JP4481031B2 - Trolley crane and its steadying method - Google Patents

Description

  The present invention relates to a trolley crane and its steadying method.

  In a general trolley crane, a traveling girder that travels horizontally is provided with a trolley frame that traverses the traveling girder in a direction perpendicular to the traveling direction of the traveling girder, and is fed from a hoisting drum provided in the trolley frame. The suspension structure for suspending the load by the hoisting rope is suspended.

  In such a trolley crane, there is a problem that a suspended structure (suspended load) suspended from the trolley frame swings during traverse acceleration / deceleration of the trolley frame and travel acceleration / deceleration of the traveling girder. In particular, there is a problem that a waiting time occurs when unloading a suspended load to a predetermined position, and the efficiency of the work of transporting the load by the trolley crane is lowered.

  In order to solve this problem, there is conventionally known a method for preventing a load swing by performing two-stage acceleration / deceleration control during traverse acceleration / deceleration of the trolley frame and travel acceleration / deceleration of the traveling girder.

  However, this two-stage acceleration / deceleration control can be performed by automatic control only when the carrying status such as the suspended length of the suspended load, transverse acceleration / deceleration, and traveling acceleration / deceleration is known in advance. The two-stage acceleration / deceleration control cannot be applied to a trolley crane that involves manual operation. For this reason, in the manual operation, the swing of the suspended load cannot be prevented, and the operation in a state where the work efficiency is low has been forced.

In order to prevent such a problem, the wire (the hoisting rope) constituting the hoisting rope that suspends the suspension structure (head block) from the trolley frame at approximately four points is slanted in a so-called truss shape (V-shaped). There is one that increases the suspension rigidity of the hoisting rope by hanging, and performs vibration control by reciprocating only the sheaves provided at the four corners of the trolley frame according to the amount of swing of the suspended load (for example, Patent Document 1).
JP-A-11-157774

  However, the one described in Patent Document 1 has a configuration in which the suspension structure is suspended at approximately four locations, and has a problem that the structure becomes very complicated because it includes a large number of hoisting ropes and a large number of sheaves. On the other hand, as shown in FIG. 6, the structure in which the suspension structure 8 is suspended in the V shape by the hoisting cables a and b at approximately four locations with respect to the trolley frame 2 can increase the suspension rigidity, whereas the trolley as shown in FIG. When the frame 2 starts traverse acceleration, the suspension structure 8 is delayed in movement with respect to the trolley frame 2 due to inertia. At this time, the hoisting ropes a and b suspend the suspension structure 8 obliquely in a V shape. Accordingly, the front side 8a in the transverse acceleration direction of the suspension structure 8 is lifted and raised by the front wire a, and the rear side 8b in the transverse acceleration direction of the suspension structure 8 is lowered by the loosening of the rear wire b. As a result, the suspension structure 8 tilts backward as indicated by the broken line. Further, as shown in FIG. 7, when the transverse deceleration of the trolley frame 2 is started from the transverse state, the front wire a is loosened in the transverse deceleration direction front side 8a 'of the suspension structure 8 by the V-shaped wires a and b. In addition, the rear side 8b 'in the transverse deceleration direction of the suspension structure 8 is lifted and raised by the rear wire b, whereby the suspension structure 8 is tilted forward as indicated by a broken line. Such inclination of the suspension structure 8 is similarly generated when the traveling girder is accelerated and decelerated.

  In this way, the suspension structure is tilted during traverse acceleration / deceleration of the trolley frame and travel acceleration / deceleration of the traveling girder, thereby causing the suspension structure to swing and swinging the suspended load.

  In Patent Document 1, the vibration of such a suspended structure is controlled by detecting the vibration of the suspended structure or the suspended load and reciprocating the sheaves provided at the four corners of the trolley frame according to the amount of the vibration. However, in this method, there is a problem that control for vibration suppression is very difficult, and that effective vibration suppression is difficult because of feedback control. Furthermore, there is a problem that the apparatus becomes very expensive because it is necessary to install a detection apparatus for detecting the swing of the suspended load.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to provide a trolley crane and a method for stabilizing the trolley crane that have a simple device structure and can be effectively prevented even in manual operation.

