JP2508087B2 - Anti-sway method for object suspension device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a steadying method for an object suspending device, in which an object is suspended from a support that moves in a horizontal direction by a rear rope and a front rope. It is about.

"Prior Art" Conventionally, as a suspension device as described above, a container suspension device as shown in Fig. 16 is known.

The container suspending device includes a first support base 11 and a second support base 12 which are opposed to each other. The first support base
A winding drum 13 is provided on the 11 and the first
The pulley 14 and the second pulley 15 are axially supported and arranged. A third pulley 16 is mounted on the second support 12.
Are rotatably supported. On the other hand, the first support 11
And a trolley (support) between the second support base 12 and
17 are provided. This trolley 17 includes the support 11
On the orbit provided between the base and the support 12 (not shown)
Can be moved by a driving device (not shown). On the side of the first support base 11 of the trolley 17,
A fourth pulley 18 and a fifth pulley 19 are axially supported and arranged, respectively, and the trolley 17 has the second support base side 12 thereof.
A sixth pulley 20 and a seventh pulley 21 are axially supported and arranged in the. Below the trolley 17 is a spreader.
22 is suspended by a method described later, and a container (object) 23 is attached to the lower surface of the spreader 22. Further, an eighth pulley 24 is axially supported and arranged on the upper surface of the spreader 22 on the side of the first support 11, and on the side of the second support 12 of the spreader 22,
A ninth pulley 25 is axially supported and arranged. Here, on the trolley 17, the fourth portion on the side of the first support base 11 is provided.
The distance between the pulley 18, the fifth pulley 19 and the sixth pulley 20, the seventh pulley 21 on the side of the second support 12 is the eighth pulley 24 on the spreader 22. It is made wider than the distance to the ninth pulley 25.

In such a structure, a rope 26 is provided between the winding drum 13 and each pulley. This rope
Reference numeral 26 denotes one end 27 and the other end 28 of the winding drum 13
Is wrapped around. Then, the rope 26 includes the first pulley 27 from the one end 27 to the other end 28 in order.
14, the fourth sheave 18, the eighth sheave 24, the fifth sheave 19, the third sheave 16, the sixth sheave 20, the ninth sheave 25, the seventh sheave 21 , The second pulley 15 is wound in this order. Then, as described above, on the trolley 17, the pulley 1 on the side of the first support base 11 is provided.
Since the distance between the pulleys 8 and 19 and the pulleys 20 and 21 on the side of the second support 12 is wider than the distance between the eighth pulley 24 and the ninth pulley 25 on the spreader 22, A first rope (front side rope) 29 from the fourth pulley 18 to the fifth pulley 19 via the eighth pulley 24 and the sixth pulley 20.
The second rope (rear side rope) 30 extending from the above to the seventh pulley 21 through the ninth pulley 25 is arranged in an inverted V shape.

Such a container suspending device rotates the hoisting drum 13 to wind up both ends 27 and 28 of the rope 26 to raise the spreader 22 and the container 23, and also to wind the hoisting drum 13 The spreader 22 and the container 23 are lowered by rotating and unwinding both ends 27 and 28 of the rope 26.

On the other hand, to move the container 23 horizontally,
The trolley 17 may be moved horizontally by a driving device (not shown), and the winding drum 13 may be stopped. That is, when the trolley 17 is moved toward the first support base 11, the fourth pulley 18, the fifth pulley 19, the sixth pulley 20, and the The seventh pulley 21 also moves toward the first support 11. At this time, the first rope extending from the fourth pulley 18 through the eighth pulley 24 to the fifth pulley 19
The numeral 29 moves in a direction from the fourth pulley 18 to the fifth pulley 19 via the eighth pulley 24. Further, the sixth pulley 20 to the ninth pulley 25 are passed to the seventh pulley 20.
The second rope 30 reaching 21 moves in a direction from the seventh pulley 21 to the sixth pulley 20 via the ninth pulley 25. In this way, the container 23 is moved horizontally without changing its height.

In FIG. 16, the first support 11, the second support 12, the winding drum 13, the trolley 1 are shown.
7, only one side portion of the spreader 22 and the container 23 is shown, and pulleys, ropes, etc. are arranged on the opposite side in the same configuration.

