JPH10265173A - Oscillatory prevention controller for suspended load - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correctly conduct the position control to a target position of a trolley by conducting the oscillatory prevention control by a traverse driving means at the time of a first control mode, conducting the position control by a traverse control means at the time of a second control mode, and conducting the traverse oscillatory preventing control by a hoisting means. SOLUTION: In a first control mode, a trolley driving means including a motor 69 is controlled by a first traverse oscillatory prevention control means comprising an image processing circuit 88 for detecting a traverse oscillation angle ϕ1, a subtractor 90, a setting means 91, and a control circuit 92. At that time, the traverse oscillation angle ϕ1 is made naught in the course of traversing by a speed pattern generating circuit 82. In a second control mode, positioning of a motor 69 is controlled by a position control means comprising a current position detecting means 70, a control circuit 102 and so on. Further traverse oscillatory prevention control for hydraulic cylinders 54a, 54b included in a hoisting means is conducted by a traverse oscillatory prevention control means comprising the image processing circuit 88 for detecting the traverse oscillation angle ϕ1, a control circuit 115 and so no.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspension control device for a suspended load in a container crane or the like.

[0002]

2. Description of the Related Art In a conventional container crane, a trolley for lifting a hanger detachably connected to a container with a rope immediately above the hanger is changed as shown by a speed pattern 1 in FIG. From time t0, the vehicle reaches a predetermined target position in the transverse direction at time t1. The trolley traverses the lifting gear and the suspended load, as shown by reference numeral 2. When the trolley does not take measures to prevent the trolley from traversing, even after the trolley reaches the target position, the trolley does not. continue.

In order to solve this problem, the trolley is changed in a speed pattern 3 as shown in FIG. 13, so that the magnitude 4 of the lateral runout can be suppressed. FIG.
In the prior art shown in No. 3, the trolley accelerates and decelerates in the traverse direction, and therefore, the ride comfort of the driver operating in the cab provided on the trolley is greatly impaired. Especially,
If acceleration 6 and deceleration 7 are performed before reaching the cruising state 5 of the trolley as shown in the speed pattern 3 in order to suppress the final swing as quickly as possible, the deterioration of the riding comfort is more remarkable. become.

The position control that brings the trolley to the target position where the trolley should be stopped and the anti-lateral movement control strongly interfere with each other. For example, if the position control is strongly applied, the lateral vibration is hardly reduced, and conversely, If the stop control is strongly activated, it becomes difficult for the trolley to converge accurately and quickly to the target position to stop. In the prior art shown in FIG. 13, by performing the trolley anti-rolling control, not only the riding comfort is deteriorated as described above, but also the accuracy of bringing the trolley to the target position is reduced. Furthermore, in this prior art, it is not possible to suppress the swing deflection of the suspended load about the vertical axis by merely controlling the traverse speed pattern of the trolley.

Another prior art for solving this problem is disclosed in Japanese Patent Application Laid-Open No. 6-255982. In this prior art,
A pair of sheave trolleys called a movable frame movable in the transverse direction is provided on both left and right sides of the trolley. In this sheave trolley,
A sheave is provided around which the hoisting rope of the lifting device is wound.
The pair of sheave carriages is driven to be displaced in a transverse direction by a hydraulic cylinder. As a result, the horizontal and vertical steadying of the suspended load is achieved.

The steady rest control in a container crane device having a trolley equipped with such a sheave truck is performed as follows.
Still another prior art is disclosed in Japanese Patent Application Laid-Open No. Hei 7-267576. In this prior art, not only when the trolley is traversed but also when the trolley is stopped, the control of the traverse and the swing is prevented. Therefore, it takes a long time for the steady rest.

[0007]

SUMMARY OF THE INVENTION It is an object of the present invention to provide a traversing and swinging steady rest, and to quickly and accurately stop a suspended load at a target position in a transverse direction. It is to provide a control device.

[0008]

According to the present invention, there are provided (a) a trolley, (b) trolley driving means traversing the trolley, and (c)
(E) hoisting means for lifting the hoisting tool on a trolley by a rope, moving the hoisting tool up and down, and further traversely displacing and turning the hoisting tool; The first control mode in which the drive means performs the steady-state traverse control and the winding means performs the swing steady-state control, and the traverse drive means performs the position control to the target position without performing the transverse steadiness control. And (f) control mode switching means for switching and executing the second control mode for performing the traverse steadying control and the turning steadying control by the hoisting means. When the distance to the target position to be stopped in the traversing direction of the trolley is equal to or longer than a predetermined distance, the control unit is set to the first control mode, and when the distance is smaller than the predetermined distance, A steadying control apparatus of the suspended load, characterized in that it comprises a control mode switching means for the control means and the second control mode. Further, the present invention sets (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) setting a target position in the traversing direction of the trolley. Current position detecting means for detecting a current position of the trolley in the transverse direction;
(F) trolley position control means for causing the trolley to reach the target position by the trolley drive means in response to outputs from the target position setting means and the current position detection means; and (g) traverse of the trolley by the trolley drive means. Control means;
(H) a traverse deflection angle detection means for detecting the traverse deflection angle θ1 of the hanging implement; and (i) a trolley in response to an output of the traverse deflection angle detection means, so that the traverse deflection angle θ1 becomes zero by the trolley driving means. First anti-sway control means for traversing
(J) anti-sway drive means for traversingly driving and turning the hanging device; and (k) responding to the output of the traverse deflection angle detection means,
Second traverse steadying control means for rotating the hanging tool so that the traversing deflection angle θ becomes zero by the steadying drive means;
(L) a swing deflection angle detection means for detecting the swing deflection angle θ2 of the hanging implement; and (m) a swing deflection angle response means for responding to an output of the swing deflection angle detection means, so that the swing deflection angle θ2 is reduced to zero. Swing-sway-controlling means for swinging the hanger,
(N) an operation mode switching means, which responds to outputs from the target position setting means and the current position detecting means, and determines a distance to a target position to be detected in the traversing direction of the trolley while the trolley is traversing. When the distance is equal to or more than the distance, the traverse control means and the first traverse steadying control means are operated, and a first operation mode for operating the swing steadying control means is set. When the distance is less than the predetermined distance, the trolley position control is performed. And a second operation mode switching means for operating the second transverse steady rest control means and the turning steady rest control means. . According to the present invention, the anti-swing control is always performed by the hoisting means. When the trolley is traversing and the distance to the target position in the traversal direction to be stopped in the traversing direction is greater than or equal to a predetermined distance and is far away, the control means is set to the first control mode, that is, the traversing drive means Perform stop control. If the distance to the target position to be stopped in the traversing direction of the trolley is less than the predetermined distance while the trolley is traversing, the control means is set to the second control mode, that is, position control is performed by the traversing driving means. At the same time, the anti-rolling control is performed by the winding means. In this way, the trolley can be controlled to traverse, and the hoisting means performs the swing-sway control together with the sway-swing control. In this way, it is possible to easily position the trolley at the target position in the traversing direction of the trolley by the operator, for example, manually by the operator. In particular, in the second control mode when the trolley becomes less than the predetermined distance, the trolley does not perform the traverse steadying control, and the hoist means performs the traverse steadying and the turning steadying control. Focuses on position control for positioning the trolley to a target position, and the positioning is achieved with high accuracy. Further, the riding comfort in the second control mode when the operator gets on the trolley is improved.

Further, according to the present invention, the operation mode switching means includes:
In the second control mode, not only is the distance to the target position to be stopped in the traverse direction of the trolley less than the predetermined distance, but also the trolley traverse speed is less than the predetermined speed, and When the magnitude of is smaller than a predetermined value, the mode is switched from the first control mode. According to the invention, the second control mode further comprises:
(1) When the trolley traverse speed V is lower than the predetermined speed β and is decelerating, and (2) When the traverse vibration magnitude is smaller than the predetermined value, that is, the traverse vibration angle θ1 is the predetermined vibration angle. When the change rate is less than γ and the time change rate θ11 of the traverse deflection angle θ1 is smaller than a predetermined time change rate δ, the mode is switched from the first operation mode to the second operation mode. When the trolley approaches the target position in this way, the trolley drive unit does not perform the anti-rolling control, that is, the trolley is not moved for the anti-rolling operation, but is dedicated to the position control. Each control of turning steady is performed. In this way, a small deflection angle can be suppressed without adversely affecting the positioning of the trolley in the transverse direction. Therefore, by the trolley drive means on which the trolley runs,
If the vehicle comes close to the target position to be stopped and decelerates while suppressing the large swing angle in the traverse direction, the trolley will concentrate on moving to the target position, and the traverse swing and turning remaining by the hoisting means will be performed thereafter. The logic operation is switched so as to take a swing. Thus, the convergence speed to the last target position is quickly and smoothly performed without being affected by the steady rest. Further, since the trolley does not finely reciprocate in order to prevent the steady rest, it is possible to prevent the operator riding on the trolley from deteriorating the ride comfort and to improve the ride comfort. The magnitude of the traverse shake is determined by a shake angle θ1 and a shake angular velocity θ1.
The evaluation may be performed by a function of 1.