  According to the first aspect of the present invention, the trolley frame traversing the traveling girder is arranged in a triangle so that the rotation axis is substantially horizontal and intersects with each other. 1, 2 and 3 hoisting drums, a hoisting structure in which hoisting ropes of each hoisting drum are connected to a triangular fixed point and suspended by the trolley frame, and hoisting ropes by the hoisting drums A measuring device for measuring the length of the suspended rope, and the suspension structure by inputting the suspended rope length of each hoisting drum measured by the measuring device, the traverse acceleration / deceleration command of the trolley frame, and the traveling acceleration / deceleration command of the traveling girder And a control device that controls the winding and unwinding of each hoisting drum so as to keep the hoisting machine horizontally.

  The invention according to claim 2 is characterized in that the hoisting ropes on the adjacent sides of the adjoining hoisting drums are connected obliquely so as to form a V-shape at each fixed point of the triangular structure of the suspension structure. Item 1. A trolley crane according to Item 1.

  According to a third aspect of the present invention, the line connecting the longitudinal center of the first hoisting drum and the midpoint of the second and third hoisting drums is the traverse direction of the trolley frame. The trolley crane according to claim 1, wherein the trolley crane is arranged in a triangle so as to be parallel to each other.

  According to a fourth aspect of the present invention, the line connecting the longitudinal center of the first hoisting drum and the intermediate point between the second and third hoisting drums is the traveling direction of the trolley frame. The trolley crane according to claim 1, wherein the trolley crane is arranged in a triangle so as to be parallel to each other.

According to the fifth aspect of the present invention, the trolley frame that traverses the traveling girder is arranged in a triangle so that the axis of rotation is substantially horizontal and intersects with each other. First, second and third hoisting drums, hoisting structures in which hoisting ropes of the hoisting drums are obliquely connected in a V shape to fixed points of a triangle and are suspended by the trolley frame, and the hoisting drums A measuring device that measures the length of the hoisting rope of the hoisting rope, and the hoisting rope length of each hoisting drum and the traverse acceleration / deceleration command of the trolley frame and the running acceleration / deceleration command of the traveling girder measured by the measuring device are input. And a trolley crane steadying method provided with a control device for controlling the winding and unwinding of each hoisting drum to hold the suspension structure horizontally,
The hoisting drums are arranged in a triangle so that a line connecting the center in the length direction of the first hoisting drum and the midpoint of the second and third hoisting drums is parallel to the transverse direction of the trolley frame,
When the trolley frame is laterally accelerated toward the first hoisting drum side or the second and third hoisting drums, the suspended rope length and traverse acceleration command of the hoisting rope of each hoisting drum by the measuring device; Based on the above, the hoisting drum on the front side in the traverse acceleration direction is unwound, and the hoisting drum on the rear side in the traverse acceleration direction is wound up to hold the suspension structure horizontally,
On the other hand, when the trolley frame is transversely decelerated toward the first hoisting drum side or the second and third hoisting drums, the suspended rope length and transverse deceleration of the hoisting rope of each hoisting drum by the measuring device. Based on the command, the hoisting drum on the front side in the transverse deceleration direction is wound, and the hoisting drum on the rear side in the transverse deceleration direction is unwound to hold the suspension structure horizontally.
When the traveling girder is accelerated, the first and second hoisting drums remain fixed on the basis of the suspension rope length of the hoisting rope of each hoisting drum and the running acceleration command by the measuring device. Unwinding the hoisting drum on the front side in the traveling acceleration direction among the hoisting drums, holding the hoisting body horizontally by winding the hoisting drum on the rear side in the traveling acceleration direction,
On the other hand, when the traveling girder is traveling decelerated, the first hoisting drum remains fixed based on the suspension rope length of the hoisting rope of each hoisting drum and the traveling deceleration command by the measuring device, and the second and second The trolley crane's steady rest is characterized in that the hoisting drum on the front side in the traveling deceleration direction is wound up among the hoisting drums of 3 and the hoisting drum on the rear side in the traveling deceleration direction is unwound to hold the suspension structure horizontally. Method.

  According to a sixth aspect of the present invention, the line connecting the longitudinal center of the first hoisting drum and the midpoint of the second and third hoisting drums is parallel to the running direction of the running girder. 6. The trolley crane runout according to claim 5, wherein control is performed in the traverse direction with respect to the travel direction, and control in the travel direction is performed with respect to the traverse direction. This relates to the stopping method.

