JP6702532B2 - Crane and control method of crane - Google Patents

Description

The present invention relates to a crane including a suspender suspended below a trolley by a wire rope and a method for controlling the crane, and more specifically, to suppress the wire rope from being collided with the structure of the crane due to wind. The present invention relates to a crane and a crane control method.

Various cranes including a trolley and a suspender suspended below the trolley by a wire rope have been proposed (see, for example, Patent Document 1).

Reference 1 discloses a boom connected to the sea-side end of a girder so that it can be undulated, a trolley that traverses along the girder and the boom, and a trolley that is stretched along the boom and the girder and hung around a hanger via the trolley. We propose a quay crane with a wire rope.

In the quayside crane described in Document 1, the boom is in an upright state in the rest state in order to avoid the boom from colliding with the bridge of the ship. Since the wire rope stretched along the boom in the upright state has a slack, it may be swung by the wind to rotate about the vertical direction as the central axis.

Noise may be generated when the rotated wire rope collides with the boom that is the structure of the quay crane. In addition, the wire rope and boom will deteriorate due to collision.

JP, 2007-261745, A

The present invention has been made in view of the above problems, and an object of the present invention is to provide a crane and a crane control method for suppressing the wire rope from being hit by the wind and colliding with a crane structure or the like. ..

A crane of the present invention that achieves the above object, a horizontal girder extending in a horizontal direction, a trolley traversing along a transverse direction which is an extending direction of the horizontal girder, and a trolley of the trolley via the trolley. In a crane including a wire rope extending downward and a suspending device suspended on this wire rope, in a state of being sandwiched between the suspending device and the trolley that rises with the winding of the wire rope, characterized in that it comprises a rope tensioning device having a structure wherein the load block is not close completely against the trolley.

A crane control method of the present invention that achieves the above object, a horizontal girder extending in the horizontal direction, a trolley traversing along a transverse direction which is the extending direction of the horizontal girder, and via this trolley a wire rope which extends below the trolley, a control method of a crane and a hoisting attachment to be suspended to the wire rope, all the load block that increases with the winding of the wire rope against the trolley A rope tensioning device that does not approach is placed between the trolley and the hanging device, and the lifting device is raised by winding the wire rope, and the rope tensioning device is provided between the trolley and the hanging device. It is characterized in that the tension of the wire rope is increased by further winding the wire rope after the wire rope is sandwiched.

According to the present invention, when the wire rope is continuously wound, the lifting device is prevented from rising due to the action of the rope tensioning device, while the tension of the wire rope can be increased. Since the wire rope has increased tension and loses its slack, it is possible to prevent the wire rope from being shaken by the wind. Since it is possible to prevent the wire rope from colliding with a horizontal girder or the like, it is advantageous to suppress the generation of noise and the deterioration of the wire rope.

When a vertical stress is generated by being sandwiched between the suspending tool and the trolley, the rope tensioning device can be configured to include a telescopic mechanism that expands and contracts in the vertical direction according to the stress.

It is possible to estimate the tension of the wire rope from the amount of contraction of the expansion mechanism. It is advantageous for suppressing the slack of the wire rope and for suppressing the deterioration of the wire rope due to the excessive tension generated in the wire rope.

The rope tensioning device may be configured to include a pedestal projecting upward from the suspender and a columnar body projecting downward from the trolley and having a lower end contactable with the cradle. it can.

The rope tensioning device may be configured so as to include a pedestal projecting upward from the suspending device and having an upper end contactable with the trolley. Alternatively, the rope tensioning device can be configured to include a columnar body that projects downward from the trolley and has a lower end that can come into contact with the hanger.

