JP3314368B2 - Anti-sway device for suspended loads - Google Patents
Anti-sway device for suspended loadsInfo
- Publication number
- JP3314368B2 JP3314368B2 JP17487894A JP17487894A JP3314368B2 JP 3314368 B2 JP3314368 B2 JP 3314368B2 JP 17487894 A JP17487894 A JP 17487894A JP 17487894 A JP17487894 A JP 17487894A JP 3314368 B2 JP3314368 B2 JP 3314368B2
- Authority
- JP
- Japan
- Prior art keywords
- suspended load
- hanging
- suspended
- moving
- speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Description
【0001】[0001]
【産業上の利用分野】本発明はクレーン等の荷役機械に
おいてワイヤロープやチェーン等により吊られて搬送さ
れる吊り荷の振れ止め装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steadying device for a suspended load carried and suspended by a wire rope, a chain or the like in a cargo handling machine such as a crane.
【0002】[0002]
【従来の技術】荷役機械においては、ワイヤロープ、チ
ェーン等の如きフレキシブルな懸吊材で荷を吊り下げた
状態で移動させて停止させると、その際に生ずる慣性力
によって吊り荷に振れが発生し、減衰を付加させないか
ぎり容易に停止しない問題がある。かかる吊り荷の振れ
は、吊り荷を目的地点に正確に吊り降ろすことができな
くなるばかりでなく、吊り荷の落下事故を誘因するおそ
れがあるので、吊り荷に振れが発生したときには速やか
に減衰させる必要がある。2. Description of the Related Art In a cargo handling machine, when a load is moved and stopped in a state of being suspended by a flexible suspending material such as a wire rope, a chain or the like, a swing occurs in the suspended load due to an inertial force generated at that time. However, there is a problem that it does not stop easily unless attenuation is added. Such a swing of the suspended load not only makes it impossible to accurately suspend the suspended load at the destination, but also may cause a fall accident of the suspended load. There is a need.
【0003】従来のかかる吊り荷の振れを止めるように
した吊り荷の振れ止め装置の一つとして、ダンパを用い
たものがある。すなわち、図9にその概要を示す如く、
レールaに沿って走行できるようにしたトロリb上の前
後両端部に、各々モータdにより減速機cを介して駆動
されるようにした一対のドラムeを設置し、該両ドラム
eより繰り出した2本のワイヤロープgをトロリbの中
央部のガイドシーブfを介して垂下させるようにし、該
垂下されたワイヤロープgの下端に、吊り荷hを保持で
きるようにした吊り具iが取り付けてある荷役機械にお
いて、上記前後のドラムeとガイドシーブfとの間のト
ロリb上に、ワイヤロープgに下方より押し当てるよう
にしてダンパjを設置した構成とし、ワイヤロープg及
び吊り具iを介してトロリbより吊り荷hを吊り下げた
状態で、レールa上をトロリbが移動して吊り荷hを所
要個所へ搬送するとき、あるいは、所要個所で停止させ
るとき、トロリbと吊り荷hとの間に慣性力によって相
対変位が生じて吊り荷hが振れるので、この振れを、ダ
ンパjにてワイヤロープgの張力が一定となるように制
御することで減衰させるようにしたものである。[0003] As one of conventional suspension devices for preventing the suspension load from swinging, there is a device using a damper. That is, as shown in FIG.
A pair of drums e, each driven by a motor d via a speed reducer c, are installed at both front and rear ends of a trolley b capable of traveling along the rail a, and are extended from both drums e. The two wire ropes g are suspended via a guide sheave f at the center of the trolley b. At the lower end of the suspended wire rope g, a suspender i capable of holding a suspended load h is attached. In a cargo handling machine, a damper j is installed on a trolley b between the front and rear drums e and the guide sheave f so as to be pressed against a wire rope g from below. When the trolley b moves on the rail a and conveys the suspended load h to a required location while the suspended load h is suspended from the trolley b via the trolley b, or when the trolley b is stopped at the required location, Since the suspended load h oscillates due to the relative displacement caused by the inertial force between the suspended load h and the suspended load h, the sway is attenuated by controlling the tension of the wire rope g with the damper j to be constant. Things.
【0004】しかしながら、上記ダンパjを用いた吊り
荷の振れ止め方式の場合には、吊り荷の運動を能動的に
制御していないので、吊り荷の振れが止まるまでに時間
が掛かる問題がある。[0004] However, in the case of the suspension of the suspended load using the damper j, since the movement of the suspended load is not actively controlled, it takes a long time until the suspension of the suspended load stops. .
