JP3140953B2 - Method and device for preventing steadying of suspended load of container crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an anti-sway of a suspended load which can be suitably implemented to reduce the deflection of the suspended load generated during the loading and unloading of a container crane and to improve the loading efficiency. Related to the device.

[0002]

2. Description of the Related Art Container cranes installed in harbors are:
The vehicle travels on a pair of rails provided parallel to and along the quay on the land side near the quay. The container crane is provided on the upper part of the structural frame and is horizontally arranged in a direction perpendicular to the traveling direction.The crane girder is connected to the sea side end of the crane girder and extends upward from the horizontal so as to be able to undulate and extend to the sea side. A boom, a trolley that traverses in a direction perpendicular to the traveling direction along the girder and the boom, and a container hanger (hereinafter abbreviated as a hanger) called a spreader that is hung up and down from the trolley. . Container cranes grab and remove suspended loads such as containers with lifting gear,
By hoisting, traversing, and traveling, it is possible to land or load between the ship and the quay.

[0003] When loading or unloading a container crane, relative sway occurs between the trolley and the hanger when the container crane traverses and travels in a state where the hung load is hung or only with the hanger. In addition, even when the trolley is in a stationary state, the load swings due to disturbance such as wind. In general, the operator of the crane monitors the movement of the suspended load and the hanging implement, and operates the trolley to traverse and accelerate or decelerate the traveling to reduce the deviation. .

On the other hand, as a means for reducing the load deflection, a mechanical damping type anti-sway device in which a damping device or the like is added to the load deflection has conventionally been used. And an electric steady rest control device for controlling the speed by the acceleration and deceleration of the trolley.

[0005] As the former prior art, for example, Japanese Utility Model Laid-Open Publication No. 1-137986 discloses a pair of main winding sheaves which are provided on a twin trolley around which a main winding rope is wound so as to extend and contract. A cylinder is attached to one end of the L-shaped lever, and the tension of the main winding rope caused by the swinging of the container is received by the cylinder, and the compartments of each pair of cylinders are communicated with a hydraulic pipe, and further, When the magnitude of the load applied to each L-shaped lever is unbalanced due to the swing of the container, the hydraulic pressure flows from the larger pressure to the smaller pressure, and the hydraulic pipe is provided with damping means. It has a function as a shock absorber, and it is hung vertically between the twin trolley to eliminate small shaking and the head blot. A snubber ropes, and steady rest tension sharing ratio is a correction mechanism so as to keep constant between the main winding rope is disclosed.

For example, Japanese Utility Model Publication No. Sho 62-18619 discloses that each sheave at four corners of a hanger is provided so as to be oriented in the longitudinal direction of the hanger and rotatable in the same direction, and a pair of sheaves on the same side of the hanger are provided. Blocks are connected together with a common shaft,
Connect the steady rest damper between this common shaft and the hanging tool,
An anti-sway device that attenuates the vibration by the damper is disclosed.

As the latter prior art, for example, Japanese Patent Application Laid-Open No. Hei 5-178576 discloses a fuzzy control unit for controlling a speed controller for controlling the rotation speed of a motor based on fuzzy inference. Of the shake angle signal and the shake angular velocity signal that can be detected or calculated, one is plotted on the horizontal axis and the other is plotted on the vertical axis to form a matrix. A fuzzy inference device for steadying, which assigns the degree of conformity of the set and outputs the first acceleration element signal in units of one section of the matrix, a speed command signal set by the target position setting device, and a rotation speed signal of the electric motor. Of these, one is taken on the horizontal axis and the other is taken on the vertical axis to form a matrix. And a fuzzy inference device for steadying, which outputs a second acceleration element signal in units of one section of the matrix, wherein the crisp computing unit provided in the fuzzy control unit has two acceleration element signals. Is input, and the output acceleration of each fuzzy set inference value is coordinated by crisping methods such as the center of gravity method and the simplified method of Sugano,
There is disclosed a steady rest device that generates an acceleration signal that is optimal for preventing crisp load deflection and that is integrated and provided to a speed controller as a speed command signal.

Further, for example, Japanese Patent Application Laid-Open No. 58-144090
Japanese Patent Application Laid-Open Publication No. H11-157572 discloses that while a laser beam emitted downward from a movable trolley is reflected by a reflector attached to a hanger, the reflected light is received by a half mirror and input to a position detector. There is disclosed an anti-sway device that drives a traversing motor or a traveling motor in accordance with an input position to a detector to prevent the container from swaying.

Further, for example, Japanese Patent Application Laid-Open No. 61-20678
In Japanese Patent Application Laid-Open No. 8 (1996) -1994, by inputting the coordinate value of the transport destination, the acceleration / deceleration rate of the transport drive device during transport movement is set, and an acceleration / deceleration signal corresponding to the acceleration / deceleration rate is output to the transport drive device. A steady rest device that controls a container so that it can be transported along a substantially linear trajectory is disclosed.

Further, for example, Japanese Utility Model Laid-Open Publication No. Hei 1-96488 discloses that while a suspended load is conveyed, the traversing motor is driven and controlled in a predetermined acceleration / deceleration operation pattern, while the acceleration / deceleration drive is performed according to the detected initial load swing angle. A steady rest device that corrects a signal to prevent load swing is disclosed.

Further, for example, Japanese Patent Application Laid-Open No. Sho 60-77089
JP, JP-A-5-85698, JP-A-5-28
No. 6691 also discloses a steady rest method or steady rest device for controlling a traversing motor or the like at a predetermined speed pattern to operate and suspend a suspended load when a suspended load is conveyed.

Further, for example, see Japanese Patent Application Laid-Open No. 5-319780.
According to the publication, the steady-state acceleration / deceleration adjustment amount is corrected by deceleration according to the sign of the difference between the target speed and the current set speed, and this acceleration / deceleration adjustment amount is added to the current set speed or speed detection value. By doing so, a steady-state vibration stabilizing method for calculating a speed command value in a high-speed steady-back stabilization pattern to stabilize a target speed so as to be achievable is disclosed.

Further, for example, Japanese Patent Application Laid-Open No. 5-270786
Japanese Patent Laid-Open Publication No. H10-209555 discloses a crane acceleration / deceleration pattern related to the swing cycle of a container obtained based on an average value of wire rope lengths (length between a trolley and a hanger) for hoisting and unwinding of a container. A steady rest device is disclosed which determines the speed and controls the speed to prevent the steady rest.

Further, for example, Japanese Patent Application Laid-Open No. 52-47254
The publication discloses a trolley control method in which a steady rest control signal corresponding to the swing angle of a suspended load is negatively fed back as a trolley drive control signal for a certain period of time after the start of the decrease in the trolley speed. .

[0015]

In the mechanical damping type anti-sway means, when load deflection occurs, a tension difference occurs between the front and rear wire ropes, and this is used to operate a load deflection damping system such as a damper. And an angular displacement between a sheave block including a sheave around which each wire rope is wound and a hanger is attenuated by an attenuation system. Since such mechanical damping type anti-vibration means is based on the damping action of the damper device, there is a problem that it takes a certain amount of time for the vibration of the suspended load to attenuate and completely stop, resulting in low work efficiency. Further, in order to effectively draw out the damping effect of the damping system, it is necessary to increase the V-shaped opening between the trolley and the hanger, which causes a problem that the trolley becomes large and the load burden on the container crane itself increases. There is.

On the other hand, electric anti-vibration means generally follow the driving method in which the trolley on which the driver is riding is accelerated or decelerated in accordance with the load swing, so that the above-mentioned problems of the mechanical type are taken into account. However, since the trolley moves differently from the driver's will, there is a problem that it is difficult to use due to a sense of incongruity in operation, or a shift of a stop position occurs. Also,
Since acceleration / deceleration operation different from the driver's intention is performed, in some cases, a driver's seasickness, that is, a motion sickness phenomenon may occur, and there has been an inconvenience of significantly lowering work efficiency.

