JP3251720B2 - Anti-swing 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 suspending a suspended load which is suspended by a suspension wire in a cargo handling crane, a gondola, a lift or the like which transports the suspended load. It is.

[0002]

2. Description of the Related Art Referring to FIG. 13, a description will be given of a conventional apparatus for preventing a suspended load from being suspended by a suspending wire in a cargo handling crane, a gondola, a lift, or the like for transporting the suspended load. A traveling device m provided with a traveling vehicle i can travel on a rail k by a wheel j, and a traveling device m is rotated by a pair of motors e via a speed reducer d. Drum c
Is provided.

A pair of hanging wires a wound around the drum c hang down below the traveling device m via a damper l and a sheave b for adjusting tension, and the lower ends of the pair of hanging wires a are hooked respectively. h suspends the suspender f.
The hanging member f can support a required suspended load g to be conveyed by gripping or the like.

A suspended load g supported by a suspending tool f is suspended by a suspended wire a, and a traveling device m travels on a rail k to convey the suspended load g to a required location.

When the traveling device m starts traveling when transporting the suspended load g, the hook h, the suspender f, and the suspended load g suspended downward from the sheave b swing at an arbitrary amplitude. Also, when the traveling device m stops, the suspended load g also shakes.

If the swing of the suspended load g is large, the suspended load g swings and it is impossible to land the suspended load g at a predetermined position. Is adjusted so that the tension of the suspension wire a is constant, and the swing is attenuated.

[0007]

In such a conventional suspension device for swinging a suspended load, the damping force is determined by the physical capacity of the damper l regardless of the magnitude of the swing of the suspended load g. The anti-sway effect differs depending on the weight of the load g, and the movement of the suspended load g is not actively controlled, so that the anti-sway effect is small.

Further, the inherent swing period of the suspended load g changes depending on the length of the suspension wire a hanging from the sheave b. Is determined at one arbitrary point of the length, and if the length of the suspension wire a hanging from the sheave b changes, the swing-preventing effect decreases, and therefore a sufficient swing-preventing effect cannot be expected. There were drawbacks.

The present invention eliminates such conventional disadvantages,
It is an object of the present invention to provide a suspension apparatus for swinging a suspended load, which detects the swing of the suspended load and actively controls the suspension fulcrum, thereby enabling the suspension of the suspended load to be stopped in a short time.

[0010]

According to the present invention, there is provided a device for preventing a suspended load from swinging, comprising a moving device, a pair of hanging wires extending downward from the moving device, and a hook provided on an upper portion for supporting the load. And a suspending device suspended individually or in pairs by each of the suspending wires .
A swing actuator for moving the hook back and forth in the moving direction of the moving device with respect to the hanging device, a swing amount detecting device that detects a swing amount of the hanging wire, Detected by the shake amount detection device
Swing around the origin of the hanging
Move the hook in the swing direction of the lifting device so that the width decreases.
To change the position of the center of gravity, and
And a center-of-gravity shift amount calculator for operating the shift actuator so as to return the hook to the original position .

[0011]

The swing amount detecting device detects the swing amount of the hanging wire, and based on the detected swing amount, activates the moving actuator by the center-of-gravity moving amount calculator, and moves the hook parallel to the moving direction of the moving device with respect to the hanging member. In the appropriate direction to control the suspension fulcrum of the suspended load to attenuate the shaking.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a front view of an embodiment of the present invention, and FIG. 2 is a right side view of FIG. And the upper ends of the suspending wires 3 and 4 are wound and unwound by a winch or the like fixed to the moving device 2 or provided on the moving device 2. It has become. The lower ends of the suspension wires 3 and 4
Hanging device 7 via hooks 5 and 6 paired on the left and right
Are suspended as described below. The hanging member 7 can support the load 8 to be transported by means such as gripping.

FIG. 4 is an enlarged plan view taken along line IV-IV of FIG. 1, FIG. 5 is a sectional view taken along line VV of FIG. 4, and FIG. 6 is a line VI-V of FIG.
I sectional views, as shown in these figures, a pair of movable frames 9, 10 are provided on the upper part of the flat hanging member 7, and the above-mentioned hooks 5, 6 are shown in FIGS. Are fixed to the upper surfaces of the movable frames 9 and 10 as shown in FIG. Both ends of the movable frames 9 and 10 are movably supported by parallel guide rods 11 and 12. As shown in FIGS. 4 and 5, ball nuts 13 and 1 are provided on the lower surfaces of the movable bases 9 and 10, respectively.
The ball nuts 13 and 14 are screwed with screw rods 15 and 16 respectively.
6 are individually rotated by moving actuators 17 and 18.