  The invention according to claim 7 winds up the winding drum on one side in the front-rear direction in the transverse acceleration direction, before and after the transverse deceleration direction, before and after the traveling acceleration direction, and before and after the traveling deceleration direction, and simultaneously winds the winding drum on the other side. Instead of holding the suspension structure horizontally by pulling out, the suspension structure is held horizontally by performing only one of the operation of winding the hoisting drum on each of the front and rear sides and the operation of unwinding the hoisting drum on the other side. The trolley crane steadying method according to claim 5 or 6, wherein the trolley crane is steady.

  According to the present invention, the triangular fixing point of the trolley base frame is obliquely suspended in a V shape by six hoisting ropes that are fed out from each of the three hoisting drums, so that with a simple configuration The suspension rigidity can be increased, and when the traverse acceleration / transverse deceleration of the trolley frame and the travel acceleration / deceleration of the traveling girder are commanded, the hoisting rope of each hoisting drum is suspended by the operation command and the measuring device. Since the hoisting structure is held horizontally by controlling the winding and unwinding of each hoisting drum based on the rope length, it is possible to suspend the trolley crane during manual operation with simple control and simple equipment configuration. An excellent effect of effectively preventing the swing of the load can be obtained.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  1 to 4 show an example of a form of a trolley crane for carrying out the steadying method of the present invention, FIG. 1 is a perspective view showing an outline of the basic configuration of the present invention, FIG. 2 is a plan view of FIG. 3 is a side view of FIG. 2 viewed from the III-III direction, and FIG. 4 is a front view of FIG. 2 viewed from the IV-IV direction.

  In the figure, reference numeral 1 denotes a traveling girder which is held horizontally and travels in directions B and B ′ perpendicular to the length direction by a traveling motor (not shown), and 2 is supported by the traveling girder 1 and a traversing wheel 4 is driven by a traversing motor 3. It is a trolley frame which traverses in the longitudinal directions A and A ′ of the traveling girder 1 along the rail 1a.

  The trolley frame 2 is provided with three hoisting drums, a first hoisting drum 5, a second hoisting drum 6, and a third hoisting drum 7. The hoisting drums 5, 6, and 7 are arranged in a triangular manner so that the rotation axis centers are substantially horizontal and intersect each other. At this time, the hoisting drums 5, 6, and 7 each have an intermediate point between the center of the first hoisting drum 5 in the length direction and the second hoisting drum 6 and the third hoisting drum 7 in the illustrated example. The connecting line X is arranged in a triangle so as to be parallel to the transverse direction (A, A ′ direction) of the trolley frame 2. The first, second, and third hoisting drums 5, 6, and 7 are preferably arranged in an equilateral triangle, but the first hoisting drum 5 is an isosceles triangle that has the apex at the first hoisting drum 5. Two hoisting drums 6 and a third hoisting drum 7 may be arranged. The hoisting drums 5, 6 and 7 are separately driven by hoisting motors 13 provided respectively.

  From each of the hoisting drums 5, 6 and 7, two hoisting ropes 5a, 5b, 6a, 6b, 7a and 7b which are simultaneously wound and unwound are fed out, and the hoisting ropes 5a, 5b, The tips of 6a, 6b, 7a, 7b are connected to fixed points 9, 10, 11 forming a smaller triangle than that formed by the hoisting drums 5, 6, 7 in the suspension structure 8, thereby The suspension structure 8 is slanted in a V shape on the trolley frame 2 to increase the suspension rigidity.

  At this time, the hoisting ropes on the adjacent sides of the adjoining hoisting drums are connected to the triangular fixing points 9, 10, 11 of the suspension structure 8 via the triangular coupler 12. That is, the hoisting ropes 5 b and 6 a are connected to the fixing point 9 by the connecting tool 12, the hoisting cables 6 b and 7 a are connected to the fixing point 10 by the connecting tool 12, and the hoisting cables 7 b and 5 a are fixed by the connecting tool 12. Connected to point 11. Therefore, the triangular shape of the fixed points 9, 10, and 11 at this time is similar to the triangular shape on which the hoisting drums 5, 6, and 7 are arranged. The suspension structure 8 may be a hook block provided with a hook 14 as shown in FIGS. 3 and 4, or may be a head block for hanging a container spreader.