Further, in the conventional anti-sway means, when the center of gravity of the suspended load is shifted left and right, a difference in elongation of the left and right wire ropes and the like occurs. I do. For this reason, when the suspended load is viewed in a plane, there is an inconvenience that swing vibration occurs around the vertical axis and load swing occurs. Since this motion cannot be stopped by the driver's traverse acceleration / deceleration operation, once it occurs, it cannot be stopped, which is a major obstacle in cargo handling work.

An object of the present invention is to provide a method in which, unlike the conventional method of attenuating the generated load deflection, the load deflection of the suspended load is applied in the opposite direction to the load deflection. The trolley can be operated easily, the container stop positioning accuracy can be improved, the trolley can be controlled without discomfort, the suspended load can be prevented from turning, and the swing of the trolley at the trolley stop position can be suppressed without increasing the size of the trolley. It is an object of the present invention to provide a method and an apparatus for preventing a suspended load from swaying, which can improve the efficiency of the cargo handling work.

[0019]

According to the first aspect of the present invention, a wire rope having one end fixed and the other end wound around a hoist drum is changed in direction by a moving trolley, and is folded back by a hanger. In a rope trolley-type container crane used, two types of wire ropes on one side are arranged in a substantially V shape in the front and back, and are suspended in a pair of left and right wire ropes, and are arranged in a substantially V shape in the front and rear. Each of the wire ropes alternately controls the amount of load swing of the suspended load by applying tension so as to further increase the tension of the wire rope on the side where the tension is increased by the load swing of the suspended load, The two run-out sensors detect the amount of run-out of the suspended load with respect to the trolley, and feedback control is applied to apply effective tension in accordance with the detected run-out. By independently applying tension and controlling the amount of left and right swing of the suspended load independently, the amount of swing including the turning motion caused by the difference between the left and right swing of the suspended load is controlled. This is a method for preventing the steady load of a container crane from hanging. According to the present invention, the amount of swing of the suspended load is controlled by alternately applying tension to each of the two front and rear wire ropes arranged in a V-shape. This makes it possible to cause a difference in the tensile force applied to the suspended load by the two front and rear wire ropes, and to apply artificial load vibration excitation to the suspended load. At this time, the tension of the wire rope on the side where the tension increases due to the load swing among the front and rear two systems is further increased. Therefore, it is possible to apply a load-vibration vibrating force so as to generate a 180 ° out-of-phase vibration which offsets the load vibration generated by disturbances such as wind accompanying the cargo handling work or the like. Can be. By applying the force in the direction opposite to the load deflection, the load deflection can be attenuated in a short time. In addition, trolley follow-up operation by accelerating and decelerating the trolley to suppress the swing of the suspended load is not necessary, so that the trolley (cab) can be improved in ride comfort while suppressing the load swing. Can be moved as the driver intends. Further, the amount of run-out of the suspended load is detected by the two run-out sensors, and feedback control for applying an effective tension in accordance with the detected amount of run-out is performed. In this case, when vibration is caused by sudden factors such as gusts or contact of foreign matter, a new tension is applied to correct the error between the target amount of load fluctuation and the actual amount of load fluctuation. As a result, the swing of the suspended load can be reliably suppressed. In addition, tension is applied to the left and right wire ropes independently of each other, and the amount of right and left swing of the suspended load is controlled independently.
As described above, it is possible to independently control the left and right load swing amounts of the suspended load based on the load swing amounts detected by the two shake sensors. Thus, the swinging motion about the vertical axis generated by the difference between the left and right swing amounts of the suspended load can be suppressed, and the load swing can be suppressed.

According to a second aspect of the present invention, each of the shake sensors has a sensor body provided on the trolley portion and a target provided on the hanging portion, respectively.
The position of each target with respect to each sensor body is detected. According to the present invention, each shake sensor can detect the position of the target provided on the hanging member with respect to the sensor main body by the sensor main body provided on the trolley unit. This makes it possible to detect the amount of load swing of the suspended load with respect to the trolley portion. As described above, the amount of swing of the suspended load relative to the trolley portion is detected, and the swing of the load can be suppressed based on the detected amount.

According to a third aspect of the present invention, the amount of swing of the suspended load is controlled when the trolley is stationary. According to the present invention, it is possible to control the swing of the suspended load caused by wind or the like even when the trolley section is stationary. As a result, the suspended load can be unloaded or loaded without shifting the container stop position from the predetermined position.

According to a fourth aspect of the present invention, there is provided a rope trolley which is used by changing a direction of a wire rope wound on a hoisting drum at one end and changing the direction by a moving trolley part and folding it back by a hanging part. In a container crane of the type, a pair of left and right wire ropes having two front and rear systems are provided on one side, and the left and right two front and rear wire ropes are respectively wrapped around the pulleys from the trolley to the hoisting drum, and then folded. Two swings for detecting the amount of the swing of the suspended load with respect to the trolley part by connecting and arranging the balance unit so that the movement of each of the turned-back pulleys relatively moves are connected to a power device for controlling the swing of the load. A sensor is provided to further increase the tension of the wire rope on the side where the tension is increased by the load swing of the suspended load based on the amount of the load swing detected by each of the vibration sensors. As to a steady rest of the suspended load of a container crane and providing a control apparatus body for controlling the power means. According to the present invention,
Each pulley that turns the two front and rear wire ropes from the trolley to the hoisting drum is connected and arranged by a balance device so that the front and rear two wire rope tension fluctuations are relatively relative. Power means for vibration control is connected. Thus, the balance device is driven by the power means for controlling the load swing, and the pulleys are relatively moved to relatively change the tension of the wire ropes of the front and rear two systems, thereby giving the load a vibrating force to the suspended load. it can. At this time, the tension of the wire rope on the side where the tension increases due to the load swing among the front and rear two systems is further increased. Therefore, it is possible to apply a load-vibration vibrating force so as to generate a 180 ° out-of-phase vibration which offsets the load vibration generated by disturbances such as wind accompanying the cargo handling work or the like. Can be. By applying the force in the direction opposite to the load deflection, the load deflection can be attenuated in a short time. In addition, by connecting and arranging a balance device so that the tension fluctuations of the two front and rear wire ropes are relatively to each other, and connecting a power means for load sway control to the balance device, the load sway can be controlled with less power. Can be. In addition, unlike conventional models, trolley following operation by accelerating and decelerating the trolley to suppress swing of the suspended load becomes unnecessary, and the ride comfort of the trolley (cab) is greatly improved and the trolley is operated. Can be moved as desired. In addition, since the follow-up operation load deflection control is not required, load deflection can be suppressed even when the trolley unit is stationary, and positioning accuracy of the suspended load can be improved. Further, a pair of left and right wire ropes such as front and rear are provided, and two run-out sensors are provided to detect the amount of run-out of the suspended load. Based on the detected run-out, the control device main body is provided. This controls the power means. Thus, based on the amount of load deflection detected by each of the deflection sensors, the left and right wire ropes are tensioned independently of each other, and the amount of right and left load deflection of the suspended load can be controlled independently. . As described above, it is possible to independently control the left and right swing amounts of the suspended load based on the swing amounts detected by the two swing sensors, and to generate the difference between the left and right swing amounts of the suspended load. The swing motion about the vertical axis can also be suppressed, and the deflection of the load can be suppressed.