It is explanatory drawing which illustrates the crane of this invention. It is explanatory drawing which expands and illustrates the trolley and lifting tool of the crane of FIG. It is explanatory drawing which illustrates the pedestal of FIG. 2 in perspective. It is explanatory drawing which illustrates the columnar body of FIG. 2 in perspective. It is explanatory drawing which illustrates the state which the pedestal of FIG. 2 and the columnar body contacted. It is explanatory drawing which illustrates the modification of the cradle of FIG. It is explanatory drawing which illustrates the rope tensioning|tensile_strength apparatus which has the receiving stand of FIG. It is explanatory drawing which illustrates the state which the cradle and the trolley of FIG. 7 contacted. It is explanatory drawing which illustrates the modification of the columnar body of FIG. It is explanatory drawing which illustrates the rope tensioning device which has the columnar body of FIG. <Figure 10 >It is the explanation drawing which illustrates the state where the columnar body and the hanging tool contact.

Hereinafter, a crane and a crane control method of the present invention will be described based on the embodiments shown in the drawings. In the drawings, an arrow x indicates a land-land direction in which the horizontal girder of the crane is extended (hereinafter, may be referred to as a transverse direction), an arrow y indicates a traveling direction of the crane, and an arrow z indicates a vertical direction.

As illustrated in FIG. 1, the crane 1 of the present invention includes a horizontal girder 2 extending in the horizontal direction along the land-and-land direction x, and a trolley 3 arranged so as to be traversable in the transverse direction x along the horizontal girder 2. A wire rope 4 extending below the trolley 3 via the trolley 3 and a hanger 5 suspended from the wire rope 4 are provided.

The horizontal girder 2 is supported by the leg structure 6 and is composed of, for example, a boom 7 arranged on the sea side and a girder 8 arranged on the land side. The boom 7 has a land-side end portion connected to a girder 8 via a hinge and is configured to be capable of undulating. The boom 7 is maintained in a lying state in parallel with the girder 8 during the cargo handling work, and is maintained in a standing state inclining forward toward the sea side as illustrated in FIG.

A machine room 9 is installed above the leg structure 6, and a drum 10 around which the wire rope 4 is wound is arranged in the machine room 9. The wire rope 4 fed from the drum 10 is stretched around a sheave arranged at the land side end of the girder 8 so as to be substantially parallel to the girder 8. The wire rope 4 stretched along the girder 8 is hung around the sheave installed on the hanging tool 5 via the sheave installed on the trolley 3. The wire rope 4 is connected to the sea-side end portion of the boom 7 from the sheave of the hanger 5 via the sheave of the trolley 3 different from the above-mentioned sheave.

The hanging tool 5 is composed of, for example, a spreader for loading and unloading a container and a grab bucket for loading and unloading bulk cargo.

The crane 1 can control the descending and ascending of the suspending tool 5 by rotating the drum 10 and feeding out or winding up the wire rope 4.

As illustrated in FIG. 1, when the crane 1 is at rest, the boom 7 is in a standing state in which the boom 7 leans forward toward the sea. At this time, the wire rope 4 stretched along the boom 7 is in a state of extending in the vertical direction z. Although the wire rope 4 has a certain tension obtained by the weight of the lifting tool 5, the weight of the wire rope 4 itself is large, so that the wire rope 4 is slackened at the side of the boom 7.

The slackened wire rope 4 may be rotated by the wind to rotate about the vertical direction z as the central axis. When the wire rope 4 rotates, it may collide with the boom 7 and generate noise, or the wire rope 4 and the boom 7 may deteriorate due to the impact.

As illustrated in FIGS. 2 to 4, the crane 1 includes a rope tensioning device 11 arranged between the trolley 3 and the hanger 5. The rope tensioning device 11 is sandwiched between the trolley 3 and the suspending tool 5, and has a configuration that prevents the suspending tool 5 from rising above a predetermined height. In other words, the rope tensioning device 11 has a structure that prevents the hanger 5 from approaching the trolley 3. In FIG. 2, the sheave arranged inside the trolley 3 and the hanger 5 and the wire rope 4 wound around the sheave are shown by broken lines for explanation. 3 and 4, the suspension 5 and the trolley 3 are shown by broken lines for the sake of explanation.

The rope tensioning device 11 of this embodiment includes a pedestal 12 projecting upward from the upper surface of the hanging tool 5, and a columnar body 13 projecting downward from the lower surface of the trolley 3. ..

As illustrated in FIG. 3, the pedestal 12 includes a pair of pillars 14 projectingly provided on the upper surface of the hanger 5 along the transverse direction x, and a flat plate portion 15 that connects upper ends of the pair of pillars 14. And have. In this embodiment, two pairs of the pillar portions 14 connected by the flat plate portion 15 are arranged side by side along the traveling direction y.

As illustrated in FIG. 4, the columnar body 13 includes a pair of suspension portions 16 projectingly provided on the lower surface of the trolley 3 along the transverse direction x, and an intermediate portion in the vertical direction z of the pair of suspension portions 16. It has the reinforcement part 17 connected with each other. In this embodiment, two pairs of suspension parts 16 connected by the reinforcement part 17 are arranged side by side along the traveling direction y.

It is desirable to arrange the expansion and contraction mechanisms 18 at the lower ends of the suspension portions 16, respectively. The expansion/contraction mechanism 18 is configured to expand/contract in the vertical direction z when a stress in the vertical direction z is generated in accordance with the magnitude of the stress. The expansion/contraction mechanism 18 can be formed of, for example, a rubber member, a spring member, or an expansion/contraction cylinder.

As illustrated in FIG. 2, the trolley 3 is provided with a detection rod 19 that is formed of a rod-shaped body having the vertical direction z as an axial direction and that is arranged so as to be movable in the vertical direction z. Further, a sensor 20 for detecting that the lower end portion of the detection rod 19 contacts the pedestal 12 and is pushed up is installed in the trolley 3.

When the cargo handling work by the crane 1 is completed and the crane 1 is in a rest state, the boom 7 is first erected and the wire rope 4 wound around the sheave of the suspension 5 is wound up by the drum 10. The hoisting tool 5 rises as the wire rope 4 is wound up.

As illustrated in FIG. 5, the lifting tool 5 moves up and the pedestal 12 installed on the lifting tool 5 comes into contact with the columnar body 13 installed on the trolley 3. Specifically, the upper surface of the flat plate portion 15 forming the pedestal 12 and the lower end of the expansion/contraction mechanism 18 are in contact with each other.

When the wire rope 4 is further wound up in this state, the rope tensioning device 11 is sandwiched between the trolley 3 and the hanger 5. Even if the wire rope 4 is wound up, the rope tensioning device 11 prevents the lifting device 5 from rising, so that the tension of the wire rope 4 increases.

At this time, the extension/contraction mechanism 18 contracts in accordance with the magnitude of the force in the up-down direction z that the suspension 5 is going to rise. When the amount of contraction of the extension/contraction mechanism 18 reaches a predetermined amount, the detection rod 19 is pushed up and the sensor 20 reacts. By the reaction of the sensor 20, the winding of the wire rope 4 by the drum 10 is stopped and the drum 10 is braked.

With the configuration in which the rope tensioning device 11 is arranged between the trolley 3 and the hanging device 5, the tension of the wire rope 4 can be increased without causing damage or the like due to direct contact between the trolley 3 and the hanging device 5. Can be maintained. Since the amount of slack of the wire rope 4 can be reduced, the wire rope 4 hardly moves even when it is fanned by the wind. It is advantageous to prevent the wire rope 4 which is wind-driven from colliding with the structure of the crane 1 such as the boom 7. It is possible to suppress the generation of noise due to the collision between the wire rope 4 and the boom 7, and to suppress the deterioration of the wire rope 4 and the boom 7 due to the collision.

Since the rope tensioning device 11 is arranged between the trolley 3 and the hanger 5, it is relatively easy to install it not only on a newly constructed crane but also on a crane already deployed and used in a port. can do.

