WO2015029136A1 - Appareil empêchant les vibrations d'un câble d'acier pour grue de type à chariot-câble - Google Patents

Appareil empêchant les vibrations d'un câble d'acier pour grue de type à chariot-câble Download PDF

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Publication number
WO2015029136A1
WO2015029136A1 PCT/JP2013/072868 JP2013072868W WO2015029136A1 WO 2015029136 A1 WO2015029136 A1 WO 2015029136A1 JP 2013072868 W JP2013072868 W JP 2013072868W WO 2015029136 A1 WO2015029136 A1 WO 2015029136A1
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Prior art keywords
tension
wire rope
rope
swing
wire
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PCT/JP2013/072868
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English (en)
Japanese (ja)
Inventor
内田　浩二
唯明 門前
草野　利之
伸郎 吉岡
Original Assignee
三菱重工マシナリーテクノロジー株式会社
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Application filed by 三菱重工マシナリーテクノロジー株式会社 filed Critical 三菱重工マシナリーテクノロジー株式会社
Priority to PCT/JP2013/072868 priority Critical patent/WO2015029136A1/fr
Priority to JP2015533823A priority patent/JP6144349B2/ja
Publication of WO2015029136A1 publication Critical patent/WO2015029136A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/50—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control
    • B66D1/505—Control devices automatic for maintaining predetermined rope, cable, or chain tension, e.g. in ropes or cables for towing craft, in chains for anchors; Warping or mooring winch-cable tension control electrical
    • 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

  • This disclosure relates to a wire rope vibration prevention device for a rope trolley crane.
  • a large bridge crane such as a container crane has been used for loading and unloading containers in a container yard of a harbor.
  • the bridge crane moves the main trolley along a horizontal member consisting of a girder and boom of about 100m in length installed in the horizontal direction, and loads and unloads the suspended load by a hanging tool suspended from the main trolley by a wire rope.
  • One end of the wire rope is fixed to the front end portion of the horizontal member, and is guided to a hoisting drum disposed on the horizontal member by a rear end pulley disposed on the rear end portion of the horizontal member.
  • the wire rope is loosened greatly by its own weight between the front end portion of the horizontal member and the main trolley and between the main trolley and the rear end portion of the horizontal member. If the suspended load is lifted in the slack state, the wire rope vibrates greatly in the vertical direction and may collide with surrounding structures and damage the wire rope or the structure.
  • Patent Document 1 As a technique for suppressing the slack of the wire rope, a technique for preventing slack by an auxiliary trolley is disclosed in Patent Document 1.
  • an auxiliary trolley is arranged between the front end portion of the horizontal member and the main trolley and between the main trolley and the rear end portion of the horizontal member, and the auxiliary trolley is disposed at a speed half that of the main trolley.
  • the auxiliary trolley By moving in the same direction as the main trolley, the auxiliary trolley is always placed between the front end of the horizontal member and the main trolley and between the main trolley and the rear end of the horizontal member. Suppressed.
  • Patent Documents 2 and 3 disclose techniques related to steadying of a suspended load, but these are not related to loosening of a wire rope.
  • At least one embodiment of the present invention has been made in order to solve the above-described conventional problems.
  • the object of the present invention is to prevent wire rope vibration of a rope trolley crane having a low-cost and simple structure. To provide an apparatus.
  • At least one embodiment of the present invention provides: A horizontal member installed in a horizontal direction; A hoisting drum capable of winding up one or more wire ropes stretched along the horizontal member; A main trolley movable between a front end portion and a rear end portion of the horizontal member; A wire rope vibration preventing device for a rope trolley type crane, comprising: The wire rope vibration preventing device is Tension detecting means for detecting the tension of the one or more wire ropes momentarily; Tension control means for controlling the tension of the one or more wire ropes so that the fluctuation component of the tension of the one or more wire ropes is reduced according to the tension of the one or more wire ropes detected by the tension detecting means; ,including.
  • the tension control means for controlling the tension of the wire rope so as to reduce the fluctuation component of the tension of the wire rope according to the tension of the wire rope detected by the tension detection means is provided.
