WO1999040018A1 - Grue et procede anti-balancement - Google Patents

Grue et procede anti-balancement Download PDF

Info

Publication number
WO1999040018A1
WO1999040018A1 PCT/JP1998/000503 JP9800503W WO9940018A1 WO 1999040018 A1 WO1999040018 A1 WO 1999040018A1 JP 9800503 W JP9800503 W JP 9800503W WO 9940018 A1 WO9940018 A1 WO 9940018A1
Authority
WO
WIPO (PCT)
Prior art keywords
trolley
crane
suspension
interval
suspension interval
Prior art date
Application number
PCT/JP1998/000503
Other languages
English (en)
Japanese (ja)
Inventor
Ichirou Nakajima
Yoshiaki Miyanaga
Kazuhiro Makino
Munenori Kawamura
Original Assignee
Hitachi, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi, Ltd. filed Critical Hitachi, Ltd.
Priority to PCT/JP1998/000503 priority Critical patent/WO1999040018A1/fr
Publication of WO1999040018A1 publication Critical patent/WO1999040018A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Definitions

  • the present invention relates to a steady rest of a hanging tool suspended from a trolley with a rope.
  • the trolley travel is accelerated or decelerated by detecting the deflection angle, etc., to perform the steady rest.
  • the distance between the hanging points of the hangers from the trolley is freely changeable. During traveling, the interval between the suspension points is increased to suppress the swing of the suspension, and the interval is reduced when the suspension is lowered.
  • a damping device is connected to the end of the rope of the hanging device to perform steady rest. Disclosure of the invention
  • An object of the present invention is to make it possible to suppress swinging of a hanging tool in a short time with a simple configuration.
  • the trolley decelerates and then controls the steadying of the suspension to accelerate.
  • FIG. 1 is a pattern diagram of steady rest control according to one embodiment of the present invention.
  • FIG. 2 is a configuration diagram of a control device according to one embodiment of the present invention.
  • FIG. 3 is a plan view of the damping device according to one embodiment of the present invention.
  • Figure 4 is a side view of the container crane.
  • Fig. 5 is a layout diagram of ropes for hanging equipment of a container crane. BEST MODE FOR CARRYING OUT THE INVENTION
  • the trolley 20 runs on the girder 13 and the boom 15 supported by the four legs 11.
  • the traveling of the trolley 20 is performed by a winch installed in the machine room 19 or a traveling device installed in the trolley 20.
  • the traveling device has an electric motor and the like.
  • the lifting and lowering of the suspenders 21 suspended from the trolley 20 is performed by a ⁇ inch installed in the machine room 19 or a winch installed in the trolley 20.
  • FIG. 5 shows the arrangement of the ropes for lifting and lowering the suspenders 21.
  • the winch is installed in the machine room 19.
  • the four ropes 3 2a, 3 2b, 3 2c, 3 2d wound around the winch drum 31 of the machine room 19 are the sheaves 3 3a, 3 3b, at the end of the girder 13.
  • trolley 20 sheaves 3 4a, 3 4b, 3 4c, 3 4d one sheave, hanging device 2 1 sheave 3 5a, 3 5b, 3 5c, 35d, trolley 20 sheaves 34a, 34b, 3 4c and 34d, respectively, the other end of the boom 15 and the sheave 36b, 36b, 36c and 36d at the tip of the boom 15 Connected to device 40.
  • the sheaves 34a, 34b, sheave 34c, and sheave 34d of the trolley 20 are on the respective carts.
  • the distance between the carriage of sheave 34a and the carriage of sheave 34b is variable.
  • the distance between the sheave 34 d and the sheave 34 c is variable.
  • Sheaves 3 4a and 3 4d move together.
  • Sheaves 3 4 b and 3 4 c move together.
  • the distance between the sheaves 34a, 34d and the sheaves 34b, 34c in the traveling direction of the trolley 20 (bogie) is called the suspension point distance.
  • the damping device 40 will be described with reference to FIG.
  • the cylinders 43a and 3b are rotatably connected to each end of the lever 42 rotating about the pin 41.
  • a rope 31a hanging one end of the hanging member 21 and a rope 31d hanging the other end are connected.
  • the rope 3la and the rope 31d face each other.
  • a rope 31b hanging one end of the hanging member 21 and a rope 31c hanging the other end are connected.
  • the rope 31b and the rope 31c face each other.
  • a passage 45 connects the chamber on the rod side of the piston 'cylinder unit 43a and the chamber on the opposite side of the piston' cylinder unit 43b.
  • a passage 46 connects the chamber on the opposite side of the piston / cylinder device 43a to the rod side of the piston / cylinder device 43b.
  • the passage 45 and the passage 46 are connected by a passage 47.
  • a proportional valve 48 and a solenoid valve 49 are installed in the passage 47.
  • the proportional valve 48 and the solenoid valve 49 are in series.
  • the solenoid valve 49 has an A position connecting port a and port b, port c and port d, and a B position connecting port a and port b and port c and port d.
  • a passage 47 b connecting the port a and the port b and a passage 47 c connecting the port c and the port d are provided in parallel with the solenoid valve 49, respectively.
  • a control device 50 includes a command device 51 for driving and lifting and lowering operated by a driver, and a height detector 5 for a hanging device 21 for obtaining the length of a pendulum (a hanging device 21).
  • a command device 51 for driving and lifting and lowering operated by a driver
  • a height detector 5 for a hanging device 21 for obtaining the length of a pendulum (a hanging device 21).
  • Load weight detector 53 Trolley 20 Travel speed detector 54, Travel position detector 55, Hanging device consisting of a camera, etc.2 1 Swing angle detector 56, Container position Enter the value of the input device, and enter the value of the input unit.
  • the running of the electric steady rest control starts.
  • the running motor 61 is controlled to perform the decelerating running of the trolley 20 in accordance with the swing timing of the hanging member 21, and then the accelerated running is performed.
