JPH07291576A - Apparatus for controllably stopping sway of hung load - Google Patents
Apparatus for controllably stopping sway of hung loadInfo
- Publication number
- JPH07291576A JPH07291576A JP8931494A JP8931494A JPH07291576A JP H07291576 A JPH07291576 A JP H07291576A JP 8931494 A JP8931494 A JP 8931494A JP 8931494 A JP8931494 A JP 8931494A JP H07291576 A JPH07291576 A JP H07291576A
- Authority
- JP
- Japan
- Prior art keywords
- skew
- trolley
- sway
- traverse
- load
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、特に大型の吊荷用コン
テナクレーン等に使用される吊荷装置のための振れ止め
制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steady rest control device for a hoisting device used in a large-sized hoisting container crane or the like.
【０００２】[0002]
【従来の技術】図３に従来のコンテナクレーンにおける
吊荷の振れ止め装置の概略、図４に従来の吊荷振れ止め
装置による横行振れの振れ止め動作状態、図５に従来の
吊荷振れ止め装置によるスキュー振れの振れ止め動作状
態を示す。2. Description of the Related Art FIG. 3 is a schematic view of an apparatus for stabilizing a suspended load in a conventional container crane, FIG. 4 is an operation state of a steady oscillation of a transverse swing by a conventional apparatus for stabilizing a suspended load, and FIG. 7 shows a steadying operation state of skew shake by the device.
【０００３】図３に示すように、横行トロリー１１は図
示しないクレーンの主桁上を横行（図３において左右方
向に移動）自在に配設されており、横行トロリー１１に
はロープ１２を介してこの横行トロリー１１を移動させ
る主桁上のトロリー駆動装置１３が連結されている。ま
た、横行トロリー１１にはその左右両側部に４組の滑車
１４，１５，１６，１７が取付けられる一方、横行トロ
リー１１の下方に位置する吊具１８には４つの滑車１
９，２０，２１，２２が取付けられており、巻上ロープ
２３，２４，２５，２６が横行トロリー１１の各滑車１
４，１５，１６，１７及び吊具１８の各滑車１９，２
０，２１，２２に掛け回されている。そして、各巻上ロ
ープ２３，２４，２５，２６の端部には左右の巻上ロー
プ駆動装置２７，２８が連結されると共に、連結機構２
９を介して横行トロリー１１から吊具１８までの各巻上
ロープ２３，２４，２５，２６の長さを変化させるスキ
ューシリンダ３０が連結されている。なお、吊具１８の
上面には吊荷の振れ止め検出マーク３１が表示されてお
り、吊荷としてのコンテナ３２を吊り支えている。As shown in FIG. 3, the traverse trolley 11 is disposed so as to traverse (movable in the left-right direction in FIG. 3) on a main girder of a crane (not shown), and the traverse trolley 11 is provided with a rope 12 therebetween. A trolley drive device 13 on the main girder for moving the traverse trolley 11 is connected. Further, four sets of pulleys 14, 15, 16 and 17 are attached to the left and right sides of the traverse trolley 11, while four hoisting pulleys 1 are attached to a hanger 18 located below the traverse trolley 11.
9, 20, 21, 22 are attached, hoisting ropes 23, 24, 25, 26 are pulleys 1 of the traverse trolley 11.
Pulleys 19, 2 of 4, 15, 16, 17 and the hanger 18
It is hung around 0, 21, 22. The left and right hoisting rope driving devices 27 and 28 are connected to the ends of the hoisting ropes 23, 24, 25 and 26, and the connecting mechanism 2
A skew cylinder 30 for changing the length of each hoisting rope 23, 24, 25, 26 from the traverse trolley 11 to the hanger 18 is connected via 9. In addition, a steady rest detection mark 31 of the suspended load is displayed on the upper surface of the suspending tool 18 to suspend and support the container 32 as the suspended load.
【０００４】このような吊荷装置の振れ止めは、従来、
クレーン運転室から運転者が吊具３１の動きを目視しな
がら手動による遠隔運転操作によって以下に示す方法で
行われている。The steady rest of such a lifting device has hitherto been known.
The following method is performed by a remote operator manually operating the crane operator's cab while observing the movement of the hanger 31.
【０００５】即ち、図３に示す状態において、トロリー
駆動装置１３により横行トロリー１１から左から右に横
行する場合、この横行トロリー１１が定速横行から減速
制動に入ると、吊荷３２は、図４（ａ）に示すように、
慣性力で前方に振れ移動する。運転者は運転室で吊具１
８上の検出マーク３１を目視で確認することでこの振れ
を検知し、図４（ｂ）に示すように、吊荷３２の横行方
向の振れに合わせて横行トロリー１１をその振れ方向に
加速するように操作する。そして、更に前方に一定量振
れたあとに戻ってくる吊荷３２の反動に合わせて横行ト
ロリー１１を減速操作することにより横行振れを減衰さ
せて振れ止めを行う。That is, in the state shown in FIG. 3, when the trolley drive device 13 traverses from the traverse trolley 11 from left to right, when the traverse trolley 11 enters deceleration braking from constant speed traverse, the suspended load 32 is As shown in 4 (a),
It swings forward due to inertial force. The driver uses the lifting gear 1 in the cab.
This shake is detected by visually confirming the detection mark 31 on the 8 and, as shown in FIG. 4B, the transverse trolley 11 is accelerated in the shake direction in accordance with the shake of the suspended load 32 in the transverse direction. To operate. Then, the traverse trolley 11 is decelerated in accordance with the recoil of the suspended load 32 that returns after swinging a certain amount further forward, whereby the traverse shake is attenuated and steady rest is performed.
【０００６】また、図３において、吊荷３２が矢印で示
すように平面内で反時計回りのスキュー振れ（旋回振
れ）を生じたときには、前述と同様に、運転者は吊具１
８上の検出マーク３１の移動で検知し、スキュー振れに
合わせてスキューシリンダ３０により連結機構２９を介
して横行トロリー１１から吊具１８までの各巻上ロープ
２３，２４，２５，２６の長さを変化させることにより
吊荷３２に時計回りの旋回力を付与し、スキュー振れを
減衰させて制止する。即ち、図５に示すように、スキュ
ーシリンダ３０を一方に駆動して連結機構２９を図５に
表す実線位置から二点鎖線の位置に移動すると、巻上ロ
ープ２４，２５が引かれる一方、巻上ロープ２３，２６
は押し出される。すると、図３において、横行トロリー
１１から吊具１８までの各巻上ロープ２３，２４，２
５，２６のうち、滑車１５−２０間と１６−２１間が短
くなり、滑車１４−１９間と１７−２２間が長くなり、
吊具１８（吊荷３２）は短くなった巻上ロープ２４，２
５側に引かれ、この結果、吊荷３２を時計回りに旋回さ
せることができる。In FIG. 3, when the suspended load 32 causes counterclockwise skew runout (orbital runout) in the plane as shown by the arrow, the driver operates the lifting tool 1 as described above.
The length of each hoisting rope 23, 24, 25, 26 from the traverse trolley 11 to the hanger 18 is detected by the movement of the detection mark 31 on the 8 and the skew cylinder 30 through the connecting mechanism 29 according to the skew shake. By changing the load, a clockwise turning force is applied to the suspended load 32, and the skew vibration is damped and stopped. That is, as shown in FIG. 5, when the skew cylinder 30 is driven to one side to move the coupling mechanism 29 from the solid line position shown in FIG. 5 to the position indicated by the alternate long and two short dashes line, the hoisting ropes 24 and 25 are pulled, while the hoisting ropes 24 and 25 are wound. Upper rope 23, 26
Is extruded. Then, in FIG. 3, each hoisting rope 23, 24, 2 from the traverse trolley 11 to the hanger 18 is
Of 5,26, the distance between pulleys 15-20 and 16-21 becomes shorter, and the distance between pulleys 14-19 and 17-22 becomes longer,
The hoisting tool 18 (hanging load 32) has shortened the hoisting ropes 24, 2
As a result, the suspended load 32 can be turned clockwise.