According to a fifth aspect of the present invention, a rope trolley is used in which a wire rope having one end fixed and the other end wound around a hoisting drum is changed in direction by a moving trolley portion and folded back by a hanging portion. In a container crane of the type, a pair of left and right wire ropes having two front and rear systems are provided on one side, and the fixed ends of the left and right two front and rear wire ropes are connected and arranged by a balance device. And two swing sensors for detecting the amount of swing of the suspended load with respect to the trolley unit. Based on the amount of swing detected by each of these swing sensors, the swing of the suspended load A steady rest for a container crane, comprising a control device main body for controlling a power means so as to further increase the tension of the wire rope on the side where the tension increases. It is a device. According to the present invention,
The fixed ends of the two front and rear wire ropes are connected and arranged by a balance device so that the tension of the two front and rear wire ropes is relatively varied, and power means for controlling the deflection of the load is connected to the balance device. . Thereby, the balance device is driven by the power means for controlling the load swing, and the fixed ends are moved relative to each other to relatively change the tension of the two front and rear wire ropes, thereby giving the load a vibrating force to the suspended load. be able to. At this time, the tension of the wire rope on the side where the tension increases due to the load swing among the front and rear two systems is further increased.
Therefore, it is possible to apply a load-vibration vibrating force so as to generate a 180 ° out-of-phase vibration which offsets the load vibration generated by disturbances such as wind accompanying the cargo handling work or the like. Can be. By applying the force in the direction opposite to the load deflection, the load deflection can be attenuated in a short time. In addition, by connecting and arranging a balance device so that the tension fluctuations of the two front and rear wire ropes are relatively to each other, and connecting a power means for load sway control to the balance device, the load sway can be controlled with less power. Can be. In addition, unlike conventional models, trolley following operation by accelerating and decelerating the trolley to suppress swing of the suspended load becomes unnecessary, and the ride comfort of the trolley (cab) is greatly improved and the trolley is operated. Can be moved as desired. In addition, since the follow-up operation load deflection control is not required, load deflection can be suppressed even when the trolley unit is stationary, and positioning accuracy of the suspended load can be improved. Further, when the control system of the present invention is combined with a control system (feed forward control) to which load fluctuation prediction data is added, higher-performance anti-sway control can be expected. Further, a pair of left and right wire ropes such as front and rear are provided, and two run-out sensors are provided to detect the amount of run-out of the suspended load. Based on the detected run-out, the control device main body is provided. This controls the power means. Thereby, based on the amount of load swing detected by each shake sensor,
Tension is applied to the left and right wire ropes independently of each other, and the amount of right and left swing of the suspended load can be controlled independently. As described above, it is possible to independently control the left and right swing amounts of the suspended load based on the swing amounts detected by the two swing sensors, and to generate the difference between the left and right swing amounts of the suspended load. The swing motion about the vertical axis can also be suppressed, and the deflection of the load can be suppressed.

According to a sixth aspect of the present invention, each of the shake sensors has a sensor body provided on the trolley section and a target provided on the hanging section, respectively.
The position of each target with respect to each sensor body is detected. According to the present invention, each shake sensor can detect the position of the target provided on the hanging member with respect to the sensor main body by the sensor main body provided on the trolley unit. This makes it possible to detect the amount of load swing of the suspended load with respect to the trolley portion. As described above, the amount of swing of the suspended load relative to the trolley portion is detected, and the swing of the load can be suppressed based on the detected amount.

[0025]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a simplified perspective view showing a suspended load steadying device 100 according to one embodiment of the present invention, and FIG. 2 is a simplified schematic view of the entire structure of a container crane 1 including the suspended load steadying device 100. FIG. The container crane 1 is installed near a quay 2 of a port as shown in FIG. The container crane 1 extends parallel to the quay 2, that is, perpendicular to the plane of the paper of FIG. 2, and is provided so as to travel while being guided by a pair of rails 3, 3 laid on land.

The container crane 1 has a structural frame 4 composed of two sea legs and two land legs, and a structural frame 4
A girder 5 attached to the top of the car and extending to the land side in a direction perpendicular to the rails 3 and 3, and connected to the sea end of the girder 5 to extend horizontally to the sea side, and a container (not shown) When the ship passes below, the boom 6 can be raised and lowered in the upward and downward directions from the horizontal with the connection point as a fulcrum, and is guided by the girder 5 and the boom 6 and is perpendicular to the traveling direction of the container crane 1. Trolley 7 that traverses the trolley 7 and container hangers (hereinafter referred to as hangers) that are horizontally held and hung by 2 lines × 2 right and left (a total of 4 lines) wire ropes 9A, 9B, 9C, 9D from the trolley 7. 8), a traversing drive device (not shown) for traversing the trolley 7, and wire ropes 9A, 9B, 9C, 9D.
And a hoisting device 101 for winding up. The hanging tool 8 is called a spreader.

As shown in FIG. 2, the container crane 1 travels with the boom 6 protruding horizontally to the sea, adjusts the container loading position of a container ship (not shown), moves the trolley 7, and traverses the trolley 7, which will be described later. The hoisting device 8 can be lifted and lowered by the hoisting device 101, and the container can be unloaded and unloaded or loaded between the quay 2 and the container ship.

FIG. 1 shows an outline of the structure of a hoisting mechanism for suspending and raising and lowering the suspending tool 8. Two lines of left and right wire ropes 9A, 9B, 9C, 9D that are folded back and extended in a U-shape along the girder 5 and the boom 6 are fixed at one end to the free end of the boom 6 by a fixing member 102, 7 and return to the trolley 7 from the hanger 8 and are fixedly mounted by the hoisting drum 11A.

A trolley 7 and a hanging member 8 are arranged at an intermediate portion of the girder 5, and four pulleys mounted on the upper surface of the hanging member 8 for winding up and down in the course of traversing the hanging member 8. 13A, 1
3B, 13C, and 13D. Those pulleys 1
3A, 13B, 13C, and 13D are rotatably mounted on four upper surfaces of a hanging member 8 formed in a rectangular thick plate shape around a horizontal own axis. That is, each wire rope 9A, 9
B, 9C, 9D are respectively wound around pulleys 13A, 13B, 13C, 13D arranged in a rectangular shape on the upper surface of the hanging tool 8, and each wire rope 9A, 9B, 9C, 9D is wound by a hoist drum 11A. , Take up, pay out,
In the course of the trolley 7 traversing and in the stationary state of the trolley 7, the hanger 8 can be hoisted and lowered.

The other end of the wire rope 9A is wound around the winding drum 11A several times and fixed, and is extended toward the rear end of the girder 5 through a pulley 15A at the rear of the girder 5.
The pulley 17A is folded back on the pulley 17A, and the pulley 13A on the hanging tool 8 and the pulley 1 on the trolley 7
After 9A, the one end is fixed at the tip 102 of the boom 6. Similarly, the other end of the wire rope 9B is wound around the winding drum 11A several times, and the pulley 15
B, is extended toward the rear end of the girder 5, and the pulley 17B
Then, the pulley 18B attached to the trolley 7 passes through the pulley 13B on the hanger 8 and the pulley 19B on the trolley 7, and the one end is fixed at the distal end portion 102 of the boom 6.
Similarly, the wire ropes 9C and 9D are fixed from the other end to each end from the hoist drum 11A via the trolley 7 to the hanger 8 to the trolley 7 at the distal end portion 102 of the boom 6.

Each of the wire ropes 9A and 9B extends in the direction in which the girder 5 and the boom 6 extend and the direction in which the trolley 7 traverses, and is located on the right X2 side, which is one end in the width direction of the girder 5 and the boom 6. Are located. Since the wire ropes 9D and 9C are arranged in the same manner as the wire ropes 9A and 9B on the left X1 side, which is the other end in the width direction of the girder 5 and the boom 6, the corresponding portions are replaced with the suffix D instead of the suffix A.
And a suffix C instead of the suffix B, and the description is omitted. Each of the pulleys 17A, 17B, 17C, 17D corresponds to a pulley according to claim 5.