The present invention also provides (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for driving the trolley in a traversing manner, and (d) a driving device for driving the traversing device in a traversing manner. And (e) means for setting a target position in the traversing direction of the trolley, (f) current position detecting means for detecting a current position in the traversing direction of the trolley, and (g).
(H) turning deflection angle detecting means for detecting the turning deflection angle θ2 of the hanging implement, (i) target position setting means and current position detecting means. In response to the output from the traverse deflection angle detecting means, the trolley drive means performs traversing when the trolley is at a predetermined distance or more from the target position, and performs trolley anti-sway control during the traversing. When the distance from the target position is less than the predetermined distance, the traverse control means for controlling the trolley position; (j) the outputs of the target position setting means, the current position detection means, the traverse deflection angle detection means and the turning deflection angle detection means; In response, the swinging steadying control is performed by the steadying drive means, and when the trolley is at a distance equal to or more than a predetermined distance from the target position, the trolley is not moved forward and the trolley is moved forward from the target position. A swing control unit for performing a horizontal steady rest control when the distance is less than the predetermined distance. According to the present invention, it is possible to perform the traversing steady-state by the traversing control means, and to perform the above-described traversing steady-state control and the turning steady-state control by the turning control means.

According to the present invention, the anti-sway driving means is a hoisting means which lifts the hanging tool on the trolley by a cable, moves the lifting tool up and down by the cable, and furthermore, traverses and turns. It is characterized by. According to the present invention, the steadying drive unit is realized by a hoisting unit that hoists a hanging tool on a trolley by a cord,
The configuration is simplified.

Further, according to the present invention, the hoisting means is a sheave for hanging tools in each of two pairs, and each set of sheaves for hanging tools is
A pair of hanging sheaves for each pair are arranged at intervals in the direction perpendicular to the transverse direction, and the pair of hanging sheaves for each set correspond to the hanging sheave provided on the hanging members at intervals in the transverse direction, and the sheave for hanging tools. 2
A pair of ropes, each of which is wound around a sheave for lifting gear and lifts the lifting gear, and a pair of ropes of each set is connected to a rope supported at one end in the transverse direction and a trolley. A lifting sheave around which each of the ropes is wound; and a pair of moving sheaves corresponding to the ropes, each of the ropes being wound around the other end in the transverse direction of the rope. It is characterized in that it includes a moving sheave for each line, a drum for winding the other end of the cable, and a displacement driving means for driving each set of moving sheaves in directions opposite to each other. According to the present invention, in order to hoist and lower the hoist (sometimes referred to as hoisting in general), the sheave for the hoist, the cable, the hoisting sheave, and the moving sheave are provided in two pairs. And a total of four are provided, and the other ends of these cords are respectively wound by a winding drum,
The drum has the same outer diameter and is driven to rotate at the same peripheral speed, so that the lifting device can be lifted by the cable. In particular, according to the present invention, the ropes forming each pair of pairs are displaced by the moving sheave by the displacement driving means to achieve the turning which is the angular displacement about the vertical axis of the hanging tool, and thereby the turning steadying. It can be performed. Further, the movable sheaves constituting each pair are displaced and driven in the same direction in the traversing direction, so that the suspension of the suspended load such as the hanger, that is, the container, can be performed. The roll rest can also be achieved by trolley drive means. The displacement drive means is not provided on the trolley, but is provided on the crane main body including the jib or boom, whereby the configuration of the trolley can be simplified and the trolley can be reduced in weight. Thus, the load on the strength of the crane device can be reduced. Moreover, there is no need to change the structure of the existing trolley, and the present invention can be easily implemented.

[0013] Further, in the present invention, the hoisting means is a pair of hanging sheaves for each pair, and each set of hanging sheaves is arranged at intervals in a direction perpendicular to the transverse direction. The pair of sheaves for hanging tools of each pair is a sheave for hanging tools provided in the hanging tool at intervals in the transverse direction, and two pairs of ropes corresponding to the sheaves for hanging tool, The ropes are wound around the sheaves, respectively, and the lifting gear is lifted. Each pair of ropes is a rope supported at one end in the traversing direction, and a rope is provided on the trolley for lifting each rope. A sheave and a pair of moving bodies provided on the trolley so as to be movable in the transverse direction, wherein each moving body supports a lifting sheave around which each set of ropes is wound; A drum for winding the other end of the strip, and a moving body drive for driving the moving body in a transverse direction Characterized in that it comprises a stage. According to the present invention, the trolley is provided with a pair of moving bodies each supporting a lifting sheave, and the moving bodies are driven to move in the transverse direction by the moving body driving means. As a result, it is possible to drive the hanging tool in the transverse direction and to drive the swinging movement about the vertical axis.

[0014]

FIG. 1 is a perspective view showing a partial configuration of a container crane apparatus according to an embodiment of the present invention. In the hoisting means 11, a suspended load, for example, a container 12 is detachably connected to a lower portion of a hoisting device 13, and the hoisting device 13 is moved up and down by the hoisting device 11, and is moved in a horizontal transverse direction in an xyz rectangular coordinate system. It can be displaced transversely before and after x, and can be displaced pivotally around the axis in the vertical direction z in the direction of arrow 14 and in the opposite direction. Further, the hanging member 13 is arranged in a horizontal direction y perpendicular to the transverse direction x.
Can be tilted about the axis.

FIG. 2 is a side view of the container crane device 15 provided with the hoisting means 11 shown in FIG. 1, and FIG. 3 is a front view of the container crane device 15 as viewed from the left in FIG. A pair of traveling rails 17 extending in a traveling direction perpendicular to the transverse direction x are laid on the land 16 on the land. The legs 18 are guided along the traveling rail 17 in the traveling direction y. A girder 19 is fixed to the upper part of the leg 18 horizontally in the transverse direction x. The base of a boom 21 that can be raised and lowered is connected to the leg 18 by a hinge pin 20 that is parallel to the running direction y. The legs 18, the girder 19, the boom 21 and the like constitute a crane body 40.

The boom 21 is angularly displaced between a state in which the boom 21 protrudes into the sea 22 on the extension of the girder 19 and is cantilevered as shown in FIGS. Can be The container 12 loaded on the transport ship 24 on the sea 22 is detachably gripped by the hanging device 13, traversed and moved to the ground 16 below the leg 18.
Is mounted on a transport vehicle 25 by being wound down on the transport vehicle 25 or from the transport vehicle 25 to the transport ship 24. The hanging tool 13 is lifted immediately below the trolley 26. The trolley 26 can traverse along a traversing rail 45 provided on the girder 19 and the boom 21.

The trolley 26 is provided with an operator cab 27. The operator in the driver's cab 27 moves from the land to the sea 22 side (FIG. 2).
From the right to the left), the driving operation of the hanger 13 and the trolley 26 can be performed.

Referring again to FIG. 1, in the hoisting means 11, one set of the sheaves 28a, 28 is provided on the left and right sides in the transverse direction x above the sheaves 13 for the hanger.
b and another set of sheaves 29b for hanging tools.
These hanging sheaves 28a and 28b form a pair, and another pair of hanging sheaves 29a and 29b form a pair. One pair of the sheaves 28a, 28b for a hanging tool is provided on the hanging tool 13 at intervals in the transverse direction x. The other pair of hanging sheaves 29a, 29b is also provided on the hanging member 13 at intervals in the transverse direction x. One set of hanging sheaves 28a, 28b and the other set of hanging sheaves 29
a and 29b are arranged at an interval in a direction y perpendicular to the transverse direction x. In this way, a total of four sheaves for hanging equipment 28
a, 28b, 29a, and 29b are arranged at each vertex position of the virtual first rectangle.

Each of the sheaves 28a, 28b, 29a,
29b includes ropes 31a and 31 as hoisting ropes.
b, 32a, 32b are respectively wound around
Wind up. The ropes 31a, 31b form one set of pairs, and the ropes 32a, 32b form the other set of pairs.