  • the deceleration and acceleration are performed by detecting the deflection angle by the detector 56 and until the deflection amount becomes a deflection amount that does not cause any practical problem.
  • This control is known. Since the hanger 21 is substantially in the state of a simple pendulum, the control is simplified and the swing can be easily removed.
  • the electric steady rest control is stopped, the trolley 20 is decelerated, and the motor 63 of the sheaves 34a, 34b, 34c, 34d is driven, and the suspension point is suspended.
  • the ropes 3 1a, 3 1b, 3 1c, and 3 Id between the trolley 20 and the hanger 21 are inclined and V-shaped when viewed from a horizontal direction orthogonal to the traveling direction of the trolley 20. become.
  • the hanging device 21 tries to run, but the rising angle of the ropes 31a, 31b, 31c, 31d causes the hanging device 21 to run out. It becomes.
  • the solenoid valve 49 When the traveling speed of the trolley 20 becomes equal to or lower than a predetermined value, the solenoid valve 49 is energized, and the damping device 40 is operated.
  • the lever 42 When run-out occurs in the hanger 21, the lever 42 is rotated.
  • the piston's cylinder devices 43a and 43b are extended and retracted, and the proportional valve 48 attenuates the runout energy.
  • the opening of the proportional valve 48 is inversely proportional to the deflection angle caused by the detector 56. The larger the deflection angle, the smaller the opening of the proportional valve 48 and the greater the resistance.
  • the deflection angle in this case is the amplitude.
  • the amplitude As the amplitude, the amplitude at the above-mentioned predetermined value of the running speed for supplying current to the solenoid valve is used. After that, when one cycle has elapsed, the amplitude after one cycle has elapsed is used.
  • the solenoid valve 49 is closed after the predetermined time has elapsed.
  • the motor 63 is driven to reduce the interval between the hanging points of the trolley 20, and the hanging tool 21 is lowered.
  • the electric steady rest control that is, acceleration / deceleration is not performed during the acceleration traveling section. If acceleration / deceleration is performed during the acceleration traveling section, as is well known, the time of the acceleration traveling section eventually increases. In addition, since the acceleration / deceleration during the acceleration traveling section is large, fatigue of the driver on the trolley 20 is promoted. However, if the vehicle is decelerated and accelerated during a constant-speed driving section, the acceleration / deceleration can be reduced, so that driver fatigue can be reduced and time can be reduced. In addition, steady rest control can be easily performed.
  • the constant speed section is between the accelerated section where acceleration is performed and the decelerated section where deceleration is performed. Even in the constant speed section, deceleration and acceleration are performed by steady rest control.
  • the deceleration running section is from deceleration start to stop.
  • the vibration is taken by the damping device 40, which is a mechanical steady rest, so that the vibration can be taken in a short time. Since the run-out caused by the acceleration traveling section is taken in the constant-speed traveling section, the energy attenuated by the damping device 40 is small, so that the piston / cylinder device of the damping device 40 can be downsized. .
  • the damping device 40 has a proportional valve, and responds to a run-out amount proportional to the weight of the load. Since the opening is determined, the size of the device can be reduced.
  • the time from the start of traveling of the trolley 20 to the time when the residual runout amount becomes a predetermined value can be reduced.
  • the interval between the suspension points is increased at the same time as the start of the decelerating running, but may be started from the end of the constant speed running section. Further, during the high-speed traveling section, the interval between the suspension points may be increased in a state where the amount of shake is reduced to a predetermined amount or less by the electric steady rest control. It is considered that the swing can be more easily controlled by the wind than the electric steady rest.
  • the electromagnetic valve 49 of the damping device 40 may be opened when the interval between the suspension points starts to increase, or may be opened when the deceleration traveling section starts.
  • the anti-sway control is performed by accelerating and decelerating in the constant-speed traveling section, and the interval between the suspension points is increased in the decelerating traveling section in a state in which the swing amount of the hanging tool is equal to or less than the predetermined value. Therefore, the swing of the hanging tool can be suppressed in a short time with a simple configuration.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un arrangement simple permettant de freiner le balancement d'une moufle de levage en un intervalle de temps court. On fait fonctionner de manière accélérée un chariot (20), en maintenant une distance de levage réduite entre le chariot de la moufle (21) de levage. On active ensuite le système de freinage du balancement de la moufle (21) qui est décélérée puis accélérée par le chariot (20) au début d'une phase à vitesse constante. Au début de la phase de décélération, on augmente la distance de levage et on stoppe simultanément le système anti-balancement et on fait démarrer un dispositif (40) amortisseur relié aux cordages (31a à 31d) de suspension de la moufle (21). L'absence d'action anti-balancement pendant dans la phase d'accélération permet de réduire la fatigue du moteur et de gagner du temps, et l'action du dispositif (40) d'amortissement pendant la phase en décélération permet de freiner facilement le balancement par des moyens simples.
PCT/JP1998/000503 1998-02-06 1998-02-06 Grue et procede anti-balancement WO1999040018A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP1998/000503 WO1999040018A1 (fr) 1998-02-06 1998-02-06 Grue et procede anti-balancement