Here, the pulleys 18A and 19A on the trolley 7 are provided.
Are the same block, and the pulleys 18B and 19B are the same block. The distance between the pulley blocks (18A, 19A) and the pulley blocks (18B, 19B) is wider than the distance between the pulleys 13A, 13B on the hanger 8, and the wire rope between the trolley 7 and the hanger 8 When viewed from the side, 9A and 9B are arranged so as to be substantially V-shaped. Similarly, pulley blocks (18D, 19D), pulley blocks (18C, 19C), and pulleys 13C, 13D
Are also arranged in a substantially V-shape.

As described above, the approximate V is applied between the trolley 7 and the hanger 8.
The hanging tool 8 is suspended from the trolley 7 by the wire ropes 9A, 9B, 9C, 9D forming a character shape. Further, a hoisting drive 11B realized by a motor or the like is provided coaxially with the hoisting drum 11A.
By B, the hoist drum 11A is rotationally driven. The hoisting device 101 is configured by the hoisting drum 11A and the hoisting drive device 11B.

In the embodiment of the present invention, the hoisting drum 11A has a single-drum structure, but may have a twin-drum structure having the same diameter for synchronous operation.

Assuming that the direction of rotation of the hoisting drum 11A is the direction of winding of the wire ropes 9A, 9B, 9C, 9D, the distance between the trolley 7 and the hanger 8 is short, and the hanger 8 is lifted upward. Can be When the rotation direction of the hoisting drum 11A is set to the feeding direction of the wire ropes 9A, 9B, 9C, 9D, the interval between the trolley 7 and the hanging tool 8 becomes long, and the hanging tool 8 is lowered.

When the winding drum 11A is not rotated,
Regardless of the position of the trolley 7 in the traversing range, the length of each wire rope 9A, 9B, 9C, 9D does not change, so that the height of the hanging tool 8 does not change.

The rear ends of the wire ropes 9A and 9B are folded back by pulleys 17A and 17B. This pulley 17A,
17B are connected by a balance chain 29 folded back by a chain sprocket 27, and the chain sprocket 27
, A power unit 31 for rotational driving is attached, and the pulleys 17A and 17B can perform relative movement in the front-rear direction by driving of the power unit 31. By this operation, the length of the wire ropes 9A and 9B between the trolley 7 and the hanger 8 is changed, and in combination with the effect of being arranged in a substantially V shape between the trolley 7 and the hanger 8, The right side moves forward and backward. Similarly, the rear ends of the wire ropes 9C and 9D are pulleys 17C and 1C.
It is folded back at 7D. Between the pulleys 17C and 17D,
The chain sprocket 28 is connected by a folded balance chain 30, and the chain sprocket 28 is provided with a power unit 32 for rotational driving. By driving the power unit 32, the pulleys 17C and 17D can move relative to each other in the front-rear direction. By this operation, the left side of the hanging tool 8 moves in the front-rear direction similarly to the right side. That is, the pulley 17A,
The operation of the power units 31 and 32 of 17B and 17C and 17D allows the hanging tool 8 to be swung in the transverse direction, that is, to be excited. Here, the front-rear direction and the traversing direction are the same direction, and will be appropriately described according to the following cases.

More specifically, each wire rope 9
A and 9B are the pulleys 17 at the rear end of the girder 5.
The pulleys 17A and 17B are wound around A and 17B, and are connected to each other by a balance chain 29. The balance chain 29 is wound around a chain sprocket 27 provided on the rear end side of each of the pulleys 17A and 17B of the girder 5, and is folded in a substantially U-shape. The chain sprocket 27 is connected to a load swing control power device 31 for rotationally driving the chain sprocket 27. By driving the chain sprocket 27 with the power device 31, the pulleys 17A and 17B are rotated. Can be relatively displaced in the front-rear direction. As a result, the length of the wire ropes 9A and 9B between the trolley 7 and the hanging tool 8 changes, and a tension difference occurs between the wire ropes 9A and 9B. Further, since the space between the trolley 7 and the hanger 8 is arranged in a substantially V-shape, a difference in tension between the trolley 7 and the hanger 8 occurs due to the difference in tension, and the right side of the hanger 8 moves in the front-rear direction. I do.

The wire ropes 9C and 9D are
At the rear end of the girder 5, the pulleys 17C and 17D are wound around the pulleys 17C and 17D and are folded back.
Are connected by a balance chain 30. The balance chain 30 includes the pulleys 17C, 1 of the girder 5.
Chain sprocket 2 provided on the rear end side from 7D
8 and is folded in a substantially U-shape. A power device 32 for rotating the chain sprocket 28 is connected to the chain sprocket 28.
8 is driven to rotate so that each pulley 17C, 17D
Can be relatively displaced in the front-rear direction. Thereby, the wire rope 9 between the trolley 7 and the hanging tool 8 is
When the lengths of C and 9D change, a tension difference occurs between the wire ropes 9C and 9D. Also, a trolley 7 and a hanger 8
Are arranged in a substantially V-shape, a difference in the tensile force applied to the suspender 8 due to the difference in tension occurs, and the left side of the suspender 8 moves in the front-rear direction. Here, a balance device is constituted by the balance chain 29 and the tune sprocket 27, and a balance device is constituted by the balance chain 30 and the tune sprocket 28.

In this manner, the chain sprockets 27 and 28 are rotationally driven by the power units 31 and 32, and the pulleys 17A and 17B and the pulleys 17C and 17D are relatively displaced and suspended. The tool 8 is configured to be artificially shaken in the transverse direction of the trolley 7, that is, to be able to vibrate. Each wire rope 9A, 9B, 9C,
9D, each pulley 13A, 13B, 13C, 13D; 18
A, 18B, 18C, 18D; 19A, 19B, 19
C, 19D; 17A, 17B, 17C, 17D, chain sprockets 27, 28, balance chains 29, 3
0 and power devices 31 and 32,
00 is configured. The power units 31 and 32 are realized by, for example, a torque motor or the like.

The cargo handling of the container crane 1 is generally performed by the following method. As shown in FIG. 2, the vehicle travels with the boom 6 protruding horizontally to the sea, and adjusts the container loading position of a container ship (not shown). In this state, the trolley 7 is traversed, the hoisting device 8 is used to hoist and lift the hoisting device 8, and the container 10 is released to carry out landing or loading between the quay 2 and the container ship.

Normally, cargo handling is carried out by combining the lifting of a suspended load and the traversing operation. At this time, in the process of traversing and hoisting the suspended load, the load always swings between the trolley 7 and the container 10 (the hanging member 8).

FIG. 3 is a schematic view showing a load swing in a crane in which no anti-sway measures are taken. Regarding the movement of the container 10, when the trolley 7 is accelerated in the transverse direction, the position of the trolley 7 is delayed due to the inertia of the container 10.
The load applied to the container 10 at that time is a horizontal force corresponding to the maximum acceleration and the mass of the container 10. Thereafter, when a constant speed motion is started, the horizontal force generated from the acceleration is removed, so that the trolley 7 and the container 10 relatively start a pendulum motion. At the time of deceleration of the trolley 7, a force such that the suspended load precedes according to the motion acceleration (deceleration) and the mass of the container 10 acts, but the pendulum motion at the time of constant speed running remains, and after the trolley 7 stops. The container 10 also continues the pendulum movement.

More specifically, FIG. 3A is a view schematically showing the load swing when the trolley 7 moves to the right in FIG. 3, and (1) in FIG. (2) shows the time of the acceleration movement after that,
(3) shows a subsequent constant speed movement, (4) shows a subsequent deceleration movement, and (5) shows a subsequent stationary state. FIG. 3B is a time chart illustrating an example of a change in the traversing speed of the trolley 7. The horizontal axis indicates time T, and the vertical axis indicates the traversing speed V of the trolley 7. In order to facilitate understanding, FIG. 3A shows that only the mass M of the container 10 acts on each of the wire ropes 9A, 9B, 9C, 9D, and each of the wire ropes 9A, 9B, 9C, 9D. Ignore your own mass. Also, as shown in FIG.
Is in a stationary state from time T0, moves while accelerating at an acceleration a1 from time T1, reaches a speed V1 at time T2, and then moves at a constant speed V1 from time T2 to time T2.
It is assumed that the vehicle moves while decelerating at an acceleration a2 from 3 and reaches a speed V = 0 at a time T4 and stops, and then stays still after the time T4.

