JPS60188294A - Controller for follow-up of carrier following up moving body - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Field of Application of the Invention] The present invention relates to a drive control device for a carrier that is pushed and pulled while supporting a connecting member hooked between a plurality of points in a relative movement relationship. .

This type of carrier is used, for example, as part of a power supply device in a crane.

[Background of the invention]

As shown in FIGS. 1 and 2, the crane runs on wheels 5 with a trolley 3 supporting an operator's cab 4 on a main girder 1 and an elevating girder 2 forming the main body. Supplying electric power from the main body to the motor 6 provided on the trolley 3 to rotate the wheels 5, and supplying driving signals from the driver's cab 4 to the hoisting device 8 and the elevating device 7 on the main body side. A covered electric wire 9 is passed between the driver's cab 4 and the rear end of the main girder 1, and the hooking is carried out via this covered electric wire 9.

The crane shown in Figures 1 and 2 is used to transport cargo from a cargo ship
In order to unload cargo 1 to a truck, the hoist 13 is raised and lowered using the hoist vR8, and the trolley 3 is run to take a cargo handling route as shown by arrow B. In addition, during non-cargo handling, when the cargo ship 10 berths, it is necessary to take precautions to avoid hitting the mast, etc. of the cargo ship 10.
The elevating girder 2 is moved upward around the pin 14 by the elevating device 7.

In this way, the trolley 3 travels and moves during cargo handling. Furthermore, when elevating the elevating girder 2, the trolley 3
It is necessary to move the trolley 3 backward toward the main girder 1 side, which accompanies the traveling movement of the trolley 3.

For this reason, the covered electric wire 9 is required to have a following movement function as the trolley 3 moves.

In order to achieve the following movement function of the covered electric wire 9, a curtain cable type power supply means as shown in FIGS. 1 and 2 is conventionally employed. This power supply means connects each digit 1 and 2 to each digit 1.
A guide rail 15 is provided parallel to the guide rail 15, and a large number of carriers 16, 17, 18. 19.20
．． 21.22. 23 and 24 are provided, and each carrier 16~
24 support the covered electric wires 9 at approximately equal intervals.

In this type of power feeding means, when the trolley 3 travels, the carriers 16 to 24 are also pushed and pulled by the trolley 3 and travel on the guide rail 15. If the traction force is small, a traction force may be applied to the covered wire 9 to cause the carrier 16 to follow the covered wire 9, but in general, in order to prevent damage to the covered wire 9, the steps shown in FIG. Each of the carriers 15 to 23 is connected by a wire rope 5, and traction force is transmitted to the wire rope 5. The length of the wire rope b is set to be shorter than the hanging interval of the covered electric wire 9 so that the traction force is not transferred to the covered electric wire 9.

Conventionally, the following running conditions of the carriers 16 to 24 are shown in Fig. 3.
As shown in FIG. That is, when the trolley 3 travels in the direction of arrow C shown in FIG. 3, the trolley 3 is in a state of pushing each of the carriers 16 to 24.

Further, when the trolley 3 travels in the direction indicated by the arrow in FIG. 4, the trolley 3 is in a state of pulling each of the carriers 16 to 24.

If the traveling speed and acceleration/deceleration of the trolley 3 are increased in order to improve the cargo handling efficiency of the crane, in the case of Fig. 3, mt*force h(+
h < tr jl -4-1a-Rear 16~Kuyami ni Oshi 1 also has the drawback that the attack force is thick and rumbling. Also, the fourth
In the case shown in the figure, the nearly stationary carrier is rapidly pulled with a strong force, which causes strain on the wire rope 3, and causes the wire rope 5, which has been subjected to a strong tensile force, to fall down together with the covered wire 9. However, there is a disadvantage that a contact accident between the wire rope and the guide rail 15 is likely to occur. Furthermore, due to the inertial running of the carriers 16 to 24, many carriers 16 to 24 collide with the trolley one after another, and even the carriers are on the same dirt floor! This has the drawback of generating a large rear-end collision force. These drawbacks become noticeable when the relative speed difference between the trolley 3 and the carrier increases.

All of these defects cause damage to the carriers 16 to 24 and the wire rope b, derailment of the carriers 16 to 24, and damage to the covered wire 9.

In order to eliminate this cause, conventionally, only a part of the carrier located in the middle part is made of a sliding type, and this sliding friction resistance weakens the inertial running force of the carrier and buffers the rear-end collision force. It is publicly known in the publication No.

However, according to this known technique, it is expected that the collision between the carriers due to the inertial running of the carriers that occurs immediately after the trolley 3 stops running can be expected to be reduced, but the trolley 3 suddenly starts in the direction in which the wire rope 5 is stretched. When this happens, the running frictional resistance of the sliding type carrier in the intermediate portion acts to stop the carrier, which has the opposite effect of causing a large relative velocity difference, which has the disadvantage of generating an impact tension in the wire rope 5. ing. Also, press the carrier to remove the covered wire 9.
Even when the sliding type carrier is allowed to slacken, it has the disadvantage that the rear-end impact force is large because the sliding type carrier is dragged by the movement due to running frictional resistance.

Furthermore, it also has the disadvantage that maintenance of the sliding parts is troublesome.

(5@Akira's purpose) The main purpose of the present invention is to provide a smooth follow-up motion to a carrier that supports a member passed between points having a relative movement relationship.

[Summary of the invention]

The present invention provides a first sheave and a second sheave at a rear end and a front end of a moving range of a movable body, respectively, a rope winding drum is provided on the front movable body, and the rope is wound by the movement of the movable body. The take-up drum is rotated at a predetermined reduction ratio, one end of the rope wound around the rope take-up drum is hooked onto the first sheave and connected to the carrier, and the other end of the rope is connected to the second sheave. The sheave is connected to the carrier through a hook, so that the carrier along the way follows the moving body at a predetermined reduction ratio.

[Embodiments of the invention]

The present invention will be explained below with reference to an embodiment shown in FIGS. 5 and 6.

In FIGS. 5 and 6, carriers 16 to 24 run on toy rails 15 provided on the main girder 1 and the elevation girder 2 while being connected by wire ropes 5, and each carrier 16 to 24 The point of supporting the covered electric wire 9 between the rear end and the driver's cab 4 is the same as in the conventional case.

Rope sheep 43.4 at the end of the main girder 1 and the end of the elevation girder 2
4 is installed. The trolley 3 is provided with a rope winding drum and a gear reducer 41.

The gear reducer 41 is driven by the shaft of the wheel 5 of the trolley 3 and rotates the rope winding drum 40. One end of the wire rope 42 wound around the winding drum 40 is reversed by a rope sheep 43 and fixed to an intermediate carrier. The other end of the wire rope 42 is inverted with a rope sheep and fixed to the carrier. When the trolley 3 is located at the tip of the elevating girder 2, the carrier is located at 1/2 of the travel path. For this reason, the payout speed of the wire rope 42, which is determined by the reduction ratio of the gear reducer 41 and the diameter of the rope winding door, is set to be 1/2 of the running speed of the trolley 3.

In such a configuration, when the trolley 3 runs, the rope winding drum pulls the wire rope 42 along the length of the trolley 3.
The trolley 3 is wound up at a speed of 2 and fed out to the opposite side, that is, to the opposite side to the running direction of the trolley 3. Therefore, the carrier addition to the middle 1st river follows the trolley 3 at 1/2 the speed of the trolley 3.

At this time, intermediate carriers are added by pushing each carrier 16 to 19 or 21 to 24 in front in the following direction to 411.
W+, d l, kh 1 famous person's kuf, 1179
1-9A Fus1. s If'lF+~19 is towed and accelerated.

Since both the pushing speed and the pulling speed are half the speed of the trolley 3, the pulling and rear-end impact forces do not cause a large noise.

Moreover, from the time when the trolley 3 starts moving, each carrier 16
Since the carriers 16 to 24 begin to follow each other, the relative speed difference between the trolley 3 and each carrier 16 to 24 is small, and no large impact tensile force is generated on the wire rope 5 or the like. Further, since the intermediate carrier addition is linked to the trolley 6 for both tracking and stopping, free running due to inertia does not occur. Therefore, collision accidents do not occur between the carrier groups 16 to 19 and the carrier groups 21 to 2 located before and after the intermediate carrier addition. Therefore, a rear-end collision phenomenon that occurs when the trolley 3 stops is prevented midway.

Note that your carrier group collides with the intermediate carrier addition.

If it is desired to reduce the total amount of rear-end collision force, it is sufficient to cause another carrier to follow the trolley 3 using the speed reduction means of the above embodiment having a predetermined speed reduction ratio.

Instead of the gear reducer 41 as the reduction means, a Cheno-Prokevt type power transmission means may be used, and the reduction ratio may be set based on the sprocket ratio.

The above embodiment has been described as an example in which electric power energy is transmitted through the covered electric wire 9. However, when it is desired to transmit hydraulic energy, the covered electric wire 9 is connected to the hydraulic hose, and when it is desired to transmit pneumatic energy, the covered electric wire 9 is connected to the hydraulic hose. It is carried out by changing to a pressure hose.

〔Effect of the invention〕

As described above, the present invention causes the intermediate carrier to follow the moving body at a reduction ratio corresponding to its position, thereby reducing the relative speed difference between the moving body and the carrier, which prevents the traction impact force from becoming excessive. It is possible to prevent this from occurring, and to obtain accurate follow-up motion of the carrier.

[Brief explanation of the drawing]

Fig. 1 is an overall view of a container crane, Fig. 2 is a view taken along the arrow F-F in Fig. 1, Figs. 3 and 4 are carrier tracking state diagrams of conventional equipment, and Fig. 5 is an embodiment of the present invention. FIG. 6 is an enlarged side view of the main part of the trolley shown in FIG. 5. l...Main girder, 2...Elevation technique, 3...
Trolley, 4... Driver's cab, 5... Wheels, 6
... Motor, 9 ... Covered electric wire, 15 ・
・Guide rail, +6.17. 18°19, 20.2
1. Z2. 23.24...Carrier, 40.
... Rope winding drum, 41 ... Gear reducer,
43.44...Rope Sheep, 42...Wire Rogeo 1, 2, arA, 5

Claims (1)

[Claims] ] A flexible connecting member is passed between the main body and a movable body that is in a moving relationship relative to the main body, a portion of the connecting member is supported by a carrier in the middle of the passing, and the carrier is In the interceptor H, which is mounted on a guide extending in the moving direction of the moving body, a first sheave and a second sheave are provided at the rear end and the leading end of the moving range of the moving body, respectively,
The movable body is provided with a rope winding drum, and the rope is provided with a power transmission device that interlocks the winding drum and the moving drive unit of the movable body, and the rope winding device is provided with a power transmission device that interlocks the winding drum and the moving drive unit of the movable body. The rope operation speed of the drum is determined by a carrier connected to a rope, which will be described later. D-following control of a carrier that follows a moving object, characterized in that the second shifter is connected to the other end of the rope n11 and has a carry of 1 ^ "corresponding to the reduction ratio". Device.