【0005】一方、吊り荷の振れを能動的に制御する方
式としては、たとえば、図9に示す如く、トロリbから
ワイヤロープgを介して吊られた吊り荷5が慣性力によ
って振れる場合に、運転員による手動操作で、あるい
は、自動的なファジイ制御で上記トロリbを吊り荷hの
振れに対して逆慣性力を与えて、吊り荷hの振れを減衰
させるようにしたものがある。On the other hand, as a method for actively controlling the swing of the suspended load, for example, as shown in FIG. 9, when the suspended load 5 suspended from the trolley b via the wire rope g swings due to inertial force, There is a type in which the trolley b is applied with a reverse inertia force to the swing of the suspended load h by manual operation by an operator or by automatic fuzzy control to attenuate the swing of the suspended load h.
【0006】[0006]
【発明が解決しようとする課題】ところが、運転員によ
る手動操作の場合には、運転員が吊り荷の振れを停止さ
せる操作に熟練を要する問題があり、又、ファジイ制御
の場合には、あらかじめ組まれたスケジュールでトロリ
を動かすため、風などの外乱によって吊り荷が振れた場
合には対処できないという問題がある。However, in the case of manual operation by the operator, there is a problem that the operator needs skill in the operation of stopping the swing of the suspended load, and in the case of fuzzy control, there is a problem. Since the trolley is moved according to a set schedule, there is a problem that it is not possible to cope with a swing of a suspended load due to disturbance such as wind.
【0007】そこで、本発明は、吊り荷に振れが発生し
たときに、その振れを自動的に速やかに停止させること
ができると共に、外乱に対しても対処できるような吊り
荷の振れ止め装置を提供しようとするものである。In view of the above, the present invention provides a device for preventing a suspended load from swaying, which can automatically and promptly stop the vibration of the suspended load, and can cope with disturbance. It is something to offer.
【0008】本発明は、上記課題を解決するために、水
平方向へ移動する移動体から該移動体の移動方向に対を
成して垂下される懸吊材と、該懸吊材に懸吊されて吊り
荷を保持できるようにした吊り具との間に、アクチュエ
ータの駆動で水平方向へ変位できるようにした一対の吊
り点部材をベース上に有する振れ止め装置本体を介在さ
せて、上記吊り点部材の移動方向が上記移動体の移動方
向と平行となるように吊り具の上面に上記ベースを固定
すると共に各吊り点部材に上記各懸吊材の下端を係止さ
せ、更に、上記吊り荷の振れ速度を検出する速度検出器
と、該速度検出器で検出した速度信号の符号を反転して
吊り荷の振れに対して90°遅れの位相をもつ変位信号
を制御指令として上記アクチュエータへ送る制御器とを
備えた制御装置を設けてなる構成とする。[0008] In order to solve the above-mentioned problems, the present invention provides a suspending member suspended from a moving body moving in a horizontal direction in a moving direction of the moving body, and a suspending member suspended from the suspending material. And a lifting device that has a pair of hanging point members on a base that can be displaced in a horizontal direction by driving an actuator, between the lifting device and a lifting device that can hold a suspended load. The base is fixed to the upper surface of the hanging member so that the moving direction of the point member is parallel to the moving direction of the moving body, and the lower end of each of the hanging members is locked to each hanging point member. A speed detector for detecting the deflection speed of the load, and a displacement signal having a phase delayed by 90 ° with respect to the deflection of the suspended load by inverting the sign of the speed signal detected by the speed detector to the actuator as a control command. Control device with a controller to send Only to become a configuration.
【0009】又、上下方向と水平方向へ移動する移動体
と、該移動体の水平移動方向に対を成して垂下させるよ
うにしてあって吊り荷を保持できるようにした吊り具を
懸吊するようにしてある懸吊材との間に、アクチュエー
タの駆動で水平方向へ変位できるようにした一対の吊り
点部材をベースの下面に有する振れ止め装置本体を介在
させて、上記吊り点部材の移動方向が上記移動体の水平
移動方向と平行となるように移動体の下面に上記ベース
を固定すると共に各吊り点部材に上記各懸吊材の上端を
係止させ、更に、上記吊り荷の振れ速度を検出する速度
検出器と、該速度検出器で検出した速度信号の符号を反
転して吊り荷の振れに対して90°遅れの位相をもつ変
位信号を制御指令として上記アクチュエータへ送る制御
器とを備えた制御装置を設けてなる構成とする。[0009] Further, a moving body which moves in the vertical direction and the horizontal direction, and a hanging member which is suspended in pairs in the horizontal moving direction of the moving body so as to be able to hold a suspended load. The suspension member having a pair of suspension point members on the lower surface of the base, which can be displaced in the horizontal direction by driving the actuator, is interposed between the suspension point member and the suspension point member. The base is fixed to the lower surface of the moving body so that the moving direction is parallel to the horizontal moving direction of the moving body, and the upper end of each of the hanging members is locked to each hanging point member, and A speed detector for detecting a shake speed, and a control for inverting the sign of the speed signal detected by the speed detector and sending a displacement signal having a phase delayed by 90 ° to the shake of the suspended load to the actuator as a control command Control with vessel And it provided comprising configure location.
【0010】[0010]
【作用】吊り荷に振れが発生すると、その振れ速度が速
度検出器により検出され、その速度信号を基に制御器よ
り吊り荷の振れに対し90°遅れの位相をもった制御指
令がアクチュエータに送られる。したがって、吊り点部
材が吊り荷の振れに対し位相制御されて変位させられる
結果、吊り荷の振れが速やかに停止させられる。When a swing occurs in a suspended load, its velocity is detected by a speed detector. Based on the velocity signal, a control command having a phase delayed by 90 ° with respect to the suspended load is transmitted from a controller to the actuator. Sent. Therefore, as a result of the suspension point member being phase controlled and displaced with respect to the swing of the suspended load, the swing of the suspended load is immediately stopped.
【0011】[0011]
【実施例】以下、本発明の実施例を図面を参照して説明
する。Embodiments of the present invention will be described below with reference to the drawings.
【0012】図1乃至図6は本発明の一実施例を示すも
ので、左右方向(X方向)へ延びるレール1に沿って走
行できるようにしてある移動体としてのトロリ2から左
右2組の懸吊材であるワイヤロープ3にて、吊り荷保持
機能を有する吊り具4を巻上下可能に吊り下げ支持し
(巻上装置は図示せず)、上記吊り具4にて保持した吊
り荷5をトロリ2の走行で移動させられるようにしてあ
る荷役機械において、上記吊り具4とワイヤロープ3と
の間に振れ止め装置本体6を介在させ、且つ該振れ止め
装置本体6を制御する制御装置7を備えた構成とする。FIGS. 1 to 6 show an embodiment of the present invention, in which two sets of left and right trolleys 2 are provided from a trolley 2 as a moving body which can run along a rail 1 extending in the left and right direction (X direction). A suspending device 4 having a suspended load holding function is suspended and supported by a wire rope 3 as a suspending material so that the suspending device 4 can be wound up and down (a hoisting device is not shown). In the cargo handling machine in which the trolley 2 can be moved by the traveling of the trolley 2, a control device for interposing the steady rest device body 6 between the hanging member 4 and the wire rope 3 and controlling the steady rest device body 6 7 is provided.
【0013】上記振れ止め装置本体6は、図2乃至図5
に拡大して示す如く、吊り具4の上面に固定するように
した平板状のベース8を備え、該ベース8上の前後位置
に、左右方向へ延びるガイドシャフト9を配置し、又、
上記ベース8の上面中央部に、アクチュエータとしての
モータ10a,10bによって駆動されるようにしたボ
ールねじ11a,11bを、左右方向へ直線状に並べて
軸受12により回転自在に支持させ、且つ上記ワイヤロ
ープ3の吊り点部材となる吊りピース13a,13bが
両端部上面にそれぞれ取り付けてあるスライドベース板
14a,14bを、上記前後のガイドシャフト9間にリ
ニアガイド15a,15bを介して左右方向へ摺動自在
に架け渡すと共に、該各スライドベース板14a,14
bの中央部に、上記各ボールねじ11a,11bに螺着
させたボールナット16a,16bを固着し、上記モー
タ10a,10bによりボールねじ11a,11bを回
転させてその動力をボールナット16a,16bに伝え
ることにより、スライドベース板14a,14bがリニ
アガイド15a,15bを介しガイドシャフト9に沿っ
て左右方向へ移動させられるようにして、吊りピース1
3a,13bの位置を左右方向へ変位させられるように
した構成としてある。The anti-sway device body 6 is shown in FIGS.
As shown in an enlarged view, a flat base 8 fixed to the upper surface of the hanging member 4 is provided, and a guide shaft 9 extending in the left-right direction is disposed at a front-rear position on the base 8.
Ball screws 11a and 11b, which are driven by motors 10a and 10b as actuators, are linearly arranged in the left-right direction at the center of the upper surface of the base 8 so as to be rotatably supported by bearings 12, and the wire rope The slide base plates 14a and 14b, on which the suspension pieces 13a and 13b serving as suspension point members 3 are attached to the upper surfaces of both ends, respectively, slide in the left and right direction between the front and rear guide shafts 9 via the linear guides 15a and 15b. The slide base plates 14a, 14
The ball nuts 16a and 16b screwed onto the ball screws 11a and 11b are fixed to the center of the ball screws 11a and 11b, and the motors 10a and 10b are used to rotate the ball screws 11a and 11b so that the power is supplied to the ball nuts 16a and 16b. , The slide base plates 14a, 14b can be moved in the left-right direction along the guide shaft 9 via the linear guides 15a, 15b.
The configuration is such that the positions of 3a and 13b can be displaced in the left-right direction.