When the trolley 7 is moved by driving as described above, when the trolley 7 is in a stationary state from time T0, the force acting on the container 10 is only gravity W = M × g, and FIG. As shown in (1) of (a), the trolley 7 and the container 10 have a fixed positional relationship. Here, M is the mass of the container 10, and g is the gravitational acceleration. When the trolley 7 moves while accelerating at the acceleration a1 from the time T1, the inertia force F1 = M which is a horizontal force is applied to the container 10.
Due to the action of × a1, the container 10 is located at a position delayed from the trolley 7 as shown in (2) of FIG. 3A, that is, at the left side of FIG. When the trolley 7 moves at a constant speed V1 from the time T2, no inertial force acts on the container 10. Therefore, the energy given to the container 10 by the inertial force F1 = M × a1 during the acceleration movement causes the container 10 shown in FIG. As shown in (3), the container 10 starts a pendulum motion with respect to the trolley 7. Thereafter, when the trolley 7 moves while decelerating at the acceleration a2 from the time T3,
An inertia force F2 = M × a2 opposite to the inertia force F1 acts on the container 10 and, in conjunction with the pendulum motion at the time of traversing at a constant speed V1, as shown in (4) of FIG. 3 continues the pendulum motion in an area substantially preceding the trolley 7, that is, an area on the right side in FIG. If the trolley 7 is in a stationary state after the time T4 or the inertia force F
3 does not work due to the influence of the pendulum motion and the energy due to the inertial force F2.
As shown in (5) of (a), the container 10 is
Continue pendulum exercise for. For example, the anti-sway device 100 of the present invention is provided to suppress such a run-out of the container 10.

Next, a method for preventing load deflection in the present invention will be described with reference to FIGS. When the container 10 swings backward Y2, the wire rope 9A
Are the pulleys 18A and 19A on the trolley 7 and the pulley 1 on the hanging tool 8.
The distance between the wire rope 9B and the pulleys 18B and 19B on the trolley 7 and the pulley 13B on the hanging tool 8 become short. The relative shake between the trolley 7 and the hanging tool 8 is detected by a shake sensor 35A. At this time, assuming that the wire ropes 9A and 9B do not extend, the total length of the wire ropes 9A and 9B does not change, and the difference between the lengths is the relative position between the pulleys 17A and 17B at the rear end of the girder 5. Appears as a difference ΔL. In practice, each wire rope 9
A and 9B have large elongations, so pulleys 17A and 17B
Assuming that B is fixed, the stretched wire rope has an increase in tension and an increase in the total length of the rope. On the other hand, the wire rope on the returned side causes the rope to contract due to a decrease in tension. Move the pulleys 17A and 17B so that this difference in relative position (difference in rope length) does not appear.
If the power unit 31 is controlled in such a way as to oppose the load deflection, that is, the tension side absorbs the elongation of the wire rope and further increases the rope tension (stretches the rope), the amount of load deflection can be suppressed. Movement becomes possible. In other words, the conventional mechanical anti-sway device applies a force in the direction opposite to the load deflection (active damper) to a device that expects the deflection of the generated load deflection (passive damper). By using a method of attenuating the load swing at the time, a higher performance anti-sway device can be provided.

More specifically, as shown in FIG. 4, when the container 10 swings from the neutral position 103 to the rear Y2 on the left side of FIG. 4 by the distance ΔD, the wire rope 9A is attached to the trolley 7 as shown in FIG. Pulley 18A, 1
The distance between the pulley 9A and the pulley 13A attached to the hanging member 8 is, for example, the distance between the respective pulleys 18A and 13A is L1, which is longer than the distance L2 at the neutral position, and the wire rope 9B is attached to the trolley 7. Each attached pulley 18
The distance between the pulleys B, 19B and the pulley 13B attached to the hanging member 8 is, for example, L3, the distance between the pulleys 18A, 13A, which is shorter than the distance L4 at the neutral position. At this time, assuming that the respective pulleys 17A and 17B are fixed, the tension-side wire rope 9A causes an increase in tension and the elongation of the rope, and the wire rope 9A on the return side.
In B, the tension is reduced and the rope is contracted.

On the other hand, the phase for canceling the load swing is 1 so that the container 10 swings to the opposite side to the position shown in FIG.
A tension is applied to each of the wire ropes 9A and 9B so that an artificial deflection of 80 ° is generated.
By controlling the power unit 31 in a direction in which the rope is further stretched so as to absorb the elongation of A, that is, in a direction in which the rope tension is increased, it is possible to suppress the load swing. Such control is alternately performed according to the load swing, that is, the wire rope 9B is further tensioned when the wire rope 9A is tensioned, and conversely, when the wire rope 9B is tensioned, the wire rope 9B is further tensioned. By controlling the power unit as described above, the load swing can be suppressed. Although only the wires 9A and 9B have been described here, the wire ropes 9C and 9D are similarly controlled.

Further, unlike the conventional steady rest method and steady rest device for controlling the traverse motion of the trolley 7 by such a configuration, the trolley 7 operates independently without depending on the traverse motion of the trolley 7. Since the container 10 can be steadyed, the trolley 7 can be steady even when the trolley 7 is in a stationary state, for example, against a load shake caused by disturbance such as wind, and the positioning accuracy of the container 10 is improved. can do.

As shown in FIG. 5, when the position of the center of gravity of the container 10 is shifted, a difference in elongation occurs between the lengths of the left and right wire ropes. In this state, when load deflection occurs, FIG.
As shown in (1), load swing of a suspended load having different pendulum periods on the left and right sides occurs. Since the present invention is a system capable of controlling the right and left deflection amounts of the load deflection, the present invention is an effective anti-sway device even for the swing deflection of the suspended load.

FIG. 5 is a schematic diagram showing a state in which the center of gravity G of the container 10 is located at a position shifted from the center C of the container 10. FIG. 6 is a time chart showing the swing of the container 10 in the left and right directions in this case. The horizontal axis indicates the time T, and the vertical axis indicates the amplitude A. As shown in FIG.
When the position of the center of gravity G of the container 10 is shifted to the right X2 from the center C, a difference in elongation occurs between the left and right wire ropes 9B and 9C, and the elongation of the wire rope 9B is larger than the elongation of the wire rope 9C. In other words, the container 10 is inclined downward to the right so that the right side is lower than the position 104 when the center of gravity G and the center C match.

Thus, the vertical distance H1 between each of the pulleys 18B, 19B or 18A, 19A attached to the trolley 7 and the pulley 13B or 13A attached to the hanging member 8 is determined by the distance between the center of gravity G and the center C. It is longer by ΔH1 than the distance H0 when they match. Conversely, each pulley 18C, 19C or 18 attached to the trolley 7
The vertical distance H2 between D, 19D and the pulley 13C or 13D attached to the hanging member 8 is determined by the center of gravity G and the center C.
Is shorter by ΔH2 than the distance H0 in the case where In addition, FIG. 5 shows each pulley 13B;
B, 19B; only 18C, 19C are shown.

When the position of the center of gravity of the container 10 is shifted left and right as described above, a difference such as the elongation of the left and right wire ropes occurs, and the cycle of the load swing is thereby reduced.
As shown in FIG. 6, when the traversal starts at time T0, the swing center is set to A, because it is affected by the lengths of 9B, 9C and 9D.
0, each having an amplitude A1, and
The asymmetrical shake having different periods occurs between the shake 105 at the left end and the shake 106 at the right end. As a result, the container 10 undergoes a swing swing around the vertical axis, that is, a swing motion.