[Problems to be Solved by the Invention] By the way, in the above container hanging device, the fifth pulley 19 is passed through the fourth pulley 18 to the eighth pulley 24.
The first rope 29, which extends to the end, and the second rope 30, which extends from the sixth pulley 20 through the ninth pulley 25 to the seventh pulley 21, are arranged in an inverted C-shape, so that mechanical With a different transformer structure, the container 23 is hard to shake. However, there is a problem in that it is impossible to prevent the container from swinging due to the elastic elongation of the rope itself.

"Object of the Invention" An object of the present invention is to provide a steady rest method for an object suspending device capable of preventing the shake of an object due to elastic elongation of the rope itself.

"Structure of the invention" The present invention relates to the tension applied to the object by the front rope or the rear rope when the object is not swaying before moving, and the first of the object immediately after the moving support is stopped. When the deflection angle becomes maximum and the deflection velocity of the object becomes zero, the amount of increase or decrease of the tension applied to the object by each rope is
Supposing that T, after stopping the moving support, first, when the deflection angle of the object becomes maximum and the deflection speed of the object becomes zero at the first deflection of the object, the object is moved to the object by the rear rope. When the applied tension is decreased by ΔT / 2 and the tension applied to the object by the front rope is increased by ΔT / 2, and then the swing speed of the object becomes zero again (the swing angle is the minimum). , The tension applied to the object by the rear rope is ΔT /
The tension applied to the object by the rope on the front side is decreased by ΔT / 2 while being increased by 2.

[Embodiment] An embodiment of the present invention will be described below with reference to FIGS. 1 to 15. It should be noted that, in these drawings, the same components as those of the conventional example are designated by the same reference numerals, and the description thereof will be omitted.

FIG. 1 is a diagram showing a container suspending device used in the method according to the present invention. In this container suspension device, an actuator 31 is provided on the second support 12. A fixed portion of the actuator 31 is fixed on the second support 12, and an operating portion of the actuator 31 is connected to the rope 26. Further, the actuator 31 includes a hydraulic unit for driving the actuator.
32 is connected. Here, of the rope 26, a portion from the actuating portion of the actuator 31 to the one end portion 27 is one rope 33, and a portion of the rope 26 from the actuator 31 to the other end portion 28 is the other. Rope 34 on the side of. Then, the actuator 31
Moves its operating part with respect to the second support base 12 to draw out the rope 33 on the one side and pull back the rope 34 on the other side, or draw out the rope 34 on the other side. At the same time, the rope 33 on one side is pulled back.

One load sensor 35 is interposed between the rope 33 on one side and the actuator 31, and the rope 34 on the other side and the actuator 31 are also provided.
The other load sensor 36 is interposed between and.
Then, the one load sensor 35 measures the tension applied to the rope 33 on the one side, and the other load sensor 36 measures the tension applied to the rope 34 on the other side. .

On the other hand, the shaft of the hoisting drum 13 has a hoisting lift sensor 37 for detecting the position of the container in the hoisting direction.
Is provided.

Further, a horizontal speed sensor 38 for detecting the container speed in the direction in which the rope 26 is stretched and an angular speed sensor 39 for detecting the rotation speed of the container are provided on the upper surface of the spreader 22. Since the horizontal speed sensor 38 cannot be mounted on the center of gravity of the container 23, it is mounted on the spreader 22.

As shown in FIG. 2, the control system for such a container suspending device includes the angular velocity sensor 39, the horizontal velocity sensor 38, the load sensors 35 and 36, and the hoisting lift sensor 37, and the hoisting lift sensor 37 A filtering unit for filtering the received information and an A-D for A-D converting the information from the filtering unit.
A conversion unit, a calculation unit that calculates the digital information converted into a digital amount by this A-D conversion unit, an amplification unit that amplifies the calculation result of this calculation unit, and the digital information amplified by this amplification unit. Therefore, the driven actuator 31 is provided.

Next, in such a container suspension device,
A method of stopping the shake of the container will be described with reference to the flowchart of FIG. 3 and the graph of FIG.

First, the trolley 17 is moved from the second support base 12 toward the first support base 11, and the container 23 is moved in the same direction.

Next, the trolley 17 is stopped. Then, the spreader 22 and the container 23 swing toward the first support base 11.

At this time, by the horizontal speed sensor 38 and the angular speed sensor 39, the time when the shake of the container 23 becomes maximum, that is, the time when the horizontal speed Vc of the container 23 becomes 0 (time a in FIG. 4). To detect.