【０００７】[0007]
【発明が解決しようとする課題】前述した運転者による
従来の吊荷の振れ止め装置を用いた振れ止め操作にあっ
ては、以下の問題があった。即ち、前述したように、吊
荷３２の単独の横行振れ又はスキュー振れに対しては、
運転者による吊具１８の振れ具合に合わせた横行トロリ
ー１１の加減速により吊荷３２の振れを減衰し制止する
ことができる。しかし、吊荷３２の横行振れとスキュー
振れが同時に発生して複雑な動きをすると、運転者によ
る横行トロリー１１の駆動が困難となり、十分に対応す
ることができなかった。The steady rest operation using the steady rest restraining device for a suspended load by the above-mentioned driver has the following problems. That is, as described above, with respect to the independent lateral swing or skew swing of the suspended load 32,
The driver can accelerate and decelerate the traverse trolley 11 according to the degree of the swing of the hanger 18 to damp the vibration of the suspended load 32 and stop it. However, if the horizontal swing and the skew swing of the suspended load 32 occur at the same time and make a complicated movement, it becomes difficult for the driver to drive the horizontal trolley 11, and it is not possible to sufficiently cope with the situation.
【０００８】また、吊荷３２の振れ止めと同時に、スキ
ューシリンダ３０については、吊荷３２の搬送時の安定
性を良好とするために各巻上ロープ２３，２４，２５，
２６の長さを同じになるように中間位置で停止させてお
く必要がある。一方、横行トロリー１１については、横
行中は吊荷３２の搬送効率を上げるために最大速度で運
転する必要があると共に、吊荷３２を地上に降ろすべき
目標位置に近づいたら目標位置に停止させるべく減速を
かける必要があり、且つ、吊荷目標位置に到達したら停
止固定する必要がある。即ち、吊荷３２の振れ止め制御
の他、スキューシリンダ３０の駆動制御、横行トロリー
１１の横行位置状態に応じた速度制御又は位置制御を同
時に行う必要がある。従来の振れ止め操作は運転者によ
り手動操作で対応しており、この操作は運転者にとって
熟練を要する困難な作業であった。Further, at the same time as preventing the suspended load 32 from swaying, the skew cylinder 30 has hoisting ropes 23, 24, 25, in order to improve the stability of the suspended load 32 during transportation.
It is necessary to stop 26 at an intermediate position so that the lengths of 26 are the same. On the other hand, the traverse trolley 11 needs to be operated at the maximum speed in order to increase the transportation efficiency of the suspended load 32 during traversing, and should be stopped at the target position when the suspended load 32 approaches the target position where it should be lowered onto the ground. It is necessary to decelerate, and it is necessary to stop and fix when the suspended load target position is reached. That is, in addition to the steady rest control of the suspended load 32, it is necessary to simultaneously perform drive control of the skew cylinder 30 and speed control or position control according to the traverse position state of the traverse trolley 11. Conventional steady rest operation is manually operated by the driver, and this operation is a difficult task that requires skill for the driver.
【０００９】本発明はこのような問題を解決するもので
あり、吊荷の振れ止め操作を容易に且つ確実に行うこと
ができる吊荷の振れ止め制御装置を提供することを目的
とする。The present invention solves such a problem, and an object thereof is to provide a steady rest control device for a suspended load that can easily and reliably perform a steady rest operation for a suspended load.
【００１０】[0010]
【課題を解決するための手段】上述の目的を達成するた
めの本発明の吊荷の振れ止め制御装置は、移動自在に支
持された横行トロリーに吊りロープを介して吊荷が吊り
下げられ、スキューシリンダによって前記横行トロリー
から吊荷までの前記吊りロープの長さを変化させること
で前記吊荷を旋回可能な吊荷装置において、前記横行ト
ロリーの運動状態量を検出するトロリー運動状態量検出
器と、前記横行トロリーに吊り下げられた吊荷の左右両
端の運動状態量を検出する吊荷運動状態量検出器と、前
記スキューシリンダの運動状態量を検出するスキューシ
リンダ運動状態量検出器と、前記各検出器により検出さ
れたそれぞれの運動状態量に基づいて前記横行トロリー
及びスキューシリンダを駆動して振れ止め制御を行う制
御装置とを具えたことを特徴とするものである。SUMMARY OF THE INVENTION In order to achieve the above-mentioned object, the hanging load steady-state control device of the present invention is such that a hanging load is hung via a hanging rope on a traverse trolley supported movably, A trolley motion state amount detector for detecting a motion state amount of the traverse trolley in a hoisting device capable of turning the hoisted load by changing a length of the hanging rope from the traverse trolley to the hoisted load by a skew cylinder. And a suspended load motion state quantity detector that detects the motion state quantities of the left and right ends of the suspended load suspended on the traverse trolley, and a skew cylinder motion state quantity detector that detects the motion state quantity of the skew cylinder, And a controller that drives the traverse trolley and the skew cylinder based on respective motion state quantities detected by the respective detectors to perform steady rest control. And it is characterized in and.
【００１１】[0011]
【作用】吊荷装置の稼働開始と共に、横行トロリーの運
動状態量検出器及び吊荷の左右運動状態量検出器スキュ
ーシリンダの運動状態量検出器により検出された各運動
状態量検出信号が制御装置へ送られ、この制御装置は、
各検出器により検出されたそれぞれの運動状態量に基づ
き、横行トロリーの横行移動時、減速位置決め時、停止
時などにおける荷の横行振れとスキュー振れを独立して
制御し、それに応じて横行トロリー及びスキューシリン
ダを駆動することで、振れ止め制御が実行される。With the start of operation of the hoisting device, each motion state quantity detection signal detected by the motion state quantity detector of the transverse trolley and the left and right motion state quantity detector of the hanging load is detected by the skew cylinder motion state quantity detector. Sent to
Based on the amount of motion detected by each detector, it independently controls the transverse runout and skew runout of the load when the traverse trolley moves transversely, during deceleration positioning, and when stopped. The steady rest control is executed by driving the skew cylinder.
【００１２】[0012]
【実施例】以下、図面に基づいて本発明の実施例を詳細
に説明する。Embodiments of the present invention will now be described in detail with reference to the drawings.
【００１３】図１に本発明の一実施例に係る吊荷の振れ
止め制御装置の全体構成を表す概略構成、図２に本実施
例の制御装置の制御ブロックを示す。なお、従来と同様
の機能を有する部材には同一の符号を付して重複する説
明は省略する。FIG. 1 is a schematic configuration showing the overall configuration of a suspended load steadying control apparatus according to an embodiment of the present invention, and FIG. 2 is a control block of the control apparatus of the present embodiment. It should be noted that the members having the same functions as those of the related art are designated by the same reference numerals, and the duplicate description will be omitted.
【００１４】図１に示すように、本実施例の吊荷の振れ
止め制御装置において、横行トロリー１１のトロリー駆
動装置１３にはトロリー運転状態量検出器としての変位
検出器４１及び速度検出器４２が装着されている。そし
て、横行トロリー１１の左側部には吊荷運動状態量を検
出するために、吊具１８の検出マーク３１の動作から吊
荷３２の振れ変位及び振れ速度を検出する吊荷左側の振
れ運動状態量検出器としての変位検出器４３及び速度検
出器４４が装着されると共に、横行トロリー１１の右側
部には、同様に、吊荷右側の振れ運動状態量検出器とし
ての変位検出器４５及び速度検出器４６が装着されてい
る。また、スキューシリンダ３０にはスキューシリンダ
運転状態量検出器としての変位検出器４７及び速度検出
器４８が装着されている。As shown in FIG. 1, in the swaying control apparatus for a suspended load of this embodiment, the trolley drive device 13 of the traverse trolley 11 has a displacement detector 41 and a speed detector 42 as trolley operating state quantity detectors. Is installed. Then, on the left side of the traverse trolley 11, in order to detect the suspended load motion state quantity, the swing motion state on the left side of the suspended load that detects the swing displacement and swing speed of the suspended load 32 from the operation of the detection mark 31 of the hanging tool 18 is detected. A displacement detector 43 and a velocity detector 44 as a quantity detector are mounted, and a displacement detector 45 and a velocity as a shake motion state quantity detector on the right side of the suspended load are similarly mounted on the right side portion of the traverse trolley 11. A detector 46 is attached. Further, the skew cylinder 30 is equipped with a displacement detector 47 and a speed detector 48 as a skew cylinder operating state quantity detector.
【００１５】制御装置５１は各運動状態量検出器４１〜
４８から各検出信号が入力され、入力された運転状態
量、即ち、吊荷３２の振れ運動量をゼロに戻すために必
要な最適操作量を演算し、その制御指令信号を横行トロ
リー１１の駆動装置１３スキューシリンダ３０に出力す
るものである。The control device 51 includes the motion state quantity detectors 41 to 41.
Each detection signal is input from 48, the input operating state amount, that is, the optimum operation amount necessary for returning the swinging momentum of the suspended load 32 to zero is calculated, and the control command signal is output to the drive device of the traverse trolley 11. 13 is output to the skew cylinder 30.
【００１６】この制御装置５１は、図２に示すように、
制御装置５１内に吊荷振れ変換部５２と横行振れ止め制
御演算部５３とスキュー振れ止め制御演算部５４とを有
している。この吊荷振れ変換部５２は吊荷３２の左右の
振れ運動変位検出器４３，４５及び速度検出器４４，４
６から取り込んだ検出信号に基づき、吊荷３２の横行振
れとスキュー振れをそれぞれ分離し、横行振れの変位と
速度を横行振れ止め制御演算部５３に、スキュー振れの
変位と速度をスキュー振れ止め制御演算部５４にそれぞ
れ出力する。そして、横行振れ止め制御演算部５３は横
行振れの変位と速度に基づいて横行トロリー１１の最適
操作量を設定し、横行トロリー１１のトロリー駆動装置
１３を駆動する。また、スキュー振れ止め制御演算部５
４はスキュー振れの変位と速度に基づいて横行トロリー
１１の最適操作量を設定し、スキューシリンダ３０を駆
動する。The control device 51, as shown in FIG.
The control device 51 includes a suspended load shake conversion unit 52, a transverse steady rest control calculation unit 53, and a skew steady rest control calculation unit 54. This hanging load shake conversion unit 52 includes left and right shake motion displacement detectors 43 and 45 and speed detectors 44 and 4 of the hanging load 32.
Based on the detection signal taken in from 6, the horizontal shake and the shake shake of the suspended load 32 are separated, and the displacement and speed of the horizontal shake are controlled by the horizontal shake steady control control unit 53 to determine the displacement and speed of the skew shake. It outputs to each calculation part 54. Then, the transverse steady rest control calculation unit 53 sets the optimum operation amount of the transverse trolley 11 based on the displacement and speed of the transverse shake, and drives the trolley drive device 13 of the transverse trolley 11. In addition, the skew steadying control calculation unit 5
Reference numeral 4 sets the optimum operation amount of the traverse trolley 11 based on the displacement and speed of the skew shake, and drives the skew cylinder 30.
【００１７】以下、上述した本実施例の吊荷の振れ止め
制御装置による具体的な振れ止め処理を説明する。Hereinafter, a specific steady rest process by the steady rest control device for a suspended load according to the present embodiment will be described.
【００１８】まず、各運動状態量検出器４１〜４８は横
行トロリー１１及びスキューシリンダ３０、吊荷３２の
運動状態量、即ち、その変位と速度をそれぞれ検出し、
制御装置５１に出力する。そして、吊荷振れ変換部５２
は吊荷３２の各検出器４３〜４６にて検出されたこの吊
荷３２の変位と速度から、例えば、以下に示す演算処理
により、吊荷３２の横行振れ変位と横行振れ速度を求め
ると共に、スキュー振れ変位とスキュー振れ速度を求め
る。First, the motion state quantity detectors 41 to 48 detect the motion state quantities of the traverse trolley 11, the skew cylinder 30, and the suspended load 32, that is, their displacement and velocity, respectively.
Output to the control device 51. Then, the suspended load shake conversion unit 52
Is calculated from the displacement and velocity of the suspended load 32 detected by the detectors 43 to 46 of the suspended load 32, for example, by the following calculation process, to determine the transverse displacement and the transverse displacement velocity of the suspended load 32. Skew shake displacement and skew shake velocity are calculated.