According to this embodiment, the balance chain 29,
Since the chain sprocket 27 and the power unit 31, and the balance chain 30, the chain sprocket 28, and the power unit 32 are provided separately on the left and right, between the right wire ropes 9A and 9B and on the left wire ropes 9C and 9D. In between, each wire rope 9A, 9B and 9C,
The tension can be applied to the left and right of 9D independently. Therefore, the swing in the front-rear direction can be independently suppressed on the left and right sides of the container 10, and the above-described turning movement can be suppressed.

FIG. 7 shows a schematic diagram of a control circuit for the steady rest. The control circuit includes the shake sensors 35A and 35B for measuring the shake amount, and the lift meter 3 for measuring the height of the suspended load.
8. Weight of container 10 and wire ropes 9A, 9B, 9
Load cell 36 for measuring and monitoring the change in tension applied to C and 9D
A, 36B, 36C, and 36D, a control device main body 107 that collects signals from the steadying device pulley position sensors 37A and 37B, and determines a control value of the steadying device, and power devices 31 and 32.

More specifically, the container crane 1 has shake sensors 35A and 35B for detecting the shake of the container 10, the height of the container 10, in other words, the vertical position of the container 10, that is, the suspension. Lift 38 for detecting the distance of the tool 8 from the trolley 7, the weight of the container 10, and each wire rope 9A, 9B, 9C, 9
Load cells 36A, 3 for measuring and monitoring the change in tension applied to D
6B, 36C, 36D, and each pulley 17A, 17B, 17
Anti-sway device pulley position sensors 37A, 37B for detecting the positions of C, 17D, and these detecting means 35A, 35
B; 36A, 36B, 36C, 36D; 37A, 37
B; calculating a control value by a signal given from 38;
And a control device main body 107 that supplies a signal representing the control value to the power units 31 and 32.
Has an operation panel 108 for operating.

Each of the shake sensors 35A and 35B has sensor bodies 35A1 and 35B1 provided on the trolley 7 and targets 35A2 and 35B2 provided on the hanging member 8, respectively. By detecting the positions of the targets 35A2 and 35B2 with respect to 35A1 and 35B1, the swing of the hanging tool 8, that is, the trolley 7 of the container 10 is detected. The lift gauge 38 is provided on the hoist drum 11A, and detects the height of the container 10 by detecting the rotation position thereof. The head gauge 38 is realized by, for example, a rotary encoder or the like. Each load cell 36
A, 36B, 36C, and 36D are pulleys 17A, 17
B, 17C, 17D, each wire rope 9A,
The tension applied to 9B, 9C, 9D is detected. This makes it possible to detect the load of the container 10.
Each of these load cells 36A, 36B, 36C, 36D
For example, it is realized by a load cell. Each steady rest pulley position sensor 37A, 37B is connected to each power unit 31,
32, and detects the rotational position of each chain sprocket 27, 28 that is rotationally driven by each power unit 31, 32, and detects the position of each pulley 17A, 17B, 17C, 17D. Each of these steady rest device pulley position sensors 37A and 37B is realized by, for example, a rotary encoder.

In this way, each detecting means 35A, 35
B; 36A, 36B, 36C, 36D; 37A, 37
B; A signal representing each detected value detected by 38 is supplied to the control device main body 107. Based on a control command from the operation panel 108 by the driver and a signal representing each detected value, the control device main body 107 calculates the tension of each of the wire ropes 9A, 9B, 9C, 9D, which is a control value, and calculates each of the wire ropes. A drive signal is given to each of the power units 31, 32 so that the tension of 9A, 9B, 9C, 9D becomes the calculated tension. According to this drive signal, each power unit 31, 3
2 drives each of the chain sprockets 27 and 28 to rotate. Thereby, each wire rope 9A, 9B, 9C,
The tension of 9D is controlled so that the above-mentioned tension difference occurs between each wire rope 9A and 9B and between 9C and 9D. In this way, the run-out of the container 10 (the hanging tool 8) is suppressed.

Further, as another embodiment of the present invention, a feedback control system may be further added. This feedback control system includes the vibration sensor 3
When the amount of run-out of the hoist 8 detected by the 5A and 35B is input, the amount of run-out and the target after the run-down are controlled by the above-described control so that the amount of run-out is minimized. And outputs a correction signal for correcting an error with the amount of load fluctuation. This feedback control system is a system provided complementarily, for example, for error correction for correcting the amount of load shake caused by unexpected unexpected factors such as wind and impact from other objects. And the deflection of the container 10 can be reliably suppressed.

FIG. 8 is a simplified perspective view showing a suspension device 110 for a suspended load according to another embodiment of the present invention. Although the installation position of the balance device and the like of the steady rest device 100 shown in FIGS. 1 to 7 is set at the turning point of the wire rope at the rear end of the girder 5, the same effect can be obtained by disposing it at the end of the wire rope at the front end. is there. The mode is shown in FIG. The wire ropes 9A, 9B, 9C, 9D are moved from the hoisting drum 11A to the pulleys 17A, 17 arranged at the rear end of the girder 5.
It passes over B, 17C, 17D, the trolley 7, the hanger 8 and the trolley 7, and is wrapped around the end of the boom 6. The fixed ends of the wire ropes 9A, 9B, 9C, 9D at the end of the boom 6 are connected by balance devices such as balance chains 29, 30, etc.
Chain sprocket 2 for balance chains 29 and 30
Power devices 31 and 32 are attached to 7 and 28. By performing the power control of the power units 31 and 32, the same effects as in the embodiment shown in FIGS. 1 to 7 can be expected.

In the embodiment shown in FIG. 8, the balance chain 29 connects the respective fixed ends of the wire ropes 9A and 9B so as to be relatively displaceable.
The fixed ends of the wire ropes 9C and 9D are connected to be relatively displaceable. The other portions having the same configuration as the above-described embodiment are denoted by the same reference numerals, and description thereof will be omitted.

FIG. 9 is a simplified perspective view showing a suspension device 120 for a suspended load according to still another embodiment of the present invention. In the embodiment shown in FIG. 8, the balance device comprises balance chains 29, 30 and chain sprockets 27, 2.
8, the balance device of the present embodiment is composed of the wire ropes 9A and 9B and 9C and 9B.
D to connect each fixed end with the wire rope 122A, 1
22B and drums 27A and 28A around which the wire ropes 122A and 122B are wound several times.
It is constituted by and. More specifically, the fixed ends of the wire ropes 9A and 9B are connected by a wire rope 122A.
A is wound around the drum 27A several times. Drum 27
A power device 31 is connected to A. By rotating the drum 27A by the power unit 31, the fixed ends of the wire ropes 9A and 9B can be relatively displaced. The fixed ends of the wire ropes 9C and 9D are connected by a wire rope 122B, and the wire rope 122B is wound around the drum 28A several times. A power device 32 is connected to the drum 28A. By rotating the drum 28A by the power unit 32, the fixed ends of the wire ropes 9C and 9D can be relatively displaced. Thereby, it is possible to obtain the same effect as in the above-described embodiment and to suppress the load swing.

Each wire rope 9A and 9B is connected to 9C and 9
The wire ropes 122A and 122B connecting the wire ropes D and D may be formed in a separate pair. Each of the wire ropes 9A and 9B is made up of one wire rope 9C and 9D, and an intermediate portion thereof is a roller 27A. , 27B.