Here, since the container 23 is accompanied by the swing motion and the rotational motion, the horizontal speed sensor 38 provided in the spreader 22 is
Is a speed that includes rotational shake. Therefore,
The formula for obtaining the horizontal speed Vc of the container 23 from the horizontal speed Vs of the spreader 22 by the horizontal speed sensor 38 is, as shown in FIG. If the distance to the center of gravity G of 23 is l, then Vc = Vs−ωl.

Next, when the shake of the container 23 becomes maximum,
The rope length is calculated from the hoist lift sensor 37, and the rope 34 on the other side is calculated from the load sensor 36.
Then, the tension Tmax of the rope is calculated, and the elongation amount δ of the rope is calculated.

Here, assuming that the extension amount calculated from the rope tension Tmax at the maximum runout is δmax and the extension amount calculated from the rope tension T ₀ when not running is δ ₀ , the rope on the other side is
Elongation of 34 is obtained from the equation δ = δmax-δ _0. The rope tension T ₀ when not swinging is measured and stored when the container is lifted.

By the same method, the amount of shrinkage δ of the rope 33 on the one side at the time of maximum deflection is also calculated.

Then, based on the above calculation result, the operating vibration of the actuator 31 is moved toward the first support base 11 in a short time,
The rope is paid out by (1/2) δ with respect to the rope 34 on the other side which is the extension side. As a result, the tension of the other rope 34 is ΔT / 2, where Tmax−T ₀ = ΔT.
Only decrease. Further, the rope is pulled back by (1/2) δ with respect to the rope 33 on one side which is the contraction side rope.
As a result, the tension of the one rope 33 increases by ΔT / 2.

Then, as shown in FIG. 4, the swing center of the container 23 moves to the midpoint between the original swing center A-line and the maximum swing position Xmax, and the B-line becomes the swing center.

Next, the container 23 swings in the opposite direction,
When the deflection of 23 becomes maximum with respect to the B- line, that is, when the container speed Vc becomes 0, the actuator 31 is returned to the original position in a short time. Then, tie the rope (1/2) to the rope 34 on the other side, which is the rope on the contraction side.
It is pulled back by δ, and the tension of the other rope 34 is increased by ΔT / 2. Further, the rope is paid out by (1/2) δ with respect to the one side rope 33 which is the extension side rope, and the tension of the one rope 33 is reduced by ΔT / 2.

Then, the shake of the container 23 returns to the original shake center A- line and stops.

In this way, the shaking of the container 23 can be stopped immediately.

As described above, in the steady rest method of the container suspension device described above, first, the trolley 17 that has moved toward the first support base 11 is stopped, and then the horizontal speed sensor is used.
38 and the angular velocity sensor 39 detect the time when the shake of the container 23 becomes maximum, and at this time, the hoist lift sensor 37 and the load sensor 36 detect the rope of the rope 34 on the other side, which is the extension side. The amount of elongation δ'is calculated and the rope on one side, which is the rope on the contraction side 33
The amount of shrinkage δ ″ is also calculated, and the average δ is calculated from the absolute value of these two values. Based on this result, the rope is extended by (1/2) δ with respect to the rope 34 on the other side. The tension is reduced by ΔT / 2, the rope 33 is pulled back by (1/2) δ with respect to the rope 33 on one side and the tension is increased by ΔT / 2, and then the container 23 is reversed. When the deflection is maximized with respect to the B-line, the rope is pulled back by (1/2) δ with respect to the rope 34 on the other side, which is the contraction side, and the tension is ΔT / It is increased by 2 and the rope is extended by (1/2) δ with respect to the rope 33 on one side, which is the extension side, and the tension is reduced by ΔT / 2. The shake can be stopped quickly and surely.

Next, the effect of the steadying method of the container suspending device will be described by the result of computer simulation. FIGS. 6 to 8 show various data for 20 seconds after the container starts to swing in the conventional container suspension device.
The figure shows the container speed, FIG. 7 shows the rotation angle of the container, and FIG. 8 shows the deflection of the container. 9 to 11 show various data for 20 seconds after the container starts to swing when the steadying method of the container suspending device of the present invention is used. FIG. 9 shows the container speed. Fig. 10 shows the rotation angle of the container, and Fig. 11 shows the deflection of the container. As is clear from these results, the method for stabilizing the hanging device of the container of the present invention can quickly stop the shaking of the container as compared with the conventional device for hanging the container which does not use this method. .

