JP2991632B2 - Luggage stabilizer for crane equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo steady rest device for a crane device.

[0002]

2. Description of the Related Art Conventionally, when unloading a container from a container ship, for example, a portal-type girder crane is used, and the girder crane has a girder disposed over the container ship and the land side. A traversing carriage having a winding drum for hanging wires of the container is movably provided.

When the container is unloaded by the girder crane, the container is hung on a hanging wire via a hanger, the winding drum is driven to lift the container, and the trolley travels. Let me
The girder crane was moved to move the container to a predetermined place, and unloading was performed.

[0004]

However, according to the above-mentioned conventional girder crane, when the traversing cart is run while the container is suspended, the container suspended via the hanging tool shakes greatly. However, there is a problem that the unloading operation of the container cannot be performed quickly.

Accordingly, an object of the present invention is to provide a cargo steady rest device for a crane device which can solve the above-mentioned problem.

[0006]

Means for Solving the Problems To solve the above-mentioned problems, a first means of the present invention is to sway a luggage suspended from a trolley capable of traveling on a girder member of a crane device via a hanger. An apparatus, wherein a pair of first and second guide pulleys are provided on the bogie side, and a third guide pulley is provided on a hanger side, and the other end of a rope body having one end connected to a winding drum or a weight. Side, one first guide pulley, one third guide pulley,
The other first guide pulley, one second guide pulley, the other third pulley
A guide pulley and another second guide pulley are connected to the winding drum or the weight, and the other first pulley is connected to the winding drum or the weight.
A luggage rest device in a crane device provided with a damper device that suppresses movement of the rope in the middle of the rope between the guide pulley and one of the second guide pulleys.

In order to solve the above problems, a second means of the present invention is a device for preventing a load from being hanged on a trolley capable of traveling on a girder member of a crane device via a hanging member. A pair of first guide pulleys and a pair of second
A guide pulley is provided, a pair of third guide pulleys is provided on the hanging device side, and the other end of the cable body having one end connected to the winding drum or the weight is connected to one first guide pulley and one of the first pulleys. A third guide pulley, the other first guide pulley, one second guide pulley, the other third guide pulley, and the other second guide pulley are connected to the winding drum or the weight via the other guide pulley. In the middle of the rope between the first guide pulley and one of the second guide pulleys, a rope travel detector is provided for detecting the travel of the rope, and a detection signal from the rope travel detector is provided. Is input to obtain a swing angle of the hanging tool by calculation, and a control device for controlling the drive unit of the bogie of the crane device based on the found swing angle is a luggage steady rest device in a crane device.

Further, in order to solve the above-mentioned problems, a third means of the present invention is to provide a hoist via a hoist to a hoisting drum provided at the left and right positions of a bogie which can run on a beam of a crane device. It is a device for preventing the held luggage, provided with a pair of end detection devices for detecting the left and right end position of the hanging device,
Each of these end detecting devices is composed of a pair of first and second guide pulleys provided on the side of the carriage, a pair of third guide pulleys provided on the side of the hoist, and a winding drum or heavy end at one end. The other end is connected to the weight and the other end side is one first guide pulley, one third guide pulley, the other first guide pulley, one second guide pulley, the other third guide pulley, and the other second guide. The rope is connected to the winding drum or the weight via a pulley, and is provided in the middle of the rope between the other first guide pulley and one of the second guide pulleys. A cable body displacement detector for detecting the amount, and a detection signal from the cable body displacement detector is input to calculate the positional deviation amount of the third guide pulley in each end detecting device, and this calculated value is obtained. To control the drive unit on the bogie side based on the amount of displacement between the two A luggage anti-vibration device in a crane apparatus constructed from a location.

[0009]

According to the structure of the first means, the vibration of the load can be forcibly attenuated because the damper device is connected in the middle of the cord.

Further, according to the configuration of the second means, the moving amount of the rope body is detected, the deflection angle is calculated by the movement amount based on the detected movement amount, and the driving unit of the bogie is eliminated so that the deflection angle is eliminated. Since the drive signal is output to the controller, it is possible to quickly and accurately suppress the swing of the hanging tool, that is, the swing of the suspended load.

Further, according to the configuration of the third means,
Since the damper device is provided in each of the end detection devices provided at the left and right end positions of the hanging device, the swinging of the hanging device, that is, the load, can be prevented by the damper device.