FIG. 10 is a simplified perspective view showing a suspension device 130 for a suspended load according to still another embodiment of the present invention. FIG. 10 shows an example of the case of the container crane 1 in which the tilting devices 12A and 12B are installed at the end of the boom 6. The tilting devices 12A and 12B are connected to the lifting tool 8 (container 1).
This is a device for tilting the posture of 0). The operation will be described below. The wire rope 9A1 extending from the pulley 20A and the wire rope 9C1 extending from the pulley 20C are wound around the drum 12A of the tilting device. Similarly, the wire rope 9B1 and the wire rope 9D1 are wound around the drum 12B. At this time, wire rope 9
Assuming that A1 and 9B1 are the winding directions (clockwise), the wire ropes 9C1 and 9D1 are wound exactly opposite to the feeding direction (counterclockwise). The operation of the tilting drums 12A and 12B is
When the wire ropes 9A1 and 9B1 are set in the winding direction, the pulleys 13A and 13B of the hoist 8 are lifted, and the pulley 13
Since the C and 13D sides are lowered, the longitudinal direction of the hanging tool 8 is inclined upward to the right. The operation of the tilt drums 12A and 12B is determined by the direction in which the wire rope 9A1 is wound and the wire rope 9B.
If 1 is set to the feeding direction, the pulleys 13A and 13D sides of the lifting tool 8 are lifted, and the pulleys 13B and 13C side are lowered.
Move to If the anti-shake power device of the present invention utilizes the short drive of the container 10 of the tilting device, the anti-shake effect can be expected by improving existing equipment without providing a separate anti-sway device.

As described above, in the short drive operation in which the container 10 is tilted forward or downward, the pulleys 17A and 17B are connected to each other by the power units 31 and 32 in the form shown in FIGS. And each pulley 17C and 17D
8 and 9, and the fixed ends of the wire ropes 9A and 9B and the wire ropes 9C and 9D by the power units 31 and 32, respectively. The container 10 can be displaced to the front Y1 or the rear Y2 in the same manner as the operation of relatively displacing each fixed end of the container 10. That is, the anti-sway effect of the container 10 similar to the embodiment shown in FIGS. 1 to 9 can be expected. At this time, the tilt drum 12A and each wire rope 9A1, 9C1, and the tilt drum 12B and each wire rope 9B1, 9D1
Function as balance devices.

Therefore, as another embodiment of the present invention, as shown in FIG.
Each balance chain 29,3 for relatively displacing each pulley 17A and 17B and 17C and 17D.
0, a balance device which does not include the chain sprockets 27 and 28 and the power devices 31 and 32 but includes the tilt drum 12A and the wire ropes 9A1 and 9C1, and the tilt drum 12B and the wire ropes 9B1 and 9D1, respectively. May be provided.
Even with this configuration, the same anti-sway effect of the container 10 as in the embodiment shown in FIGS. 1 to 10 can be expected.

Further, in each of the above-described embodiments, in combination with an electric steady rest device for controlling the acceleration and deceleration of the trolley 7 in the steady rest operation mode of the trolley 7 using data or the like in which the swing of the container 10 is predicted by simulation, When the steady rest device of the present invention is used, large load deflection is performed by the electric steady rest device, and the steady rest control (sway rest device 100, 110, 130, 140) of the present invention is used for fine positioning that is difficult to control by positioning. ) Can realize a compact and higher performance steady rest device.

[0068]

According to the anti-sway device, the following excellent effects can be obtained in addition to the effect of preventing (reducing) load run-off occurring when the trolley portion is traversed. As shown in FIG. 5, when the position of the center of gravity of the suspended load shifts, a difference in elongation occurs between the lengths of the left and right wire ropes. In this state, when a load swing occurs, a swing of a suspended load having a different pendulum cycle occurs on the left and right as shown in FIG. Since the present invention is a system capable of controlling the amount of right and left load fluctuations with respect to this load vibration, the present invention is an effective anti-sway device even with respect to the swing vibration of the suspended load. After the trolley part stops traversing, even if the suspended load starts to swing due to disturbance such as wind, the amount of load swing is detected,
By applying feedback control to the steady rest device, the steady rest device can be effectively operated, so that a stable position of the suspended load can be secured and efficient cargo handling becomes possible. Furthermore, the steady rest device of the present invention is used in combination with an electric steady rest device that controls the acceleration and deceleration of the trolley portion in the steady rest operation mode of the trolley portion using data predicted by a simulation of the swing of the suspended load. If you do
A large load shake is performed by an electric steady rest device, and when the steady rest control of the present invention is used for fine positioning that is difficult to control by positioning, a compact and higher performance steady rest control can be realized.

That is, according to the first aspect of the present invention,
Since tension is applied alternately to each of the two front and rear wire ropes arranged in an approximate V-shape, a difference is generated in the front and rear tension force applied to the suspended load by the two front and rear wire ropes, and An artificial vibration can be generated in the suspended load by giving a load vibration excitation force. At this time, the tension of the wire rope on the tension side is increased, and the deflection naturally occurring due to disturbance such as wind accompanying the cargo handling work or the wind is offset.
An artificial shake with a phase shift of 80 ° can be generated to suppress the naturally occurring shake, and the shake can be suppressed in a shorter time as compared with the related art, and the cargo handling efficiency can be improved. In addition, since the load swing does not depend on the operation of the crane, that is, the operation of the trolley unit, even an inexperienced person can perform simple and reliable operation. Furthermore, the amount of swing of the suspended load is detected by the two swing sensors, and feedback control for giving an effective tension in accordance with the detected amount of swing of the load can be performed. If the amount of run-out is different from the target amount of load run-out, for example, if the vibration is caused by sudden factors such as gusts or contact of foreign matter, a new tension is given based on the result, and the target is set. An error between the amount of load fluctuation and the actual amount of load fluctuation can be corrected, and the fluctuation of the suspended load can be reliably suppressed. Moreover, since the left and right wire ropes can be tensioned independently of each other, and the amount of right and left load swing of the suspended load can be controlled independently, the amount of load swing detected by the two swing sensors can be controlled. Thus, it is possible to independently control the amount of right and left swing of the suspended load. Therefore, the swinging movement around the vertical axis generated by the difference between the left and right swing amounts of the suspended load can be suppressed, and the load swing can be suppressed.

According to the second aspect of the present invention, the position of the target provided on the hanging part is detected by the sensor body provided on the trolley part, and the amount of swing of the suspended load with respect to the trolley part is detected. Therefore, it is possible to suppress the load swing based on the relative swing amount of the suspended load with respect to the trolley portion.

According to the third aspect of the present invention, the swing of the suspended load can be controlled even when the trolley is stationary, so that the swing of the suspended load is suppressed after the trolley is stopped. In addition, the swing of the suspended load caused by disturbance such as wind when the trolley is stationary can be suppressed. Therefore, the suspended load can be unloaded or loaded without shifting from the predetermined position,
Positioning accuracy is improved. Since no trouble is required for the positioning, the cargo handling efficiency can be improved.

According to the fourth aspect of the present invention, the two front and rear wire ropes are respectively wound around the pulley between the trolley portion and the hoisting drum. Each pulley is connected by a balance device, and can be moved relative to each other by driving the balance device by a steadying power means connected to the balance device. By this relative movement, tension can be alternately applied to the front and rear two-system wire ropes, and a front-rear vibrating force is applied to the suspended load by a difference in tensile force due to a difference in tension between the front and rear two-system wire ropes. Can be. The vibrating force allows the suspended load to be artificially shaken. At this time, the tension of the wire rope on the tension side is increased, and this artificial swing is offset by a phase of 18 which is offset by the swing naturally occurring during the cargo handling operation.
By causing the shake to shift by 0 °, the naturally occurring shake can be suppressed, and the shake can be suppressed in a shorter time than before, and the cargo handling efficiency can be improved. Further, the swing of the suspended load on the left and right can be suppressed independently, and the turning operation of the suspended load about the vertical axis can also be suppressed. Moreover, unlike the conventional method, the suspension of the suspended load can be independently performed without depending on the traversing operation of the trolley, and the suspension can be performed even when the trolley is in a stationary state. The accuracy of load positioning can be improved, and there is no need for time and effort in positioning.It is also possible to improve the cargo handling efficiency.Also, since the crane can be operated to prevent load swing, even inexperienced persons can easily Operation is possible reliably. Further, a pair of left and right wire ropes such as front and rear are provided, and two run-out sensors are provided to detect the amount of run-out of the suspended load. Based on the detected run-out, the control device main body is provided. This controls the power means. As described above, the left and right swing amounts of the suspended load can be controlled independently based on the swing amount detected by each swing sensor. Can be performed independently, and the swinging motion around the vertical axis generated by the difference between the left and right swing amounts of the suspended load can be suppressed, and the load swing can be suppressed.