  • the vibration of the wire rope can be suppressed with a simple and costly structure.
  • the one or more wire ropes include one or more rear end pulleys, one end of which is fixed to the front end of the horizontal member and the other end is installed at the rear end of the horizontal member. To the hoisting drum.
  • the tension control means includes rotation speed control means for controlling the rotation speed of a winding motor that drives the hoisting drum. According to such an embodiment, the vibration of the wire rope can be suppressed with a simple structure in which the rotational speed of the winding motor that drives the winding drum is simply controlled by the rotational speed control means.
  • the wire rope includes a plurality of wire ropes, and the plurality of wire ropes are both wound at the same rotational speed, and the rotational speed control means includes a component of fluctuation in tension of the plurality of wire ropes.
  • the rotational speed of the winding motor is controlled so that the average value becomes small.
  • the wire rope has a simple structure that only controls the rotational speed of the winding motor that drives the winding drum. Vibration can be suppressed.
  • the tension control means includes cylinder control means for controlling driving of a cylinder that causes the rear end pulley to advance and retreat along the direction in which the wire rope is stretched. According to such an embodiment, vibration of the wire rope can be suppressed with a simple structure in which the rear end pulley is simply moved forward and backward along the wire rope tensioning direction by the cylinder.
  • the wire rope includes a plurality of wires, and each of the plurality of wire ropes is guided to a hoisting drum by each of a plurality of rear end pulleys, and each of the plurality of rear end pulleys includes a plurality of cylinders. And a plurality of wire ropes guided by each of a plurality of rear end pulleys that each of a plurality of cylinders advances and retreats.
  • the driving of each of the plurality of cylinders is controlled so that the fluctuation component of the tension of each of the cylinders becomes small. According to such an embodiment, since each of the plurality of cylinders is controlled so that the fluctuation component of the tension of each of the plurality of wire ropes is reduced, vibration of the plurality of wire ropes is individually and accurately suppressed. I can do it.
  • the suspended load that detects the swing amount and swing speed, and the swing swing angle and swing swing angular velocity along the wire rope tensioning direction of the suspension or the suspended load suspended by the suspension tool.
  • a shake detection means Further provided is a shake detection means.
  • the cylinder control means is capable of reducing the fluctuation component of the tension of each of the plurality of wire ropes, in addition to the deflection amount and the deflection speed detected by the suspended load deflection angle detection means, and the turning deflection angle and the turning deflection angular velocity. Accordingly, the drive of each of the plurality of cylinders is controlled so that the swing amount and swivel swing angle of the hanging tool or the suspended load become small.
  • the tension control means includes: a rotation speed control means for controlling the rotation speed of a winding motor that drives the hoisting drum; and a cylinder that advances and retracts the rear end pulley along the extending direction of the wire rope.
  • cylinder control means for controlling driving.
  • the rotation speed of the winding motor that drives the hoisting drum is controlled by the rotation speed control means, and the rear end pulley is simply moved forward and backward by the cylinder along the wire rope tensioning direction. With the simple structure, the vibration of the wire rope can be suppressed.
  • the wire rope is composed of a plurality of wires, and the plurality of wire ropes are wound together at the same rotational speed, and each of the plurality of wire ropes is wound up by a plurality of rear end pulleys. And each of the plurality of rear end pulleys is configured to be advanced and retracted along the wire rope tensioning direction by each of the plurality of cylinders.
  • the rotation speed control means controls the rotation speed of the winding motor so that the average value of the fluctuation components of the tension of the plurality of wire ropes is reduced, and the cylinder control means includes a plurality of cylinders that advance and retract each of the plurality of cylinders.
  • the driving of each of the plurality of cylinders is controlled so that the fluctuation component of the tension of each of the plurality of wire ropes guided by each of the rear end pulleys becomes small.
  • the tension control means including the rotation speed control means and the cylinder control means
  • the tension of the plurality of wire ropes is collectively controlled by the rotation speed control means.
  • the cylinder control means by individually controlling the tension of the plurality of wire ropes by the cylinder control means, it is possible to efficiently and accurately suppress the vibrations of the plurality of wire ropes.
  • the suspended load that detects the swing amount and swing speed, and the swing swing angle and swing swing angular velocity along the wire rope tensioning direction of the suspension or the suspended load suspended by the suspension tool.
  • a shake detection means Further provided is a shake detection means.
  • the cylinder control means is capable of reducing the fluctuation component of the tension of each of the plurality of wire ropes, in addition to the deflection amount and the deflection speed detected by the suspended load deflection angle detection means, and the turning deflection angle and the turning deflection angular velocity. Accordingly, the drive of each of the plurality of cylinders is controlled so that the swing amount and swivel swing angle of the hanging tool or the suspended load become small.
  • a fluctuation component of the tension of one or more wire ropes detected by the tension detecting means is detected by a high-pass filter.
  • the fluctuation component of the wire rope can be detected with a simple configuration including a high-pass filter.
  • the tension detection means is a tension sensor fixed to the front end of the horizontal member and holding one end of the wire rope.
  • the tension detecting means can be configured with a simple structure including a tension sensor.
  • the wire rope vibration preventing device of the rope trolley crane does not include a trolley other than the main trolley. According to such an embodiment, it is possible to achieve a low-cost and simple structure as compared to a conventional wire rope vibration prevention device for a rope trolley crane including an auxiliary trolley.
  • FIG. 1 is an overall schematic view showing a rope trolley type container crane to which a wire rope vibration preventing device according to an embodiment of the present invention is applied. It is a block diagram for demonstrating the wire rope vibration preventing apparatus concerning one Embodiment. It is the graph which showed the string vibration and tension
  • FIG. 1 is an overall schematic diagram showing a rope trolley type container crane to which a wire rope vibration preventing device according to an embodiment of the present invention is applied.
  • a rope trolley type container crane 1 is installed on a quay 2 of a container wharf and is for loading and unloading a suspended load c of a container ship 3 that is anchored.
  • the rope trolley type container crane 1 includes a leg 4 installed on a quay 2, a girder 5 ⁇ / b> A installed in a horizontal direction while being supported by the leg 4, a horizontal member 5 including a boom 5 ⁇ / b> B, and an extension of the horizontal member 5.
  • a hoisting drum 7 capable of winding up a wire rope 6 stretched along a current direction, a main trolley 8 movable between a front end 5f and a rear end 5r of the horizontal member 5, and a main trolley 8 are provided. And a hanging tool 9 suspended by the wire rope 6 through the trolley pulley 14.
  • FIG. 2 is a configuration diagram for explaining a wire rope vibration preventing device according to an embodiment.
  • the wire rope 6 of the present embodiment is composed of two sets of left and right wire ropes 6a to 6d each having a pair of wire ropes 6a and 6b and 6c and 6d.
  • One end side of each of the wire ropes 6a to 6d is fixed to the front end portion 5f of the horizontal member 5.
  • each of the wire ropes 6a and 6c is horizontally held by being held by a tension sensor 24A (tension detecting means) fixed to the front end portion 5f of the horizontal member 5 with one end thereof facing each other. It is fixed to the front end 5f of the member 5, respectively.
  • each of the wire ropes 6b and 6d is held by a tension sensor 24B (tension detecting means) fixed to the front end portion 5f of the horizontal member 5 with one end thereof facing each other.
  • Each is fixed to the front end 5f.
  • each of the wire ropes 6a to 6d is guided to the hoisting drum 7 described above via the four rear end pulleys 10a to 10d installed at the rear end portion 5r of the horizontal member 5.
  • the wire ropes 6a and 6b are wound around a hoisting drum 7A on the front side in the figure, and the wire ropes 6c and 6d are wound around a hoisting drum 7B on the rear side in the figure.
  • These two hoisting drums 7A and 7B are configured to be rotated at the same rotational speed by a common winding motor 18 via a common speed reducer 22.
  • the four wire ropes 6a to 6d are configured to be wound up at the same rotational speed by the winding drums 7A and 7B.