【0014】又、上記制御装置7は、図6に示す如く、
吊り荷5の振れ速度を検出するようにした加速度計17
及び積分器18からなる速度検出器19と、該速度検出
器19で算出した速度信号を更に積分して吊り荷5の変
位を演算するようにした積分器20と、上記速度検出器
19で求めた速度信号の符号を反転して変位指令とし
て、この変位に比例するような演算をする制御器22と
を備え、制御器22の制御指令をモータ10a,10b
のドライブユニット21a,21bへ送るようにしてあ
る。この信号は吊り荷5の振れに対して90°位相遅れ
となる。23a,23bは、上記モータ10a,10b
の回転数を制御器22からの制御指令と等価させるため
のフィードバック信号をドライブユニット21a,21
bへ送るパルスゼネレータである。Further, as shown in FIG. 6, the control device 7
An accelerometer 17 for detecting the swing speed of the suspended load 5
A speed detector 19 comprising an integrator 18; an integrator 20 for calculating the displacement of the suspended load 5 by further integrating the speed signal calculated by the speed detector 19; And a controller 22 for inverting the sign of the speed signal obtained as a displacement command and performing an operation in proportion to the displacement, the control command of the controller 22 being transmitted to the motors 10a and 10b.
To the drive units 21a and 21b. This signal has a 90 ° phase delay with respect to the swing of the suspended load 5. 23a and 23b are the motors 10a and 10b
A feedback signal for making the rotation speed of the drive unit equivalent to the control command from the controller 22 is transmitted to the drive units 21a and 21.
b is a pulse generator sent to b.
【0015】吊り具4で保持された吊り荷5をワイヤロ
ープ3を介して吊った状態のトロリ2を、レール1に沿
わせて移動させたり、あるいは、その移動を停止させる
と、吊り荷5は、その慣性力によりワイヤロープ3の上
端を支点として左右方向に振り子運動を行う如く振動す
ることになる。本発明では、通常、振れ止め装置本体6
に備えた左右いずれか一方の吊りピース13a又は13
bを変位させることにより、上記吊り荷5の振れを任意
周期の半周期で停止させるようにしたものである。When the trolley 2 in a state where the suspended load 5 held by the suspending device 4 is suspended via the wire rope 3 is moved along the rail 1 or the movement is stopped, the suspended load 5 is stopped. Is vibrated by its inertia force so as to perform a pendulum motion in the left-right direction with the upper end of the wire rope 3 as a fulcrum. In the present invention, generally, the steady rest device body 6 is used.
Left or right hanging piece 13a or 13 provided for
By displacing b, the swing of the suspended load 5 is stopped at a half cycle of an arbitrary cycle.
【0016】以下に、吊りピース13aを変位させて吊
り荷5の振れを止める場合について詳述する。Hereinafter, a case where the swing of the suspended load 5 is stopped by displacing the suspension piece 13a will be described in detail.
【0017】今、図1に示す如き状態において、吊り荷
5に左右方向(X方向)の振れが発生すると、図6に示
す制御装置7において、先ず、加速度計17により吊り
荷5の加速度αが検出され、続いて、この加速度αが積
分器18で積分されることにより速度検出器19の出力
として吊り荷5の振れ速度vが算出される。なお、この
際、トロリ2が移動している場合は、トロリ2の移動速
度を同様な方式で求めて相対速度を算出させるようにす
る。次に、この速度vの信号が別の積分器20に送られ
ることにより吊り荷5の変位が求められる。一方、上記
速度vの信号は制御器22に送られ、ここで、符号が反
転され、vに任意定数を乗算し変位制御指令Lが作ら
れ、この制御指令Lがモータ10aのドライブユニット
21aに送られる。これによりモータ10aが駆動され
ると、ボールねじ11aが回転させられるため、ボール
ねじ11aに螺着しているボールナット16aを介して
スライドベース板14aが左右方向に移動させられる。
この際、スライドベース板14aの移動は両端部のリニ
アガイド15aがガイドシャフト9に沿うことによりガ
イドされる。したがって、上記スライドベース板14a
の移動により、ワイヤロープ3の吊り点部材としての吊
りピース13aが左右方向へ変位させられることにな
る。この場合、吊りピース13aの変位は吊り荷5の振
れに対して90°遅れの位相をもつように制御されてい
ることから、たとえば、吊り荷5は振れのないときの原
点位置から左方へ移動して再び原点位置へ戻る間に振動
が停止させられることになる。すなわち、吊り荷5に作
用する慣性力が吊りピース13aの90°遅れの変位に
よって効果的に減衰させられることになり、恰も、トロ
リ2を90°遅れの位相で移動させたのと同等となる。Now, in the state as shown in FIG. 1, when the swing of the suspended load 5 occurs in the left-right direction (X direction), the control device 7 shown in FIG. Then, the acceleration α is integrated by the integrator 18 to calculate the swing speed v of the suspended load 5 as the output of the speed detector 19. At this time, when the trolley 2 is moving, the moving speed of the trolley 2 is obtained in a similar manner to calculate the relative speed. Next, the displacement of the suspended load 5 is obtained by sending the signal of the speed v to another integrator 20. On the other hand, the signal of the speed v is sent to the controller 22, where the sign is inverted, a displacement control command L is generated by multiplying v by an arbitrary constant, and this control command L is sent to the drive unit 21a of the motor 10a. Can be Thus, when the motor 10a is driven, the ball screw 11a is rotated, so that the slide base plate 14a is moved in the left-right direction via the ball nut 16a screwed to the ball screw 11a.
At this time, the movement of the slide base plate 14a is guided by the linear guides 15a at both ends along the guide shaft 9. Therefore, the slide base plate 14a
, The suspension piece 13a as a suspension point member of the wire rope 3 is displaced in the left-right direction. In this case, since the displacement of the hanging piece 13a is controlled to have a phase delayed by 90 ° with respect to the swing of the suspended load 5, for example, the suspended load 5 moves to the left from the origin position when there is no swing. Vibration is stopped while moving and returning to the origin position again. That is, the inertial force acting on the suspended load 5 is effectively attenuated by the displacement of the suspension piece 13a delayed by 90 °, which is equivalent to moving the trolley 2 with a phase delayed by 90 °. .
【0018】上記位相制御の原理について示すと、図7
の(イ)において実線は吊り荷5の変位を示しており、
この変位を1回微分すれば図7の(ロ)に示す如く速度
が得られ、更に、速度を微分すれば図7の(ハ)に示す
如く加速度が得られることが解る。したがって、本発明
では、吊り荷5の振れを加速度計17で加速度として計
測し、この加速度を1回積分して吊り荷5の速度信号を
求め、この速度信号を反転した信号を吊りピース13a
の変位信号としてモータ10aに与えることにより、吊
りピース13aの変位を吊り荷5の変位に対して90°
遅れで動作させるようにしている。FIG. 7 shows the principle of the phase control.
In (a), the solid line indicates the displacement of the suspended load 5,
It can be seen that if this displacement is differentiated once, a velocity is obtained as shown in FIG. 7 (b), and if the velocity is further differentiated, an acceleration is obtained as shown in FIG. 7 (c). Therefore, in the present invention, the swing of the suspended load 5 is measured as acceleration by the accelerometer 17, and the acceleration is integrated once to obtain the speed signal of the suspended load 5, and the inverted signal of the speed signal is used as the suspension piece 13a.
Is applied to the motor 10a as a displacement signal, the displacement of the hanging piece 13a is 90 ° with respect to the displacement of the suspended load 5.
It is designed to operate with a delay.
【0019】このように、本発明においては、吊り荷5
の振れ速度を基に吊りピース13aの位置を移動させる
ことによって吊り荷5の振れを停止させるよう制御して
いるため、作業者の熟練を要することなく自動的に吊り
荷5を制振させることができると共に、風等による外乱
に対しても安定した制御を行うことができる。As described above, in the present invention, the suspended load 5
Is controlled so as to stop the swing of the suspended load 5 by moving the position of the suspending piece 13a based on the swing speed of the suspended load 13a, so that the suspended load 5 is automatically damped without the skill of the operator. In addition to the above, stable control can be performed with respect to disturbance due to wind or the like.
【0020】なお、上記実施例では、吊り荷5が原点位
置から左方へ振れて原点位置まで戻る間に制振させるよ
うにするために、振れ止め装置本体6の左側の吊り点部
材である吊りピース13aを変位させる場合を示した
が、吊り荷5が原点位置から右方へ振れて原点位置まで
戻る間に制振させるようにする場合には、右側の吊り点
部材である吊りピース13bを変位させるようにすれば
よい。In the above-described embodiment, the suspension point member is provided on the left side of the steady rest device body 6 so that the suspended load 5 swings to the left from the origin position and is damped while returning to the origin position. Although the case where the hanging piece 13a is displaced is shown, when the suspended load 5 swings rightward from the origin position and is damped while returning to the origin position, the hanging piece 13b which is the right hanging point member is used. May be displaced.
【0021】次に、図8は本発明の他の実施例を示すも
ので、移動体としてのトロリ2がレール1の上下方向変
位を介して昇降できるようにしてある構成の荷役機械に
おいて、上記実施例で示した如き、ワイヤロープ3の下
端と吊り具4の上面との間に振れ止め装置本体6を介在
させることに代えて、トロリ2とワイヤロープ3の上端
との間に振れ止め装置本体6を逆さの配置で介在させ
て、ベース8をトロリ2の下面に固定すると共に吊りピ
ース13a,13bにワイヤロープ3の上端を係止させ
るようにしたものである。FIG. 8 shows another embodiment of the present invention. In the cargo handling machine having a structure in which a trolley 2 as a moving body can be moved up and down through vertical displacement of a rail 1, Instead of interposing the steady rest device body 6 between the lower end of the wire rope 3 and the upper surface of the hanging member 4 as shown in the embodiment, the steady rest device is provided between the trolley 2 and the upper end of the wire rope 3. The base 8 is fixed to the lower surface of the trolley 2 with the main body 6 interposed upside down, and the upper ends of the wire ropes 3 are locked to the suspending pieces 13a and 13b.
【0022】図8の実施例の場合には、吊りピース13
a,13bの位置をトロリ2側で移動させることによ
り、上記実施例と同等な作用効果が得られる。In the case of the embodiment shown in FIG.
By moving the positions a and 13b on the trolley 2 side, the same operation and effect as in the above embodiment can be obtained.
【0023】なお、本発明は上記実施例にのみ限定され
るものではなく、たとえば、懸吊材としてのワイヤロー
プ3は、左右2本宛の組み合わせに限られるものではな
いこと、又、懸吊材としては、ワイヤロープ3に代え
て、チェーンやロッド等を用いた型式であってもよいこ
と、更に、実施例では、吊り荷5の振れ速度を検出する
ために、加速度を積分するようにした場合を示したが、
変位を微分するようにしてもよいこと、更に又、実施例
では、吊り点部材である吊りピース13a,13bを移
動させるためのアクチュエータとしてモータ10a,1
0bを用いた場合を示したが、シリンダ装置を用いて吊
りピース13a,13bを押し引きさせるようにしても
よいこと、その他本発明の要旨を逸脱しない範囲内にお
いて種々変更を加え得ることは勿論である。The present invention is not limited to the above embodiment. For example, the wire rope 3 as a suspending member is not limited to a combination of two right and left wires. As the material, a type using a chain, a rod, or the like may be used in place of the wire rope 3. Further, in the embodiment, the acceleration is integrated so as to detect the swing speed of the suspended load 5. Was shown,
The displacement may be differentiated. Further, in the embodiment, the motors 10a, 1 are used as actuators for moving the hanging pieces 13a, 13b, which are hanging point members.
Although the case where 0b is used has been shown, the hanging pieces 13a and 13b may be pushed and pulled using a cylinder device, and it is a matter of course that various changes can be made without departing from the gist of the present invention. It is.
【0024】[0024]
【発明の効果】以上述べた如く、本発明の吊り荷の振れ
止め装置によれば、水平方向へ移動する移動体から該移
動体の移動方向に対を成して垂下される懸吊材と、該懸
吊材に懸吊されて吊り荷を保持できるようにした吊り具
との間に、アクチュエータの駆動で水平方向へ変位でき
るようにした一対の吊り点部材をベース上に有する振れ
止め装置本体を介在させて、上記吊り点部材の移動方向
が上記移動体の移動方向と平行となるように吊り具の上
面に上記ベースを固定すると共に各吊り点部材に上記各
懸吊材の下端を係止させ、更に、上記吊り荷の振れ速度
を検出する速度検出器と、該速度検出器で検出した速度
信号の符号を反転して吊り荷の振れに対して90°遅れ
の位相をもつ変位信号を制御指令として上記アクチュエ
ータへ送る制御器とを備えた制御装置を設けてなる構成
とし、又、上下方向と水平方向へ移動する移動体と、該
移動体の水平移動方向に対を成して垂下させるようにし
てあって吊り荷を保持できるようにした吊り具を懸吊す
るようにしてある懸吊材との間に、アクチュエータの駆
動で水平方向へ変位できるようにした一対の吊り点部材
をベースの下面に有する振れ止め装置本体を介在させ
て、上記吊り点部材の移動方向が上記移動体の水平移動
方向と平行となるように移動体の下面に上記ベースを固
定すると共に各吊り点部材に上記各懸吊材の上端を係止
させ、更に、上記吊り荷の振れ速度を検出する速度検出
器と、該速度検出器で検出した速度信号の符号を反転し
て吊り荷の振れに対して90°遅れの位相をもつ変位信
号を制御指令として上記アクチュエータへ送る制御器と
を備えた制御装置を設けてなる構成とてあるので、吊り
荷に振れが発生したときに、吊り荷の振れ速度を基に吊
り点部材を90°遅れの位相で変位させることにより吊
り荷に作用する貫性力を効果的に減衰させることができ
て、吊り荷の振れを自動的に速やかに停止させることが
できると共に、外乱に対しても安定した制御を行うこと
ができる、等の優れた効果を発揮する。As described above, according to the suspension device for hanging a suspended load of the present invention, the hanging member suspended from the moving body moving in the horizontal direction in a pair in the moving direction of the moving body. An anti-sway device having a pair of hanging point members on a base, which can be displaced in the horizontal direction by driving an actuator, between a suspending device suspended on the suspending material and capable of holding a suspended load. With the main body interposed, the base is fixed to the upper surface of the hanging tool so that the moving direction of the hanging point member is parallel to the moving direction of the moving body, and the lower end of each of the hanging members is attached to each hanging point