The free end 33 of the boom 21 (see FIG. 2) is provided with two tilt balance drums 34a and 34b, respectively, and is driven to rotate in forward and reverse directions by drive sources 35a and 35b including motors. . One ends of ropes 31a and 32b wound around two sheaves 28a and 29b for hanging tools arranged in a diagonal direction of the hanging tool 13, respectively, are wound in opposite directions on one tilting balancing drum 34a. Wound in the direction. In the same manner, 2
One end of each of the ropes 31b and 32a wound on one of the hanging sheaves 28b and 29a is wound on the other common tilt balance drum 34b in the opposite winding direction. The tilt balance drums 34a and 34b have the same outer diameter and the same configuration. These ropes 31a, 31
The b, 32a and 32b are wound around balancing sheaves 36 to 39 supported on the free end 33 of the boom 21. Note that in another embodiment, the ropes 31a and 32b are provided not in the diagonal direction but in the transverse direction x.
a, 29a, which may be
The same applies to 1b and 32a.

The trolley 26 is provided with lifting sheaves 41a and 41b around which the rope 31a is wound. Similarly, the trolley 26 is provided with lifting sheaves 42a and 42b around which the rope 31b is wound. Further trolley 2
6 is a lifting sheave 4 around which the rope 32a is wound.
3a and 43b are provided. The cable 32b is a trolley 26
Is wound around the lifting sheaves 44a, 44b provided at the bottom. In the following description, the suffixes a and b may be omitted, and may be indicated only by numerals.

Lifting sheaves 41, 42, 43, 44
Are arranged at each vertex position of the virtual second rectangle. The second rectangle has a length x in the transverse direction,
8 and 29 are longer than the length of the first rectangle in the horizontal direction x. Therefore, the rope 31a is connected to the
a and the lifting sheave 41 are inclined with respect to the vertical line. Similarly, the rope 31b is inclined with respect to the vertical line between the lifting implement sheave 28b and the lifting sheave 42. The same applies to the remaining ropes 32a and 32b. Thus these four ropes 3 in total
1a, 31b, 32a, 32b, and
3, it is easily possible to traverse and pivotally displace the container 12.

The moving sheaves 46a, 46b; 47a, respectively, correspond to the ropes 31a, 31b; 32a, 32b, respectively.
47b is the end 4 of the girder 19 opposite to the boom 21.
7 is arranged. The moving sheaves 46a and 46b form one set of pairs. The moving sheaves 47a and 47b form a pair of the other set. The other ends of the ropes 31a, 31b; 32a, 32b are movable sheaves 46a, 46b; 47a, 47b.
And wound on the winding drums 48a and 48b in the same winding direction. These winding drums 48
a and 48b have the same outer diameter and are driven to rotate in the forward and reverse directions by a common hoisting motor 49.

A displacement driving means 51a is provided for driving one set of moving sheaves 46a, 46b in opposite directions along the transverse direction x. Similarly, a displacement driving means 51b is provided for driving the other set of moving sheaves 47a, 47b in the mutually opposite directions along the transverse direction x.

FIG. 4 shows these displacement driving means 51a, 5a.
It is a figure which shows the structure of 1b. One displacement driving means 51a
In, the moving sheaves 46a and 46b are connected to both ends of the displacement chain 52a. This displacement chain 52a
Is wound around a sprocket wheel 53a which is a support wheel provided at a fixed position which is an end portion 47 of the girder 19. One of the moving sheaves 46b is driven to reciprocate in the transverse direction x by a double-acting hydraulic cylinder 54a. Another one
The two displacement driving means 51b have the same configuration, and the corresponding portions are indicated by the same numerals with the suffix b.

The tension acting on one of the ropes 31a, 31b is substantially equal. Therefore, moving sheaves 46a, 4
There is an excellent advantage that the driving force of the hydraulic cylinder 54a required to drive the 6b in the transverse direction x is relatively small. This is another hydraulic cylinder 54
The same applies to b.

By extending the hydraulic cylinders 54a, 54b and displacing the movable sheaves 46b, 47b to the right in FIGS. 1 and 4, the distance between the lifting sheave 42 and the lifting sheave 28b is reduced. Similarly, the distance between the lifting sheave 44 and the lifting sheave 29b is reduced. On the other hand, since the moving sheaves 46a and 47b are displaced to the left in FIGS. 1 and 4, the lifting sheave 41 and the lifting sheave 2
8a and the sheave 4 for lifting
The distance between 3 and the sheave 29a for a hanging tool is increased. As a result, the hanger 13 and the container 12 are moved in the transverse direction x in FIG.
Can be displaced to the left. Hydraulic cylinder 54a,
When 54b is reduced, the operation opposite to the above is performed, and the hanging member 13 and the container 12 can be displaced rightward in FIG.

By reversing the extension / contraction of the hydraulic cylinders 54a, 54b in the displacement driving means 51a, 51b, it is also possible to pivot the hanger 13 and the container 12 about a vertical axis. For example, by reducing the hydraulic cylinder 54a and extending the hydraulic cylinder 54b, the lifting sheave 41 and the
8a and the distance between the lifting sheave 44 and the lifting sheave 29b, and the distance between the lifting sheave 42 and the lifting sheave 28b and the distance between the lifting sheave 43 and the lifting sheave 29a. Can be longer. As a result, the hanging member 13 can be displaced clockwise as indicated by reference numeral 14 in FIG. By extending the hydraulic cylinder 54a and contracting the hydraulic cylinder 54b, the hanging member 13 can be turned in the counterclockwise direction opposite to the arrow 14. Hydraulic cylinder 54a,
54b piston and therefore moving sheaves 46b, 47
moving sheave position detecting means 7 for detecting the position of
1a and 71b are provided.

In this way, the displacement driving means 51a, 51
By controlling the drive of b, the hanging member 13 is displaced in the traverse and turning directions, so that the oscillating and the oscillating rest can be achieved.

FIG. 5 is a simplified perspective view of the trolley driving means 58 for driving the trolley 26 in traverse. One ends of the traversing ropes 59 to 62 are connected to both ends of the trolley 26 in the traversing direction. The end 47 of the girder 19 and the free end 3 of the beam 21 at both ends of the traversing range of the trolley 26
3 is provided with transverse sheaves 63 to 66. A cylinder 67 for applying tension is connected to the sheaves 63 and 64, respectively. The traversing ropes 59 to 62 wound around these sheaves 63 to 66 are wound around a traversing drum 68. The traversing drum 68 is driven by a traversing motor 69 so as to be able to rotate forward and backward.

The current position detecting means 70 which is an encoder
Is the output shaft of the motor 69 and therefore the traversing drum 68
, The current position of the trolley 26 in the transverse direction x is detected. Further, the rotation speed of the motor 69 and the traversing drum 68, that is, the traversing speed of the trolley 26 in the traversing direction is detected by the trolley speed detecting means 73. The traversing speed of the trolley 26 may be obtained by differentiating the output of the current position detecting means 70.

A pair of target marks 76, 7 are provided on the upper surface of the hanger 13 at intervals in a direction y perpendicular to the transverse direction x.
7 is fixed. To the trolley 26, cameras 78 and 79 for capturing images of these target marks 76 and 77 are attached. The cameras 78 and 79 may be realized by, for example, a CCD (charge storage element). Cameras 78, 79
By processing the images of the target marks 76 and 77 captured by the processing circuit 88, which will be described later, the traverse deflection angle θ1 and the swing deflection angle θ2 of the hanging member 13, and thus the container 12, are calculated and obtained. Traverse deflection angle θ1
Is the amount of displacement of the hanger 13 with respect to the z-axis, which is the vertical axis in the xz plane. The swing deflection angle θ2 is an angular displacement amount of the hanging member 13 about the vertical axis z in the xy plane.

FIG. 6 is a block diagram showing an electrical configuration of the control means 81 according to the embodiment of the present invention shown in FIGS. A speed pattern generating circuit 82 is provided for controlling the speed of the traversing motor 69 shown in FIG. 5 for traversing the trolley 26. This speed pattern generation circuit 8
2, the traversing start time t5 until the trolley 26 reaches a predetermined target position in the traversing direction as shown in FIG.
The speed is changed during the period from to the arrival time t10. At times t5 to t6, the speed is increased as indicated by reference numeral 83, at times t6 to t7, the speed is constant as indicated by reference numeral 84, and at times t7 to t8, reference speed 85 is increased.
At time t8 to t9, and then at a constant speed as shown by reference numeral 86, and thereafter, at time t9 to t10 as shown by reference numeral 87, and at time t10, the target speed is reduced. Reach the position.