The shapes of the pedestal 12 and the columnar body 13 are not limited to the above. The pedestal 12 and the columnar body 13 may be configured to come into contact with each other when the suspending tool 5 is lifted and prevent the suspending tool 5 from approaching the trolley 3.

In addition, in this specification, to prevent the lifting tool 5 from approaching the trolley 3 means that the lifting tool 5 does not approach the trolley 3 from a predetermined position at all, and the lifting mechanism 5 contracts to cause the lifting tool 5 to contract. The concept also includes allowing 5 to be slightly closer to the trolley 3 from a predetermined position.

It is desirable that the expansion/contraction mechanism 18 be configured to contract in the vertical direction z at a known rate with respect to the stress in the vertical direction z. According to this configuration, the magnitude of the stress generated in the vertical direction z can be known from the amount of contraction of the expansion/contraction mechanism 18, and the tension of the wire rope 4 can be estimated from the magnitude of this stress. Since it becomes easy to maintain the tension of the wire rope 4 in a predetermined range, it is advantageous to prevent excessive tension from being generated in the wire rope 4 while suppressing the occurrence of slack. Since excessive tension is not generated in the wire rope 4, deterioration of the wire rope 4 can be suppressed.

With the configuration in which the detection rod 19 and the sensor 20 are installed in the rope tensioning device 11, the detection rod 19 can be pushed up to cause the sensor 20 to react when the expansion mechanism 18 contracts by a predetermined amount. Thereby, when the tension of the wire rope 4 reaches a predetermined value, the drum 10 can be automatically stopped. This control makes it easier to maintain the tension of the wire rope 4 at a predetermined level.

The configuration of the crane 1 is not limited to the above. The effect of the present invention can be obtained as long as the crane is provided with the wire rope 4 for suspending and vertically moving the suspender 5. For example, a sea-side drum and a land-side drum are provided, and a wire rope 4 fed from the sea-side drum is connected to a hanger 5 via a sheave and a trolley 3 installed at the sea-side end of a boom 7, The rope tensioning device 11 may be installed in the crane 1 having a structure in which the wire rope 4 fed from the drum is connected to the suspender 5 via the sheave and the trolley 3 installed at the land side end of the girder 8. it can. For example, the rope tensioning device 11 may be installed in a gate crane that travels in the container terminal.

Further, the effect of the present invention can be obtained even if the rope tensioning device 11 is installed in a crane that does not include the boom 7 capable of undulating. For example, the rope tensioning device 11 may be installed in a crane including a sliding boom supported by the leg structure 6 in a state of being slidable in the transverse direction x. It is possible to suppress the bending of the wire rope 4 by increasing the tension of the wire rope 4 stretched horizontally along the sliding boom.

For example, the rope tensioning device 11 may be installed in a center-folding crane having a hinge part that connects the girder 8 and the boom 7 and a hinge part in the middle of the boom 7. The center-bending type crane is a crane in which the sea side portion of the boom 7 and the girder 8 are in a horizontal state during rest, and the land side portion of the boom 7 arranged between them is in an upright state.

The configuration of the rope tensioning device 11 is not limited to the above. The rope tensioning device 11 may be arranged between the trolley 3 and the hanger 5, and may have a configuration for preventing the lifting of the hanger 5. Therefore, the shapes of the pedestal 12 and the columnar body 13 can be appropriately changed. Further, the expansion/contraction mechanism 18, the detection rod 19, and the sensor 20 are not essential constituent elements of the present invention.

If the rope tensioning device 11 is not provided with the telescopic mechanism 18, the positions of the pedestal 12 and the columnar body 13 are fixed after they come into contact with each other, so that the tension of the wire rope 4 is estimated from the position of the hanger 5. I can't. In this case, the crane operator can wind up the wire rope 4 with the drum 10 while visually confirming the slack of the wire rope 4. A configuration may be adopted in which a tension sensor or the like for measuring the tension of the wire rope 4 is installed.