  • Each of the wire ropes 6a to 6d is guided from the hoisting drums 7A and 7B to each of the trolley pulleys 14a to 14d provided in the main trolley 8 via the rear end pulleys 10a to 10d. Then, after being wound around each of the suspension pulleys 16a to 16d provided in the suspension 9, they are guided to the front end portion 5f of the horizontal member 5 via each of the trolley pulleys 14a to 14d, and the above-described tension sensor 24A, It is fixed to 24B.
  • the rotation speed of the winding motor 18 is controlled by the rotation speed control means 20.
  • the rotational speed control means 20 includes a microcomputer, a programmable logic controller, and the like, which are composed of a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), an I / O interface, and the like. And an inverter that controls the rotation speed of the winding motor 18 to be controlled. Then, the rotational speed control means 20 makes the target rotational speed such that the fluctuation component of the tension of the wire ropes 6a to 6d is reduced according to the tension of the wire ropes 6a to 6d detected by the tension sensors 24A and 24B. And the rotational speed of the winding motor 18 is controlled. This will be described in detail with reference to FIG. 3 and FIG.
  • FIG. 3 is a graph showing the string vibration and tension of the wire rope.
  • FIG. 4 is a control flow in the rotation speed control means according to the embodiment. As shown in FIG. 4, when the hoisting motors 7A and 7B are rotated by the winding motor 18 to wind up the wire ropes 6a to 6d and the lifting load 9 is lifted (S41), FIG. As shown, the tension of the wire rope gradually increases. When the suspended load c floats in the air (ground cutting), the wire rope causes string vibration, and accordingly, the tension of the wire rope varies around the rope tension corresponding to the load of the suspended load.
  • the tensions of the wire ropes 6a to 6d that change from moment to moment in this manner are detected by the tension sensors 24A and 24B (S42) and output to the rotation speed control means 20 described above.
  • the rotational speed control means 20 performs high-pass filter processing to extract the fluctuation components of the tension of the wire rope ropes 6a to 6d as shown in FIG. 3B (S43).
  • the tension fluctuation component of the wire rope ropes 6a to 6d may be extracted by time differentiation of the tension of the wire rope ropes 6a to 6d.
  • the target rotational speed of the winding motor 18 is calculated (S44).
  • the calculation of the target rotation speed is performed based on the following formula (1).
  • Vref winding motor target rotational speed, Vc crane driver's winding speed instruction value (lever operation), k: control gain, ⁇ T: wire rope tension fluctuation component
  • the control gain k is determined so that the fluctuation component ⁇ T of the tension of the wire ropes 6a to 6d becomes small. Specifically, when the tension fluctuation component of the wire ropes 6a to 6d is positive (in the t1 region shown in FIG. 3B), the value of the control gain k is negative and the target rotational speed of the winding motor 18 is set. Control to slow down. On the contrary, when the fluctuation component of the tension of the wire ropes 6a to 6d is negative (in the t2 region shown in FIG. 3B), the value of the control gain k is positive and the target rotational speed of the winding motor 18 is increased. To control.
  • the four wire ropes 6a to 6d are configured to be wound up at the same rotational speed as described above.
  • the tension fluctuation components of the four wire ropes 6a to 6d are usually different in magnitude. Therefore, in such a case, by determining the target rotation speed so that the average value of the fluctuation component of the tension of the four wire ropes 6a to 6d becomes small, the vibration of all the four wire ropes 6a to 6d can be reduced. Can be suppressed.
  • the calculated target rotational speed of the winding motor 18 is output (S45), and the rotational speed of the winding motor 18 is controlled by the inverter (S46).
  • the wire rope vibration preventing device of the rope trolley type container crane 1 according to at least one embodiment of the present invention, the wire ropes 6a to 6d detected by the tension sensors 24A and 24B (tension detecting means). And tension control means for controlling the tension of the wire ropes 6a to 6d so that the fluctuation component of the tension of the wire ropes 6a to 6d is reduced. For this reason, it is not necessary to arrange an auxiliary trolley unlike the wire rope vibration prevention device of the conventional rope trolley type crane, and the vibration of the wire ropes 6a to 6d can be suppressed with a low cost and simple structure. Yes.