A processing circuit 88 implemented by a microcomputer or the like for performing arithmetic processing on the image signals picked up by the cameras 78 and 79 determines the traverse deflection angle θ1.
A signal representing the traverse deflection angle θ1 is applied to one input of a subtractor 90 via a line 89. The other input of the subtractor 90 is supplied with a signal from the traversing swing angle target value setting means 91 for making the traversing swing angle θ1 zero. The output of the subtractor 90 is provided to a control circuit 92 for performing calculations such as proportional and differential, and the output is derived by an adder 93 and added to a signal corresponding to the above-described traversing speed from the speed pattern generating circuit 82. You. The added signal is supplied from a line 94 to one of the individual contacts 96 of the changeover switch 95.
Given to. The changeover switch 95 has the other individual contact 97, and the common contact 98 switches the individual contacts 96 and 97.

The output from the current position detecting means 70 for detecting the current position of the trolley 26 is supplied to a subtractor 99.
The subtractor 99 also receives a signal indicating a target position in the traverse direction of the trolley operated by the operator.
Given from 01. The output of the subtracter 99 is applied to a control circuit 102 that performs operations such as proportional and differential operations, and the output is applied to the other individual contact 97 of the changeover switch 95. Common contact 98 of changeover switch 95
Is supplied to a subtractor 103 for controlling the speed of the trolley 26. The subtractor 103 has a trolley 2
The output from the traversing speed detecting means 73 for detecting the traversing speed of the trolley 26 is supplied to the control circuit 104, and the motor 69 is controlled to achieve the speed control of the trolley 26.

A structure for controlling the hydraulic cylinders 54a and 54b to perform the traverse steadying control and the swing steadying control will be described. In FIG. 6, corresponding components are denoted by the same reference numerals and individually denoted by subscripts a and b. The positions of the moving sheaves 46b and 47b in the transverse direction x are detected by the moving sheave position detecting means 71 as described above.

A center position signal is generated by the center position setting circuit 108 so that the center position of the moving sheaves 46b and 47b is set to a neutral position which is substantially the center of the range of movement in the transverse direction. By keeping the position of the moving sheaves 46b, 47b and thus the pistons of the hydraulic cylinders 54a, 54b in a substantially neutral position, which is approximately the center of the full stroke,
The moving sheaves 46b and 47b can be quickly controlled in order to stop the back and forth movement in the transverse direction.

The output of the center position setting circuit 108 is given to one individual contact 112 of the changeover switch 111.
The changeover switch 111 is provided with another individual contact 113, and the common contact 114 is connected to these individual contacts 11.
Switch between 2,113. The output from the common contact 114 of the changeover switch 111 is supplied to an adder 118a and a subtractor 118.
b and one input to each of them.

The output from the subtractor 90 relating to the traverse deflection angle θ1 is also supplied to a control circuit 115 for performing calculations such as proportionality and differentiation. The output of the control circuit 115 is supplied to an adder 116, added to the output from the center position setting circuit 108, and supplied to the other individual contact 113a via a line 117.

The image processing circuit 88 also includes cameras 78 and 7
In response to the output of No. 9, the swing deflection angle θ2 of the hanger 13 and the container 12 is calculated and given to one input of the subtractor 121. The other input of the subtractor 121 includes:
A signal for setting the turning deflection angle θ2 to zero is transmitted to the setting circuit 122.
Given by The output of the subtractor 121 is provided to a control circuit 123 that performs arithmetic control such as proportionality and differentiation.
The output of the control circuit 123 is supplied from a line 124 to the other inputs of the adder 118a and the subtractor 118b.

It should be noted that the adder 118a and the subtractor 1
18b, the polarity of the input to which signals from the position detecting means 71a and 71b are applied is opposite. As described above, for example, the hydraulic cylinder 54a is reduced and the hydraulic cylinder 54b is extended to drive the hanging member 13 to rotate clockwise 14 to extend the hydraulic cylinder 54a, or to extend the hydraulic cylinder 54a to prevent the swing steady. , Hydraulic cylinder 5
By reducing the size of 4b, it is possible to drive the hanging tool 13 to pivotally move in the counterclockwise direction opposite to the arrow 14. Trolley 26 and hanger 13 for sway and swivel steady rest
Is the same direction as the vibrating hanger 13.

Each output of the adder 118a and the subtractor 118b is given to one input of the subtractors 125a and 125b. Outputs of the moving sheave position detecting means 71a and 71b are given to the other inputs of the subtractors 125a and 125b. Further, the outputs of these subtractors 125a and 125b are provided to control circuits 126a and 126b which perform computational control of proportionality, integration and differentiation, and their control outputs control the hydraulic cylinders 54a and 54b. Moving sheave 46
47a and 47b are provided so as to be displaceable in the transverse direction x in the above-described embodiment, but in other embodiments of the present invention, each of the ropes 31a, 31b;
2a and 32b are movable sheaves 46 by the guide sheave.
a, 46b; 47a, 47b are guided in a direction different from the transverse direction x, and accordingly, the moving sheaves 46b, 47b
May be displaced by the hydraulic cylinders 54a and 54b in a direction different from the traversing direction x. In the present invention, the moving sheaves 46a, 46b; 47a, 47b are connected to the ropes 31 by the hydraulic cylinders 54a, 54b, or by a configuration including a motor in another embodiment of the present invention.
a, 31b; 32a, 32b may be displaced.

FIG. 8 shows the changeover switch 9 shown in FIG.
FIG. 9 is a block diagram showing a configuration of control mode switching means 128 for controlling the switching operation of 5, 111a, 111b. The output from the target position setting means 101 of the trolley 26 and the output from the current position detecting means 70 for detecting the current position of the trolley 26 are provided to a subtractor 129 to be subtracted, and the output is provided to a determination circuit 131. Can be Therefore, the output of the subtractor 129 indicates the distance x1 to the target position to be stopped in the traversing direction x of the trolley 26 during the traversing of the trolley 26. The output of the subtractor 129 is
Given to one. In the determination circuit 131, the distance x1
Is less than a predetermined distance α, that is, x1 <
When it is α, an H level signal is derived to the AND gate 132, and otherwise, it is at the L level.

The output of the traversing speed detecting means 73 for detecting the traversing speed of the trolley 26 is supplied to a determination circuit 133. When the traversing speed V is less than a predetermined speed β, that is, when V <β, AND The output at the H level is derived to the gate 132, and the output is at the L level otherwise. An output representing the horizontal swing angle θ1 from the image processing circuit 88 in response to the outputs of the cameras 78 and 79 is given to the determination circuit 134. When the traverse swing angle θ1 is smaller than the predetermined angle γ, that is, when θ1 <γ, the AND gate 1
32 is provided with an H level output, and otherwise is at an L level.

The traverse deflection angle θ1 is differentiated by a differentiating circuit 135, and the angular velocity θ11 of the traverse deflection angle θ1 is derived to a line 136. This lateral shake angular velocity θ11 is determined by the determination circuit 1
37. In the determination circuit 137, when the horizontal swing angular velocity θ11 is lower than the predetermined angular velocity δ, that is, when θ11 <δ, the output of the H level is given to the AND gate 132, and otherwise, the output is at the L level.

The switching output from the AND gate 132 is
Provided on line 138. The switching output via line 138 from AND gate 132 is applied to switch 9
5, 111a and 111b.

These changeover switches 95, 111a,
The common contacts 98, 114a, 114b of 111b are individually contacted 96, 97; 112a, 113a; 112b, 11
3b, switching is performed as shown in Table 1 in response to the L level or H level switching output from the AND gate 132 via the line 138, respectively.

[0048]

[Table 1]

The image processing circuit 88 for deriving a signal representing the traverse deflection angle θ 1, the differentiating circuit 135, and the determining circuit 134,
137 constitutes a means for evaluating the magnitude of the horizontal run-out of the hanging device 13 and thus of the container 12. Thus the second
In the control mode, condition (1) the distance x1 to the target position in the traversing direction of the trolley 26 to be stopped is less than a predetermined distance α, and the condition (2) the traversing speed V1 of the trolley 26 is less than a predetermined speed β. And (3) the magnitude of the traversing shake is smaller than a predetermined value, that is, the traversing shake angle θ1
Is less than the predetermined traverse deflection angle γ, and the traverse deflection angular velocity θ11 which is the time change rate of the traverse deflection angle θ1 is less than the predetermined angular velocity δ, the AND gate 13
2, an H-level output is derived on line 138,
This second control mode is achieved. If any one of the above conditions (1) to (3) is not satisfied, AN
The output of the D gate 132 is at the L level, and the first control mode is performed.

The swing-sway control means includes a swing-swing angle θ2
, A subtractor 121, a setting means 122, a control circuit 123, and subtractors 118a and 118b. The above-described hoisting means including the hydraulic cylinders 54a and 54b controls the swing steadying operation. It is always performed over the first and second control modes.

