JP3051590B2 - Anti-sway device for suspended loads - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension device for a suspended load applied particularly to a large-sized container crane for suspended loads.

[0002]

2. Description of the Related Art FIG. 7 shows a steadying device for a suspended load used in a conventional container crane. In the figure, 1
Is a traversing trolley that moves on the main girder of the crane in the left-right direction in the figure, 2 is four sets of guide sheaves provided respectively in traversing movable frames 3a, 3b provided at four locations on the traversing trolley, When the hanging tool swings in the transverse direction, the movable frames 3a, 3a on the front side (left side in the figure) and the movable frames 3b, 3b on the rear side (right side in the figure) of the trolley 1 via the ropes 5a, 5b.
The opening and closing drive means of sheaves 3a and 3b for moving the fins symmetrically toward or away from each other to stop the swinging of the hanger, and the sheaves 6 are suspended downward from the sheave 2 on the trolley 1 by a pair of hoisting ropes 7a and 7b via the sheave 8. Hanging tool for the supported container 9, 10 is a mark for visual detection of runout drawn on the upper surface of the hanging tool 6, 11 is a hoisting drum on the crane fuselage, and 12 is the middle of the hoisting ropes 7 a and 7 b, respectively. And a return-type cylinder or the like for preventing skew (swinging) of a suspended load provided at the leading end of the main girder by engaging with the main part.

As shown in FIG.
When the trolley 1 traverses on the main girder, for example, from the land side to the sea side, the trolley 1 is accelerated or decelerated, etc.
Swings in the transverse direction. The operator of the crane monitors the mark 10 drawn on the surface of the hanger 6 on the machine, and if the hanger 6 shakes, the sheave opening / closing drive means 4 operates to open the space between the sheaves 3a and 3b. In addition, the swing of the hanging tool 6 is attenuated.
In the case where the hanging tool 6 skews in the turning direction in the horizontal plane (turning swing), the hoisting cable 7 is skewed by the skew stopping device 12.
The skew of the lifting tool 6 is controlled by pulling the hoisting cable 7 of the rear sheave 8 of the skew operation a7b as indicated by an arrow and loosening the hoisting cable 7 of the front sheave 8 of the skew operation.

[0004]

In this conventional apparatus, since the anti-sway system 4 and the skew prevention system 12 in the traverse direction of the hanging device 6 are separate devices and a driving system, the hanging device 6 (hanging load) is not used. It is effective for individual anti-roll and anti-skew, but if anti-traverse and skew occur at the same time, the anti-skew operation often does not operate in synchronization with anti-traverse operation, and both cannot be effectively prevented. There is a problem to say. An object of the present invention is to solve the problem by simplifying the configuration of the traversing and skew stopping device, and to provide an apparatus for swaying a suspended load that can reliably suppress both traversing and skew simultaneously. And

[0005]

In order to achieve the above object, in the present invention, there is provided a steady rest for a suspended load, comprising a movable frame provided on both right and left sides of the trolley so as to be movable with respect to the trolley in the moving direction of the trolley. Two sets of guide sheaves for hoisting ropes fixedly arranged at intervals in the movable frame, and drive means provided on the traversing trolley and independently moving the movable frame with respect to the traversing trolley , Horizontal swing of hanging equipment occurred
In this case, the movable frame is moved in the same direction by the driving means.
When the swinging swing of the lifting gear occurs, the driving means
Move the movable frame in the opposite direction, and
When the vibration occurs at the same time,
The movable frame is added to the above-mentioned movement in the same direction and movement in the opposite direction.
Is moved .