4 to 6, when the screw rod 15 is rotated by the moving actuator 17, the moving base 9 moves along the guide rods 11 and 12, whereby the hook 5 moves with respect to the hanging member 7. Will move. The screw rod 1 is moved by the moving actuator 18.
6 is rotated, the movable base 10 is moved to the guide rods 11 and 1.
2, the hook 6 moves with respect to the hanging member 7, and the position of the center of gravity is changed by changing the position of the hanging point of the hanging member 7.

As shown in FIG. 1, the moving device 2 or the hanger 7
Is provided with a swing amount detecting device 19, which is connected to the above-mentioned moving actuators 17 and 18 via a swing amount calculating unit 20 and a center of gravity moving amount calculating unit 21 as shown in FIG. Have been.

The swing amount detecting device 1 provided in the moving device 2
As 9, a camera that can monitor the swing of the hanging wires 3 and 4 is used, detects the swing angle of the wires 3 and 4 with respect to the origin when the moving device 2 is stopped, and calculates the swing amount calculator 2.
At 0, the swing amplitude of the hanging member 7 is calculated from the hanging length of the hanging wires 3 and 4, and the calculated amplitude is input to the center-of-gravity shift amount calculator 21.

On the other hand, when the swing amount detecting device 19 is provided on the hanging member 7, an accelerometer is used. In a swing amount calculating unit 20, the acceleration of the hanging member 7 is integrated twice to calculate the swing amplitude of the hanging member 7, and the center of gravity is calculated. It is input to the movement amount calculator 21.

Next, the operation will be described.

When the moving device 2 travels along the rail 1 while the suspending device 7 suspended by the suspending wires 3 and 4 supports the load 8, the suspending device 7 vibrates at an arbitrary amplitude. Also, when the moving device 2 stops, the hanging member 7 also vibrates at an arbitrary amplitude.

Assume that the hanging member 7 vibrates at an arbitrary cycle with an amplitude of +1 m to the left and -1 m to the right, that is, ± 1 m.
If the swing is stopped when swinging to the left in FIG. 1, the amplitude of the swing fluctuates by ± 1 m, and this amplitude is a half of the original amplitude ± 1 m, which is half of +1 m, that is, the position of +0.5 m. The position of the center of gravity is changed by moving the hook 5 to the left by the movement actuator 17 so as to have an amplitude of ± 0.5 m, which is a fraction of the origin of amplitude ± 1 m and the half amplitude of +1 m. This movement amount is calculated via the shake amount detection device 19, the shake amount calculator 20, and the center of gravity movement amount calculator 21 in FIG. 3, and the restoring force between the original center of gravity and the center of gravity after the movement actuator 17 operates. The moving amount of the moving actuator 17 is determined so as to be equivalent, that is, such that the amplitude with the center of gravity after the operation of the moving actuator 17 as the origin becomes the maximum amplitude at the original position of the center of gravity.

When the moving actuator 17 is returned to the original position when the hanging member 7 reaches the original origin, the hanging member 7 can be stopped at an arbitrary half cycle.

The hanging actuator 7 can be similarly stopped by operating the moving actuator 18 even when the hanging gear 7 swings rightward in FIG.

The control method will be described with reference to a schematic front view of FIG. 7 using a calculation model.

Although the actual apparatus has four wires suspended, it is symmetrical in the direction perpendicular to the plane of the paper.

M ₁ and M ₂ are hanging positions of the hanging wires of the moving device 2, and the interval between them is I around O. 2
The length of the suspension wire of the book is L, and the suspension wire is suspended by tensions T ₁ and T ₂ at S ₁ and S ₂ on the suspending tool 7. The center of gravity is located at M during this period, and the weight of the load 8 is also applied here. The distances are D ₁ and D ₂ , each of which can be varied in length by control. Since the inclinations θ ₁ and θ _{2 of the} suspension wires and the inclination φ of the suspension 7 are all determined by the relative displacement X of the M with respect to the center O of the moving device 2, the motion of the suspension 7 is calculated with one degree of freedom in the horizontal direction. Was.

As an equation of motion,

(Equation 1) Than balance of power

[Number 2] _{T 1 cosθ 1 + T 2 cosθ} 2 = mg ... holds Equation _{2 D 1 T 1 cos (θ} 1 + φ) -D 2 T 2 cos (θ 2 -φ) = 0 ... Equation 3.

Solving T ₁ and T ₂ from Equations 2 and 3 gives

T ₁ = {mg cos (θ ₂ −φ)} / {D ₁ cos (θ ₁ + φ) cos θ ₂ + D ₂ cos θ ₁ cos (θ ₂ −φ)} formula 5 T ₂ = {mg cos ( θ ₂ + φ)｝ / {D ₁ cos (θ ₁ + φ) cos θ ₂ + D ₂ cos θ ₁ cos (θ ₂ −φ)} Equation 6 where the position of S ₁ and S ₂ is that the hanging wire does not extend. It is represented by the following equations 7, 8, 9, and 10.