Next, another embodiment of the present invention will be described with reference to FIGS.
It will be described with reference to the drawings. In these figures, the same components as those in the above-mentioned embodiment are designated by the same reference numerals and the description thereof will be omitted. Further, it goes without saying that this embodiment also has the same effects as those of the above embodiment.

FIG. 12 and FIG. 13 are views showing a container suspending device used in another steady rest method.

In this container suspension device, a hydraulic cylinder 51 is provided on the second support 12. The cylinder portion 52 of the hydraulic cylinder 51 is fixed on the second support 12. A piston 53 is slidably fitted inside the cylinder portion 52, and one piston rod 54 and the other piston rod 55 are provided on both surfaces of the piston 53. Both piston rods 54,5
The reference numeral 5 is provided so as to penetrate both ends of the cylinder portion 52 and project to the outside. A rope 33 on one side is connected to the one piston rod 54, and a rope 34 on the other side is connected to the other piston rod 55. Further, of the inside of the cylinder portion 52, one oil chamber 56 is formed on the rope 33 side on one side across the piston 53, and the rope chamber on the other side is formed.
The other oil chamber 57 is formed on the 34 side. The oil chambers 56 and 57 are filled with hydraulic oil.

A digital relief valve 59 is connected to the one oil chamber 56 via a first check valve 58.
A reservoir 60 is connected to the. A second check valve 61 is connected to the other oil chamber 57, and the digital relief valve 59 is connected to the second check valve 61. The digital relief valve 59 can change the relief pressure appropriately, and when the pressure in the one oil chamber 56 or the other oil chamber 57 exceeds the relief pressure, the working oil is discharged to the reservoir 60. It is like this. Further, the first and second check valves 58, 61 allow the working oil to pass only in the direction from the oil chambers 56, 57 to the digital relief valve 59, and the oil chambers 56, 56 from the digital relief valve 59 side. It is designed so that the hydraulic oil does not flow back to the 57 side. A pressure sensor 62 is connected to the one oil chamber 56 and the other oil chamber 57 so that the pressures in the oil chambers 56 and 57 can be measured.

On the other hand, a third check valve 63 is connected to the one oil chamber 56, and the reservoir 60 is connected to the third check valve 63. A fourth check valve 64 is connected to the other oil chamber 57, and the reservoir 60 is connected to the fourth check valve 64. The third check valve 63 and the fourth check valve 64
When the piston 53 moves, the working oil is supplied from the reservoir 60 to the oil chamber having a negative pressure, and the working oil in the oil chamber having a high pressure is prevented from flowing back to the reservoir 60. .

As shown in FIG. 14, the control system of such a container hanging device includes an angular velocity sensor 39, a horizontal velocity sensor 38, and a pressure sensor 62, and a filtering unit for filtering information sent from them. , An A / D conversion unit for A / D converting the information from the filtering unit, a calculation unit for calculating the digital information converted into a digital amount by the A / D conversion unit, and a calculation result of the calculation unit. It includes an amplifying section for amplifying, a digital relief valve 59 operated according to the digital information amplified by the amplifying section, and a hydraulic cylinder 51 controlled by the digital relief valve 59.

Next, in such a container suspension device,
A method for stopping the shake of the container will be described with reference to the graph in FIG.

First, move the trolley 17 from the second support base 12 to the first support base.
It is moved towards 11, then the trolley 17 is stopped. Then, the spreader 22 and the container 23 are swung in the direction of the first support 11, so that a force is applied to the piston 53 in the direction of the arrow M in the figure. However, since the set pressure of the digital relief valve 59 is set to a pressure Pr larger than the pressure in the cylinder when the container 23 is swung by the maximum angle, the piston 53 does not move.

Next, when the container 23 swings at the maximum angle (when the container speed becomes 0), the set pressure of the digital relief valve 59 is set to 1 of the maximum pressure Pmax in the cylinder when the container 23 swings at the maximum angle. Set to / 2.

Then, the rope 34 on the other side is connected to the piston 53.
Is fed until it balances the pressure in the other oil chamber 57, and the increase in rope tension due to the vibration is halved. As a result, the center of shake of the container 23 moves to the midpoint between the original center of shake and the maximum shake position.