[0006]

In the swing load sway prevention device of the present invention, the two sets of driving means on the left and right sides of the trolley can be moved to the movable frame independently of the trolley. rampant suspender shake by driving in the same direction is controlled, and the two sets of drive means may be damped skew suspender by driving to simultaneously reverse direction suit skew suspender. That is, both the horizontal runout and the skew can be controlled by a single steady rest device. Therefore, when the horizontal shake and the skew occur at the same time, it is possible to easily and surely operate the two sets of driving means of the single steady rest device by the control amount obtained by adding the both shake widths in the control unit. , Two different vibrations can be controlled simultaneously. As a result, the configuration of the device is significantly simplified as compared with the conventional device, and an effect of simplifying adjustment and control of the device can be obtained.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a suspension device for preventing a suspended load according to the present invention will be described below in detail with reference to FIGS. In the figure, components having the same reference numerals as those in FIG. 7 are the same as those described in the related art, and thus description thereof is omitted.

FIG. 1 shows a steadying device for a suspended load of a container crane as one embodiment of the present invention. In the drawing, reference numerals 13 and 14 denote hoisting ropes provided on the left and right sides of the traversing trolley 1, respectively. Sets of guide sheaves for 1
5 is a movable trolley 1 with two sets of movable frames fixedly supporting two sets of guide sheaves 13, 13, or 14 and 14 at regular intervals on the left and right sides of the trolley 1, respectively. The trolley 1 is provided so as to be movable on rails 16 laid in the moving direction of the trolley 1. 1
Numeral 7 is a driving means provided on the trolley 1 for moving the movable frames 15, 15 on the rails 16 so as to be able to move independently of the trolley 1. A pair of hoisting ropes 7a and 7b reciprocate from the hoisting drum 11 through the guide sheave 13 or 14 on the traversing trolley 1 to the sheave 8 on the hanging tool 6, and the leading end of the main girder is the equalizer sheave 1
It passes over 8 and 18 continuously.

FIGS. 2 and 3 show two sets of guide sheaves 14 and 14 and a movable frame 15 on one side of the trolley 1 in a plan view and a sectional view taken along line 3-3. Two sets of guide sheaves 14, 1
4 are guide sheaves 14, 14 in the movable frame 15, respectively.
The hoisting ropes 7a and 7b wound around are rotatably supported on a shaft 19 so as to be shifted to the right and left, respectively, so as not to interfere with each other. The movable frame 15 is allowed to run on a rail 16 by wheels 20 provided at both ends of a shaft 19 supporting the guide sheaves 14. The driving means 17 uses a hydraulic cylinder 17a in the embodiment shown in the figure, and drives the hydraulic cylinder 17a provided on the traversing trolley 1 by connecting the driving end of the hydraulic cylinder 17a to the rear part of the movable frame 15 by a shaft. The movable frame 15 is
As shown in FIG. 4, the driving means 17 can move back and forth from the reference position by a distance of, for example, 250 mm.

The driving device 17 includes a ball screw 17b connected to the movable frame 15 and the screw feed motor 1 as shown in FIG.
7c or the like, or another drive mechanism or another drive source other than the hydraulic pressure may be used.

Next, the operation will be described. In the state of FIG. 1, when the trolley 1 now traverses from left to right, particularly when the trolley 1 enters the deceleration braking mode from the constant speed traverse, the lifting gear 6 causes the inertial force as shown in FIG. To swing forward. This deflection is visually detected by the crane operator on the mark 10 on the hanging device 6. The two sets of driving devices 17 provided at the left and right ends of the traverse trolley are simultaneously driven in accordance with the swing of the hanging tool 6 to move the movable frame 15 in the swing direction. When the movable frame 15 is moved in the opposite direction, the traversing in the transverse direction is attenuated and stopped in a very short time.

In addition, when the hanging tool 6 has a clockwise skew (turning swing) in a plane as shown by an arrow 21 in FIG. 1, it is similarly detected by the movement of the mark 10, and the skew is adjusted to the front. When the driving device 17 is driven to feed the movable frame 15 on the left side to the left and the movable frame 15 on the other side to the right, the movable frame 15 is moved in the opposite direction for the skewing and swinging of the hanging tool 6.
The skew is similarly attenuated and stopped in a very short time.
Further, when the horizontal swing and the skew occur simultaneously in the moving hanging tool 6, the amounts of the horizontal shake and the skew are respectively added to the left and right sides of the horizontal trolley 1, and the movable frames 15 on both sides are added by the added control amount. Is driven in the required direction, a control amount necessary for controlling two different shakes is always supplied synchronously, and the two shakes can be reliably and simultaneously controlled.