[0029]

X ₁ = x−D ₁ cos φ Equation 7 x ₂ = x + D ₂ cos φ Equation 8 θ ₁ = tan ⁻¹ {(−x ₁ −I) / y ₁ } Equation 9 θ ₂ = tan ^{− 1} {(x ₂ −I) / y ₂ } Equation 10

Further, from these relations, Equations 11, 12 and 13

Φ = tan ⁻¹ {(y ₂ −y ₁ ) / (x ₂ −x ₁ )} Equation 11 y ₁ = − {L ² − (x ₁ −I) ² } Equation 12 y ₂ = − {L ² − (x ₂ −I) ² } Equation 13 is obtained.

From equations 7, 8, 9, 10, 11, 12, and ₁₃ , x ₁ , x ₂ , y ₁ , y ₂ , φ, θ ₁ , and θ ₂ are obtained for x. By solving these equations and equations 2 and 3, the equation of motion of equation 1 is solved.

The calculation was performed under the following four conditions. Hanging wire length L = 34 m Load W = 43.4 t (Load 8: 30.4 t, sheave block + hanging jig 7: 13 t) Hanging wire pitch (Case 1) Hanging jig 7 parts D ₁ , D ₂ = 1 m (Case 2) Hanging parts 7 D ₁ = 1 m, D ₂ = 1.7 m (Case 3) Hanging parts 7 D ₁ = 1.7 m, D ₂ = 1 m (Case 4) Hanging parts 7 D ₁ = 1.1 m , D ₂ = 1 m The moving device 2 part I = 4 m, the suspension wire tilt angles θ ₁ , θ ₂ = about 5 degrees in the stationary state, and the calculation was performed by not bending or extending the suspension wire.

FIGS. 8, 9 and 1 show the calculation results when an initial displacement of 0.5 m is given and free vibration is performed under the above four conditions.
0, shown in FIG. The unit of the vertical axis is m and angle, the unit of the horizontal axis is second, the displacement x of the position of the center of gravity of the load 8 and the inclination angle φ
Is shown.

In FIG. 8, since D ₁ and D ₂ = 1 m in case 1, the vibration is caused in the range of ± 0.5 m with the initial displacement of 0.5 m as the amplitude. The cycle is about 11.5 seconds and the maximum tilt angle is 2.
It is 5 degrees.

FIG. 9 shows the case 2 in which the suspension wire suspension pitch on the side opposite to the initial displacement is extended by 0.7 m, and the amplitude becomes about ± 1.5 m.

FIG. 10 shows a case 3 in which the suspension pitch of the suspension wire on the initial displacement side is extended by 0.7 m, and the case 3 vibrates in the direction opposite to the center position with an amplitude of ± 0.5 m.

FIG. 11 shows case 4. In case 4, when the pitch on the displaced side is extended by 0.1 m, the amplitude becomes ± 0.31 m. From this fact, the suspension pitch is extended so that the amplitude becomes ± 0.25 m. The vibration can be stopped by returning the suspension pitch at the position where the amplitude is zero.

In order to capture the above results dynamically, D
_1, D ₂ and FIG relationship to the displacement X of the force F applied to the load 8 1
It is shown in FIG. The vertical axis indicates the force F (tf) applied to the load 8, and when the force is negative, the force acts in the direction of returning the load 8 to the direction opposite to the displacement. The horizontal axis indicates the length of D ₁ and D ₂ and indicates a range of 1.0 to 2.0 m (the initial values of D ₁ and D ₂ are 1.0 m). Shows the displacement X when curve upward sloping was varied D _1,
Indicating the displacement at which the curve of downward-sloping was varied D _2.

First, the case 1 is simple and has a vibration shown by A in FIG.

In the case 2, when the D _{2 is changed} by 0.7 m at the position where the X is changed by 0.5 m by the vibration indicated by B in FIG. 12, a restoring force of about 2 tf is applied (the lower part of B). Therefore, in this state, the position at which the force of -2tf acts becomes the maximum displacement point in the opposite direction.
Is about -2.5 m (upper part of B).

Case 3 is indicated by a solid line C. X is the restoring force of about 0.7tf works when to 0.7m varying D ₁ at a position 0.5m variation (upper part of the C), vibrates outward. Then X is 1.5 to obtain a restoring force of 0.7tf.
Vibrates to the position of m.

Finally, in case 4 as shown in D,
D ₁ to become the restoring force of about 0.4tf when to 0.1m variation, the position of obtaining the restoring force of -0.4tf is X is -0.1m
Becomes

A control law will be considered from the above results.

First, assuming that the response time of the machine control system is not considered, the required fluctuation amount of the suspension pitch is calculated at the maximum amplitude position of the fluctuation, the suspended position on the displaced side is moved, and the amplitude becomes zero. The operation is stopped by returning the fluctuation amount to the original position (the relative speed is 0). Therefore, it stops at a half cycle from the position of the maximum amplitude, and the time required for vibration suppression is determined by the length of the suspension wire.

The result will be described with reference to FIG.
Assuming that the large displacement is 0.6 m, it is 0.
A restoring force of 8 tf works and causes vibration. This
Here D ₁Is that the upper right of X = 0.6
It will move on the curve of the beam. Therefore D₁Increase
Then, the restoring force decreases. D₁To 1.35
We lose power and stop on the spot. Position where displacement X is 0
In order to stop at
D at the position where the negative restoring force is balanced₁Can be adjusted. So
Is the position indicated by E in FIG.₁To 0.17
Position. D₁Is 0.17, the restoring force is
It becomes about 0.4tf, and when the displacement X becomes 0, D ₁To
If set to zero, the exercise will stop.

In the above description, the swinging in the left-right direction has been described. However, a device capable of moving the center of gravity in two directions at right angles may be used. Although the center of gravity of the hooks can be moved in pairs, the hooks may move independently.

The apparatus for moving the center of gravity is applicable not only to a trolley rope type crane running along a rail, but also to a crane, a gondola, a lift, a cable crane, etc., which need to stop swinging of a cargo handling apparatus by a rope, a chain, etc. be able to.

The moving actuator for moving the center of gravity is
In addition to the screw type, it can be used for movable devices such as a jack type and a link mechanism type. Although the hook is fixed to the rope, the hook may be a sheave so that the rope can freely move (rotate, etc.).

[0049]

According to the present invention, the swing of the suspended load can be stopped in a short time and with a simple structure.

[Brief description of the drawings]

FIG. 1 is a front view of one embodiment of the present invention.

FIG. 2 is a right side view of FIG.

FIG. 3 is a circuit diagram of a control device.

FIG. 4 is an enlarged plan view as viewed from IV-IV in FIG. 1;

FIG. 5 is a sectional view taken along line VV of FIG. 4;

FIG. 6 is a sectional view taken along line VI-VI of FIG. 4;

FIG. 7 is a schematic front view for explaining the operation.

FIG. 8 is a graph showing a vibration state.

FIG. 9 is a graph showing a vibration state.

FIG. 10 is a graph showing a vibration state.

FIG. 11 is a graph showing a vibration state.

FIG. 12 is a graph showing a restoring force.

FIG. 13 is a front view of a conventional device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 2 Moving device 3 Hanging wire 4 Hanging wire 5 Hook 6 Hook 7 Hanging tool 8 Load 17 Moving actuator 18 Moving actuator 19 Shaking amount detecting device 21 Center of gravity moving amount calculator

──────────────────────────────────────────────────の Continued on the front page (72) Inventor Koji Yata 1st Shinnakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Pref. Ishikawajima-Harima Heavy Industries Co., Ltd. (72) Inventor Takao Agatsuma 1-19 Mouri, Koto-ku, Tokyo No. 10 Ishikawajima-Harima Heavy Industries, Ltd.Koto Office (72) Inventor Tetsuo Osuga 1 Shinnakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Prefecture Ishikawajima-Harima Heavy Industries, Ltd. 1-15-18 Hyakunincho, Ward Ishikawashima Soundproofing Industrial Co., Ltd. (56) References JP-A-5-132286 (JP, A) JP-A-54-108354 (JP, A) Jiko 46-33175 ( JP, Y1) (58) Field surveyed (Int. Cl. ⁷ , DB name) B66C 13/06 B66C 13/08

Claims (1)

(57) [Claims] 1. A moving device, a pair of hanging wires extending downward from the moving device, and suspended individually or in pairs via a hook or the like provided above and supporting a load by each of the hanging wires. Carrying the suspended load with
A swing load preventing device for a suspended load of a device for sending, a movement actuator for moving the hook back and forth with respect to the hanging device in a moving direction of a moving device, and a swing amount detecting device for detecting a swing amount of the hanging wire. by rocking Re amount detecting device
Countermeasures against back and forth swing around the origin of the detected hanging
The hook in the swinging direction of the lifting device so that the amplitude decreases.
Move to change the position of the center of gravity, and
And a center-of-gravity shift amount calculator for operating the shift actuator to return the hook to the original position when the hook is returned to its original position .