Of course, in each end detecting device, since the moving amount of the cord is detected, the same as in the second means,
The drive unit of the truck is controlled so that the swing angle of the load is eliminated.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes a trolley (also referred to as a trolley) disposed on a girder (girder material) of a girder crane (an example of a crane device), which is made to run on the girder by running wheels (not shown). I have. Although not shown, a winding drum is arranged on the traversing carriage 1 and a hanging member 2 for holding a load from the winding drum via a hanging wire is hung. .
Although not shown, a suspending pulley is provided on the upper surface of the suspending tool 2, and a suspending wire is wound around the suspending pulley.

Further, the girder crane includes a swing angle detecting device 3 for detecting a swing angle of a suspended load and a swing preventing device 4 partially utilizing the configuration of the swing angle detecting device 3. Have been.

First, the deflection angle detecting device 3 will be described. In other words, the deflection angle detecting device 3 includes a pair of first guide pulleys 11 (11
A, 11B), and a pair of second guide pulleys 12 (12A, 12B) also provided on the other end side of the traversing carriage 1.
A pair of third guide pulleys 1 provided on the upper surface of the hanging tool 2
3 (13A, 13B), one end of which is connected to a winding drum 15 driven by a torque motor 14 and an intermediate portion of which is a turning pulley 16 (16A), and one of the first guide pulleys 11
A, one third guide pulley 13A, the other first guide pulley 1
1B, one second guide pulley 12A, the other third guide pulley 13B, the other second guide pulley 12B, and the turning pulley 1
6 (16B), and is provided in the middle of the rope body 17 between the other first guide pulley 11B and the one second guide pulley 12A between the rope body 17 connected to the winding drum 15 and the above. And a cable body movement amount detector 18 for detecting the movement amount of the cable body 17.

The pair of guide pulleys 11A, 11A
B; 12A, 12B; 13A, 13B are supported by a single support shaft 19A so as to be rotatable in free directions with respect to each other.
A and 16B are connected and supported by one support shaft 19B, and a rotary encoder 2 is provided on the support shaft 19B to detect the amount of rotation of the turning pulleys 16A and 16B.
0 is attached.

The cable body movement amount detector 18 is, for example, as shown in FIG.
As shown in the figure, a triangulation type displacement meter is used. That is, while being connected in the middle of the cable body 17,
The detection object 21 provided with 1a, and the protruding piece 21a of the detection object 21 provided on the side of the trolley 1 at a position corresponding to the protruding piece 21a are irradiated with, for example, laser light,
A laser distance meter 22 receives the reflected light and detects the amount of movement of the protruding piece 21a.

Further, the deflection angle detector 3 receives the detection distance from the laser range finder 22 and the rotation detection signal from the rotary encoder 20 and performs a calculation based on a predetermined calculation formula. An arithmetic processing device (for example, one having a microcomputer or the like as an arithmetic unit) 23 for calculating the swing angle of the load, that is, the swing angle of the load is provided.

The arithmetic processing unit 23 is provided, for example, in a crane operation room or a control room.
The winding drum 15 always applies a constant tension to the rope 17 by the torque motor 14 to prevent the rope 17 from loosening. Note that a weight may be used to apply tension to the cable body 17, for example, instead of the torque motor 14.

Further, as described above, the rotation detection signal from the rotary encoder 20 connected to the support shaft 19B of the turning pulley 16 is input to the arithmetic processing unit 23, where the rotation of the turning pulley 16 is rotated. From the quantity, the vertical distance h from the cable body 17 between the first and second guide pulleys 11B and 12A to the third guide pulley 13 is obtained. Further, the traveling motor 5 of the trolley 1 is controlled based on the swing angle obtained by the arithmetic processing unit 23 so that the swing of the luggage is eliminated.

Next, the steadying device 4 will be described. As shown in FIG. 3, the steady rest device 4 is interposed in the middle of a cable body 17 bridged between the other first guide pulley 11B and the one second guide pulley 12A, and has both side portions. And a protruding piece 32 on the upper surface thereof.
a, a guide rail 33 provided on the side of the traversing carriage 1 to guide the guide wheels 31 of the connecting member 32, and one end side, for example, a cylinder body portion 34a
(An example of a damper device) 34 in which a rod portion 34b at the other end is connected to the protruding piece 32a of the connecting member 32, and a piston-side cylinder of the cylinder device 34 An oil tank 36 connected to the chamber and the rod-side cylinder chamber via a hydraulic pipe 35 (35A, 35B), and connected to a piston-side hydraulic pipe 35A connected to the piston-side cylinder chamber and the rod-side cylinder chamber. Rod side hydraulic piping 35B
On the way, a flow regulating valve 37 and a check valve 38, which are respectively provided, and a bypass pipe 35 of each hydraulic pipe 35A, 35B.
C, 35D and a check valve 39 interposed in the middle.

Next, the operation of the above configuration will be described. The luggage is hung via the hanger 2,
When transported by the trolley 1, the load swings.

The swing angle of the luggage is detected by the swing angle detecting device 3, and the running motor 5 of the trolley 1 is controlled based on the detected swing angle. , The vibration is effectively suppressed.

Here, a description will be given of the operation principle for detecting the swing angle of the baggage from the movement amount of the cable body 17 detected by the laser distance meter 22. First, assuming that the load, that is, the hanging device 2 moves horizontally by a predetermined distance, the swing angle θ (corresponding to the swing angle of the load) of the hanging device 2 can be obtained by the following arithmetic expression.

Here, when the hanging member 2 moves horizontally by a predetermined distance, the first guide pulley 11B and the second guide pulley 12A are provided.
The reason why the cable body 17 moves between and will be described.
Now, in a state where the hanging tool 2 is stationary, the distance between the first guide pulley 11B and the third guide pulley 13A and the second
It is assumed that the distance between the guide pulley 12A and the third guide pulley 13B is the same distance L.

In this state, as shown by the broken line in FIG.
When the suspension 2 swings to the left, the left and right first guide pulleys 11
The distance between the second guide pulley 13 and the third guide pulley 13 and the distance between the second guide pulley 12 and the third guide pulley 13 change, so that the length of the cable body 17 changes.

For example, the distance between the first guide pulley 11 and the third guide pulley 13 increases as L → L ₁ , and the distance between the second guide pulley 12 and the third guide pulley 13 increases. The distance becomes shorter as L → L ₂ . This (L
−L ₂ ) is an increase of (L ₁ −L), and the increased distance is the horizontal movement amount of the hanging device 2.

Here, the horizontal movement amount of the hanging member 2 is S, the swing angle of the hanging member 2 based on this horizontal movement amount θ is θ, and the third guide pulley 13 and the first and second guide pulleys before swinging. The horizontal distance between the guide pulleys 11 and 12 is a, and each of the guide pulleys 11 and 12 and the third guide pulley 1 in a state before swinging.
3, the length of the rope body 17 between the first and second guide pulleys 11, 1 in the state after swinging.
The lengths of the ropes 17 between the second guide pulley 13 and the third guide pulley 13 are L ₁ and L ₂ , respectively.
The change in the length of the cable body 17 detected by
Cable body 17 between guide pulley 11B and second guide pulley 12A
Assuming that the vertical distance from to the third guide pulley 13 is h, the following equations (1) to (4) hold.

[0029] ^{L 2 = a 2 + h 2} ···· (1) L 1 2 = (a + S) 2 + h 2 ···· (2) L 2 2 = (a-S) 2 + h 2 ···· (3) x = (L ₁ −L ₂ ) / 2 (4) By transforming the above equation (4), the following equation (5) is obtained.

[0030] _{x = (L 1 -L 2)} / 2 = (L 1 2 -L 2 2) / [2 (L 1 + L 2)] = 4aS / [2 (L 2 + L 1)] = 4aS / ( 2 × 2L) = aS / L (5) By the way, the following equation (6) holds for the deflection angle θ.

Θ ≒ S / h (6) By substituting equation (5) into equation (6), the following equation (7) is obtained. θ ≒ Lx / (ha) (7) In the above equation (7), h and L are the turning pulleys 16.
Rotary encoder 20 connected to the supporting shaft 19B
Is a value obtained from the rotation detection signal.

Therefore, the above equation (7) is converted to
3, the swing angle θ of the hanging tool 2, that is, the swing angle of the luggage can be easily detected, and based on the swing angle θ, the control of the traveling motor 5 of the trolley 1 is performed. . Of course, control is performed so that the swing of the hanging tool 2 is eliminated.

Further, in addition to the control of the traveling motor 5, the steady rest device 4 according to the present invention functions.
That is, when the hanging device 2 that holds the load swings, as described above, the rope 17 moves by the amount that the load swings,
The connecting member 32 interposed in the cord 17 also moves. Accordingly, the rod portion 34B of the cylinder device 34 connected to the connecting member 32 also moves, but at this time, a flow rate adjusting valve 37 is interposed in the middle of the hydraulic pipe 35 connected to each cylinder chamber. Therefore, the movement of the rod portion 34b, that is, the piston rod is suppressed.

As described above, since the cylinder device 34 that exerts a damper function is connected in the middle of the cable body 17, the load swing can be forcibly attenuated. In the first embodiment described above, the connecting member 32 on the steadying device 4 side is described as being provided separately from the detection target 21 on the deflection angle detecting device 3 side. The detection body 21 may be integrated, for example, another protruding piece may be provided on the detected body 21 side, and the cylinder device 34 may be connected to this protruding piece.

In the above embodiment, the connecting member 3
Although the guide 2 is described as being guided by the guide wheels 31 and the guide rails 33, it is needless to say that the present invention is not limited to such a guide mechanism, and a slide mechanism may be used, for example.

Further, in the above embodiment, the flow rate adjusting valve 37 is used to cause the cylinder device 34 to perform the damper function. However, as shown in FIG. 4, for example, a spring member (for example, a compression spring) is provided inside. ) 41 is inserted into the pair of cylinder devices 42,
2a may be connected to both sides. In addition,
FIG. 3 shows a guide wheel 31 for guiding the connecting member 32.
And the guide rail 33 are not shown.

Next, a second embodiment of the present invention will be described with reference to FIG. In the above-described first embodiment, the rope body connected to the hanging device is provided with the cylinder device 34 that exerts a damper function, whereas in the second embodiment, the swing angle of the hanging device is A control device 51 for directly controlling the traveling motor 5 of the traversing carriage 1 is provided.

Since the swing angle detecting device 3 has the same structure as that described in the first embodiment, the same number is assigned and the description is omitted. Therefore, in the second embodiment, the control device 51 that mainly controls the traveling motor 5 based on the deflection angle θ detected by the deflection angle detection device 3 will be described.

That is, the control device 51 receives the detection signal from the laser range finder 22 in the deflection angle detecting device 3 and moves the cable 17 between the first guide pulley 11B and the second guide pulley 12A. The amount is detected, the distance a determined in advance, and the rotary encoder 2
0 and the distance L between the third guide pulley 13 and the first and second guide pulleys 11 and 12 in the non-oscillating position of the hanger 2 based on the vertical distance h to the hanger 2 obtained through the zero. , The swing angle θ of the hanging tool 2 is obtained by calculation. Of course, the vertical distance h and the distance L are also input to the calculation unit of the control device 51 and are calculated.

Then, based on the obtained deflection angle θ, a drive signal is output to the traveling motor 5 so that the deflection angle θ approaches zero. The traveling motor 5
Is determined in advance in accordance with the current rotational speed of the traveling motor 5 and its deflection angle θ, which driving signal should be output most efficiently to cause the deflection angle θ to approach zero. This is performed using data obtained by experiments and the like.

In the control device 51, the trolley 1
Approaches the stop position, according to the swing angle θ of the hanging member 2,
Similarly, it is also possible to control the traveling speed to be reduced stepwise based on preset conditions so that the vehicle can be stopped at the stop position with the deflection angle θ being zero.

Of course, the control device 51 is provided with a converter for a signal transmitted from each measuring device, a converter for a signal output to a driving device, and a necessary amplifier. As described above, the amount of movement of the rope body 17 in the shake angle detection device 3 is detected, and based on the amount of movement, the shake angle θ is calculated, and such that the shake angle θ becomes zero.
Since the drive signal is output to the traveling motor 5 of the traversing carriage 1, the swing of the hanging tool, that is, the swing of the suspended load can be suppressed quickly and accurately. Automation can be achieved.