  • the tension control means comprises the rotation speed control means 20 for controlling the rotation speed of the winding motor 18 that drives the winding drum. Therefore, the vibration of the wire ropes 6a to 6d can be suppressed by a simple structure in which the rotational speed of the winding motor 18 that drives the hoisting drum 7 is controlled only by the rotational speed control means 20. .
  • FIG. 5 is a configuration diagram for explaining a wire rope vibration preventing apparatus according to an embodiment.
  • the wire rope vibration preventing device shown in FIG. 5 is basically the same mode as the above-described embodiment, and the same components are denoted by the same reference numerals, and detailed description thereof is omitted.
  • the tension control means described above controls the driving of the cylinders 26a to 26d that respectively advance and retract the rear end pulleys 10a to 10d along the extending direction of the wire ropes 6a to 6d.
  • the point which consists of the cylinder control means 30 to perform differs from embodiment mentioned above.
  • the cylinder control means 30 is a microcomputer or programmable logic comprising a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), an I / O interface, and the like, similar to the rotational speed control means 20 described above.
  • CPU central processing unit
  • RAM random access memory
  • ROM read only memory
  • I / O interface I / O interface
  • the cylinder control means 30 sets the target advance / retreat speed so that the fluctuation component of the tension of the wire ropes 6A to 6d becomes small according to the tension of the wire ropes 6A to 6d detected by the tension sensors 24A and 24B.
  • the calculation is performed to control the driving of the cylinders 26a to 26d.
  • the cylinders 26a to 26d can be configured as various known cylinders such as a hydraulic cylinder and an electric cylinder, and are not particularly limited.
  • FIG. 6 is a control flow in the cylinder control means according to the embodiment.
  • the winding drums 7A and 7B are rotated by the winding motor 18 to wind up the wire ropes 6a to 6d, and the suspended load c is lifted by the lifting tool 9 (S61).
  • the tensions of the wire ropes 6a to 6d which change from moment to moment, are detected by the tension sensors 24A and 24B, respectively (S62).
  • the detected tension is output to the cylinder control means 30.
  • the cylinder control means 30 performs high-pass filter processing and extracts fluctuation components of the tension of the wire rope ropes 6a to 6d (S63).
  • the target advance / retreat speed of each of the four cylinders 26a to 26d is calculated (S64).
  • the calculation of the target advance / retreat speed is performed based on the following formula (2).
  • Vref k ⁇ T (2) (Where Vref: cylinder target advance / retreat speed, k: control gain, ⁇ T: wire rope tension fluctuation component)
  • the control gain k is determined so that the tension fluctuation component ⁇ T of each of the wire ropes 6a to 6d becomes small. Specifically, when the fluctuation component of the tension of the wire rope 6a is positive (in the case of the t1 region shown in FIG. 3B), the cylinder 26 is controlled so as to perform the cylinder control to bring the rear end pulley 10a closer to the main trolley 8. The control gain k is determined. On the contrary, when the fluctuation component of the tension of the wire rope 6a is negative (in the case of the t2 region shown in FIG. 3B), the control gain of the cylinder 26a is set so as to perform the cylinder control for moving the rear end pulley 10a away from the main trolley 8. k is determined. The control gain k of the other cylinders 26b to 26d is determined in the same manner as the cylinder 26a described above.
  • the calculated target advance / retreat speed of the cylinder is output (S65), and the advance / retreat speed of the cylinders 26a to 26d is controlled by the actuator (S66).
  • each of the rear end pulleys 10a to 10d is simply moved forward and backward along the extending direction of the wire ropes 6a to 6d by each of the cylinders 26a to 26d.
  • the vibrations of 6d can be suppressed.
  • each of the four cylinders 26a to 26d is controlled so that the tension fluctuation component of each of the four wire ropes 6a to 6d becomes small.
  • the vibration of 6d can be individually suppressed with high accuracy.
  • FIG. 7 is a configuration diagram for explaining a wire rope vibration preventing device according to an embodiment.
  • the wire rope vibration preventing device shown in FIG. 7 is basically the same mode as the second embodiment described above, and the same reference numerals are given to the same components, and detailed description thereof is omitted.
  • shake sensor cameras 32A and 32B (suspended load shake detection means) are arranged on the main trolley 8, and shake sensor targets 34A and 34B are arranged on the hanging tool 9.
  • the shake sensor cameras 32A and 32B monitor the movements of the shake sensor targets 34A and 34B, so that the shake amount ⁇ x and the shake speed ⁇ Vx along the direction in which the wire ropes 6a to 6d of the hanging tool 9 are stretched, and the turning shake angle. ⁇ and turning angular velocity ⁇ V ⁇ can be detected.
  • the shake sensor targets 34A and 34B may be arranged on the suspended load c and the swing of the suspended load c may be monitored.
  • the fluctuation component of the tension of each of the wire ropes 6a to 6d becomes small, the shake amount ⁇ x and the shake speed ⁇ Vx detected by the shake sensor cameras 32A and 32B, and the turning shake angle
  • the swing amount ⁇ x and the swing swing angle ⁇ of the hanger 9 are controlled to be small according to ⁇ and the swing swing angular velocity ⁇ V ⁇ .
  • the target advance / retreat speed of each of the four cylinders 26a-26d is calculated based on the following equation (3), and the cylinders 26a-26d are controlled so as to obtain the calculated target advance / retreat speed. .
  • Vref k ⁇ T + kx1 ⁇ x + kx2 ⁇ Vx + k ⁇ 1 ⁇ + k ⁇ 2 ⁇ V ⁇ (3) (Where Vref: cylinder target forward / backward rotational speed, kx1, kx2, k ⁇ 1, k ⁇ 2: control gain, ⁇ x: shake amount, ⁇ Vx: swing speed, ⁇ : swing swing angle, ⁇ V ⁇ : swing swing angular speed, ⁇ T: wire rope speed Tension fluctuation component)
  • each of the four cylinders 26a to 26d is controlled so that the swing amount and the swing swing angle of the suspension 9 or the suspended load c suspended by the suspension 9 are reduced. As a result, the swing of the suspended load c can be suppressed together with the vibration of the wire ropes 6a to 6d.
  • FIG. 8 is a configuration diagram for explaining a wire rope vibration preventing device according to an embodiment.
  • the wire rope vibration preventing device shown in FIG. 8 is basically the same as the first embodiment and the second embodiment described above, and the same reference numerals are given to the same components, and the detailed description thereof is omitted. Description is omitted.
  • the tension control means includes a rotational speed control means 20 that controls the rotational speed of the winding motor 18 that drives the hoisting drum 7, and the rear end pulley 10 is connected to the wire rope 6.
  • cylinder control means 30 for controlling the driving of the cylinders 26a to 26d that are advanced and retracted along the extending direction.
  • the rotational speed of the winding motor 18 that drives the hoisting drum 7 is controlled by the rotational speed control means 20, and the rear end pulley 10 is connected to the cylinder 26 along the direction in which the wire rope 6 is stretched.
  • the vibration of the wire rope 6 can be suppressed by a simple structure that only advances and retreats.
  • the rotation speed control means 20 controls the rotation speed of the winding motor 18 and the cylinder control means 30 so that the average value of the fluctuation components of the tension of the four wire ropes 6a to 6d becomes small.
  • the four cylinders 26a to 26d have four cylinders 26a to 26d so that the fluctuation component of the tension of each of the four wire ropes 6a to 6d guided by the four rear end pulleys 10a to 10d to be advanced and retracted by each of the four cylinders 26a to 26d can be reduced. Control each drive of .about.26d.
  • the rotation speed control means 20 when the tension of the four wire ropes 6a to 6d is controlled by the rotation speed control means 20 and the tension control means comprising a cylinder, the rotation speed control means 20 causes the four wire ropes to be controlled.
  • the tension of the four wire ropes 6a to 6d is efficiently controlled by controlling the tension of the six wire ropes 6a to 6d individually by controlling the tension of the six wire ropes 6a to 6d by the cylinder control means 30. Can be suppressed with high accuracy.
  • FIG. 9 is a configuration diagram for explaining a wire rope vibration preventing apparatus according to an embodiment.
  • the wire rope vibration preventing apparatus shown in FIG. 9 is basically the same as the above-described fourth embodiment, and the same components are denoted by the same reference numerals and detailed description thereof is omitted.
