JP3746661B2 - Crane traveling position control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a position control device in a traveling direction in a transfer crane.
[0002]
[Prior art]
In FIG. 3, reference numeral 40 denotes a container row stacked and stored in the yard, and reference numeral 20 denotes a transfer crane in a state where movement is stopped at the end of the container row 40.
[0003]
In general, as shown in FIGS. 3 to 5, the transfer crane 20 includes a tire traveling device 21, a traveling motor 22, a steering drive device 23, a transverse trolley 24, The spreader 25 supported by 24, the traverse motor 26, the hoisting drum 27, the hoisting motor 28, and the torque motor driving drum 29 (see FIG. 4) on the traverse trolley 24 inclined in the length direction of the spreader 25. 25 and a control device 31 as shown in FIG. 6.
As shown in FIG. 5, the spreader 25 is supported by a hoisting rope 32 that is rubbed in an inverted C shape so as to prevent shaking in the transverse direction.
[0004]
The transfer crane 20 can be moved and moved in an arbitrary direction by synchronously steering four sets of tire traveling devices 21 to an arbitrary angle within 90 ° by the steering drive device 23. In the container storage area, as shown in FIG. 3, the tire traveling device 21 is steered in parallel with the container row 40 at the end position of the container row 40, and straddles the container row 40 in the direction parallel to the container row 40 (Y direction). Travel to loading position A and stack containers C.
[0005]
As shown in FIG. 3, when the container C supported by the spreader 25 of the transfer crane 20 is stacked at the loading position A in the container row 40, the transfer crane 20 is moved in the Y direction and the traversing trolley 24 is traversed. After aligning the spreader 25 to the loading position A, it is necessary to lower the spreader 25 and stack the containers C.
[0006]
The control device 31 shown in FIG. 6 includes travel, traverse, hoisting, and steering control units, of which the travel control unit is within a range that is safe for safety as shown in FIGS. 7 (a) and 7 (b). The required acceleration and traveling speed are set so that the transfer crane 20 can be transported at high speed. Conventionally, the spreader 25 is aligned with the loading position A in the traveling direction at the low speed notch speed of the traveling control system. Have gone.
[0007]
[Problems to be solved by the invention]
By the way, even during the low-speed notch traveling as described above, the acceleration at the start greatly exceeds the swing restraining force of the rocking cord 30, and the spreader 25 that supports the container C generates a swing in the traveling direction as the crane starts traveling. . For this reason, when the crane is decelerated and stopped at the loading position, the stop position is checked after the spread of the spreader 25 by the action of the rocking rope 30. There is a problem that it requires work such as repeated adjustment movement, the handling efficiency is lowered, and accurate and delicate position adjustment becomes difficult.
[0008]
In view of the above-described conventional situation, an object of the present invention is to provide an apparatus that can easily and accurately perform travel position alignment control of a spreader without reducing the transfer speed of a transfer crane.
[0009]
[Means for Solving the Problems]
In order to solve the above-described problems, a crane traveling position control device according to the present invention is a device for aligning a transfer crane with a loading position in a length direction of a storage container row, and is mounted on the transfer crane. A traverse trolley and a spreader suspended from the traverse trolley through a hoisting rope. Mounted between the traversing trolley and the spreader, the travel control unit of the transfer crane can be switched by a switch or a push button, etc. The speed / acceleration setting unit during conveyance traveling and the speed / acceleration setting unit during alignment traveling includes a speed / acceleration during the positioning travel during alignment control of the suspended load is swinging suppressed by the Yuratomesaku It is characterized in that it is set in a range not exceeding.
[0010]
In the crane traveling position control device of the present invention described above, switching control between the container transportation traveling operation and the alignment traveling operation is performed during traveling control of the transfer crane, particularly during normal transportation traveling near the loading position of the container. Switching from speed / acceleration to speed / acceleration at the time of alignment is controlled. At this time, the suspension rope suspended from the traverse trolley via the hoisting rope is driven by a torque motor. so as to interpose the drum is mounted between the transverse trolley and spreader, the speed / acceleration during positioning travel, because it is set in a range not exceeding the swing deterrent by the Yuratomesaku The transfer crane travels at a low speed without shaking, decelerates and stops immediately before the loading position, and the container supported by the spreader is once and simply and accurately. And than it becomes possible to align the stowed position, without causing a reduction in the real conveyance driving operation speed in this way, so that alignment control is properly performed.
[0011]
DETAILED DESCRIPTION OF THE INVENTION
1 is a block diagram of a crane travel position control system according to the present invention. FIGS. 2A and 2B are diagrams of FIG. It is a graph which shows the setting speed and setting acceleration at the time of the crane conveyance driving | running | working and position alignment driving | running | working set to a control system.
[0012]
As shown in FIG. 1, a transfer crane control device 10 according to the present embodiment includes a travel control unit 11, a traverse control unit 12, a hoisting control unit 13, and a steering control unit 14, and the travel control unit 11 has a changeover switch. Conveying travel speed and acceleration setting unit 16 connected in parallel through 15 and the like, and speed and acceleration setting unit 17 during alignment traveling are configured, and transport traveling of transfer crane 20 (see FIG. 3) The setting unit 16 corresponding to the time and the setting unit 17 corresponding to the alignment traveling are switched and selected by the switch 15 so as to control the traveling motor 22.
[0013]
The graphs shown in FIGS. 2A and 2B show an example of the speed / acceleration pattern during conveyance traveling and alignment traveling set in both setting sections 16 and 17.
In the graph of FIG. 2A, the solid line and the chain line Vs indicate the speeds at the 1 notch and the 2 notch during the conveyance travel, and the dotted line Vm indicates the speed during the alignment travel. Further, in the graph of FIG. 2B, the solid line and the chain line αs indicate the acceleration during the conveyance travel, and the dotted line αm indicates the acceleration during the alignment travel.