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP1998/000503 WO1999040018A1 (fr) 1998-02-06 1998-02-06 Grue et procede anti-balancement

Publications (1)

Publication Number Publication Date
WO1999040018A1 true WO1999040018A1 (fr) 1999-08-12

Family

ID=14207579

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1998/000503 WO1999040018A1 (fr) 1998-02-06 1998-02-06 Grue et procede anti-balancement

Country Status (1)

Country Link
WO (1) WO1999040018A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014157634A1 (fr) * 2013-03-28 2014-10-02 三井造船株式会社 Procédé pour commander l'oscillation d'une benne preneuse de grue à chariot à câble

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5245971B2 (fr) * 1972-12-28 1977-11-19
JPS52152058A (en) * 1976-06-12 1977-12-17 Hitachi Kiden Kogyo Ltd Cranes parallel operation method
JPS56155188A (en) * 1981-04-06 1981-12-01 Hitachi Kiden Kogyo Kk Parallel operating method for long body hanging crane
JPS582917B2 (ja) * 1974-12-06 1983-01-19 カワサキデンキコウギヨウ カブシキガイシヤ トロリウンテンセイギヨソウチ

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5245971B2 (fr) * 1972-12-28 1977-11-19
JPS582917B2 (ja) * 1974-12-06 1983-01-19 カワサキデンキコウギヨウ カブシキガイシヤ トロリウンテンセイギヨソウチ
JPS52152058A (en) * 1976-06-12 1977-12-17 Hitachi Kiden Kogyo Ltd Cranes parallel operation method
JPS56155188A (en) * 1981-04-06 1981-12-01 Hitachi Kiden Kogyo Kk Parallel operating method for long body hanging crane

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014157634A1 (fr) * 2013-03-28 2014-10-02 三井造船株式会社 Procédé pour commander l'oscillation d'une benne preneuse de grue à chariot à câble

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