment, the required strength of the support structure portion can be minimized to improve economic efficiency.

4 and 5 show the second embodiment of the control device for the jib crane of the present invention, and in the drawings, the parts having the same reference numerals as those in FIGS. 1 to 3 represent the same objects. The basic configuration is the same as that of the first embodiment shown in FIGS. 1 to 3, but the feature of the second embodiment is that the present invention is a climbing type jib crane as shown in FIGS. 4 and 5. It is in the point applied to.

As shown in FIG. 4, the climbing type jib crane includes a foundation frame 16, a columnar structure 20, an elevating unit 25, a swivel body 30, and a jib 40.

The foundation pedestal 16 is a pedestal mounted so as to hang between the skeleton beams f connecting the skeleton columns p of the building. A stretchable outrigger 16a is provided on the foundation pedestal 16, and the outrigger 16a is hung between the skeleton beams f.

The columnar structure 20 is erected on the foundation pedestal 16.

The elevating unit 25 is capable of pulling up the foundation frame 16 and the columnar structure 20 and is movable up and down along the columnar structure 20.

The swivel body 30 is rotatably arranged at the upper end of the columnar structure 20. The swivel body 30 is disposed at the upper end of the elevating unit 25 instead of being disposed at the upper end of the columnar structure 20, and the columnar structure 20 elevates and descends so as to penetrate the swivel body 30. There is also a climbing jib crane that is pulled up by the operation of the unit 25.

The jib 40 is provided on the swivel body 30 so as to be undulating.

Then, in the case of the second embodiment as in the first embodiment, as shown in FIG. 1, the turning angle detector 100, the working radius detector 200, the load detector 300, the controller 400, and the operation support device are used. It is equipped with 500 (or jib working radius adjuster 600).

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

When operating a climbing type jib crane, the turning angle detector 100 detects the turning angle of the jib 40, the working radius detector 200 (undulating angle detector) detects the undulating angle of the jib 40, and the load detector 300 detects the undulating angle of the jib 40. The load of the suspended load lifted by the jib 40 is detected, and each detected value is input to the controller 400.

In the controller 400, the working radius is calculated from the undulating angle of the jib 40, the actual moment at the turning angle of the jib 40 is obtained based on the working radius and the load of the suspended load, and the actual moment at the turning angle of the jib 40 is obtained according to the turning angle of the jib 40. The preset set moment is compared with the actual moment, and the working radius of the jib 40 at which the actual moment is equal to or less than the set moment is obtained.

The working radius of the jib 40 obtained by the controller 400 is transmitted to the operator by the driving support device 500 in the form of display output or audio output.

The operator may adjust the undulation angle of the jib 40 so as to have a working radius of the jib 40 that is displayed or output by the driving support device 500.

Incidentally, when the jib working radius adjuster 600 is provided, the actual working radius of the jib 40 is the undulation angle of the jib 40 so as to be equal to or less than the working radius of the jib 40 obtained by the controller 400. It is automatically adjusted by changing.

Here, the working radius at point A in the rated load curve shown in FIG. 8 is RA, and the working radius at point B is RB. Further, the turning angle at which the transmission load to the support structure portion of the jib crane based on the moment is maximized is calculated from the spans S1 and S2 of the skeleton beam f shown in FIG. 5, and the turning angle is calculated, for example, in FIG. It is assumed that the values are θ5, θ6, θ7, and θ8 shown. In this case, the working radius of the jib 40 at point A in the rated load curve shown in FIG. 8 is not uniformly RA, but as shown in FIG. 5, the required angles of the turning angles θ5, θ6, θ7, and θ8 are respectively required. In the range, it is smaller than RA. Similarly, the working radius of the jib 40 at point B in the rated load curve shown in FIG. 8 does not uniformly become RB, but as shown in FIG. 5, the required angles of the turning angles θ5, θ6, θ7, and θ8 are respectively required. In the range, it is smaller than RB.

The working radius of the jib 40 is a continuous and smooth curve as shown by a virtual line in FIG. 5 by deriving a theoretical formula instead of reducing it to a concave shape as shown by a solid line in FIG. It is also possible to change it as.

As a result, in the case of the climbing type jib crane, the strength of the skeleton beam f of the building is not selected based on a specific turning angle, but is set to a value necessary and sufficient at a turning angle other than the specific turning angle. Is possible.

In this way, even in the climbing type jib crane of the second embodiment, the required strength of the support structure portion can be minimized to improve economic efficiency.

Then, as in the first embodiment and the second embodiment, if the operation support device 500 for transmitting the working radius of the jib 40 obtained by the controller 400 to the operator is provided, the operator follows the instruction of the operation support device 500. The working radius of the jib 40 can be adjusted, and the required strength of the support structure can be minimized to improve economic efficiency.

Further, if the jib working radius adjuster 600 for adjusting the actual working radius of the jib 40 so as to be equal to or less than the working radius of the jib 40 obtained by the controller 400 is provided, the jib working radius adjuster 600 is automatically provided. The working radius of the jib 40 can be adjusted more smoothly, and the required strength of the support structure can be minimized to improve economic efficiency.

On the other hand, in the case of the first embodiment and the second embodiment, the jib crane includes the undulating jib 40 as shown in FIGS. 2 and 4, and the jib working radius adjuster 600 adjusts the undulating angle of the jib 40. The working radius can be adjusted by changing it.

Further, as shown in FIG. 6, the jib crane includes a jib 40 that expands and contracts in the horizontal direction, and the jib working radius adjuster 600 can adjust the working radius by changing the length of the jib 40.

Furthermore, as shown in FIG. 7, the jib crane includes a jib 40 extending in the horizontal direction and a trolley 45 arranged laterally on the jib 40, and the jib working radius adjuster 600 includes the trolley 45. The working radius can also be adjusted by changing the traversing position of.

That is, the required strength of the support structure is minimized not only in the jib crane provided with the undulating jib 40 as shown in FIGS. 2 and 4, but also in various types of jib cranes as shown in FIGS. 6 and 7. It can be suppressed to improve economic efficiency.

The control device for the jib crane of 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 gist of the present invention.

10 Traveling body 11 Gate-shaped mount 12 Upper equalizer beam 12a Rocker pin 13 Middle equalizer beam 13a Rocker pin 14 Lower equalizer beam 14a Rocker pin 15 Traveling wheel 16 Foundation mount 16a Outrigger 20 Column structure 25 Lifting unit 30 Swivel unit 40 Trolley 50 Rail 100 Swivel angle detector 200 Working radius detector 300 Load detector 400 Controller 500 Driving support device 600 Jib working radius adjuster S Rail span S1 Span S2 Span W Wheel base f skeleton beam p skeleton column θ1 Swivel angle θ2 Swivel angle θ3 Swivel angle θ4 Swivel angle θ5 Swivel angle θ6 Swivel angle θ7 Swivel angle θ8 Swivel angle

Claims (5)

A swivel angle detector that detects the swivel angle of the jib,
A working radius detector that detects the working radius of the jib,
A load detector that detects the load of the suspended load lifted by the jib, and
The actual moment at the turning angle of the jib is obtained based on the working radius of the jib and the load of the suspended load, and the actual moment is set by comparing the preset moment set according to the turning angle of the jib with the actual moment. A controller that finds the working radius of the jib that is less than the moment,
A control device for a jib crane provided with a driving support device that informs the operator of the working radius of the jib obtained by the controller. A swivel angle detector that detects the swivel angle of the jib,
A working radius detector that detects the working radius of the jib,
A load detector that detects the load of the suspended load lifted by the jib, and
The actual moment at the turning angle of the jib is obtained based on the working radius of the jib and the load of the suspended load, and the actual moment is set by comparing the preset moment set according to the turning angle of the jib with the actual moment. A controller that finds the working radius of the jib that is less than the moment,
A jib crane controller equipped with a jib working radius adjuster that adjusts the actual working radius of the jib so that it is less than or equal to the jib working radius determined by the controller. The jib crane includes undulating jib
The jib crane control device according to claim 2, wherein the jib working radius adjuster adjusts the working radius by changing the undulation angle of the jib. The jib crane has a jib that expands and contracts in the horizontal direction.
The jib crane control device according to claim 2, wherein the jib working radius adjuster adjusts the working radius by changing the length of the jib. The jib crane includes a jib that extends in the horizontal direction and a trolley that is traversibly arranged on the jib.
The control device for a jib crane according to claim 2, wherein the jib working radius adjuster adjusts the working radius by changing the traversing position of the trolley.

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