As illustrated in FIG. 6 and FIG. 7, the rope tensioning device 11 may be configured to include only the pedestal 12 installed on the hanging tool 5. That is, the rope tensioning device 11 does not include the columnar body 13 installed on the trolley 3 side. As illustrated in FIG. 6, the pedestal 12 is configured so as to be capable of contacting the trolley 3 by being installed on the upper ends of the four pillar portions 14 protruding from the upper surface of the hanging tool 5. And a contact portion 21.

The column portion 14 is composed of a telescopic cylinder that extends and contracts in the vertical direction z. Therefore, this telescopic cylinder is the strut portion 14 and also the telescopic mechanism 18. Adjacent strut portions 14 are connected to each other by a member that extends in the horizontal direction. The contact portion 21 is not an indispensable requirement of the present invention, and the upper end portion of the column portion 14 may be configured to directly contact the trolley 3.

When the wire rope 4 of the crane 1 is wound up from the state illustrated in FIG. 7, the lifting tool 5 rises, and the contact portion 21, which is the upper end of the pedestal 12 installed on the lifting tool 5, contacts the lower surface of the trolley 3. .. When the wire rope 4 is further wound up as illustrated in FIG. 8, the telescopic cylinder forming the telescopic mechanism 18 contracts. The telescopic mechanism 18 contracts according to the magnitude of the force in the up-and-down direction z with which the lifting device 5 is going to rise, and when the amount of contraction of the telescopic mechanism 18 reaches a predetermined amount, the lower end of the detection rod 19 causes the column parts 14 to contact each other. Touch a horizontal member that connects the. When the detection rod 19 is pushed up by this horizontal member, the sensor 20 reacts. The reaction of the sensor 20 stops the winding of the wire rope 4 by the drum 10.

Since the rope tensioning device 11 is configured by the pedestal 12 installed on the hanging device 5, when installing on an existing crane, the rope tensioning device 11 may be installed after the lifting device 5 is lowered to the ground. The workability of the installation work of the rope tensioning device 11 can be improved.

In the case where the slack of the wire rope 4 is visually confirmed without installing the detection rod 19 or the like, it is not necessary to work at a high place for installing the detection rod 19 or the like on the trolley 3. That is, since the installation work of the rope tensioning device 11 is performed only on the hanging tool 5 that is lowered to the ground, it is advantageous to easily install the rope tensioning device 11.

As illustrated in FIGS. 9 and 10, the rope tensioning device 11 can be configured to include only the columnar body 13 installed on the trolley 3. That is, the rope tensioning device 11 does not include the cradle 12 installed on the hanging tool 5 side. The columnar body 13 has a pair of suspension parts 16 installed on the lower surface of the trolley 3 side by side in the traveling direction y, and a reinforcement part 17 connecting the pair of suspension parts 16 to each other. Two reinforcing portions 17 are arranged at different positions in the vertical direction z. In this embodiment, a pair of suspension parts 16 connected by a reinforcing part 17 are arranged side by side along the transverse direction x.

An extension/contraction mechanism 18 made of, for example, a rubber material is arranged in the middle of the suspension portion 16 in the vertical direction z. Of the suspension parts 16 divided vertically by the expansion/contraction mechanism 18, one of the suspension parts 16 located below is provided with an auxiliary plate 22 protruding laterally. The auxiliary plate 22 is arranged at a height at which the lower end of the detection rod 19 contacts the upper surface.

When the wire rope 4 of the crane 1 is wound up from the state illustrated in FIG. 10, the suspending tool 5 rises, and the lower end portion of the columnar body 13 installed on the trolley 3 contacts the upper surface of the suspending tool 5. When the wire rope 4 is further wound up as illustrated in FIG. 11, the telescopic mechanism 18 contracts. When the amount of contraction of the extension mechanism 18 reaches a predetermined amount, the auxiliary plate 22 pushes up the detection rod 19 for a predetermined distance, so that the sensor 20 reacts. The reaction of the sensor 20 stops the winding of the wire rope 4 by the drum 10.