The above-mentioned operation and control are as follows. In addition, a camera or the like is provided on the traversing trolley 1 to detect the swing movement of the hanging tool 6, and the control amount corresponding to the shake amount is calculated by the control unit by image processing or the like. Alternatively, the moving operation of the movable frame 15 may be automatically controlled to automatically control the suspended load.

According to such an apparatus, the trolley 1
The number of movable frames on which the upper guide sheave is provided is reduced by half, and the operation of moving the movable frame during vibration suppression is simplified, so that the movable frame can be moved only a short distance. In addition, since both the horizontal runout and the skew can be controlled only by the movement control of the movable frame, the configuration and control of the steadying device can be simplified, and the individual vibration runout and the skew can be controlled. Simultaneous vibration suppression of both is also easy, and there is an effect that can be surely performed.

[0015]

In summary, the suspension device of the present invention comprises a movable frame provided on both the left and right sides of the trolley so as to be movable with respect to the trolley in the moving direction of the trolley, and a gap in the movable frame. Two sets of guide sheaves for hoisting ropes fixedly arranged at the same time, and driving means provided on the traversing trolley for independently moving the movable frame with respect to the traversing trolley.
When the horizontal swing of the hanging tool occurs, the drive
The movable frame is moved in the same direction by the step, and the swing
In the event of occurrence of the above, the movable frame is reversed by the driving means.
Move in the direction, and the horizontal swing and swing run of the hanging tool occur at the same time.
When the movable frame is moved in the same direction by the driving means,
By moving the addition of the movement and the opposite movement ,

The arrangement, configuration and control of the device for steadying the suspended load on the crane and on the transverse trolley are greatly simplified, and the lateral displacement, the skew of the suspended load, the individual steady rest and the simultaneous simultaneous suspension of both can be achieved. This is an effect that can always be surely executed, and is extremely useful in industry.

[Brief description of the drawings]

FIG. 1 is a perspective view of a crane's traversing to hoisting system showing a suspended load steadying device according to one embodiment of the present invention.

FIG. 2 is a plan view showing a movable frame and driving means on the trolley shown in FIG. 1;

FIG. 3 is a sectional view taken along lines 3 to 3 in FIG. 2;

FIG. 4 is a side view taken along line 4-4 in FIG. 2;

FIG. 5 is a partial side view showing another embodiment of the driving means of the movable frame in FIG. 4;

FIG. 6 is an explanatory view showing a state of the anti-shake operation according to the present invention in a side view.

FIG. 7 is a perspective view showing a configuration of a conventional suspension device for hanging loads.

[Explanation of symbols]

1 traverse trolley 2 guide sheaves 6 suspender 7a, the cylinder 13 and 14 guide sheet over on the mark 11, Volume container 10 visual detection of the sheave 9 suspended load on 7b hoisting ropes 8 suspender drum 12 for skew stop 15 Moving frame 16 Rail for moving the moving frame 17 Driving means 18 Equalizer sheave 19 Axis 20 Wheel of moving frame 21 Arrow indicating skew operation

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B66C 13/00-15/06

Claims (1)

(57) [Claims] 1. A movable frame provided on both left and right sides of the trolley so as to be movable with respect to the trolley in the moving direction of the trolley, and two hoisting ropes fixedly disposed in the movable frame at intervals. A pair of guide sheaves and a driving means provided on the trolley for independently moving the movable frame with respect to the trolley.
The movable frame is moved in the same direction by moving means,
When the shake occurs, the movable frame is moved by the driving means.
Move in the opposite direction, and the swing and swing
When an error occurs, the movable frame is moved
A steadying device for a suspended load, characterized by moving an added amount of a direction movement and an opposite direction movement .