Next, a third embodiment of the present invention will be described with reference to the drawings. In each of the above-described embodiments, the steady rest device for transporting a narrow package is described.
In the third embodiment, when the luggage is wide, for example, when the container is conveyed through a wide hanging device (also referred to as a spreader), the vibration is prevented to prevent the vibration and the vibration in the horizontal plane. The device will be described.

The structure of the steady rest device according to the third embodiment is the same as that described in each of the above embodiments, and the main structure and the method of calculating the shake angle are the same. Make it easy.

That is, in FIG. 6 and FIG.
1 is a trolley (also referred to as a trolley) arranged on a girder (girder material) of a girder crane (an example of a crane device).
The traveling wheels (not shown) driven by the traveling motor (drive unit) 102 allow the girder to travel freely on the girder. Although not shown, the trolley 101
A hoisting drum 1 driven by a hoisting motor is provided, and a hanging device 1 for holding a load (container) A from the winding drum via a hanging wire 1.
03 is suspended. Although not shown, a suspending pulley is provided on the upper surface of the suspending tool 103, and a suspending wire is wound around the suspending pulley.

The girder crane is provided with a steadying device 105 for detecting the position of the left and right ends of the hanging member 103 and controlling the steadying of the hanging member 103, that is, the load A.

The anti-sway device 105 includes
A pair of end position detecting devices 10 for detecting left and right end positions
6 (106A, 106B) and the detection positions from the both end position detection devices 106, and based on the end positions of the hanging members 103, the swing angle at the center position of the hanging member 103 (the swing angle in the moving direction of the traversing truck). And hanging tool 1
03 swing angle in horizontal plane, ie swing angle (rotational shake)
And a control device (of course having a microcomputer or the like) that outputs a drive signal to the traveling motor 102 of the trolley 101 so as to suppress the swinging and swinging of the hanging member 103, that is, the luggage A based on the calculated value. ) 107.

Next, each end position detecting device 106 will be described. Since the left and right sides have the same configuration, only one end position detecting device 106A will be described. Each of the end position detection devices 106 (106A) is provided with the traversing truck 1
01 and a pair of first guide pulleys 111 provided on the end side
(111A, 111B) and the trolley 101
Of the pair of second guide pulleys 112 (11
2A, 112B) and a pair of third guide pulleys 113 (113A, 113B) provided on the upper surface of the hanging member 103.
And one end thereof is connected to a winding drum 115 driven by a torque motor 114 and an intermediate portion thereof is a turning pulley 11.
6 (116A), one first guide pulley 111A, one third guide pulley 113A, the other first guide pulley 111B,
One second guide pulley 112A, the other third guide pulley 11
3B, the other second guide pulley 112B, and the turning pulley 1
16 (116B) and the rope body 117 connected to the winding drum 115 and the other first guide pulley 111
A cable body movement amount detector 118 is provided in the middle of the cable body 117 between B and one of the second guide pulleys 112A, and detects the movement amount of the cable body 117.

The pair of guide pulleys 111A, 111A
11B; 112A, 112B; 113A, 113B are supported by a single support shaft 119A so as to be rotatable in free directions with respect to each other, and a pair of turning pulleys 116A, 116B are also supported by one support shaft. Shaft 11
9B and is connected to and supported by the turning pulley 116.
A, 116B, to detect the amount of rotation, support shaft 11
A rotary encoder (not shown) is attached to 9B. The distance (height) to the hanging member 103 can be obtained from the rotation amount signal of the rotary encoder.

As described above in connection with the first embodiment, a triangulation type displacement meter is used as the rope body movement detector 118. For example, a moving body 121 to be detected is interposed in the middle of the cable body 117, and the moving distance of the moving body 121 is measured by the laser distance meter 122.

Further, a damper device 125 similar to that of the first embodiment is attached to the moving body 121 to suppress the swing at the end position of the hanging member 103. That is, a cylinder device is used as the damper device 125, and a device in which the flow of oil in the rod-side cylinder chamber or the piston-side cylinder chamber is restricted by the throttle valve is employed. In addition, a member in which a spring mechanism is provided inside the cylinder device, or a member in which a spring member is directly connected to the moving body 121 can be used.

The control unit 107 inputs the detection distance from the cable body movement amount detector 118 and the rotation amount signal from the rotary encoder in each of the end position detection units 106, and performs a calculation based on a predetermined calculation expression. The swing angle at the center position of the hanging tool 103 and the swing angle of the hanging tool 103 in the horizontal plane, that is, the swing angle and the swing angle of the load A, are obtained, and the swing angle and the swing angle of the hanging tool 103 are set to zero. Then, a drive signal is output to the traveling motor 102 of the trolley 101.

The control device 107 is provided, for example, in a crane operation room or a control room. The winding drum 115 always applies a constant tension to the rope 117 by the torque motor 114.
7 is prevented from loosening. Further, a weight may be used to apply tension to the rope 117, for example, instead of the torque motor 114.

Next, the operation of the above configuration will be described. When the luggage A is hung via the hanger 103 and is conveyed by the trolley 101, the luggage A shakes and also shakes in a horizontal plane.

At this time, both end positions of the package A are detected by the end position detecting devices 106, and the swing angle and the swing angle are controlled based on the detected shift (position shift amount) of the both end positions. The driving signal is output to the traveling motor 102 so that the vibration and the sway of the load A are determined by the device 107 and the vibration and the sway are suppressed based on the data. Is effectively suppressed.

Here, the amount of movement of the hanging member 103 at the end detected by the end position detecting device 106 is
A calculation method for obtaining the swing angle and the swing angle will be described.

That is, as shown in FIG. 7, when the moving amounts of the moving body 121 in each end position detecting device 106 are d ₁ and d ₂ , respectively, the swing angle θ and the swing angle Φ
Is represented by the following equation.

Θ = (d ₁ + d ₂ ) / (2 × H) (8) Φ = (d ₁ -d ₂ ) / B (9) where: H is the distance from the cable body 117 between the first guide pulley 111B and the second guide pulley 112A to the third guide pulley 11
3 indicates the vertical distance, and in equation (9), B is
03 indicates the distance between the third guide pulleys 113 provided at both ends.

From the above-described manner of hanging the rope 117,
In the case where a swing occurs back and forth in the moving direction at each end position of the hanging member 103, the moving body 121 also moves according to the amount (distance) of the swing. Therefore, if the movement amount of the moving body 121 is detected, the movement amounts d ₁ and d ₂ of the end position of the hanging member 103 can be obtained as described in the first embodiment.

The height H up to the hanging member 103 is obtained from a rotation signal from a rotary encoder attached to the support shaft 119 of the turning pulleys 116A and 116B.

As described above, at the left and right end positions of the hanging member 103, the amount of movement of the rope 117 provided between the traversing carriage 101 and the hanging member 103 is detected, and based on the amount of movement, The swing angle and swing angle of the tool 103, that is, the load A, are determined, and the traveling motor 102 of the traversing bogie 101 is controlled so that the determined swing angle and swing angle are eliminated. Since the damper device 125 is attached, it is possible to effectively prevent the luggage from moving in the moving direction and the swing in the rotating direction.

[0062]

As described above, the first and second aspects of the present invention are described.
According to the configuration described above, since the damper device is provided in the middle of the cable body, even if the hanging tool swings, the swing thereof is promptly suppressed. In addition, based on the amount of movement of the rope, the swing angle of the hanging tool is detected, and based on this swing angle, the drive control of the bogie is performed so that the swing of the hanging tool is eliminated, so that it is also quick and accurate. In addition, the swing of the hanging tool can be suppressed, and thus the efficiency and automation of the cargo handling work can be achieved.

According to the third aspect of the present invention,
At the left and right end positions of the hanging device, the amount of movement of the rope provided between the bogie side and the hanging device is detected, and based on this amount of movement, the swing angle of the hanging device, that is, the load is obtained,
The drive unit of the bogie is controlled so that the determined swing angle is eliminated, and the damper device is mounted in the middle of the rope body, so that the swing in the moving direction of the load and the swing in the rotating direction can be effectively reduced. Therefore, efficiency and automation of the cargo handling operation can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view illustrating a schematic configuration of a cargo steady rest device in a girder crane according to a first embodiment of the present invention.

FIG. 2 is an enlarged plan view of a main part of the load deflection angle detecting device in the girder crane according to the first embodiment.

FIG. 3 is an enlarged perspective view of the cargo steady rest device in the girder crane according to the first embodiment.

FIG. 4 is a partially cutaway side view showing a modified example of the cargo steady rest device in the girder crane of the first embodiment.

FIG. 5 is a perspective view showing a schematic configuration of a cargo steady rest device in a girder crane according to a second embodiment of the present invention.

FIG. 6 is a perspective view showing a schematic configuration of a cargo steady rest device in a girder crane according to a third embodiment of the present invention.

FIG. 7 is a plan view of a main part of the luggage rest device of the third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traversing carriage 2 Hanging tool 3 Deflection angle detection device 4 Steady-stop device 5 Traveling motor 11 First guide pulley 12 Second guide pulley 13 Third guide pulley 17 Cable body 18 Cable body movement amount detector 21 Detected object 21a Projection Piece 22 laser distance meter 23 arithmetic processing device 32 connecting member 32a projecting piece 34 cylinder device 35 hydraulic piping 37 flow regulating valve 41 spring member 42 cylinder device 51 control device 101 traversing trolley 102 running motor 103 hanging device 105 steadying device 106 end Part position detecting device 107 Control device 111 First guide pulley 112 Second guide pulley 113 Third guide pulley 117 Cable body 118 Cable body movement amount detector 121 Moving body 122 Laser distance meter 125 Damper device

Continuing on the front page (72) Osamu Murakami, Inventor Osamu Murakami, Osaka, Osaka Prefecture 5-5-2-3 Nishikujo, Hitachi Zosen Corporation (72) Inventor Hideharu Miyake 5-28, Nishikujo, Konohana-ku, Osaka-shi, Osaka No. Hitachi Zosen Corporation (56) References JP-A-56-3285 (JP, A) JP-A-58-144089 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66C 13/06 B66C 13/22

Claims (3)

(57) [Claims] An anti-sway device for a luggage suspended on a trolley that can travel on a girder member of a crane device via a hanger, wherein a pair of first and second guide pulleys are provided on the trolley side. At the same time, a third guide pulley is provided on the hanging device side, and the other end of the rope body having one end connected to the winding drum or the weight is connected to one first guide pulley, one third guide pulley, and the other first pulley. One guide pulley, one second guide pulley, the other third guide pulley, and the other second guide pulley are connected to the winding drum or the weight, and are connected to the other first guide pulley and one of the other. A luggage rest device for a crane device, comprising a damper device that suppresses the movement of the rope body in the middle of the rope body between the second guide pulley and the second guide pulley. 2. A device for swaying a load suspended on a trolley capable of running on a girder member of a crane device via a hanging member, wherein a pair of first guide pulleys and a pair of second pulleys are provided on the trolley side.
A guide pulley is provided, a pair of third guide pulleys is provided on the hanging device side, and the other end of the cable body having one end connected to the winding drum or the weight is connected to one first guide pulley and one of the first pulleys. A third guide pulley, the other first guide pulley, one second guide pulley, the other third guide pulley, and the other second guide pulley are connected to the winding drum or the weight via the other guide pulley. In the middle of the rope between the first guide pulley and one of the second guide pulleys, a rope travel detector is provided for detecting the travel of the rope, and a detection signal from the rope travel detector is provided. And a control device for controlling the drive unit of the bogie of the crane device based on the calculated deflection angle and calculating the deflection angle of the hanging tool by calculating apparatus. 3. A device for swaying luggage suspended on a hoisting drum provided on the left and right positions of a bogie traversable on a girder member of a crane device via a suspending device. A pair of end detecting devices for detecting the left and right end positions are provided, and each of the end detecting devices is provided on a pair of first and second guide pulleys provided on the bogie side and on the hanger side, respectively. A pair of third guide pulleys, one end of which is connected to the winding drum or the weight and the other end is one first guide pulley, one third guide pulley, the other first guide pulley, one second A guide pulley, a third guide pulley on the other side, and a second pulley on the other side
A cable body connected to the winding drum or the weight via a guide pulley, and a cable body provided in the middle of the cable body between the other first guide pulley and one second guide pulley. A cable body movement amount detector for detecting a movement amount, and a detection signal from the cable body movement amount detector is input to calculate the position deviation amount of the third guide pulley in each end detection device, and to calculate the amount. And a control device for controlling the drive unit on the bogie side based on the two amounts of displacement.