WO2014157634A1 - Procédé pour commander l'oscillation d'une benne preneuse de grue à chariot à câble - Google Patents

Procédé pour commander l'oscillation d'une benne preneuse de grue à chariot à câble Download PDF

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Publication number
WO2014157634A1
WO2014157634A1 PCT/JP2014/059182 JP2014059182W WO2014157634A1 WO 2014157634 A1 WO2014157634 A1 WO 2014157634A1 JP 2014059182 W JP2014059182 W JP 2014059182W WO 2014157634 A1 WO2014157634 A1 WO 2014157634A1
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WO
WIPO (PCT)
Prior art keywords
bucket
trolley
rope
hoisting
winding
Prior art date
Application number
PCT/JP2014/059182
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English (en)
Japanese (ja)
Inventor
秀和 原田
渡邉　智
昌博 松浦
Original Assignee
三井造船株式会社
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 三井造船株式会社 filed Critical 三井造船株式会社
Priority to CN201480018335.4A priority Critical patent/CN105050932B/zh
Publication of WO2014157634A1 publication Critical patent/WO2014157634A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/12—Grabs actuated by two or more ropes
    • B66C3/125—Devices for control
    • 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 method of controlling runout in the traveling direction of a grab bucket in a rope trolley type crane.
  • bucket transfer operation When loading a loose object near the base of the hold by a rope trolley type crane (hereinafter referred to as “unloader”) that unloads loose objects such as ore and coal loaded on a loose carrier, the direction of the unloader travel direction
  • a so-called bucket transfer operation may be performed by swinging down the grab bucket (hereinafter, referred to as "bucket").
  • the unloader when the bucket swings in the traveling direction of the unloader, the unloader is moved in the direction in which the bucket swings to shake the bucket, but the unloader is heavy (for example, 800 to 2000 tons), Since the traveling speed is low (for example, about 30 m / min), it is difficult to reciprocate the bucket in small increments in the swinging direction, the swing of the bucket does not stop easily, and it takes extra time to stop .
  • Patent Document 1 a four-drum rope trolley type crane comprising two hoisting drums and two opening / closing drums is known (see, for example, Patent Document 1)
  • the present invention relates to the swing of the bucket in the transverse direction. It is an invention for performing a stop, and it does not disclose about the stop of the run direction of a bucket.
  • An object of the present invention is to provide a bucket runout control method of a rope trolley type crane that can shorten the loading time by quickly damping the runout of the bucket in the traveling direction.
  • the trolley traverses the girder and boom provided on the crane main body consisting of the sea leg and the land leg, and the left and right hoisting ropes drawn from the first and second hoisting drums lower the trolley
  • the rope trolley type crane which lifts and lowers the bucket and opens and closes the bucket under the trolley by the right and left opening and closing ropes drawn from the first and second opening and closing drums, the traveling direction when the bucket shakes in the traveling direction It is characterized in that the winding rope on the front side is lowered and the winding rope on the rear side in the traveling direction is wound to damp the swing of the bucket.
  • the trolley traverses over the girder and boom provided on the crane main body consisting of the sea leg and the land leg, and the left and right hoisting ropes extended from the first and second hoisting drums.
  • the rope trolley type crane which lifts and lowers the bucket and opens and closes the bucket under the trolley by the right and left opening and closing ropes drawn from the first and second opening and closing drums, the traveling direction when the bucket shakes in the traveling direction
  • the winding ropes on the front side and the winding ropes on the rear side in the traveling direction are simultaneously wound to damp the swing of the bucket.
  • the trolley traverses the girder and boom provided on the crane body consisting of the sea leg and the land leg, and the left and right hoisting ropes drawn from the first and second hoisting drums lower the trolley
  • a rope trolley type crane that lifts and lowers the bucket and opens and closes the bucket below the trolley by the left and right open and close ropes drawn from the first and second open and close drums, when the bucket swings in the traveling direction
  • the swinging of the bucket is damped by simultaneously lowering the hoisting rope on the front side in the traveling direction and rolling up the hoisting rope on the rear side in the traveling direction in proportion to the swing angle ⁇ .
  • the winding rope on the front side in the traveling direction is pulled down and the winding rope on the rear side in the traveling direction is wound to damp the swing of the bucket. Shaking can be damped quickly and reliably, and cargo handling time can be shortened.
  • FIG. 1 is a side view of a rope trolley type crane according to the present invention.
  • FIG. 2 is a cross-sectional view of the same crane.
  • FIG. 3 is an enlarged front view of an essential part of FIG.
  • FIG. 4 is an explanatory view of the traversing movement of the trolley.
  • FIG. 5 is an explanatory view of lifting and closing motion of the bucket.
  • FIG. 6 is a block diagram showing a swing control system of a bucket.
  • FIG. 7 is an explanatory view for obtaining the swing angle of the bucket.
  • FIGS. 8 (a) and 8 (b) are explanatory views showing the operation method of the hoisting rope of the bucket.
  • a rope trolley type crane (hereinafter referred to as "unloader") 1 according to the present invention is provided with a girder 5 on the land side of a crane main body 4 consisting of sea legs 2 and land legs 3.
  • a boom 6 is provided on the sea side of the girder 5, and the trolley 7 traverses above the girder 5 and the boom 6.