In the first control mode, the trolley driving means 58 including the motor 69 includes an image processing circuit 88 for detecting the traverse deflection angle θ1, a subtractor 90, a setting means 91, and a control circuit 92.
By the control of the first traverse steadying control means constituted by the following formula, the traverse deflection angle θ1 is achieved so as to disappear during the traverse by the speed pattern generation circuit 82. In the first and second control modes, control is performed such that the hydraulic cylinders 54a and 54b are brought to the neutral positions set by the neutral position setting means 108a and 108b.

In the second control mode, the current position detecting means 7
0, subtractor 99, target position setting means 101, and control circuit 1
The position control of the motor 69 is performed by the position control means constituted by the control signal 02. Further, the hydraulic cylinders 54a and 54b included in the hoisting means include an image processing circuit 88 for detecting the traverse deflection angle θ1, a subtractor 90, and a setting means 91.
The anti-sway control means includes the anti-sway control means constituted by the control circuit 115 and the anti-sway control device.

In the first control mode, the traversing control means is controlled by a trolley driving means including a motor 69.
Is performed, and in the second control mode, trolley position control is performed. The traversing control means includes: (1) an image processing circuit 88 for detecting the traversing shake angle θ1, a subtractor 90, a setting means 91, a control circuit 92, an adder 93, and a speed pattern generating circuit 82, And (2) a configuration in which trolley position control is performed by the current position detecting means 70, the subtractor 99, the target position setting means 101, and the control circuit 102. The changeover switch 95 switches between the anti-rolling control and the trolley position control.

Further, the turning control means includes a hydraulic cylinder 54
a, 54b by the steadying drive means including
That is, in both the first and second control modes, the swing steadying control is performed. This hydraulic cylinder 54
The anti-sway drive means including a and 54b includes (1) an image processing circuit 88 for detecting the orbital swing angle θ2, a subtractor 121, a setting means 122, a control circuit 123, and a subtractor 118a for the orbital shake control. , 118b, and (2) the traverse shake angle θ for the traverse shake control in the second operation mode.
The second anti-sway control means includes an image processing circuit 88 for detecting 1 and a subtractor 90, a setting means 91, and a control circuit 115.

FIG. 9 is a block diagram showing an electrical configuration of the control mode switching means 141 according to another embodiment of the present invention. The control mode switching means 141 is partially similar to the control mode switching means 128 shown in FIG. 8 described above, and corresponding portions are denoted by the same reference numerals. In particular, in this embodiment, an evaluation circuit 142 is provided. The output from the image processing circuit 88 for detecting the traverse deflection angle θ1 and the output from the
And the output θ11 differentiated by

In order to simplify the description of the evaluation of the magnitude of the lateral run-out, it is assumed that the hanging member 13 is connected to the trolley 26 by a single pendulum. The equation of motion of the simple pendulum in which the fulcrum moves is as follows: L · θ12 + g · θ1 + x12 = 0 (1) Here, it is assumed that the rope length L, the transverse deflection angle θ1, the gravitational acceleration g, and the fulcrum position x. In Expression 1, θ12 is the second derivative of the transverse deflection angle θ1 with respect to time, and x12 is
This is the second derivative of the position x in the transverse direction. As a control law of the steadying control, it is assumed that x11 = k · θ (2). k is a constant. In Expression 2, x11 is the first derivative of the position x in the transverse direction. By substituting Equation 2 into Equation 1, a secondary vibration system of L.theta.12 + k.theta.11 + g.theta.1 = 0 (3) is obtained. In Expression 3, θ11 is the first derivative of the transverse deflection angle θ. Here, as the shake angle evaluation function J, J = g · θ1 ² + k · θ1 · θ11 + L · θ11 ² (4) is defined.

The meaning of the evaluation function J will be described. The general solution of Equation 3 is: θ1 = c1 · e− ^{(k / 2L) t} · sin (ωt + c2) (5) c1 and c2 are constants. Also, from Equations 3 and 4,
J is the solution of the following differential equation: L · j1 + k · J = 0 (6), and J1 is the first derivative of J. The general solution of Equation 6 is as follows: J = C3 · e− ^{(k / L) t} (7) Comparing Equations 5 and 7, it can be seen that J represents the envelope of θ ² , that is, the magnitude of vibration.
Therefore, by calculating Equation 4 online, it is possible to evaluate the shake at each time.

When the value of J becomes smaller than a certain value (adjustment parameter) e considered in advance (J <e),
The evaluation circuit 142 outputs an H-level signal by determining that the shake has become small.

As described above, the magnitude of the swing of the hanging member 13 and the container 12 changes as indicated by reference numeral 143 in FIG. 7, and the magnitude of the swing at the time t10 when the trolley 26 reaches the target position in the transverse direction. It can be set to zero. In the period W2 before the trolley 26 reaches the target position, the above-described second control mode is executed. Before that, for example, at least the period W after the time t7.
At 1, the first control mode is executed. The first control mode may be executed during a period from time t5 before the period W2 of the second control mode.

FIG. 10 is a diagram showing a configuration around moving sheaves 46a and 46b according to another embodiment of the present invention. The other moving sheaves 47a and 47b have the same configuration, and the other configuration is the same as the embodiment shown in FIGS. 1 to 9 described above. Hydraulic cylinder 54a
Includes a two-position electromagnetic switching valve 162 as a first switching means.
Is connected to the servo valve 163 via the. This servo valve 163 is supplied with a valve opening signal from a control circuit 126a, which is a steadying control means, as in the above-described embodiment. The hydraulic oil is supplied to the servo valve 163 from the hydraulic pressure supply device 164. Further, a mechanical anti-sway hydraulic circuit 165 is connected to the electromagnetic switching valve 162. When the electromagnetic switching valve 162 is at the position 162a in FIG. 10, the hydraulic cylinder 54a is connected to the mechanical anti-sway hydraulic circuit 1
It is connected to 65 hydraulic buffer means and functions as a damper cylinder. As a result, a mechanical anti-sway function is achieved, and the transverse force acting on the hydraulic cylinder 54a is buffered.

When the electromagnetic switching valve 162 is at the position 162b, the hydraulic pressure supply device 164 via the servo valve 163
The hydraulic fluid is supplied from the servo valve 163, and the servo valve 163 is controlled to stop the horizontal movement and the swing vibration in the same manner as in the above-described embodiment.

A neutral hydraulic cylinder 161 is connected to the moving sheave 46a. This neutral hydraulic cylinder 161
Is connected to a mechanical steady rest hydraulic circuit 165 via a position 166a of a two-position electromagnetic switching valve 166, which is a second switching means, or a pressure release circuit 16 via a position 166b.
7 and connected. When the electromagnetic switching valve 162 is at one position 162a, the electromagnetic switching valve 166 is at one position 166a. At this time, the neutral cylinder 161 is moved from the mechanical anti-sway hydraulic circuit 165 to the piston of the neutral cylinder 161. And therefore the hydraulic cylinder 54
Hydraulic oil is supplied such that the piston a is brought to a substantially central position in the stroke of each of the cylinders 161 and 54a.

The electromagnetic switching valve 162 is moved to the other position 162b.
The electromagnetic switching valve 166 is in the other position 166b.
At this time, the neutral cylinder 161 is connected to the pressure release circuit 167. This allows the neutral cylinder 16
The pressure oil in the chambers on both sides of the piston 1 has the same value, for example, zero, and is free to move in and out, so that the piston can move according to the displacement of the moving sheave 46a.

Thus, when the control means 81 is normal, each of the electromagnetic switching valves 162 and 166 is moved to the position 162b,
166b, and the hydraulic cylinder 54a achieves the traverse and swing rests. At this time, the chambers on both sides of the piston of the neutral cylinder 161 are depressurized, that is, when the piston is displaced by the displacement of the moving sheave 46a. It can be freely displaced accordingly.

When the control means 81 or the like fails, the electromagnetic switching valves 162 and 166 are set to the positions 162a and 166a. As a result, the hydraulic cylinder 54a exerts a buffering function, and achieves a mechanical anti-sway function. At this time, the operating oil is supplied to the neutralizing cylinder 161 so that the piston is brought to a substantially neutral position of the stroke to be in a neutral state, whereby the buffering action can be achieved in both the front and rear directions in the transverse direction. become able to.

FIG. 11 is a perspective view showing a simplified structure of a winding means 145 according to another embodiment of the present invention. This embodiment is similar to the embodiments described with reference to FIGS. 1 to 9 described above, and corresponding portions are denoted by the same reference numerals. One pair of ropes 31a, 31b is wound around the hoisting sheaves 41, 42 and further wound around the hoisting sheaves 28a, 28b on the hanger 13, and one end thereof is balanced. It is wound around sheaves 36 and 37. The other ends of the ropes 31a and 31b are wound around the winding drum 48a in the same direction.

The other pair of ropes 32a,
32b is wound around lifting sheaves 43 and 44, and further wound around lifting implement sheaves 29a and 29b. One end of each of the ropes 32a and 32b is connected to a balancing sheave 38,
It is wound around 39. One set of ropes 31a, 31b
One of the ropes 31a and the other of the ropes 32
One end of each of the ropes 32a and 32b is wound around the tilt balance drum 34a in opposite directions. Similarly, of one set of ropes 31a and 31b, the other set of ropes 31b and the other set of ropes 32a and 32b
Of these, one end of each of the other ropes 32a is wound around the tilt balance drum 34b in opposite directions. Rope 32
The other ends of a and 32b are wound around the winding drum 48 in the same winding direction as the ropes 31a and 31b.

In this embodiment, a pair of moving bodies 148 and 149 are provided on the trolley 26 at intervals in a direction y perpendicular to the traversing direction x so as to be movable in the traversing direction x. The moving bodies 148 and 149 are displaced and driven in the transverse direction x by hydraulic cylinders 151 and 152 as moving body driving means. Lifting sheaves 41 and 42 are supported by one moving body 148. The other moving body 149 supports lifting sheaves 43 and 44. Other configurations are the same as the configurations shown in FIGS. 1 to 9 described above.

By moving the moving bodies 148 and 149 in the same direction in the traversing direction x, it is possible to achieve the anti-sway of the hanging member 13. In addition, moving body 148,1
The displacement of the hanging member 13 in the transverse direction x can be achieved by the displacement driving of the hanging member 13. The hydraulic cylinders 151 and 152 have the control circuits 126a and 126b shown in FIG.
And are driven to achieve a traverse and orbital steady rest.

Hydraulic cylinders 54a, 54b; 151, 1
Instead of 52, for example, another driving structure may be used, such as a structure in which nuts are rotatably provided on the sheaves 53a and 53b, and a screw rod screwed to the nuts is rotated by an electric motor.

The tilt balance drums 34a and 34b shown in FIG.
Omitted, the one ends of the ropes 31a, 31b, 32a, 32b may be fixed in a fixed position, which is the same in FIG.

The present invention provides the following embodiments (1) to (1).
(7) is possible. (1) (a) a lifting device for lifting a suspended load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) two sets of sheaves for a lifting device. Wherein each set of hanging sheaves is arranged at intervals in the direction perpendicular to the traversing direction, and a pair of hanging sheaves for each set is provided on the hanging implement at intervals in the traversing direction. A sheave for lifting gear,
(E) Two sets of pairs of cords corresponding to the sheaves for hoisting equipment, which are wound around the sheaves for hoisting equipment, respectively, and lift the hoisting gears. A rope supported at the end, (f) a lifting sheave provided on the trolley, around which each rope is wound, and (g) two pairs of movable sheaves corresponding to the rope, A moving sheave for each rope around which a portion near the other end in the transverse direction of the rope is wound, (h) a drum for winding the other end of the rope, and (i) displacement of each set of moving sheaves. Displacement drive means for driving, a displacement rope connected at both ends to a moving sheave, a support wheel provided at a fixed position and around which the displacement rope is wound, and a moving sheave drive for displacing the moving sheave And a displacement drive means having means. A. In order to hoist and lower the hoist (sometimes referred to as hoisting), the hoisting sheave, the cable, the hoisting sheave, and the moving sheave form two pairs, each having a total of four. And the other ends of these ropes are respectively wound by a hoisting drum, which has the same outer diameter and is driven to rotate at the same peripheral speed, and thus the hoist is lifted by the ropes. be able to. The ropes constituting each pair of pairs are displaced by the displacement sheave by the displacement sheave to achieve the turning, which is the angular displacement about the vertical axis of the suspending tool, and thereby the turning steady can be performed. Further, the movable sheaves constituting each pair are displaced and driven in the same direction in the traversing direction, so that the suspension of the suspended load such as the hanger, that is, the container, can be performed. The roll rest can also be achieved by trolley drive means. The displacement drive means is not provided on the trolley, but is provided on the crane main body including the jib or boom, whereby the configuration of the trolley can be simplified and the trolley can be reduced in weight. Thus, the load on the strength of the crane device can be reduced. Moreover, there is no need to change the structure of the existing trolley, and the present invention can be easily implemented. The lateral and pivotal rests of the load can be achieved by displacement drive means provided in connection with the ropes for hoisting the hoist. The displacement driving means is provided at a fixed position such as a crane body, thereby reducing the weight of the trolley and reducing the load on the strength of the crane device. Further, it is not necessary to modify the existing trolley, and it is sufficient to provide the displacement driving means in connection with the cable for hoisting, so that the present invention can be easily implemented. The two strands that make up each pair of pairs are wound around the moving sheave, respectively, and the tensions of these pairs of strands are approximately equal. Therefore, an excellent effect is obtained in that only a small force is required for driving a moving sheave driving means for driving only one of the moving sheaves forming a pair in the transverse direction, for example, a hydraulic cylinder. As a result, the structure can be reduced in size and the burden on strength can be reduced. The moving sheave driving means displaces the moving sheave in the direction in which the rope is stretched, whereby the other moving sheave is displaced in the opposite direction, so that the traversing steadying and the turning steadying can be performed as described above. Since the tension of the rope wound around each set of moving sheaves is substantially equal, the force for driving the moving sheave by the moving sheave driving means is relatively small, and the size can be reduced. As a conventional mechanical steady rest device, there is a type in which a damper cylinder and a neutral cylinder 161 (having a closed hydraulic circuit so that the damper cylinder comes to a neutral position) are installed at the land end. Although this mechanical steady rest has the effect of damping the transverse run, it has no effect on the swing steady. By using this damper cylinder as the actuator 54 of the traversing / swing rest control device of the present invention, electric traversing / swing rest control can be realized without a large design change on the crane body side (machine side). Further, since the same cylinder 54 can be shared by the mechanical steady rest and the electric steady rest, a slight hydraulic switching circuit can be used in the conventional mechanical steady rest hydraulic circuit, a servo valve 163 using the cylinder as an actuator, and the like. In addition, it is possible to switch between an electric steady rest and a mechanical steady rest. Therefore, in normal times, the system is operated with the electric steady rest being used to carry out horizontal and steady rests. By switching to the mechanical steady rest even if the electric steady rest causes any abnormality, the container crane device can be used without stopping the cargo handling by the mechanical transverse steady rest function. Even for existing cranes, by adding a hydraulic circuit and a control device, it is possible to add the functions of the anti-traverse and anti-rotation swings without changing the major structure.

(2) The moving sheave driving means is characterized in that it is a hydraulic cylinder which drives only one of the moving sheaves of each pair to move. The size of the hydraulic cylinder can be reduced, and implementation is easy. By using a hydraulic cylinder, the configuration can be simplified.

(3) Two tilt balance drums are provided near the one end of the rope, and the rope is wound around two sheaves for a hanging tool arranged in a diagonal direction of the hanging tool. One end is wound around a common tilting and balancing drum in opposite winding directions. By one operation of the tilting balancing drum, one of the diagonally arranged hanging sheaves is wound up and the other hanging sheave is lowered, thus traversing. The sling can be inclined about a horizontal axis perpendicular to the direction. Further, by the other operation of these two tilting balancing drums, the hanging tool can be angularly displaced about the vertical axis and can be turned. Although the traverse displacement drive and the turning displacement drive of the hanging tool can be performed by driving the tilt balance drum, compared with such a configuration, a moving sheave driving unit realized by the above-described hydraulic cylinder or the like is provided. A configuration in which each set of moving sheaves is displaced by the displacement driving means in mutually opposite directions in the transverse direction, or in the same direction in the transverse direction,
The configuration is simple. Further, arranging not only such a tilting balancing drum but also a related configuration at the free end of the cantilever-supported boom increases the strength burden of the crane device. Therefore, it is desirable to use the above-mentioned moving sheave and its displacement driving means for the horizontal and vertical swing stop. The use of two tilt balance drums, whereby the traverse displacement of the hanging device can be carried out in the same manner as the above-described displacement driving means to prevent the traverse movement, or the traverse movement can be performed by performing the pivot displacement. Can be.

(4) Two sets of balancing sheaves are provided near the one end of the cord, and the one ends of the corresponding cords of each set arranged in the direction perpendicular to the transverse direction are connected to each other. The one end of each set of ropes is wound around each balancing sheave. In addition, the tilt balancing drum may be omitted, and the one ends of the corresponding pairs of ropes in each set may be connected to each other. Instead of using a tilt-balancing drum, one end of the corresponding cable of each set may be connected to each other, thereby further simplifying the configuration.

(5) The hoisting sheave is disposed at each vertex position of the virtual first rectangle, and the lifting sheave is a virtual second sheave having a different length in the transverse direction from the first rectangle. It is characterized by being arranged at each vertex position of a rectangle. The hoisting sheave provided on the hanger and the hoisting sheave provided on the trolley are arranged at vertices of imaginary first and second rectangles, and the length of the first rectangle in the transverse direction is equal to It is less than the length of the two rectangles in the horizontal direction. As a result, the cable between the lifting sheave and the lifting sheave individually corresponding thereto is inclined with respect to the vertical line, whereby the turning drive and the traverse displacement drive can be easily performed. . The ridge between the lifting sheave and the lifting sheave is inclined relative to the vertical in a vertical plane parallel to the transverse direction. As a result, the horizontal displacement and the turning displacement of the hanging tool and the suspended load due to the hoisting and lowering of the rope are possible, and thus the steady rest can be easily performed.

(6) Anti-vibration control means for controlling the hydraulic cylinder to carry out horizontal and vertical vibration prevention of the suspended load, hydraulic pressure buffer means for the hydraulic cylinder, and hydraulic pressure control means for the hydraulic cylinder. Means to switch to the first
Switching means. When the steady rest control means is normal, the hydraulic cylinder is controlled by the steady rest control means, so that the horizontal steady rest and the swing steady rest are achieved. In the event of a failure of the steady rest control means, the hydraulic cylinder is connected to the hydraulic damping means, whereby the mechanical traverse steadying function makes it possible, for example, to use a container crane device without stopping cargo handling. The steady rest control means is connected to the hydraulic cylinder so as to be able to perform the horizontal and steady rests of the suspended load. For example, when the steady rest control means is out of order, the hydraulic cylinder is connected to the hydraulic shock absorbing means. Thus, a mechanical anti-rolling function is achieved. Therefore, even when the steadying control means is out of order, it is possible to use, for example, a container crane without stopping the cargo handling.

(7) The neutral hydraulic cylinder connected to the other of the moving sheaves in each pair and the neutral hydraulic cylinder so as to bring the piston of the neutral hydraulic cylinder approximately to the center of the stroke of the neutral hydraulic cylinder. Neutral hydraulic means for supplying hydraulic oil to the hydraulic cylinder; and first switching means for releasing hydraulic oil from the neutral hydraulic cylinder when the first switching means connects the hydraulic cylinder to the steady rest control means; Connecting the neutral hydraulic cylinder to the neutral hydraulic means when the hydraulic cylinder is connected to the hydraulic buffer means;
Switching means. When the steady rest control means achieves the horizontal steady rest and the swing steady rest of the suspended load, the neutral hydraulic cylinder is depressurized, whereby the hydraulic cylinder is
It becomes possible to control for steady rest. For example, when the steady rest control means is out of order as described above, when the hydraulic cylinder is connected to the hydraulic buffer means, the other hydraulic sheave neutral hydraulic cylinder is connected to the neutral hydraulic means. This brings the piston of the neutral hydraulic cylinder, and thus the piston of said hydraulic cylinder, approximately in the middle of their stroke. Thereby, the buffering action of the hydraulic cylinder can be achieved in any of the transverse directions. As described above, for example, when the steady rest control means is out of order, when the hydraulic cylinder is connected to the hydraulic damping means to achieve a cushioning action and perform the horizontal steady rest function, the hydraulic cylinder is connected to the other movable sheave. Hydraulic fluid from the neutral hydraulic means is supplied to the neutral hydraulic cylinder that is being driven, and the piston of the neutral hydraulic cylinder, and thus the piston of the hydraulic cylinder, is brought to approximately the center of their stroke, Thereby, a buffering action can be achieved in any of the front and rear directions in the transverse direction.

(8) It includes a crane body having a leg guided along a traveling rail provided on the ground and a boom provided on the leg so as to be able to move up and down, and a trolley is provided along a traversing rail provided on the boom. A trolley is connected to a trolley cord that is guided in a transverse direction and is stretched in the transverse direction, and a trolley drive unit that drives the trolley cord to traverse the trolley, a hanging device that suspends a container, and two sets of A sling sheave for each pair, wherein each set of sling sheaves is disposed at intervals in a direction perpendicular to the traversing direction, and a pair of sling sheaves for each pair is spaced in the traversing direction. A lifting gear sheave provided on the lifting gear, and two pairs of hoisting ropes corresponding to the lifting gear sheave, each of which is wound around the lifting gear sheave to lift the lifting gear, A pair of hoisting ropes in each set is at the free end of the boom A rope which is lifting, provided trolley, the sheave for lifting each winding for rope is wound,
Two sets of pairs of moving sheaves arranged on the crane body at the base end side of the boom and corresponding to the hoisting ropes, and each hoist around which the other part in the transverse direction of the hoisting ropes is wound. A moving sheave for each rope, a drum arranged on the crane main body at the base end side, and a drum for winding the other end of the hoisting rope, and a moving sheave disposed on the crane main body at the boom base end; And a displacement driving means for driving the sheave in a direction opposite to each other in a transverse direction. An up-and-down boom supported by a cantilever supported leg is provided to form a crane body, and a trolley is traversed along a traverse rail provided on the boom and further on a girder provided on the leg. The lifting of the hanging tool and the suspended load by the strip can be performed, and the horizontal and vertical swing can be stopped. A container crane device that can suppress not only lateral running but also swing running without increasing the weight of the trolley and without modifying an existing trolley is realized.

[0080]

As described above, according to the present invention, a total of two types of suspended loads in the transverse direction and the turning direction can be prevented. Further, since the trolley on which the operator rides is not controlled near the target position at which the operator should stop to keep the trolley from rolling, the riding comfort of the trolley can be maintained. Furthermore, since the trolley does not control the swing of the suspended load in the traverse direction near the target position, the position of the trolley can be accurately controlled to the target position, and the trolley can be easily positioned by the operator. In addition, it can be performed with high accuracy. In this way, the suspension of the hanging tool and the suspended load can be quickly performed, and the positioning accuracy of the trolley to the target position can be improved.

According to the second aspect of the present invention, as described above, an effect can be exerted against the swing of the two suspended loads in the traverse direction and the turning direction. Also, since the trolley on which the operator rides does not traverse back and forth particularly near the target position in the traversing direction, it is possible to maintain the ride comfort of the operator and achieve high positioning accuracy in the traversing direction. can do. The steady rest control is performed near the target position, and when the trolley reaches the target position, the steady rest can be almost completed, and the steady rest can be completed in a short time.

According to the third aspect of the present invention, the timing of switching from the first control mode to the second control mode includes not only the position of the trolley in the traversing direction but also the traversing speed of the trolley and the traverse of the suspended load. The second control mode is executed when the trolley reaches the vicinity of the target position and its traversing speed is reduced and reduced, and the traversing magnitude becomes smaller than a predetermined value. In a state in which the swing runout is small, the control of the steadying can be quickly and smoothly performed.

According to the fourth aspect of the present invention, as described above, the traverse control means and the turning control means suppress the traverse swing and the sway swing of the fishing load while deteriorating the ride comfort of the operator on the trolley. Stiffening and swaying can be achieved quickly and in a short time, and the trolley can be accurately brought to the target position.

According to the fifth aspect of the present invention, this is achieved by the hoisting means using the cable, whereby the lifting and lowering of the hanging tool is performed, and the transverse displacement and the turning displacement are simultaneously achieved. The configuration can be simplified.

According to the sixth aspect of the present invention, it is possible to achieve the horizontal and vertical swing prevention of the suspended load by the displacement driving means provided in connection with the cable for hoisting the lifting tool. The displacement driving means is provided at a fixed position such as a crane body, thereby reducing the weight of the trolley and reducing the load on the strength of the crane device. Further, it is not necessary to modify the existing trolley, and it is sufficient to provide the displacement driving means in connection with the cable for hoisting, so that the present invention can be easily implemented.

According to the seventh aspect of the present invention, the moving body mounted on the trolley is displaced and driven in the traverse direction by the moving body driving means, whereby the hanging member is displaced and driven in the traverse direction.
Alternatively, a swing displacement drive around the vertical axis can be performed, and thus, each control of the transverse steadying and the swing steadying can be performed.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a hoisting means 11 which is a part of a configuration of a container crane device 15 according to an embodiment of the present invention.

FIG. 2 is a side view of the container crane device 15 including the hoisting means 11 shown in FIG.

FIG. 3 is a container crane device 15 viewed from the left side of FIG.
FIG.

FIG. 4 is a diagram showing a configuration of displacement driving units 51a and 51b.

FIG. 5 is a trolley driving means 58 for traversingly driving the trolley 26;
FIG. 4 is a simplified perspective view of FIG.

FIG. 6 is a block diagram showing an electrical configuration of a control unit 81 according to the embodiment of the present invention shown in FIGS. 1 to 5;

FIG. 7 is a diagram showing a speed pattern 83 of the trolley 26 and a magnitude 143 of a horizontal run-out of the hanger 13;

FIG. 8 shows changeover switches 95 and 111 shown in FIG.
FIG. 9 is a block diagram showing a configuration of a control mode switching means 128 for controlling the switching operation of a and 111b.

FIG. 9 is a block diagram showing an electrical configuration of a control mode switching means 241 according to another embodiment of the present invention.

FIG. 10 shows a moving sheave 46 according to another embodiment of the present invention.
It is a figure showing composition near a and 46b.

FIG. 11 shows a winding means 145 according to another embodiment of the present invention.
FIG. 2 is a perspective view showing a simplified configuration of FIG.

FIG. 12 is a diagram showing a speed pattern 1 of a trolley according to the prior art and a magnitude 2 of a horizontal run-out of a hanger.

FIG. 13 is a diagram showing a speed pattern 3 of another trolley of the related art and a magnitude 4 of a horizontal run-out of the hanger.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 11 Hoisting means 12 Container 13 Hanging tool 15 Container crane device 18 Leg 19 Girder 20 Hinge pin 21 Boom 26 Trolley 28a, 28b, 29a, 29b Lifting sheave 31a, 31b, 32a, 32b Hoisting rope 34a, 34b Tilting balance drum 36-39 Balancing sheave 40 Crane body 41a, 41b, 42a, 42b, 43a, 43b, 4
4a, 44b Lifting sheaves 46a, 46b, 47a, 47b Moving sheaves 48a, 48b Lifting drums 51a, 51b Displacement drive means 52a, 52b Displacement chains 53a, 53b Sprocket wheels 54a, 54b Double-acting hydraulic cylinder 58 Trolley drive means 59 ６２62 Traversing rope 67 Cylinder 68 Traversing drum 70 Current position detecting means 71a, 71b Moving sheave position detecting means 73 Trolley speed detecting means 76, 77 Target mark 78, 79 Camera 81 Control means 82 Speed pattern generating circuit 88 Processing circuit 91 Traverse deflection angle target location setting means 95,111 Changeover switches 128,141 Control mode switching means 148,149 Moving object 151,152 Double acting hydraulic cylinder

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shigeaki Higashi 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries, Ltd. Inside Akashi Plant (72) Inventor Mitsugu Ashikaga 1-1, Kawasaki-cho, Akashi-shi, Hyogo Kawasaki Heavy Industries Akashi Factory Co., Ltd.

Claims (7)

[Claims] (A) a trolley, (b) a trolley driving means for traversing the trolley, (c) a hanging tool, and (d) a hanging tool is lifted on the trolley by a cable. (E) a control means, wherein the traverse drive means controls the oscillating steadying and the hoisting means controls the swinging steadiness. A control mode, and a second control mode in which the traversing drive unit performs position control to the target position without performing the traverse steadying control, and the hoisting unit performs the traversing steadying control and the turning steadying control. (F) control mode switching means, wherein the distance to the target position to be stopped in the traversing direction of the trolley is less than a predetermined distance. When it is,
And a control mode switching means for setting the control means to a second control mode when the distance is less than the predetermined distance, the control means being in a first control mode. 2. A trolley for lifting a load, (b) a trolley for traversing, (c) a trolley driving means for traversing the trolley, and (d) setting a target position of the trolley in the traversing direction. (E) current position detecting means for detecting the current position of the trolley in the traversing direction; and (f) responding to the outputs of the target position setting means and the current position detecting means, and setting the trolley to the target position by the trolley driving means. Trolley position control means for reaching the position; (g) traverse control means for causing the trolley to traverse by the trolley drive means; (h) traverse deflection angle detection means for detecting the traverse deflection angle θ1 of the hanging implement; A first traverse steadying control means for traversing the trolley in response to the output of the traverse deflection angle detecting means so that the traverse deflection angle θ1 becomes zero, and (j) traversely driving and turning the lifting gear. Driving steady rest (K) second traverse steadying control means for responding to the output of the traversing shake angle detecting means and turning the suspender by the steadying drive means so that the traverse swing angle θ becomes zero; l) a swing deflection angle detecting means for detecting the swing deflection angle θ2 of the hanging tool; and (m) a swing restraining drive means responding to the output of the swing deflection angle detecting means so that the swing deflection angle θ2 becomes zero. (N) operation mode switching means, which responds to outputs from the target position setting means and the current position detection means, and in which the trolley moves in the traverse direction during the trolley movement. When the distance to the target position to be detected is greater than or equal to a predetermined distance,
A first operation for operating the traverse control means and the first anti-sway control means, and for operating the turning anti-sway control means.
An operation mode switching means for operating the trolley position control means when the distance is less than the predetermined distance, and for operating the second traverse steadying control means and the turning steadying control means; A steady rest control device for a suspended load. 3. The operation mode switching means sets the second control mode such that not only the distance to a target position to be stopped in the traversing direction of the trolley is less than the predetermined distance but also the traversing speed of the trolley. 2. The control mode is switched from the first control mode when the speed is less than a predetermined speed and the magnitude of the traverse is less than a predetermined value.
Or the swing load steadying control device according to 2. 4. A trolley for lifting a suspended load; (b) a trolley for traversing; (c) a trolley driving means for traversing the trolley; and (d) a traverse and swivel drive for the hoist. (E) means for setting a target position in the traversing direction of the trolley, (f) current position detecting means for detecting a current position in the traversing direction of the trolley, and (g) traversing of the hanging device. (H) a turning deflection angle detecting means for detecting the turning deflection angle θ2 of the hanging implement; (i) a target position setting means, a current position detecting means, and a traversing deflection angle detection. In response to the output of the trolley, the trolley drive means, when the trolley is greater than a predetermined distance from the target position,
(C) traversing control means for performing traversing, performing trolley steadying control during traversing, and controlling trolley position when the trolley is less than the predetermined distance from a target position; and (j) target position setting means. In response to the outputs of the current position detecting means, the traverse deflection angle detecting means and the turning deflection angle detecting means, the anti-sway control is performed by the anti-sway driving means, and the trolley is at least a predetermined distance from the target position. When
A swing control means for performing the anti-rolling movement control when the trolley is less than the predetermined distance from the target position without performing the anti-rolling movement control; 5. The anti-sway drive means lifts a hanging tool on a trolley with a cable, and vertically moves the hanging tool with the cable.
5. The suspension device according to claim 2, wherein the lifting device is a hoisting unit that performs traverse displacement and turning displacement. 6. 6. A hoisting means, comprising two pairs of sheaves for a hanger, wherein each set of sheaves for a hanger is arranged at intervals in a direction perpendicular to the transverse direction. The pair of sheaves for hanging tool is a sheave for hanging tool provided on the hanging tool at intervals in the transverse direction, and two pairs of ropes corresponding to the sheave for hanging tool,
Each pair of ropes is wound around a sheave for lifting gear, and a pair of ropes of each set is provided with a rope supported at one end in the traversing direction, and a lifting is provided on the trolley and each of the ropes is wound. A moving sheave for a pair of moving sheaves corresponding to the ropes, wherein the moving sheaves for each of the ropes are respectively wound around the other end in the transverse direction of the ropes; 6. The apparatus according to claim 1, further comprising a drum for winding the other end, and a displacement driving means for driving each set of moving sheaves in directions opposite to each other. 7. The hoisting means is a pair of two sets of hanging sheaves, and each set of hanging sheaves is arranged at intervals in a direction perpendicular to the transverse direction. The pair of sheaves for each hanger is a sheave for hanger provided on the hanger at intervals in the transverse direction, and two pairs of ropes corresponding to the sheave for hanger,
Each pair of ropes is wound around a sheave for lifting gear, and a pair of ropes of each set is provided with a rope supported at one end in the traversing direction, and a lifting is provided on the trolley and each of the ropes is wound. A sheave for a trolley, a pair of moving bodies provided movably in the transverse direction, each moving body, a moving body on which a lifting sheave around which each set of ropes is wound is supported, The anti-vibration control device for a suspended load according to claim 1 or 5, further comprising: a drum that winds the other end of the cable, and a moving body driving unit that drives the moving body in a transverse direction.