[0014]
The speed Vs and acceleration αs during the traveling are determined so as to enable high speed traveling in the same manner as in the past in consideration of the transportation efficiency of the crane, and the speed Vm and acceleration αm during the alignment traveling are the rocking rope 30 shown in FIG. To the extent that the deterrence F is not exceeded.
[0015]
As shown in FIGS. 3 to 5, the suspension rope 30 for the suspended load held by the spreader 25 suspended from the traverse trolley 24 mounted on the transfer crane 20 via the hoisting rope 32 is driven by a torque motor. The drum 29 is interposed between the traversing trolley 24 and the spreader 25. A constant tension T is applied to the rocking cord 30 by the torque motor drive drum 29, and when the suspended load tries to swing, a brake against this works, and accordingly the tension T is generated in the rocking cord 30. Assuming that the inclination angle of the rocking cord 30 is θ, a horizontal component force “T · cos θ = F” acts as a swing restraining force F in the crane traveling direction (Y direction). 2 (a) and 2 (b), the speed Vm and the acceleration αm at the time of alignment traveling are determined within a range not exceeding the shaking restraining force F of the rocking cord 30.
[0016]
In the crane travel position control device of the present embodiment described above, during the travel control of the transfer crane 20 shown in FIG. 3, the container transport travel operation and the alignment travel operation are switched and selected by the switch 15 or a push button. Is done.
[0017]
Further, in the crane traveling position control device of the present embodiment, the container transportation traveling operation between the quay and the container yard is performed between the quay and the container yard by a high-speed transportation traveling between the quay and the container yard, and in the container yard, The Y-direction traveling from the end of the container row 40 to the vicinity of a predetermined loading position in the container row can be similarly performed by high-speed conveyance running.
[0018]
When the transfer crane 20 is decelerated and stopped near the loading position A (see FIG. 3) and the travel control is switched to the alignment travel pattern with the switch 15 or the push button, the crane changes to low acceleration / slow speed travel, and transport travel If the shaking of the spreader 25 that occurs at times is settled by the action of the rocking cord 30, the vehicle will run at a low speed without any shaking, and if it is decelerated and stopped just before the loading position A, the container C supported by the spreader 25 is loaded. The position A can be easily and accurately aligned at once. Further, at this time, the lateral alignment to the loading position A can be performed without any trouble as in the conventional manner by traversing the traversing trolley 24.
[0019]
As described above, according to the apparatus of the present embodiment, the alignment control of the spreader 25 can be performed remarkably easily and accurately without lowering the substantial transport traveling operation speed of the transfer crane 20. The effect of improving the driving efficiency can be obtained.
[0020]
【The invention's effect】
As described in detail above, the following effects can be obtained according to the running position system GoSo location of the crane of the present invention. That is, during the traveling control of the transfer crane, switching control between the container transportation traveling operation and the alignment traveling operation is performed, and in particular near the loading position of the container, the speed / acceleration during the normal transportation traveling to the speed / acceleration during the alignment traveling is performed. In this case, the suspension trolley of the suspended load held by the spreader suspended from the traversing trolley via the hoisting rope is arranged so that the torque motor drive drum is interposed therebetween. spreader is mounted between the speed / acceleration during positioning travel, because it is set in a range not exceeding the swing deterrent by the Yuratomesaku, the transfer crane slow-speed travel with shaking without state Then, it is possible to decelerate and stop immediately before the loading position so that the container supported by the spreader can be easily and accurately aligned to the loading position at one time. And than, without causing a reduction in the real conveyance driving operation speed in this way, so that alignment control is properly performed.
[Brief description of the drawings]
FIG. 1 is a block diagram of a crane travel position control system according to the present invention.
FIGS. 2A and 2B are graphs showing a set speed and a set acceleration, respectively, during crane transport traveling and alignment traveling set in the control system of FIG. 1;
FIG. 3 is a plan view showing a state in which a transfer crane approaches a stored container row for container loading.
4 is an enlarged view taken along arrow IV-IV in FIG. 3;
5 is an enlarged view taken along arrow VV in FIG. 3;
FIG. 6 is a block diagram of a control system of a conventional transfer crane.
FIGS. 7A and 7B are graphs showing speed and acceleration control states by the control system of FIG.
[Explanation of symbols]
10 Control unit
11 Travel controller
12 Traverse controller
13 Hoisting control unit
14 Steering control unit
15 changeover switch
16 Speed and acceleration setting section for transport
17 Setting section for speed and acceleration during alignment running
20 Transfer crane
21 Tire travel device
22 Travel motor
23 Steering drive
24 ramp trolley
25 Spreader
26 Traverse motor
27 Traverse drum
28 Hoisting motor
29 Torque motor drive drum
30 rocker
31 Control unit
32 winding rope
40 Stored container row C Container A Loading position T Tension of rocking cord 30 F Horizontal component of tension T (swing restraining force)

Claims (1)

A device for aligning the transfer crane with the loading position in the longitudinal direction of the storage container row, the traverse trolley mounted on the transfer crane, and a spreader suspended from the traverse trolley via a hoisting rope The suspension crane for the suspended load held by the spreader is mounted between the traversing trolley and the spreader with a torque motor drive drum interposed therebetween, and the traveling control of the transfer crane parts to comprise a speed / acceleration setting portion during switchably speed / acceleration setting unit during transportation traveling and positioning travel by a switch or pushbutton and the like, when the positioning travel during alignment control of the suspended load speed / acceleration in the traveling position system of the crane, characterized in that it is set in a range not exceeding the swing deterrent by the Yuratomesaku Apparatus.

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