  A measuring device 15 is provided for measuring the suspended rope length 16 of the hoisting ropes 5a, 5b, 6a, 6b, 7a, 7b fed from the hoisting drums 5, 6, 7. FIG. 2 shows a case where a rotary encoder 15a for measuring the number of rotations of each hoisting drum 5, 6, 7 is provided. The measuring device 15 may adopt other methods as long as it can measure the suspended rope length 16 of the hoists 5a, 5b, 6a, 6b, 7a, 7b by the hoisting drums 5, 6, 7. Good.

  The suspended rope length 16 of each hoisting drum 5, 6, 7 measured by the measuring device 15 is input to the control device 17 provided in the cab of the trolley crane, and further to the control device 17. The traveling acceleration / deceleration commands 18a and 18b and the traveling acceleration / deceleration commands 19a and 19b and the suspension height from the control lever or the like for manually operating the traveling girder 1, the traversing of the trolley frame 2, and the suspension height of the suspension structure 8 Command 20 is input. At this time, the traverse speed and traverse acceleration / deceleration of the trolley frame 2, the travel speed and travel acceleration / deceleration of the travel girder 1, and the winding / unwinding speed of the hoisting drums 5, 6, and 7 are set in advance to predetermined speeds. .

  The control device 17 includes the suspension cable lengths 16 of the hoisting ropes 5a, 5b, 6a, 6b, 7a, 7b of the hoisting drums 5, 6, 7, traverse acceleration / deceleration commands 18a, 18b, and travel acceleration / deceleration commands 19a, 19b. Based on the above, the hoisting motor 13 is driven during transverse acceleration / deceleration and traveling acceleration / deceleration to automatically control the winding / unwinding of the hoisting drums 5, 6, 7 to keep the suspension structure 8 always horizontal. Is controlled to be.

  FIG. 5 is a control block diagram showing an example of the control device 17. The hoisting height command 20 is input to the hoisting motors 13 of the hoisting drums 5, 6, and 7, and the suspended rope length 16 is measured by the measuring device 15 provided in each hoisting drum 5, 6, 7. The suspended rope length 16 measured by each measuring device 15 is adjusted by an adder 21 so as to coincide with the suspension height command 20, whereby the suspension structure 8 is held horizontally during normal times such as when stopped. ing.

  The hoisting drums 5, 6, 7 are provided with transverse acceleration / deceleration calculation controllers 22, 23, 24, and the second and third hoisting drums 6, 7 have a running acceleration / deceleration calculation controller 25. , 26 are provided.

  When the transverse acceleration / deceleration commands 18a, 18b are input to the transverse acceleration / deceleration calculation controllers 22, 23, 24, the transverse acceleration / deceleration is calculated from the current suspended rope length 16 measured by the measuring devices 15 by the transverse acceleration / deceleration. The variation value is calculated, and the height command 20 is adjusted by the adder 27 to control the hoisting drums 5, 6, and 7 so that the suspension structure 8 is horizontal.

  Further, when the travel acceleration / deceleration commands 19a and 19b are input, the travel acceleration / deceleration calculation controllers 25 and 26 change from the current suspended rope length 16 measured by each measuring device 15 due to travel acceleration / deceleration. The value is calculated, and the hoisting drums 6 and 7 are controlled so that the suspended structure 8 becomes horizontal by adjusting the height command 20 by the adder 28. At this time, the hoisting ropes 5a and 5b of the first hoisting drum 5 do not change in length in the traveling direction, and thus remain fixed.

  Next, a method for controlling the steady rest in the trolley crane shown in FIGS. 1 to 4 will be described with reference to FIG.

  When the trolley crane is stopped, the hoisting motor 13 is controlled so that the hoisting rope lengths 16 of the hoisting ropes 5a, 5b, 6a, 6b, 7a, 7b detected by the measuring device 15 all have the same value. The suspended structure 8 is held horizontally.

  When a suspended load is suspended on the suspension structure 8 and the trolley frame 2 starts traversing, the suspension structure 8 is suspended in a V shape by the hoisting cables 5a, 5b, 6a, 6b, 7a, 7b. As a result, the suspension structure 8 is tilted backward as shown by the broken line by lifting the front side 8a in the transverse acceleration direction as shown in FIG. 6 and lowering the rear side 8b in the transverse acceleration direction of the suspension structure 8.

  Therefore, when the trolley frame 2 is traversed in the A direction (first hoisting drum 5 side), the traverse acceleration command 18a is input to the traverse acceleration / deceleration calculation controllers 22, 23, and 24 in FIG. . The transverse acceleration / deceleration calculation controller 22 calculates a fluctuation value by which the front side in the transverse acceleration direction of the suspended structure 8 is lifted based on the acceleration of the transverse acceleration command 18a and the current suspension rope length 16 measured by the measuring device 15. The adder 27 adjusts the height command 20 so as to lower the front side in the transverse acceleration direction of the suspension structure 8 to control the unwinding of the hoisting drum 5 so that the suspension structure 8 is held horizontally. On the other hand, at the same time, the transverse acceleration / deceleration calculation controllers 23 and 24 change based on the transverse acceleration command 18a and the current hanging rope length 16 measured by the measuring device 15 so that the rear side in the transverse acceleration direction of the suspended structure 8 is lowered. The value is calculated, and the height command 20 is adjusted by the adder 27 so as to raise the rear side in the transverse acceleration direction of the suspension structure 8 to control the winding of the hoisting drums 6, 7. Hold.

  In the above, the case where the operation of lowering the front side in the traverse acceleration direction of the suspended structure 8 and the operation of raising the rear side in the traverse acceleration direction has been described, but the operation of lowering the front side in the traverse acceleration direction and the rear side in the traverse acceleration direction are described. The suspension structure 8 may be held horizontally by performing only one of the operations for raising the height.

  When the suspension structure 8 starts accelerating in the A ′ direction (second and third hoisting drums 6 and 7 side), the second and third hoisting drums 6 and 7 are unwound-controlled, The suspension structure 8 is held horizontally by controlling the winding of the first hoisting drum 5. In this case as well, instead of simultaneously performing the operation of lowering the front side in the transverse acceleration direction of the suspension structure 8 and the operation of raising the rear side in the transverse acceleration direction, the operation of lowering the front side in the transverse acceleration direction and the rear side in the transverse acceleration direction are raised. The suspension structure 8 may be held horizontally by only one of the operations.

  On the other hand, when the suspended structure 8 traversing in the direction A at the set speed is decelerated, the suspended structure 8 is suspended in a V shape by the hoists 5a, 5b, 6a, 6b, 7a, 7b. As shown in FIG. 7, the suspension structure 8 is lowered on the front side in the transverse deceleration direction, and on the other hand, the rear side in the transverse deceleration direction of the suspension structure 8 is lifted and tilted forward as indicated by a broken line.

  For this reason, when deceleration of the suspension structure 8 traversing in the direction A is started, a traverse deceleration command 18b is input to the traverse acceleration / deceleration calculation controllers 22, 23, and 24 in FIG. The transverse acceleration / deceleration calculation controller 22 calculates a fluctuation value in which the front side in the transverse deceleration direction of the suspended structure 8 descends based on the deceleration of the transverse deceleration command 18b and the current suspension rope length 16 measured by the measuring device 15. The height command 20 is adjusted by the adder 27 so as to raise the front side in the transverse deceleration direction of the hanging structure 8 to control the winding of the hoisting drum 5 to hold the hanging structure 8 horizontally. On the other hand, at the same time, the transverse acceleration / deceleration calculation controllers 23 and 24 raise the rear side in the transverse acceleration direction of the suspension structure 8 based on the transverse deceleration command 18b and the current hanging rope length 16 measured by the measuring device 15. The variation value is calculated and the height command 20 is adjusted by the adder 27 so as to lower the rear side in the transverse acceleration direction of the suspended structure 8 to control the unwinding of the hoisting drums 6, 7. To hold.

  In the above description, the case where the operation of raising the front side of the transverse deceleration direction of the suspension structure 8 and the lowering of the rear side of the transverse deceleration direction is performed simultaneously, but the operation of raising the front side of the transverse deceleration direction and the rear side of the transverse deceleration direction are described. Alternatively, the suspension structure 8 may be held horizontally by performing only one of the operations for lowering.