  • a grab bucket (hereinafter referred to as "bucket") 12 is suspended by a rope described later.
  • first and second two winding drums 20 and 22, first and second two opening and closing drums 21 and 23, and A controller 17 is provided.
  • the first and second winding drums 20 and 22 and the first and second opening and closing drums 21 and 23 can be individually driven.
  • the first hoisting rope 9a drawn from the first hoisting drum 20 passes through the sheave 10a provided at the sea side end of the boom 6 and the sheave 11a on the trolley 7 and the left end of the bucket 12 ( See Figure 3).
  • the second winding rope 9c drawn from the second winding drum 22 passes through the sheave 10c provided at the land rear end of the girder 5 and the sheave 11c on the trolley 7 to the right end of the bucket 12 (see FIG. 3) ) Is worn.
  • the first opening and closing rope 9b pulled out from the first opening and closing drum 21 is guided to the sheave 10b attached to the land side rear end of the girder 5 and the sheave 11b on the trolley 7, as shown in FIG.
  • a lower moving sheave 24 guided downward and provided at the connection portion of the bucket main bodies 13 and 13 of the bucket 12 and an upper part attached to the upper frame 26 supporting the bucket main bodies 13 and 13 by pin connection via tie rods 25 After being wound around the fixed sheave 27 a plurality of times, it is fixed to a required portion of the bucket 12.
  • the second opening and closing rope 9d drawn from the second opening and closing drum 23 is guided to the sheave 10d provided on the sea side end of the boom 6 and the sheave 11d on the trolley 7, as shown in FIG. It is fixed to a required place of the bucket 12 after being guided downward and put around between the lower moving sheave 24 and the upper fixed sheave 27 of the bucket 12 a plurality of times.
  • the first and second winding drums 20 and 22 and the first and second opening and closing drums 21 and 23 are indicated by arrows A, B, C and D, respectively.
  • the trolley 7 When rotated in the direction, the trolley 7 traverses in the direction of the arrow F.
  • the first and second winding drums 20 and 22 and the first and second opening and closing drums 21 and 23 are rotated in the counterclockwise direction, the trolley 7 traverses in the direction of the arrow F '.
  • the first winding drum 20 and the second opening / closing drum 23 are rotated counterclockwise as shown by arrows A 'and D', and the first opening / closing drum 21 and the second winding drum
  • the gear 22 is rotated clockwise as shown by arrows B and C
  • the bucket 12 is wound in the direction of the arrow U.
  • the first winding drum 20 and the second opening and closing drum 23 are rotated clockwise and the first opening and closing drum 21 and the second winding drum 22 are rotated counterclockwise, the bucket 12 is pulled down.
  • the buckets 12 are opened when the opening and closing ropes 9b and 9d are simultaneously drawn by the opening and closing drums 21 and 23.
  • the opening and closing ropes 9b and 9d are simultaneously wound by the opening and closing drums 21 and 23, the bucket 12 is closed.
  • a sensor CCD camera, beacon, etc.
  • a method of visually confirming the swing state of the bucket (a shake switch is provided in the operation room of the unloader, and shake is performed manually by the operator).
  • the trolley 7 is provided with a CCD camera 16, and the CCD camera 16 picks up a swing in the traveling direction of the bucket 12 and wirelessly transmits it to the control device 17.
  • the control device 17 controls the first winding drum 20 and the second winding drum 22 to prevent the bucket 12 from shaking. It is supposed to be.
  • FIG. 6 is a block diagram showing a swing control system for a bucket, and the control device 17 is provided with a signal of the CCD camera 16, a signal of the first encoder 31 provided on the first winding drum 20, and a signal of the second winding drum 22.
  • the signal of the second encoder 32 is input.
  • control signals are output from the control device 17 to the first controller 33 of the first winding drum 20 and the second controller 34 of the second winding drum 22, respectively.
  • H ((L 0 -L) + (L '0 -L')) / 2 + H 0 ⁇ (1)
  • L 0 The first winding rope winding length L of the first winding drum 20 in the initial state
  • L The first winding rope winding length L 'of the first winding drum 20 in the present situation
  • 0 The second winding drum 22 in the initial condition
  • L 0 , L ′ 0 and H 0 are stored in the control device 17 in advance. Moreover, L and L 'make a winding direction + (plus).
  • X X 0 -((L 0 -L ' 0 ) + (L-L')) / 2 (3) here, X 0 is the traverse position in the initial state.
  • an imaging signal of the bucket 12 captured by the CCD camera 16 and a first winding rope winding length L of the first winding drum 20 at present are input to the control device 17 .
  • the control device 17 performs image processing on the image pickup signal of the bucket 12 input from the CCD camera 16 to reduce 1/1 of the amplitude width of the bucket 12
  • the swing angle ⁇ of the bucket 12 is obtained from the above equation (2).
  • the swing direction of the bucket 12 is input by the CCD camera 16.
  • the first winding rope 9a of the first winding drum 20 is proportional to the swing angle ⁇ of the bucket 12 Simultaneously with unwinding the first winding rope 9a on the front side in the traveling direction and at the same time unwinding the second winding rope 9c of the second winding drum 22 to wind the second winding rope 9c on the rear side in the traveling direction Face the center of the trolley.
  • the relationship between the swing angle ⁇ of the bucket 12 and the winding and lowering lengths of the first and second winding ropes 9a and 9c is subjected to trial calculations and tests, and is input to the control device 17 in advance.
  • the winding and lowering lengths of the first and second winding ropes 9a and 9c are preferably such that the bucket 12 is horizontal.