member. A speed detector for detecting the swing speed of the suspended load, and a displacement having a phase delayed by 90 ° with respect to the swing of the suspended load by inverting the sign of the speed signal detected by the speed detector. Controller that sends signals to the above actuators as control commands A moving device moving in the vertical and horizontal directions, and hanging in pairs in the horizontal moving direction of the moving device to hold the suspended load. An anti-sway device body having a pair of hanging point members on a lower surface of a base, which is capable of being displaced in a horizontal direction by driving an actuator, between a hanging member configured to suspend a hanging member that can be suspended. The base is fixed to the lower surface of the moving body so that the moving direction of the hanging point member is parallel to the horizontal moving direction of the moving body, and the upper end of each hanging member is connected to each hanging point member. A speed detector for detecting the swing speed of the suspended load, and a displacement signal having a phase delayed by 90 ° with respect to the swing of the suspended load by inverting the sign of the speed signal detected by the speed detector. The above actuator as a control command Since the control device is provided with a sending controller, when a swing occurs in the suspended load, the suspension point member is displaced in a phase delayed by 90 ° based on the swing speed of the suspended load. As a result, the penetrative force acting on the suspended load can be effectively attenuated, and the swing of the suspended load can be automatically and promptly stopped, and stable control can be performed even for disturbance. Exhibits excellent effects such as
【図1】本発明の吊り荷の振れ止め装置の一実施例を示
す荷役機械の概略図である。FIG. 1 is a schematic view of a cargo handling machine showing an embodiment of a suspension device for hanging loads according to the present invention.
【図2】振れ止め装置本体の拡大平面図である。FIG. 2 is an enlarged plan view of the main body of the steady rest device.
【図3】図2のIII −III 矢視図である。FIG. 3 is a view taken in the direction of arrows III-III in FIG. 2;
【図4】図2のIV−IV矢視図である。FIG. 4 is a view taken in the direction of arrows IV-IV in FIG. 2;
【図5】図2のV−V矢視図である。FIG. 5 is a view taken in the direction of arrows VV in FIG. 2;
【図6】振れ止め装置本体の制御装置を示すブロック図
である。FIG. 6 is a block diagram showing a control device of the main body of the steady rest device.
【図7】位相制御の原理を示すもので、(イ)は変位
を、(ロ)は速度を、(ハ)は加速度をそれぞれ示す線
図である。FIG. 7 is a diagram showing the principle of phase control, in which (a) shows displacement, (b) shows speed, and (c) shows acceleration.
【図8】本発明の他の実施例を示す概略図である。FIG. 8 is a schematic view showing another embodiment of the present invention.
【図9】従来の吊り荷の振れ止め方式の一例を示す概要
図である。FIG. 9 is a schematic diagram showing an example of a conventional suspension method for hanging loads.
2 トロリ(移動体) 3 ワイヤロープ 4 吊り具 5 吊り荷 6 揺れ止め装置本体 7 制御装置 8 ベース 10 モータ(アクチュエータ) 13a,13b 吊りピース(吊り点部材) 19 速度検出器 22 制御器 2 Trolley (moving body) 3 Wire rope 4 Hanging device 5 Hanging load 6 Anti-swing device body 7 Control device 8 Base 10 Motor (actuator) 13a, 13b Hanging piece (hanging point member) 19 Speed detector 22 Controller
───────────────────────────────────────────────────── フロントページの続き (72)発明者 谷田 宏次 神奈川県横浜市磯子区新中原町1番地 石川島播磨重工業株式会社 技術研究所 内 (72)発明者 我妻 隆夫 東京都新宿区百人町1丁目15番18号 石 川島防音工業株式会社内 (72)発明者 大久保 考一 東京都新宿区百人町1丁目15番18号 石 川島防音工業株式会社内 (56)参考文献 特開 昭63−82295(JP,A) 特開 昭59−203093(JP,A) 特開 昭56−93686(JP,A) 実開 平3−95377(JP,U) 実開 昭50−119194(JP,U) 実開 昭47−12655(JP,U) (58)調査した分野(Int.Cl.7,DB名) B66C 13/06 B66C 13/22 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Koji Yata 1st in Shin-Nakahara-cho, Isogo-ku, Yokohama-shi, Kanagawa Pref. Ishikawajima-Harima Heavy Industries Co., Ltd. No. 15-18 Ishikawashima Soundproofing Industrial Co., Ltd. (72) Inventor Kenichi Okubo 1-15-18 Hyakunincho, Shinjuku-ku, Tokyo Ishikawashima Soundproofing Industrial Co., Ltd. (56) References JP-A-63-82295 JP, A) JP-A-59-203093 (JP, A) JP-A-56-93686 (JP, A) JP-A 3-95377 (JP, U) JP-A 50-119194 (JP, U) JP-A 50-119194 (JP, U) 47-12655 (JP, U) (58) Fields investigated (Int. Cl. 7 , DB name) B66C 13/06 B66C 13/22
Claims (2)
の移動方向に対を成して垂下される懸吊材と、該懸吊材
に懸吊されて吊り荷を保持できるようにした吊り具との
間に、アクチュエータの駆動で水平方向へ変位できるよ
うにした一対の吊り点部材をベース上に有する振れ止め
装置本体を介在させて、上記吊り点部材の移動方向が上
記移動体の移動方向と平行となるように吊り具の上面に
上記ベースを固定すると共に各吊り点部材に上記各懸吊
材の下端を係止させ、更に、上記吊り荷の振れ速度を検
出する速度検出器と、該速度検出器で検出した速度信号
の符号を反転して吊り荷の振れに対して90°遅れの位
相をもつ変位信号を制御指令として上記アクチュエータ
へ送る制御器とを備えた制御装置を設けてなる構成を有
することを特徴とする吊り荷の振れ止め装置。1. A suspending member suspended from a moving body moving in a horizontal direction in a pair in a moving direction of the moving body, and a suspended load suspended by the suspending material. Between the hanging member, a steadying device main body having a pair of hanging point members on the base, which can be displaced in the horizontal direction by driving of the actuator, is interposed, and the moving direction of the hanging point member is A speed detector for fixing the base on the upper surface of the hanging member so as to be parallel to the moving direction, locking the lower end of each of the hanging members to each hanging point member, and detecting the swing speed of the suspended load; And a controller that inverts the sign of the speed signal detected by the speed detector and sends a displacement signal having a phase delayed by 90 ° to the swing of the suspended load as a control command to the actuator. It is characterized by having a configuration provided Steady rest of the suspended load.
と、該移動体の水平移動方向に対を成して垂下させるよ
うにしてあって吊り荷を保持できるようにした吊り具を
懸吊するようにしてある懸吊材との間に、アクチュエー
タの駆動で水平方向へ変位できるようにした一対の吊り
点部材をベースの下面に有する振れ止め装置本体を介在
させて、上記吊り点部材の移動方向が上記移動体の水平
移動方向と平行となるように移動体の下面に上記ベース
を固定すると共に各吊り点部材に上記各懸吊材の上端を
係止させ、更に、上記吊り荷の振れ速度を検出する速度
検出器と、該速度検出器で検出した速度信号の符号を反
転して吊り荷の振れに対して90°遅れの位相をもつ変
位信号を制御指令として上記アクチュエータへ送る制御
器とを備えた制御装置を設けてなる構成を有することを
特徴とする吊り荷の振れ止め装置。2. A moving body which moves in a vertical direction and a horizontal direction, and a hanging member which is suspended in a pair in the horizontal moving direction of the moving body so as to hold a suspended load. The suspension member having a pair of suspension point members on the lower surface of the base, which can be displaced in the horizontal direction by driving the actuator, is interposed between the suspension point member and the suspension point member. The base is fixed to the lower surface of the moving body so that the moving direction is parallel to the horizontal moving direction of the moving body, and the upper end of each of the hanging members is locked to each hanging point member, and A speed detector for detecting a shake speed, and a control for inverting the sign of the speed signal detected by the speed detector and sending a displacement signal having a phase delayed by 90 ° to the shake of the suspended load to the actuator as a control command Control device provided with Steady rest of the suspended load and having a provided comprising configuration.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17487894A JP3314368B2 (en) | 1994-07-05 | 1994-07-05 | Anti-sway device for suspended loads |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP17487894A JP3314368B2 (en) | 1994-07-05 | 1994-07-05 | Anti-sway device for suspended loads |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH0812253A JPH0812253A (en) | 1996-01-16 |
JP3314368B2 true JP3314368B2 (en) | 2002-08-12 |
Family
ID=15986245
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP17487894A Expired - Fee Related JP3314368B2 (en) | 1994-07-05 | 1994-07-05 | Anti-sway device for suspended loads |
Country Status (1)
Country | Link |
---|---|
JP (1) | JP3314368B2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6471702B2 (en) * | 2016-01-12 | 2019-02-20 | 株式会社ダイフク | Article conveying device |
-
1994
- 1994-07-05 JP JP17487894A patent/JP3314368B2/en not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
JPH0812253A (en) | 1996-01-16 |
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