  • shake sensor cameras 32 ⁇ / b> A and 32 ⁇ / b> B are arranged on the main trolley 8, and The shake sensor targets 34A and 34B are arranged, and the shake sensor cameras 32A and 32B monitor the movement of the shake sensor targets 34A and 34B, so that the wire ropes 6a to 6d of the hanging tool 9 are arranged in the extending direction.
  • the shake amount ⁇ x and the shake speed ⁇ Vx, as well as the turning shake angle ⁇ and the turning shake angular velocity ⁇ V ⁇ can be detected.
  • each of the cylinders 26a to 26d is detected by the shake sensor cameras 32A and 32B in addition to the fluctuation component of the tension of each of the wire ropes 6a to 6d being reduced.
  • the swing amount ⁇ x and the swing velocity ⁇ Vx, and the swing swing angle ⁇ and the swing swing angular velocity ⁇ V ⁇ are controlled to be small.
  • each of the four cylinders 26a to 26d is controlled so that the swing amount and the swing swing angle of the suspension 9 or the suspended load c suspended by the suspension 9 are reduced. As a result, the swing of the suspended load c can be suppressed together with the vibration of the wire ropes 6a to 6d.
  • At least one embodiment of the present invention can be suitably used for a bridge crane used for loading and unloading containers in a container yard of a harbor.

Abstract

Le problème décrit par la présente invention est de produire un appareil empêchant les vibrations d'un câble d'acier d'une grue de type à chariot-câble ayant un coût faible et comprenant une structure simple. La solution selon l'invention porte sur un appareil empêchant les vibrations d'un câble d'acier pour une grue (1) de type à chariot-câble, pourvu : d'un élément horizontal (5) agencé horizontalement ; d'un tambour d'enroulement (7) sur lequel un câble d'acier (6) peut être enroulé, le tambour d'enroulement (7) étant installé le long de l'élément horizontal ; d'un chariot principal (8) pouvant se déplacer entre la section d'extrémité avant (5f) et la section d'extrémité arrière (5r) de l'élément horizontal ; et d'un dispositif de suspension (9) situé sur le chariot principal et suspendu au câble d'acier par le biais d'une poulie à gorge de chariot. L'appareil empêchant les vibrations d'un câble d'acier comprend : un moyen de détection de tension (24A, 24B) destiné à détecter la tension à tout moment sur le câble d'acier ; et un moyen de commande de tension (20, 30) destiné à commander la tension sur le câble d'acier de sorte que la composante de fluctuation de la tension sur le câble d'acier soit réduite en réponse à la tension sur le câble d'acier détectée par le moyen de détection de tension.
PCT/JP2013/072868 2013-08-27 2013-08-27 Appareil empêchant les vibrations d'un câble d'acier pour grue de type à chariot-câble WO2015029136A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2013/072868 WO2015029136A1 (fr) 2013-08-27 2013-08-27 Appareil empêchant les vibrations d'un câble d'acier pour grue de type à chariot-câble
JP2015533823A JP6144349B2 (ja) 2013-08-27 2013-08-27 ロープトロリ式クレーンのワイヤロープ振動防止装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2013/072868 WO2015029136A1 (fr) 2013-08-27 2013-08-27 Appareil empêchant les vibrations d'un câble d'acier pour grue de type à chariot-câble

Publications (1)

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JP2018087069A (ja) * 2016-11-29 2018-06-07 株式会社タダノ クレーン
CN111819148A (zh) * 2018-03-15 2020-10-23 株式会社多田野 起重机及起重机的控制方法

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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
JP2001322796A (ja) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd 吊荷の制振装置
JP2006501115A (ja) * 2002-09-30 2006-01-12 シーメンス　アクチエンゲゼルシヤフト 貨物の位置決め方法と装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018087069A (ja) * 2016-11-29 2018-06-07 株式会社タダノ クレーン
CN111819148A (zh) * 2018-03-15 2020-10-23 株式会社多田野 起重机及起重机的控制方法
CN111819148B (zh) * 2018-03-15 2022-03-29 株式会社多田野 起重机及起重机的控制方法

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