According to the fifth aspect of the present invention, the fixed ends of the two front and rear wire ropes are connected by the balance device, and the balance device is driven by the steadying power means connected to the balance device. By doing so, relative movement can be performed. By this relative movement, tension can be alternately applied to the front and rear two-system wire ropes, and a front-rear vibrating force is applied to the suspended load by a difference in tensile force due to a difference in tension between the front and rear two-system wire ropes. Can be. The vibrating force allows the suspended load to be artificially shaken. At this time, the tension of the wire rope on the tension side is increased, and the phase of the artificial 180 ° is offset by the natural swing accompanying the cargo handling work.
By causing the shake to be shifted, the naturally occurring shake can be suppressed, and the shake is suppressed in a shorter time than in the past,
Cargo handling efficiency can be improved. Further, the swing of the suspended load on the left and right can be suppressed independently, and the turning operation of the suspended load about the vertical axis can also be suppressed. Moreover, unlike the conventional method, the suspension of the suspended load can be independently performed without depending on the traversing operation of the trolley, and the suspension can be performed even when the trolley is in a stationary state. The accuracy of load positioning can be improved, and there is no need for troublesome positioning.
The cargo handling efficiency can be improved, and the crane can be operated so as not to cause a load swing, so that even an inexperienced person can easily and reliably operate. Further, a pair of left and right wire ropes such as front and rear are provided, and two run-out sensors are provided to detect the amount of run-out of the suspended load. Based on the detected run-out, the control device main body is provided. This controls the power means. As described above, the left and right swing amounts of the suspended load can be controlled independently based on the swing amount detected by each swing sensor. Can be performed independently, and the swinging motion around the vertical axis generated by the difference between the left and right swing amounts of the suspended load can be suppressed, and the load swing can be suppressed.

According to the present invention, the position of the target provided on the hanging part is detected by the sensor body provided on the trolley part, and the amount of swing of the suspended load with respect to the trolley part is detected. Therefore, it is possible to suppress the load swing based on the relative swing amount of the suspended load with respect to the trolley portion.

[Brief description of the drawings]

FIG. 1 is a device 1 for preventing a suspended load from hanging according to an embodiment of the present invention.
It is a perspective view which shows 00 in simplified form.

FIG. 2 is a simplified front view showing the entire schematic structure of the container crane 1 including the suspension device 100 for hanging loads.

FIG. 3 is a schematic diagram showing a load swing in a crane that is not provided with a steady rest measure.

FIG. 4 is a schematic diagram for explaining a method of preventing the container 10 from swaying.

FIG. 5 is a schematic diagram illustrating the container 10 when the center of gravity G of the container 10 is shifted from the center C.

FIG. 6 is a time chart showing a state of load swing of the container 10 in the state shown in FIG.

FIG. 7 is a schematic diagram showing a control circuit provided in the container crane 1.

FIG. 8 is a perspective view schematically showing a steady rest device 110 for a suspended load according to another embodiment of the present invention.

FIG. 9 is a simplified perspective view showing a suspension device 120 for a suspended load according to still another embodiment of the present invention.

FIG. 10 is a simplified perspective view showing a suspended load steadying device 130 according to still another embodiment of the present invention.

FIG. 11 is a simplified perspective view showing a suspension device 140 for a suspended load according to still another embodiment of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Container crane 7 Trolley 8 Hanging tool 9A, 9B, 9C, 9D; 9A1, 9B1, 9C1, 9
D1 wire rope 10 container 11A, hoisting drum 12A, 12B tilting drum 17A, 17B, 17C, 17D turning pulley 27, 28 chain sprocket 27A turning drum 29, 30 balance chain 31, 32 power unit 35A, 35B deflection sensor 100, 110, 120, 130, 140 Anti-sway device 101 Winding device

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-63-288890 (JP, A) JP-A-7-267576 (JP, A) JP-A-4-96483 (JP, U) (58) Survey Field (Int. Cl. ⁷ , DB name) B66C 13/00-13/56

Claims (6)

(57) [Claims] 1. A rope trolley-type container crane in which one end is fixed and the other end is used by changing the direction of a wire rope wound around a hoisting drum by a moving trolley part and folding it back by a hanging part. Two wire ropes are arranged in a V-shape before and after,
In a state of being suspended by a pair of left and right wire ropes, the tension of the wire rope on the side where the tension is increased by the load swing of the suspended load is alternately increased in each of the front and rear wire ropes arranged in a substantially V-shape. To control the amount of run-out of the suspended load by applying tension to the load. Further, two run-out sensors detect the amount of run-out of the suspended load relative to the trolley, and the effective amount corresponding to the detected amount of run-out is detected. The left and right wire ropes are tensioned independently of each other by the feedback control that gives a proper tension, and the amount of the left and right load swing of the suspended load is controlled independently by controlling the amount of the left and right load swing of the suspended load. A method for preventing a steady movement of a suspended load of a container crane, comprising controlling an amount of a run-out of a load including a turning operation generated by a difference in the load. 2. Each of the shake sensors has a sensor main body provided on the trolley part and a target provided on the hanging part, and each sensor main body detects a position of each target with respect to each sensor main body. 2. The method of claim 1, wherein the container crane has a steady load. 3. The method according to claim 1, wherein the amount of swing of the suspended load is controlled when the trolley is stationary. 4. A rope trolley type container crane in which one end is fixed, and the other end is used by changing the direction of a wire rope wound around a hoisting drum by a moving trolley part and folding it back by a hanging part. A pair of left and right wire ropes having two front and rear lines are provided, and the left and right two front and rear wire ropes are wrapped around the pulleys from the trolley to the hoisting drum, respectively. To make relative movement,
It is connected and arranged by a balance device, a power means for load deflection control is connected to the balance device, and two deflection sensors for detecting the amount of deflection of the suspended load with respect to the trolley portion are provided. A lifting device for a container crane, comprising: a control device main body that controls a power unit so as to further increase the tension of the wire rope on the side where the tension increases due to the load swing of the suspended load based on the amount of the load swing. Load steadying device. 5. A rope trolley-type container crane in which one end is fixed and the other end is used by changing the direction of a wire rope wound around a hoisting drum by a moving trolley part and folding it back by a hanging part. A pair of left and right wire ropes having two front and rear systems are provided at each end, and the fixed ends of the left and right two front and rear wire ropes are connected and arranged by a balance device, and power means for controlling the load swing is connected to the balance device. Two swing sensors are provided for detecting the amount of swing of the suspended load with respect to the trolley, and based on the amount of swing detected by each of these swing sensors, a wire on the side where the tension increases due to the swing of the suspended load. A steady rest device for a suspended load of a container crane, further comprising a control device main body for controlling a power means so as to further increase the tension of the rope. 6. Each of the shake sensors has a sensor body provided on the trolley part and a target provided on the hanging part, and each sensor body detects a position of each target with respect to each sensor body. The steady rest device for a suspended load of a container crane according to claim 4 or 5, wherein: