JPS617190A - Controller for attitude of hanger for crane - 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 device for three-dimensionally tilting a lifting device such as a container crane.

[Background of the invention]

For example, in a container crane used for cargo handling at a port,
It is now necessary to perform lifting work by tilting the lifting device three-dimensionally depending on the inclination of the ship.

This three-dimensional tilting is called a trim in the longitudinal direction of the hanger, a tilt in the horizontal direction is called a wrist, and a horizontal rotation of the hanger is called a skew.

A device for performing such three-dimensional tilting is installed at the end of a girder on which a hoisting rope is stretched, and the hoisting rope is operated to tilt the hoist.

For example, what is shown in Japanese Patent Publication No. 46-15537 is
A moving platform that moves in a straight line by a first hydraulic cylinder is provided, two sheaves are installed on this moving platform, one longitudinal end of the hoist is hung, a hoisting rope is hung on one sheave, and the other end is hung. The rope is placed on the other sheave, and the second sheave is connected to the movable platform so as to operate each hoisting rope placed on each sheave. It is equipped with a tE3 hydraulic cylinder.

Trim is accomplished by operating the first hydraulic cylinder, and skew and list is accomplished by operating the second and third hydraulic cylinders. For example, extending or retracting both the second and third hydraulic cylinders will result in a list, and extending one and retracting the other will result in a skew.

Furthermore, in the device shown in Japanese Patent Application Laid-Open No. 58-63687, a moving table is provided to be moved by a feed screw mechanism, two tilting drums are installed on this moving table, and one diagonal of the hanging tool is hung. Two hoisting ropes are wound around one tilting drum, and two hoisting ropes hanging on the other diagonal are wound around the other tilting drum. A driving motor is attached to each tilting drum.

Moving the carriage will cause skew, rotating the two tilting drums in the same direction will cause wrist, and rotating the two tilting drums in opposite directions will cause trim.

Thus, three drives are required. Two of them are installed on mobile platforms. When performing one tilting operation using the drive device on the movable table, both of the two drive devices on the movable table must be operated in the same direction or in opposite directions. In this case, the two drive devices on the movable table must start operating at the same time and stop at the same time, and must also have the same amount of operation and speed. In other words, it is necessary that synchronization be performed. This is necessary to prevent the hanger from taking an unnatural posture during posture control. In other words, it is necessary for safety.

[Purpose of the invention]

An object of the present invention is to provide a device that can safely perform attitude control in a device that performs three-dimensional tilting.

[Summary of the invention]

The present invention is a one-action one-drive device.

That is, a first drive device provides a movable base so that it can move in a straight line, a second drive device provides a next base that can rotate with respect to the movable base, and a third drive device that allows it to rotate with respect to a swivel base. providing a first lever and a second lever;
The first lever and the second lever are provided to rotate in opposite directions, and ropes are fixed to both ends of each of the first lever and the second lever.

[Embodiments of the invention]

The present invention will be explained below with reference to an embodiment shown in FIGS. 1 to 3.

In FIG. 1, ropes 2a and 2b from a lifting device 1 installed at one end of a girder (not shown).

2c and 2d are the sheaves 5 of the trolley 4 running on the girder.
From one side of a, 5b, 5c, 5a, pass through the sheave 7al 7bl 7c, 7d installed in the square of the hanging tool 6,
Sheaves 5a and 5b of W trolley 4 again.

5c and 5d, and the sheave 9a at the end of the girder.
, 9b, 9c, and 9d to the attitude control device 10 of the present invention.
It is connected to. These configurations are well known.

The attitude control device 10 is shown in FIGS. 2 and 3. FIG.

Reference numeral 11 denotes a trim cylinder, which moves the movable platform on the girder 13 in a straight line. The movable platform moves on the rails using wheel pressure. A press roller necessary to prevent the moving table 11 from floating is provided.

Reference numeral 21 denotes a next stage for skewing, and it is mounted on the movable base so that it can rotate horizontally with a shaft installed at the base of the movable base. The phantom is a skew cylinder for rotating the swivel base 21, and is installed horizontally between the one end side of the moving base 11 and the one end side of the swivel base 4. A list driving device array is installed on the next table 21, and supporting rollers 5 are provided between the swivel table 21 and the moving table section below this.

On the axis n, a lever 31 is mounted on the seat (9) of the swivel base 21.
゜Gear [, spacer 33. The sprocket type and the lever are stacked in that order, and the seat is used to stop the removal.

The lever 31 and the gear n are fixed together and rotatably attached to the shaft n. The sprocket U and the lever are fixed together and rotatably attached to the shaft n.

The drive device for the wrist consists of a motor 41 with a brake and a reduction gear string. The geared output shaft of the reducer 42 meshes with the H gear n, and the sprocket above it is connected to the sprocket A via a chain.

The levers 31.35, which are centrally fixed to the axis n, are arranged crosswise when viewed from above. Ropes 2a and 2b are fixed to each end of the lever 31. A rope 2d is fixed to that end of the lever on which the rope 2a is fixed, and a rope 2C is fixed to the other end.

Ropes 2a, 2b, 2c from the center of lever 31.35.

The lengths of 2d to the fixed end are the same.

In such a configuration, when the trim cylinder 11 is operated, the movable platform moves and the hanging tool 6 performs a trim operation.

For example, when the rod of the cylinder 11 is extended, the rope 2a'
, 2b are pulled, so the sheaves 7a and 7b at the longitudinal ends of the hanging tool 6 are lifted.

Note that since the brake lever is in operation, the output shaft of the reducer 42 does not rotate, so the positions of the levers ai and as are maintained in the illustrated states.

When the cylinder swamp for skew is operated, the swivel base 21 moves to the axis n.
Rotate around the center. In this case, since the first brake is operating, the gear shifter and sprocket cannot rotate. The gear 32 and sprocket shaft connected to this cannot rotate. Therefore, the lever 31 and the pivot table 21 rotate together.

Therefore, the hanging tool 6 performs a skewing operation. For example, when the cylinder rod is extended, the swivel base 21 rotates clockwise, the lever 31 pulls the rope 2a, and the lever pulls the rope 2C, so the hanging tool 6 turns counterclockwise.

When the wrist motor 41 is operated, the levers 31.degree. rotate in opposite directions to perform a wrist motion. For example, when the output shaft hole is rotated clockwise, the lever 31 is rotated to the left by the gears 〇 and 32, tensioning the rope 2b, and the lever moves towards the sprocket, causing the chain 45. Rotate clockwise using sprocket A and pull rope 2C. Therefore, the right side of the hanging tool in the transverse direction is lifted.

It is also possible to simultaneously perform two operations in which two drive sources operate simultaneously.

As can be seen from the above description, since it is a -motion-driving device, the hanging tool does not take an unnatural posture during the tilting operation.

As a means for moving the moving table 12, a feed mechanism can be used.

As a means for rotating the swivel base 21, the movable base 12 may be provided with a gear or a rack in the rotational direction, and the swivel base 21 may be provided with a motor and a pinion.

As the means for rotating the lever, a one-gear type can be used instead of the Cheno type.

Two output shafts may be provided on the sides of the drive train, each with a worm gear at the end to enable the levers 31,35 to rotate in opposite directions. It is also conceivable to provide two other racks. In short, the levers 31 and 35 may be configured to rotate based on one driving source.

The use of the three drive devices changes depending on how the ropes 2a, 2b, 2C, 2d are connected to the levers 31, 35.

For example, as shown in FIG. 4, a rope 2 is attached to one end of the lever 31.
a, connect rope 2b to the other end, and lever 31
lever located on the one end side of the rope 2C on that one end side.
If the rope 2d is connected to the other end, a wrist motion is performed by the cylinder shaft, and a skew motion is performed by the drive device array.

As shown in Figure 5, the sheave father, rope 2 by 51.52
If b and 2d are reversed and connected, the cylinder 11 will cause a skew operation, the cylinder β will cause a trim operation, and the drive device will cause a wrist operation.

In the case where the trolley 4 has a hoisting device l, an attitude control device 1i10 is installed on the trolley 4.

〔Effect of the invention〕

As described above, according to the present invention, one operation can be performed with one drive device, so the hanging tool does not take an unnatural posture during the operation (it can safely change its posture, and Maintenance work can also be easily performed.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the arrangement of ropes, FIG. 2 is a plan view of a hanging device attitude control device according to an embodiment of the present invention, and FIG. 3 is a perspective view showing the arrangement of ropes.
FIG. 4 is a schematic plan view of another embodiment of the present invention showing the connection relationship between the attitude control device and the rope, and FIG. 5 is the present invention showing the connection relationship between the attitude control device and the rope. FIG. 3 is a schematic plan view of another embodiment of the invention. 1...Hoisting device, 2a, 2bl 2C, 2d
...Hoisting opening, -pu, 4...Trolley, 6...Hanging tool, 10...Opening position control device, 11
...Cylinder, Minoru...Movement table, 15.
...Wheels, 21...Four swivel base, n...Curved axis, n...
・Central cylinder, control...drive device, chrysanthemum...1 seat,
31...Lever, 32.43...Gear,
A, 44... Sprocket, A... Lever, Xu... Brake, 41... Motor, Figure 1, Figure 2, Figure 3 - 1''1' Figure 4b De'2 fs diagram

Claims (1)

[Claims] 1. A movable base is provided so as to be movable in a straight line by a first drive device, a swivel base is provided so as to be rotatable relative to the movable base by a second drive device, and a swivel base is provided so as to be rotatable relative to the swivel base by a third drive device. A first lever and a second lever are provided, the first lever and the second lever are provided to rotate in opposite directions, and a rope is fixed to both ends of each of the first lever and the second lever. An attitude control device for a crane hoist, which is characterized by: