JPH11292465A - Sway preventing device for suspension - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress the sway of a suspension such as a spreader, etc., in its turning direction. SOLUTION: The deviation of the gravity center position of a cargo work object due to wind influrnce and a cargo stowage condition, and the sway of the head block 7 in its turning direction caused the sudden acceleration/ deceleration of a trolley 6 are suppressed by actuating a displace mechanism 28 by a controller 33 to displace right and left sheave units 11 so as to follow the sway of the head block 7, based on the angular velocity of the head block 7 determined by an angular velocity detector 29, the turning angle of the head block 7 determined by a turning angle computing element 30, the positions of right and left sheave units 11 determined by a position detecter 1, and the displace velocity of the sheave units 11 determined by a velocity computing unit 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hanging device for preventing a hanging member such as a spreader from swinging in a turning direction.

[0002]

2. Description of the Related Art FIG. 7 shows an example of a container crane. The container crane travels along a rail 2 laid on a quay 1 and has a substantially horizontal position above the traveling body 3. The girder 4 provided, a boom 5 pivotally supported by the girder 4 so as to be pivoted upward and rotatably, a trolley 6 traversing along the girder 4 and the boom 5, and a trolley 6 suspended from the trolley 6. The head block 7 can move up and down with respect to the trolley 6, and the spreader 9 is mounted on the head block 7 and can lock the container 8.

In the above-described container crane, each operation of moving the traveling body 3 with respect to the quay 1, traversing the trolley 6 with respect to the girder 4 and the boom 5, moving up and down the head block 7 with respect to the trolley 6, and locking the container 8 with the spreader 9 is performed. In combination, the unloading operation of the container 8 from the ship 10 to the quay 1 or the container 8 from the quay 1 to the ship 10
Loading work.

[0004]

However, in the conventional container crane, the trolley 6 cannot be moved due to the influence of the wind, the deviation of the center of gravity of the container 8 due to the state of loading the cargo, and the rapid acceleration / deceleration of the trolley 6. In some cases, the head block 7 and the spreader 9 hung in the swinging direction swing in the turning direction, making it difficult to unload or load the container 8.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a hanging device for preventing a hanging member such as a spreader from swinging in a turning direction.

[0006]

According to a first aspect of the present invention, there is provided a suspension device according to the present invention.
A sheave unit mounted on each of the left and right sides of the trolley so as to be able to reciprocate in the trolley traverse direction and pivotally supporting a lifting rope sheave around which a lifting device lifting rope is wound; and a left sheave unit or a right sheave unit. A displacement mechanism that can be selectively displaced toward one end of the trolley and transmits the displacement of one sheave unit to one end of the trolley to the other sheave unit as a displacement to the other end of the trolley. An angular velocity detector attached to a hanger suspended on the trolley via a hanger lifting rope and detecting an angular velocity of the hanger in the turning direction; and a trolley rotation angle based on a signal from the angular velocity detector. A required turning angle calculator, a position detector for detecting the position of the left and right sheave units, and a displacement speed of the sheave unit based on a signal from the position detector. A speed calculator, the angular velocity detector, the turning angle calculator includes the position detector, and a controller for operating the displacement mechanism based on a signal from the speed calculator.

[0007] Further, in the suspension device of the present invention, a gyroscope-type angular velocity detecting means is used as the angular velocity detector.

In any one of the first and second aspects of the present invention, when a swing in the turning direction occurs in the hanging tool, an angular velocity detector, a turning angle calculator,
Based on the signals from the position detector and the speed calculator, the controller activates the displacement mechanism and displaces the right and left sheave units so as to follow the swing of the lifting device, thereby suppressing the deflection of the lifting device. .

[0009]

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

FIGS. 1 to 6 show an embodiment of the suspension device for preventing the movement of the hanging device according to the present invention. In the drawing, the same reference numerals as in FIG. 7 denote the same components.

The suspension device for preventing the suspension of a hoist includes a sheave unit 11, a displacement mechanism 28, an angular velocity detector 29, a turning angle calculator 30, a position detector 31, a speed calculator 32, and a controller 33.
It has.

The sheave unit 11 is provided with wheels 13 that can roll on a pair of rails 12 laid in the transverse direction of the trolley 6 on each of the left and right sides (C and D sides shown in FIG. 2) of the upper surface of the trolley 6. Two moving frames 14, 15 provided at four corners
And a lifting rope sheave 1 on which the lifting equipment lifting rope 17 is wound around each of the movable frames 14 and 15.
8 is pivotally supported by a shaft 16 extending substantially horizontally in a direction perpendicular to the traversing direction of the trolley 6.