  When a deceleration start command 18b is input to the transverse acceleration / deceleration calculation controllers 22, 23, and 24 shown in FIG. Contrary to the above, the arithmetic controllers 22, 23, and 24 take up the second and third hoist drums 6 and 7, and control to unwind the first hoist drum 5. Hold 8 horizontally. Also in this case, instead of simultaneously performing the operation of raising the front side in the transverse acceleration direction of the suspension structure 8 and the operation of lowering the rear side in the transverse acceleration direction as described above, the suspension structure 8 is made by performing only one operation. You may hold | maintain horizontally.

  When an operation for accelerating the traveling girder 1 in the B direction (the third hoisting drum 7 side) is performed, a traveling acceleration command 19a is input to the traveling acceleration / deceleration calculation controllers 25 and 26 in FIG. 3 winding drums 6 and 7 are controlled. At this time, since the length does not change in the hoisting ropes 5a and 5b of the first hoisting drum 5 located in the middle in the traveling direction, the first hoisting drum 5 remains fixed.

  The traveling acceleration / deceleration calculation controller 25 lifts the front side of the suspended structure 8 in the traveling acceleration direction based on the acceleration in the B direction according to the traveling acceleration command 19a and the current suspended rope length 16 measured by the measuring device 15. The fluctuation value is calculated, and the height command 20 is adjusted by the adder 28 so as to lower the front side in the traveling acceleration direction of the suspended structure 8 to control the unwinding of the hoisting drum 7, and the suspended structure 8 is held horizontally. Let On the other hand, at the same time, the traveling acceleration / deceleration calculation controller 26 determines whether the rear side of the suspended structure 8 in the traveling acceleration direction is based on the traveling acceleration command 19a and the current hanging rope length 16 measured by the measuring device 15. The descending fluctuation value is calculated, and the adder 28 adjusts the height command 20 so as to raise the rear side in the traveling acceleration direction of the suspension structure 8 to control the winding of the hoisting drum 6, thereby To hold.

  In the above description, the operation of lowering the front side of the traveling acceleration direction of the suspended structure 8 and simultaneously raising the rear side of the traveling acceleration direction has been described. However, the operation of lowering the front side of the traveling acceleration direction and the rear side of the traveling acceleration direction are described. The suspension structure 8 may be held horizontally by performing only one of the operations for raising the height.

  When the traveling girder 1 travels and accelerates in the B ′ direction (the second hoisting drum 6 side), the unwinding of the second hoisting drum 6 is controlled, and the third hoisting drum 7 The suspension structure 8 is held horizontally by controlling the winding. Also in this case, instead of simultaneously performing the operation of lowering the front side in the traveling acceleration direction of the suspension structure 8 and the operation of raising the rear side in the travel acceleration direction, the suspension structure 8 is held horizontally by performing only one operation. You may do it.

  When deceleration is started from the state in which the traveling girder 1 is traveling in the B direction, a traveling deceleration command 19b is input to the traveling acceleration / deceleration calculation controllers 25 and 26 in FIG. The traveling acceleration / deceleration calculation controller 26 calculates a fluctuation value in which the front side in the traveling deceleration direction of the suspended structure 8 is lowered based on the deceleration of the traveling deceleration command 19b and the current suspension rope length 16 measured by the measuring device 15. Then, the height command 20 is adjusted by the adder 28 so as to raise the front side of the suspension structure 8 in the transverse deceleration direction, and the winding of the hoisting drum 7 is controlled to hold the suspension structure 8 horizontally. On the other hand, at the same time, the traveling acceleration / deceleration calculation controller 25 increases the rearward direction of the suspended structure 8 in the traveling deceleration direction based on the traveling deceleration command 19b and the current suspension rope length 16 measured by the measuring device 15. And the height command 20 is adjusted by the adder 28 so as to lower the rear side of the suspension structure 8 in the transverse acceleration direction, and the unwinding of the hoisting drum 6 is controlled to hold the suspension structure 8 horizontally.