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

Abstract

L'invention porte sur une grue à chariot à câble, laquelle grue comporte un corps de grue (4) qui comprend une patte marine (2) et une patte terrestre (3), une poutrelle (5) et une flèche (6) qui sont disposées sur le corps principal de grue (4), un chariot (7) qui effectue une traversée au-dessus de la poutrelle (5) et de la flèche (6), une benne (12) qui est positionnée vers le bas du chariot (7), des premier et second tambours de levage (20, 22) et des câbles de levage gauche et droit (9a, 9c) qui élèvent et abaissent la benne (12), et des premier et second tambours d'ouverture et de fermeture (21, 23) et des câbles d'ouverture et de fermeture gauche et droit (9b, 9d) qui ouvrent et qui ferment la benne. Selon la présente invention, quand la benne (12) oscille dans la direction de déplacement, le câble de levage (9a ou 9c) s'abaisse sur le côté avant dans la direction de déplacement, et le câble de levage (9c ou 9a) s'élève sur le côté arrière dans la direction de déplacement. Par une telle configuration, la présente invention produit l'effet avantageux de réduction régulière de l'oscillation de la benne (12) dans la direction de déplacement.
PCT/JP2014/059182 2013-03-28 2014-03-28 Procédé pour commander l'oscillation d'une benne preneuse de grue à chariot à câble WO2014157634A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201480018335.4A CN105050932B (zh) 2013-03-28 2014-03-28 绳索牵引小车式起重机的抓斗摆动控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2013-068704 2013-03-28
JP2013068704A JP5986030B2 (ja) 2013-03-28 2013-03-28 ロープトロリー式クレーンのグラブバケット振れ制御方法

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Publication Number Publication Date
WO2014157634A1 true WO2014157634A1 (fr) 2014-10-02

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JP (1) JP5986030B2 (fr)
CN (1) CN105050932B (fr)
WO (1) WO2014157634A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106882708B (zh) 2017-02-13 2018-02-16 太原理工大学 一种垂直提升装置及方法
CN110092299B (zh) * 2019-04-23 2020-02-14 南京迈思物联网科技有限公司 一种规则抓矿方法
CN113860164A (zh) * 2021-09-09 2021-12-31 法兰泰克重工股份有限公司 一种旋转抓斗小车

Citations (7)

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JPS582916B2 (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
JPH01271395A (ja) * 1988-04-25 1989-10-30 Kawasaki Steel Corp 吊荷の初期振れ抑制制御方法
JPH09142774A (ja) * 1995-11-21 1997-06-03 Kawasaki Heavy Ind Ltd コンテナクレーンの吊荷の振れ止め方法およびその装置
JPH10500091A (ja) * 1994-05-11 1998-01-06 タックス インジェニュールゲゼルシャフト エムベーハー 荷物キャリヤの目標路補正方法及び荷物搬送装置
JPH1017268A (ja) * 1996-07-04 1998-01-20 Mitsui Eng & Shipbuild Co Ltd クレーン吊荷のスキュー振れ止め方法および装置
WO1999040018A1 (fr) * 1998-02-06 1999-08-12 Hitachi, Ltd. Grue et procede anti-balancement
JP2000191275A (ja) * 1998-12-22 2000-07-11 Kawasaki Heavy Ind Ltd クレーン装置

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KR100314143B1 (ko) * 1995-08-30 2001-12-28 튜보 린타마키, 타피오 하카카리 크레인의 로드와 로딩부 제어 장치 및 제어 방법
JP2001031369A (ja) * 1999-07-27 2001-02-06 Ishikawajima Harima Heavy Ind Co Ltd 吊荷振れ止め方法
JP2005320146A (ja) * 2004-05-11 2005-11-17 Ishikawajima Harima Heavy Ind Co Ltd クラブトロリ式コンテナクレーン
ES2297969B2 (es) * 2005-05-10 2009-04-01 Maersk España, S.A. Sistema antibalanceo en gruas portacontenedores.
DE202006000490U1 (de) * 2006-01-12 2006-04-27 Hans Künz GmbH Hebeeinrichtung
JP5039365B2 (ja) * 2006-11-17 2012-10-03 三菱重工業株式会社 クレーンのスキュー振れ止め装置およびクレーン
JP2012116593A (ja) * 2010-11-30 2012-06-21 Ihi Transport Machinery Co Ltd ロープトロリ式アンローダのバケット振れ止め装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS582916B2 (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
JPH01271395A (ja) * 1988-04-25 1989-10-30 Kawasaki Steel Corp 吊荷の初期振れ抑制制御方法
JPH10500091A (ja) * 1994-05-11 1998-01-06 タックス インジェニュールゲゼルシャフト エムベーハー 荷物キャリヤの目標路補正方法及び荷物搬送装置
JPH09142774A (ja) * 1995-11-21 1997-06-03 Kawasaki Heavy Ind Ltd コンテナクレーンの吊荷の振れ止め方法およびその装置
JPH1017268A (ja) * 1996-07-04 1998-01-20 Mitsui Eng & Shipbuild Co Ltd クレーン吊荷のスキュー振れ止め方法および装置
WO1999040018A1 (fr) * 1998-02-06 1999-08-12 Hitachi, Ltd. Grue et procede anti-balancement
JP2000191275A (ja) * 1998-12-22 2000-07-11 Kawasaki Heavy Ind Ltd クレーン装置

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JP2014189388A (ja) 2014-10-06
CN105050932A (zh) 2015-11-11
CN105050932B (zh) 2016-11-02
JP5986030B2 (ja) 2016-09-06

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