The displacement mechanism 28 includes a moving rope sheave 1.
9, a balancing rope sheave 21, a drum 23, moving ropes 24 and 25, and a balancing rope 27.

The moving rope sheave 19 comprises a moving rope 2
The trolley 6 is turned from one side to the other end of the trolley 6 at one end (side B in FIG. 2). .

The sheave 21 for the balancing rope is composed of the balancing rope 2
7 for turning the trolley 6 from both sides to the other end. The left and right sides of the upper surface of the other end (the A side in FIG. 2) of the trolley 6
It is pivotally supported via a vertically extending shaft 22.

The drum 23 is disposed at a substantially central portion in the width direction of one end (the side B in FIG. 2) of the trolley 6 so as to be rotatable about an axis extending in the transverse direction of the trolley 6. Driven.

The drum 23 has a left moving rope 24
When the drum 23 rotates in the direction in which the left moving rope 24 is fed out, the right moving rope 25 is wound around the drum 23,
When the drum 23 rotates in the direction in which the right-hand moving rope 25 is fed, the left-hand moving rope 24 is wound around the drum 23.

The left moving rope 24 is wound around a moving rope sheave 19 arranged on the left side (C side in FIG. 2) of the trolley 6 and turned along the left side of the trolley 6, and its extension end is on the left side of the trolley 6. Of the moving frame 15 of the sheave unit 11 arranged at the side (B side in FIG. 2).

The right moving rope 25 is wound around a moving rope sheave 19 arranged on the right side (D side in FIG. 2) of the trolley 6 and turned along the right side of the trolley 6, and its extending end is on the right side of the trolley 6. Of the moving frame 15 of the sheave unit 11 arranged at the side (B side in FIG. 2).

Further, the other ends of the movable frames 14, 14 at the other end of the trolley 6 of each sheave unit 11 are connected via a balancing rope 27 and an intermediate portion of the balancing rope 27. Are wound around the respective sheaves 21 and 21 for the balancing ropes arranged on the left and right sides of the other end of the trolley 6 (A side in FIG. 2).

In the displacement mechanism 28 described above, when the drum 23 rotates in the forward direction, the left moving rope 24
And the right moving rope 25 is unreeled from the drum 23, and the left sheave unit 11 is displaced toward a portion near one end of the trolley 6, and the left sheave unit 1 is displaced.
1 is transmitted to the sheave unit 11 on the right side via the balancing rope 27, and the sheave unit 11 on the right side is displaced toward the portion near the other end of the trolley 6.

When the drum 23 rotates in the opposite direction,
The right moving rope 25 is wound on the drum 23 and the left moving rope 24 is unreeled from the drum 23, and the right sheave unit 11 is displaced toward one end of the trolley 6, and the right sheave unit 11 is displaced. It is transmitted to the sheave unit 11 on the left side via the balancing rope 27, and the sheave unit 11 on the left side is displaced toward the portion near the other end of the trolley 6.

An angular velocity detector (gyro-type angular velocity detecting means) 29 is mounted at the center of the upper surface of the head block 7 and is used to rotate the head block 7 suspended by the lifting / lowering rope 17 when swinging in the turning direction. Is output in accordance with the angular velocity signal 29s.

The turning angle calculator (integrating calculator) 30 integrates the angular velocity signal 29s from the angular velocity detector 29 and outputs a turning angle signal 30s corresponding to the turning angle of the head block 7. .

Position detector (rotary encoder) 31
Detects the rotation angle of the drum 23 and outputs a position signal 31 corresponding to the position of the left and right sheave units 11 with respect to the trolley 6.
s is output.

The speed calculator (differential calculator) 32 differentiates the position signal 31s from the position detector 31 and outputs a speed signal 32s corresponding to the displacement speed of the sheave unit 11.

The controller 33 controls the inverter unit 34 by the regulator control based on the signals 29 s, 30 s, 31 s, and 32 s from the angular velocity detector 29, the turning angle calculator 30, the position detector 31, and the speed calculator 32. A signal 33s is output, and the sheave units 11 on the left and right sides are moved according to the swing of the head block 7 in the turning direction.
A drive signal 34 s for displacing 11 is output from the inverter unit 34 to the geared motor 26.

The turning angle calculator 30 and the speed calculator 3
2. The controller 33 and the inverter unit 34
It is installed in the operation room 35 attached to.

1 to 6, when the head block 7 swings in the turning direction,
Angular velocity detector 29, turning angle calculator 30, position detector 3
1 and the respective signals 29s from the speed calculator 32,
Based on 30s, 31s, and 32s, a control signal 33s is output from the controller 33 to the inverter unit 34, and a drive signal 34 for displacing the left and right sheave units 11, 11 is provided.
s from the inverter unit 34 to the geared motor 26
Is output to

Therefore, when the head block 7 starts to swing clockwise as viewed from above, the guard motor 26 operates according to the control signal 33s output from the controller 33 to the inverter unit 34, and the turning angle of the head block 7 The sheave unit 11 on the left side (C side in FIG. 2) is displaced toward a portion closer to one end (B side in FIG. 2) of the trolley 6, and the sheave unit on the right side (D side in FIG. 2). 11 is displaced toward a portion closer to the other end (A side in FIG. 2) of the trolley 6, whereby the clockwise swing of the head block 7 is suppressed.

When the head block 7 starts to swing counterclockwise when viewed from above, the guard motor 26 operates according to the control signal 33s output from the controller 33 to the inverter unit 34, and the head block 7 turns. The sheave unit 11 on the right side (D side in FIG. 2) is displaced toward a portion closer to one end (B side in FIG. 2) of the trolley 6 so as to follow the corner, and the sheave unit on the left side (D side in FIG. 2). The unit 11 is displaced toward a portion closer to the other end (the A side in FIG. 2) of the trolley 6, and thereby, the counterclockwise swing of the head block 7 is suppressed.

As described above, in the lifting device of the present invention shown in FIGS. 1 to 6, the angular velocity detector 29, the turning angle calculator 30,
The controller 33 operates the geared motor 26 via the inverter unit 34 based on the respective signals 29 s, 30 s, 31 s, 32 s from the position detector 31 and the speed calculator 32. The swing of the head block 7 and the spreader 9 (see FIG. 7) in the turning direction caused by the bias of the center of gravity of the container 8 (see FIG. 7) and the rapid acceleration / deceleration of the trolley 6 due to the state is easily suppressed. The efficiency of unloading and loading operations of the container 8 can be improved.

It should be noted that the suspension device of the present invention is not limited to only the above-described embodiment, and it is needless to say that various changes can be made without departing from the gist of the present invention.

[0034]

As described above, according to the suspension device of the present invention, based on the signals from the angular velocity detector, the turning angle calculator, the position detector, and the speed calculator,
The controller activates the displacement mechanism and displaces the right and left sheave units so as to follow the swing of the lifting gear. An excellent effect that the swing of the hanging tool in the turning direction due to acceleration or deceleration can be easily suppressed can be obtained.

[Brief description of the drawings]

FIG. 1 is a side view of a trolley showing an example of an embodiment of a hanging device of the present invention.

FIG. 2 is a plan view of the trolley related to FIG. 1;

FIG. 3 is a front view of the trolley related to FIG. 1;

FIG. 4 is a plan view of a sheave unit related to FIG. 1;

FIG. 5 is a side view of the sheave unit related to FIG. 1;

FIG. 6 is a view taken in the direction of arrows VI-VI in FIG. 5;

FIG. 7 is a side view of an example of a container crane.

[Explanation of symbols]

 Reference Signs List 6 trolley 7 head block (hanging equipment) 11 sheave unit 17 lifting equipment lifting rope 18 lifting rope sheave 28 displacement mechanism 29 angular velocity detector 29s angular velocity signal 30 turning angle calculator 30s turning angle signal 31 position detector 31s position signal 32 speed Arithmetic unit 32s Speed signal 33 Controller

Claims (2)

[Claims] 1. A sheave unit for pivotally supporting a lifting rope sheave, which is attached to each of the left and right sides of the trolley so as to be able to reciprocate in the trolley traverse direction and around which a lifting device lifting rope is wound, and a left sheave unit. Alternatively, one of the right sheave units can be selectively displaced toward one end of the trolley, and the displacement of one sheave unit toward one end of the trolley is regarded as the displacement of the other sheave unit toward the other end of the trolley. A displacement mechanism for transmitting, an angular velocity detector attached to a hanger suspended on the trolley via a hanger lifting rope, and detecting an angular velocity of the hanger in a turning direction,
A turning angle calculator for obtaining a turning angle of the trolley based on a signal from the angular velocity detector, a position detector for detecting the positions of the right and left sheave units, and a displacement speed of the sheave unit based on a signal from the position detector. A swing calculator, comprising: a speed calculator to be obtained; an angular speed detector, a turning angle calculator, a position detector, and a controller that operates the displacement mechanism based on signals from the speed calculator. Stop device. 2. The suspension device according to claim 1, wherein a gyro-type angular velocity detecting means is used as the angular velocity detector.