Since the rope tensioning device 11 is composed of the columnar body 13 installed on the trolley 3 and no member is arranged on the hanging device 5, it is possible to prevent the weight of the hanging device 5 from increasing. Further, since the constituent members of the rope tensioning device 11 are not arranged on the side of the hanging tool 5 which is likely to generate vibrations or shocks during cargo handling, it is advantageous to suppress the occurrence of troubles such as failure of the rope tensioning device 11 during cargo handling. is there.

Even when the lifting device 5 is broken due to a collision or the like and needs to be replaced, it is not necessary to install a member constituting the rope tensioning device 11 in the new lifting device 5, so that the lifting device 5 can be replaced quickly. It is possible to suppress the occurrence of slack in the wire rope 4 at the time of rest while performing the above.

1 Crane 2 Horizontal Girder 3 Trolley 4 Wire Rope 5 Lifting Tool 6 Leg Structure 7 Boom 8 Girder 9 Machine Room 10 Drum 11 Rope Tensioner 12 Cradle 13 Columnar Body 14 Column 15 Flat Plate 16 Suspension 17 Reinforcement 18 Expansion/contraction mechanism 19 Detection rod 20 Sensor 21 Contact part 22 Auxiliary plate

Claims (5)

A horizontal girder extending in the horizontal direction, a trolley traversing along a transverse direction which is an extending direction of the horizontal girder, a wire rope extending below the trolley via the trolley, and the wire rope In a crane equipped with a suspender suspended on
While it is sandwiched between the load block and the trolley to be raised with the hoist of the wire rope, and characterized in that it comprises a rope tensioning device having a structure in which the load block is not close completely against the trolley A crane to do. The rope tensioning device comprises a cradle which is projecting from the load block upward, and protruding from the lower end pillar is configured to be in contact with cradle the body downward from the trolley Tei hand,
The pedestal has a pair of pillars arranged on the upper surface of the suspender along the transverse direction, and a flat plate connecting the upper ends of the pair of pillars, and the flats are connected to each other. A pair of said pillars that have a configuration in which two sets are arranged side by side along a running direction that intersects the transverse direction at a right angle,
The columnar body has a pair of suspension portions arranged on the lower surface of the trolley along the transverse direction, and a reinforcement portion that connects the intermediate portions in the vertical direction of the pair of suspension portions to each other, The crane according to claim 1, wherein a pair of the suspension parts connected by the reinforcing part is arranged side by side along the traveling direction. A horizontal girder extending in the horizontal direction, a trolley traversing along a transverse direction which is an extending direction of the horizontal girder, a wire rope extending below the trolley via the trolley, and the wire rope In a crane equipped with a suspender suspended on
In a state of being sandwiched between the lifting tool and the trolley that rise with winding of the wire rope, the lifting tool is provided with a rope tensioning device having a configuration that prevents the lifting tool from approaching the trolley ,
The crane , wherein the rope tensioning device is provided with a pedestal projecting upward from the suspension and configured so that an upper end thereof can come into contact with the trolley . A horizontal girder extending in the horizontal direction, a trolley traversing along a transverse direction which is an extending direction of the horizontal girder, a wire rope extending below the trolley via the trolley, and the wire rope In a control method of a crane, which comprises a suspender suspended on
By placing the rope tensioning device the load block that increases with the winding of the wire rope is not close at all for the trolley between the trolley and the load block,
The wire rope is raised by lifting the wire rope, and after the rope tensioning device is sandwiched between the trolley and the lifting tool, the wire rope is further wound to make the wire rope A method for controlling a crane, which is characterized by increasing tension. The horizontal girder is preconfigured with a boom arranged on the sea side and a girder arranged on the land side,
The tension of the wire rope is increased after the boom is erected and then the lifting device is raised so that the rope tensioning device is sandwiched between the trolley and the lifting device. Crane control method described.

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