【００１９】[0019]
【数１】 [Equation 1]
【００２０】次に、横行振れ止め制御演算部５３は横行
トロリー１１の各検出器４１，４２にて検出されたこの
横行トロリー１１の変位と速度、及び前述の演算処理に
より求めた吊荷３２の横行振れ変位と横行振れ速度か
ら、例えば、以下に示す演算処理により、横行トロリー
１１の最適操作量（速度指令値）を設定し、横行トロリ
ー１１のトロリー駆動装置１３に出力する。Next, the transverse steady rest control calculation unit 53 detects the displacement and speed of the transverse trolley 11 detected by the detectors 41 and 42 of the transverse trolley 11 and the suspended load 32 obtained by the above-described arithmetic processing. From the transverse displacement and the transverse deflection velocity, for example, the optimum operation amount (speed command value) of the transverse trolley 11 is set by the following arithmetic processing and output to the trolley drive device 13 of the transverse trolley 11.
【００２１】[0021]
【数２】 [Equation 2]
【００２２】また、スキュー振れ止め制御演算部５４は
スキューシリンダ３０の各検出器４７，４８にて検出さ
れたこのスキューシリンダ３０の変位と速度、及び前述
の演算処理により求めた吊荷３２のスキュー振れ変位と
スキュー振れ速度から、例えば、以下に示す演算処理に
より、スキューシリンダ３０の最適操作量（速度指令
値）を設定し、スキューシリンダ３０に出力する。Further, the skew steadying control calculation section 54 is configured to detect the displacement and speed of the skew cylinder 30 detected by the detectors 47 and 48 of the skew cylinder 30, and the skew of the suspended load 32 obtained by the above-described calculation processing. From the shake displacement and the skew shake speed, for example, the optimum operation amount (speed command value) of the skew cylinder 30 is set and output to the skew cylinder 30 by the following arithmetic processing.
【００２３】[0023]
【数３】 [Equation 3]
【００２４】従って、トロリー駆動装置１３は、横行振
れ止め制御演算部５３によって設定された速度指令に基
づいて横行トロリー１１を駆動し、吊荷３２の横行振れ
を減衰させて振れ止めを行う。一方、スキューシリンダ
３０はスキュー振れ止め制御演算部５４によって設定さ
れた速度指令に基づいてスキューシリンダ３０をを駆動
し、吊荷３２のスキュー振れを減衰させて振れ止めを行
う。Therefore, the trolley driving device 13 drives the transverse trolley 11 based on the speed command set by the transverse steadying control control section 53 to damp the lateral swing of the suspended load 32 and perform steady rest. On the other hand, the skew cylinder 30 drives the skew cylinder 30 based on the speed command set by the skew steadying control calculation unit 54 to attenuate the skew runout of the suspended load 32 to perform steady rest.
【００２５】このように本実施例の吊荷の振れ止め制御
装置にあっては、吊荷３２の横行振れ成分に対してはト
ロリー駆動装置１３の駆動で、スキュー振れ成分に対し
てはスキューシリンダ３０の駆動でそれぞれ振れ止めす
るように、制御装置５１が各速度指令を演算しており、
吊荷３２の振れ止めに際して横行トロリー１１をどう駆
動すれば良いかという判断を、横行トロリー１１及びス
キューシリンダ３０、吊荷３２の各運転状態によって的
確に下すことができ、従来からあった困難な判断と運転
操作を解消することができる。As described above, in the hanging load steady-state control apparatus of this embodiment, the trolley drive device 13 drives the transverse shake component of the hanging load 32 and the skew cylinder for the skew shake component. The control device 51 calculates each speed command so as to prevent the steady motion by driving 30.
The determination as to how to drive the traverse trolley 11 when steadying the suspended load 32 can be accurately made according to the respective operating states of the traverse trolley 11, the skew cylinder 30, and the suspended load 32, which has been difficult in the past. Judgment and driving operation can be eliminated.
【００２６】[0026]
【発明の効果】以上、実施例を挙げて詳細に説明したよ
うに本発明の吊荷の振れ止め制御装置によれば、横行ト
ロリーの運動状態量を検出するトロリー運動状態量検出
器と吊荷の左右両端の運動状態量を検出する吊荷運動状
態量検出器とスキューシリンダの運動状態量を検出する
スキューシリンダ運動状態量検出器とを設けて制御装置
が各検出器により検出された運動状態量に基づいて横行
トロリー及びスキューシリンダを駆動して振れ止め制御
を行うようにしたので、吊荷の横行振れとスキュー振れ
をそれぞれ別々に対応して減衰抑制することで、吊荷の
困難な振れ止め操作を自動化して容易に確実に行うこと
ができると共に速やかに吊荷の振れを減衰抑制すること
ができる。その結果、運転者の作業の大幅軽減、振れ止
めの時間短縮による吊荷搬送効率向上を図ることができ
る。As described above in detail with reference to the embodiments, according to the steady rest control apparatus for a suspended load of the present invention, the trolley motion state quantity detector for detecting the motion state quantity of the traverse trolley and the suspended load. The suspended load motion state quantity detector for detecting the motion state quantities of the left and right ends of the robot and the skew cylinder motion state quantity detector for detecting the motion state quantity of the skew cylinder are provided, and the control device detects the motion state by each detector. Since the swing trolley and skew cylinder are driven based on the amount to perform the steady rest control, it is possible to control the horizontal swing and skew swing of the suspended load separately and suppress the damping, thereby making it possible to prevent the swing of the suspended load. The stopping operation can be automated and can be performed easily and surely, and the vibration of the suspended load can be quickly suppressed. As a result, it is possible to significantly reduce the work of the driver and improve the efficiency of suspended load transportation by shortening the steady rest time.
【図１】本発明の一実施例に係る吊荷の振れ止め制御装
置の全体構成を表す概略構成図である。FIG. 1 is a schematic configuration diagram showing an overall configuration of a hanging load steadying control device according to an embodiment of the present invention.
【図２】本実施例の制御装置の制御ブロック図である。FIG. 2 is a control block diagram of a control device according to the present embodiment.
【図３】従来のコンテナクレーンにおける吊荷の振れ止
め装置の概略図である。FIG. 3 is a schematic diagram of a steadying device for a suspended load in a conventional container crane.
【図４】従来の吊荷振れ止め装置による横行振れの振れ
止め動作状態図である。FIG. 4 is a steadying operation state diagram of a lateral runout by a conventional hanging load steadying device.
【図５】従来の吊荷振れ止め装置によるスキュー振れの
振れ止め動作状態図である。FIG. 5 is a steady state operation diagram of skew shake by the conventional hanging load steady device.
１１ 横行トロリー １３ 横行トロリー駆動装置 １８ 吊具 ２３，２４，２５，２６ 巻上ロープ ２９ 連結機構 ３０ スキューシリンダ ３１ 検出マーク ３２ 吊荷 ４１ 横行トロリー変位検出器 ４２ 横行トロリー速度検出器 ４３，４５ 吊荷の振れ変位検出器 ４４，４６ 吊荷の振れ速度検出器 ４７ スキューシリンダ変位検出器 ４８ スキューシリンダ速度検出器 ５１ 制御装置 ５２ 吊荷振れ変換部 ５３ 横行振れ止め制御演算部 ５４ スキュー振れ止め制御演算部 11 Traverse Trolley 13 Traverse Trolley Drive 18 Lifting Equipment 23, 24, 25, 26 Hoisting Rope 29 Connection Mechanism 30 Skew Cylinder 31 Detection Mark 32 Hanging Load 41 Traverse Trolley Displacement Detector 42 Traverse Trolley Speed Detector 43, 45 Hanging Load Run-out displacement detector 44,46 Run-up speed detector 47 for suspended load 47 Skew cylinder displacement detector 48 Skew cylinder speed detector 51 Control device 52 Suspended load run-out conversion unit 53 Traverse steady-state control calculation unit 54 Skew steady-state control calculation unit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 大久保 欣昭 広島県広島市西区観音新町四丁目６番22号 三菱重工業株式会社広島製作所内 (72)発明者 宮田 紀明 広島県広島市西区観音新町四丁目６番22号 三菱重工業株式会社広島製作所内 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshiaki Okubo 4-6-22 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture Mitsubishi Heavy Industries, Ltd. Hiroshima Works (72) Inventor Noriaki Miyata 4 Kannon Shinmachi, Nishi-ku, Hiroshima City, Hiroshima Prefecture 6-22 No. 22 Hiroshima Factory of Mitsubishi Heavy Industries, Ltd.
Claims (1)
りロープを介して吊荷が吊り下げられ、スキューシリン
ダによって前記横行トロリーから吊荷までの前記吊りロ
ープの長さを変化させることで前記吊荷を旋回可能な吊
荷装置において、前記横行トロリーの運動状態量を検出
するトロリー運動状態量検出器と、前記横行トロリーに
吊り下げられた吊荷の左右両端の運動状態量を検出する
吊荷運動状態量検出器と、前記スキューシリンダの運動
状態量を検出するスキューシリンダ運動状態量検出器
と、前記各検出器により検出されたそれぞれの運動状態
量に基づいて前記横行トロリー及びスキューシリンダを
駆動して振れ止め制御を行う制御装置とを具えたことを
特徴とする吊荷の振れ止め制御装置。1. A suspension load is suspended on a transverse trolley supported movably via suspension ropes, and the length of the suspension rope from the transverse trolley to the suspension load is changed by a skew cylinder, whereby the suspension rope is suspended. In a hanging device capable of swiveling a load, a trolley motion state amount detector that detects a motion state amount of the traverse trolley, and a suspended load that detects motion state amounts at both left and right ends of the suspended load suspended in the traverse trolley. A motion state quantity detector, a skew cylinder motion state quantity detector for detecting the motion state quantity of the skew cylinder, and driving the traverse trolley and the skew cylinder based on the respective motion state quantities detected by the respective detectors. And a steady state control device for performing steady rest control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8931494A JP2948473B2 (en) | 1994-04-27 | 1994-04-27 | Sway control device for suspended load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8931494A JP2948473B2 (en) | 1994-04-27 | 1994-04-27 | Sway control device for suspended load |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07291576A true JPH07291576A (en) | 1995-11-07 |
| JP2948473B2 JP2948473B2 (en) | 1999-09-13 |
Family
ID=13967212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8931494A Expired - Fee Related JP2948473B2 (en) | 1994-04-27 | 1994-04-27 | Sway control device for suspended load |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2948473B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11322262A (en) * | 1998-05-12 | 1999-11-24 | Shinko Electric Co Ltd | Suspension type elevator |
| JP2010235219A (en) * | 2009-03-30 | 2010-10-21 | Mitsui Eng & Shipbuild Co Ltd | Rope hooking structure for crane |
| JP2010275034A (en) * | 2009-05-27 | 2010-12-09 | Mitsui Eng & Shipbuild Co Ltd | Crane rope fitting structure |
| CN107150951A (en) * | 2016-03-03 | 2017-09-12 | 富士电机株式会社 | The beat stop control of hanging object |
| CN108127096A (en) * | 2018-02-12 | 2018-06-08 | 山东钢铁股份有限公司 | A kind of transverse-moving trolley localization method and system |
-
1994
- 1994-04-27 JP JP8931494A patent/JP2948473B2/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11322262A (en) * | 1998-05-12 | 1999-11-24 | Shinko Electric Co Ltd | Suspension type elevator |
| JP2010235219A (en) * | 2009-03-30 | 2010-10-21 | Mitsui Eng & Shipbuild Co Ltd | Rope hooking structure for crane |
| JP2010275034A (en) * | 2009-05-27 | 2010-12-09 | Mitsui Eng & Shipbuild Co Ltd | Crane rope fitting structure |
| CN107150951A (en) * | 2016-03-03 | 2017-09-12 | 富士电机株式会社 | The beat stop control of hanging object |
| CN108127096A (en) * | 2018-02-12 | 2018-06-08 | 山东钢铁股份有限公司 | A kind of transverse-moving trolley localization method and system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2948473B2 (en) | 1999-09-13 |
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