Next, when the container 23 swings in the opposite direction, a force is applied to the piston 53 in the direction of arrow N in the figure. However, the pressure P'max in one oil chamber 56 due to this force is
Since it is smaller than the set pressure of the digital relief valve 59,
The piston 53 does not move.

Next, when the deflection angle of the container 23 becomes maximum with respect to the B- line (when the speed of the container becomes 0),
Set pressure of digital relief valve 59 from (1/2) Pmax to 0
To

Then, the rope 33 on the one side is connected to the piston 53.
Is fed until it balances the pressure in the one oil chamber 56, and the rope tension generated by the swing is set to zero. Then, the piston 53 returns to the original position, and the swing of the container 23 returns to the original swing center and stops. In this way, the shaking of the container can be quickly stopped.

Although the container is used as the object in the above embodiment, the object is not limited to this, and another object may be used.

[Advantages of the Invention] As described above, according to the present invention, after stopping the moving support body against the tension applied to the object by the front rope or the rear rope when the object is not swinging, When the increase amount or decrease amount of the tension applied to each of the ropes by the respective ropes when the contact angle becomes maximum at the first deflection of the object is ΔT, first, after stopping the moving support, first, When the deflection angle becomes maximum in the first deflection of the object (when the deflection speed is zero), the tension applied to the object by the rear rope is reduced by ΔT / 2, and the front rope reduces the tension. The tension applied to the object is increased by ΔT / 2, and when the shake returns and the shake speed becomes zero again, the tension applied to the object by the rope on the rear side is decreased by ΔT / 2. Only with increased, because by the tension applied to the object by the front side of the rope to reduce by [Delta] T / 2, there is an advantage that it is possible to stop the swing of the object quickly.

[Brief description of drawings]

1 to 5 are views showing an embodiment of the present invention, in which FIG. 1 is an inclined view thereof, FIG. 2 is a block diagram thereof, FIG. 3 is a flow chart showing its operation, and FIG. Is a graph showing its steadying action and effect, FIG. 5 is a diagram showing a method of obtaining a container velocity from an angular velocity sensor and a horizontal velocity sensor, and FIGS. 6 to 8 are computer simulations of a conventional container suspension device. FIGS. 6A and 6B are graphs showing the speed of the container, FIG. 7 is a graph showing the rotation angle of the container, FIG. 8 is a graph showing the deflection of the container, and FIGS. FIG. 9 is a diagram showing a result of computer simulation of a steadying method of a container suspension device of the present invention, FIG. 9 is a graph showing a velocity of the container, and FIG. A graph showing the rotation angle of the container,
FIG. 11 is a graph showing the deflection of the container, FIGS.
FIG. 15 is a view showing another embodiment of the present invention, FIG. 12 is a side view thereof, FIG. 13 is a view showing a hydraulic cylinder and its hydraulic circuit, FIG. 14 is a block diagram thereof, and FIG. Is a graph showing its steadying effect and pressure of the relief valve, and FIG. 16 is a perspective view showing a conventional container suspending device. 17 …… Trolley (support), 23 …… Container (object),
29 …… First rope (front side rope), 30 …… Second rope (rear side rope).

Claims (1)

(57) [Claims] 1. A support which is movable in the horizontal direction, a rear rope which is hung from a suspension point on the rear side in the movement direction of the support, and a suspension point which is suspended on the front side in the movement direction of the support. In a precession method of a hanging device for an object, comprising a suspended front rope, an object suspended by the rear rope and the front rope,
The deflection angle at the first deflection of the object immediately after the moving support is stopped, with respect to the tension applied to the object by each rope when the object is not swinging before the support is moved. When the maximum amount (when the swinging speed of the hanging object is zero) is ΔT, the amount of increase or decrease of the tension applied to each object by each rope is ΔT, and after the moving support is stopped,
First, when the swing angle becomes maximum in the first swing of the object (when the swing speed of the suspended object is zero), the tension applied to the object by the rear rope is reduced by about ΔT / 2. , When the tension applied to the object by the front rope is increased by about ΔT / 2, and then the shake velocity of the object becomes zero again (the shake angle is minimum)
The suspension of the object characterized in that the tension applied to the object by the rope on the rear side is increased by about ΔT / 2 and the tension applied to the object by the rope on the front side is decreased by about ΔT / 2. Resting method of lowering device.