  In the above description, the operation for raising the front side of the traveling deceleration direction of the suspended structure 8 and simultaneously lowering the rear side of the traveling deceleration direction has been described. However, the operation for raising the front side of the traveling deceleration direction and the rear side of the traveling deceleration direction are described. Alternatively, the suspension structure 8 may be held horizontally by performing only one of the operations for lowering.

  When the traveling girder 1 starts to decelerate from the state of traveling in the B ′ direction, a traveling deceleration command 19b in the B ′ direction is input to the traveling acceleration / deceleration calculation controllers 25 and 26, and the traveling acceleration / deceleration calculation controller. 25 controls the winding of the hoisting drum 6 so as to raise the traveling deceleration direction front side of the suspension structure 8, and the traveling acceleration / deceleration calculation controller 26 winds the suspension structure 8 so as to lower the traveling deceleration direction rear side. The winding of the upper drum 7 is controlled to hold the suspension structure 8 horizontally.

  In the above embodiment, the line X connecting the longitudinal center of the first hoisting drum 5 and the midpoint between the second and third hoisting drums 6 and 7 is the transverse direction A, A ′ of the trolley frame 2. The hoisting drums 5, 6, and 7 are arranged in a triangle so as to be parallel to each other. However, the hoisting drums 5, 6 are arranged so that the line X is parallel to the traveling directions B and B ′ of the traveling girder 1. , 7 may be arranged in a triangle. In this case, the control in the traverse direction is performed in the travel direction, and the control in the travel direction is performed in the traverse direction.

  According to the present invention, the suspension structure 8 is fixed in a triangular shape by the six hoisting ropes 5a, 5b, 6a, 6b, 7a, and 7b fed from the three hoisting drums 5, 6, and 7 by two. Since the points 9, 10, and 11 are slanted in a V shape, the suspension rigidity can be increased with a simple configuration. Further, the lateral acceleration / transverse deceleration of the suspension structure 8 and the travel acceleration / travel of the traveling girder 1 are achieved. At the time of a deceleration operation command, the suspension cord length 16 of the hoisting cords 5a, 5b, 6a, 6b, 7a, 7b of the hoisting drums 5, 6, 7 by the operation commands 18a, 18b, 19a, 19b and the measuring device 15 is determined. Since the hoisting body 8 is held horizontally by controlling the winding and unwinding of the hoisting drums 5, 6, 7, the trolley crane is operated manually with simple control and a simple device configuration. To effectively prevent the swinging of a suspended load It can be.

  In addition, the trolley crane of the present invention and its steadying method are not limited to the above-described embodiments, and it is needless to say that various changes can be made without departing from the scope of the present invention.

It is a perspective view showing the outline | summary of the basic composition of this invention. It is a top view of FIG. It is the side view which looked at FIG. 2 from the III-III direction. It is the front view which looked at FIG. 2 from the IV-IV direction. It is a control block diagram which shows an example of a control apparatus. It is explanatory drawing which shows the state in which a suspension structure inclines by the transverse acceleration of a trolley frame. It is explanatory drawing which shows the state in which a suspension structure inclines by the transverse deceleration of a trolley frame.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Traveling girder 2 Trolley frame 3 Traverse motor 4 Traverse wheel 5 1st hoisting drum 6 2nd hoisting drum 7 3rd hoisting drum 5a, 5b, 6a, 6b, 7a, 7b Hoisting rope 8 Hanging Structure 9, 10, 11 Fixed point 15 Measuring device 16 Suspension cable length 17 Control device 18a Traverse acceleration command (operation command)
18b Traverse deceleration command (operation command)
19a Travel acceleration command (operation command)
19b Travel deceleration command (operation command)
X-ray

Claims (7)

  First, second and third windings in which a trolley frame traversing the traveling girder is arranged in a triangle so that the axis of rotation is substantially horizontal and intersects each other, and two hoisting ropes are fed out from each. An upper drum, a hoisting structure in which the hoisting rope of each hoisting drum is connected to a triangular fixed point and suspended by the trolley frame, and a measuring device for measuring the length of the hoisting rope of the hoisting rope by each hoisting drum And the hoisting rope length of each hoisting drum measured by the measuring device, the traverse acceleration / deceleration command of the trolley frame and the running acceleration / deceleration command of the running girder to input the hoisting drum in order to hold the hoisting structure horizontally. A trolley crane, comprising: a control device that controls winding and unwinding of the machine.   The trolley crane according to claim 1, wherein the hoisting ropes on the adjacent sides of the adjoining hoisting drums are connected obliquely so as to form a V shape at each fixed point of the triangular structure of the suspension structure.   Each of the hoisting drums is arranged in a triangle so that the line connecting the center in the length direction of the first hoisting drum and the midpoint of the second and third hoisting drums is parallel to the transverse direction of the trolley frame. The trolley crane of Claim 1 or 2 characterized by these.   Each of the hoisting drums is arranged in a triangle so that a line connecting the center in the length direction of the first hoisting drum and the midpoint of the second and third hoisting drums is parallel to the running direction of the trolley frame. The trolley crane of Claim 1 or 2 characterized by these. First, second and third windings in which a trolley frame traversing the traveling girder is arranged in a triangle so that the axis of rotation is substantially horizontal and intersects each other, and two hoisting ropes are fed out from each. An upper drum, a hoisting structure in which hoisting ropes of each hoisting drum are obliquely connected to a triangular fixed point in a V shape and suspended by the trolley frame, and the hoisting length of the hoisting rope by each hoisting drum A measuring device for measuring the length of the hoisting drum, and the suspension rope length of each hoisting drum and the traverse acceleration / deceleration command of the trolley frame and the traveling acceleration / deceleration command of the traveling girder that are measured by the measuring device are input to hold the suspension structure horizontally. A trolley crane steadying method provided with a control device for controlling the winding and unwinding of each hoisting drum,
The hoisting drums are arranged in a triangle so that a line connecting the center in the length direction of the first hoisting drum and the midpoint of the second and third hoisting drums is parallel to the transverse direction of the trolley frame,
When the trolley frame is laterally accelerated toward the first hoisting drum side or the second and third hoisting drums, the suspended rope length and traverse acceleration command of the hoisting rope of each hoisting drum by the measuring device; Based on the above, the hoisting drum on the front side in the traverse acceleration direction is unwound, and the hoisting drum on the rear side in the traverse acceleration direction is wound up to hold the suspension structure horizontally,
On the other hand, when the trolley frame is transversely decelerated toward the first hoisting drum side or the second and third hoisting drums, the suspended rope length and transverse deceleration of the hoisting rope of each hoisting drum by the measuring device. Based on the command, the hoisting drum on the front side in the transverse deceleration direction is wound, and the hoisting drum on the rear side in the transverse deceleration direction is unwound to hold the suspension structure horizontally.
When the traveling girder is accelerated, the first and second hoisting drums remain fixed on the basis of the suspension rope length of the hoisting rope of each hoisting drum and the running acceleration command by the measuring device. Unwinding the hoisting drum on the front side in the traveling acceleration direction among the hoisting drums, holding the hoisting body horizontally by winding the hoisting drum on the rear side in the traveling acceleration direction,
On the other hand, when the traveling girder is traveling decelerated, the first hoisting drum remains fixed based on the suspension rope length of the hoisting rope of each hoisting drum and the traveling deceleration command by the measuring device, and the second and second The trolley crane's steady rest is characterized in that the hoisting drum on the front side in the traveling deceleration direction is wound up among the hoisting drums of 3 and the hoisting drum on the rear side in the traveling deceleration direction is unwound to hold the suspension structure horizontally. Method.   The hoisting drums are arranged in a triangular manner so that a line connecting the center in the length direction of the first hoisting drum and the midpoint of the second and third hoisting drums is parallel to the running direction of the running girder, The trolley crane steadying method according to claim 5, wherein control in the transverse direction is performed with respect to the traveling direction, and control in the traveling direction is performed with respect to the transverse direction.   Before and after the transverse acceleration direction, transverse deceleration direction, before and after the traveling acceleration direction, before and after the traveling deceleration direction, the hoisting drum on one side of each front and rear is wound, and at the same time the hoisting drum on the other side is unwound to hold the suspension structure horizontally. 6. Instead of performing the above, only one of the operation of winding the hoisting drum on each of the front and rear sides and the operation of unwinding the hoisting drum on the other side is performed to hold the suspension structure horizontally. Or the trolley crane steadying method of 6.

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