Loading and unloading crane, anti-swing method for loading and unloading crane, and loading and unloading method

Abstract

It can control anti-swaying unrestricted transport from any loading / unloading start position to any loading / unloading target position through a simple control system. It has a boom slewing mechanism (4) for rotating the crane boom (2), a boom undulation mechanism (3) for adjusting the undulation angle, a boom extension mechanism (5) for adjusting the boom length, and a control device for calculating the track on which the load (7) is transported and controlling the boom slewing mechanism (4), the boom undulation mechanism (3), and the boom extension mechanism (5). The control device calculates the track based on the loading / unloading start position and the loading / unloading target position, so that it is a straight track at least when viewed from the vertical direction, using the loading / unloading start position, the loading / unloading target position, and the maximum speed v. max The swing period T and lifting time T1 of the suspended object are calculated to make the track a straight track. The swing angle θ, undulation angle and arm length L are calculated to control the arm swing mechanism (4), arm undulation mechanism (3) and arm telescopic mechanism (5) in the manner of the calculated swing angle θ, undulation angle and arm length L.

Description

Technical Field

[0001] This invention relates to loading and unloading cranes, methods for preventing the swaying of loading and unloading cranes, and methods for loading, unloading, and transporting. Background Technology

[0002] When steel coils and other products are shipped from steel mills, rotary loading and unloading cranes are used for transportation. This operation involves land-side workers performing hook-up, crane operators operating the cranes, and shipboard workers aligning and securing the steel coils, making it a labor-intensive task. Therefore, given the anticipated decrease in the labor force in the future, there is a need for labor-saving methods.

[0003] In order to automate the crane operation in the loading and unloading transportation operations using loading and unloading cranes as described above, it is necessary to automatically control the anti-sway of the suspended load. As methods for anti-sway control of suspended loads, conventional methods have been adopted, such as fixing the slewing radius and using acceleration under constant acceleration, uniform motion and deceleration under constant angular velocity to perform anti-sway control (Patent Documents 1-3), and using feedback control in the circumferential direction to perform anti-sway control (Patent Document 4).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2004-161460

[0007] Patent Document 2: Japanese Patent Application Publication No. 2009-083977

[0008] Patent Document 3: Japanese Patent Application Publication No. 2012-001324

[0009] Patent Document 4: Japanese Patent Application Publication No. 2011-111242 Summary of the Invention

[0010] The problem that the invention aims to solve

[0011] In patent documents 1-3, since the transport track for the suspended object is arc-shaped, the swing of the object in the direction of travel (i.e., the circumferential direction) is controlled, as well as the swing of the object in the direction of the radius of rotation. Therefore, it is necessary to adjust the transport time to an integer multiple of the swing period of the suspended object, or to adjust the swing period by changing the rope length during transport. Depending on the circumstances, this adjustment becomes a constraint.

[0012] In addition, in Patent Document 4, in order to use feedback control, sensors are required to detect the position and speed of the suspended object, thus incurring costs such as the introduction and maintenance costs of the sensors and additional control system equipment.

[0013] Therefore, the present invention addresses the aforementioned issues and aims to provide a loading and unloading crane, a method for preventing the crane from swaying, and a loading and unloading transportation method that can control the transport from any loading and unloading start position to any loading and unloading target position without any constraints and through a simple control system.

[0014] Methods for solving problems

[0015] According to one aspect of the present invention, a loading and unloading crane is provided, which transports a load suspended by a cable provided at the top end of the crane arm from any loading and unloading start position to a loading and unloading target position by the rotation of the crane arm. The crane includes: an arm rotation mechanism for rotating the crane arm; an arm undulation mechanism for adjusting the undulation angle of the crane arm; an arm extension mechanism for adjusting the arm length of the crane arm; and a control device for calculating the trajectory of the load being transported and controlling the arm rotation mechanism, the arm undulation mechanism, and the arm extension mechanism. The control device calculates the trajectory based on the loading and unloading start position and the loading and unloading target position, such that the trajectory is a straight track at least when viewed from the vertical direction. It calculates the rotation angle, the undulation angle, and the arm length of the crane arm using the loading and unloading start position, the loading and unloading target position, the maximum speed, the load swing period, and the lifting time, in order to make the trajectory a straight track, and controls the arm rotation mechanism, the arm undulation mechanism, and the arm extension mechanism in a manner that yields the calculated rotation angle, the undulation angle, and the arm length.

[0016] According to one aspect of the present invention, a method for preventing swaying in a loading and unloading crane is provided. This method involves transporting a load suspended by a cable provided at the top of the crane arm from an arbitrary loading / unloading start position to a loading / unloading target position via the swinging motion of the crane arm. The loading and unloading crane is equipped with an arm swing mechanism for swinging the crane arm, an arm undulation mechanism for adjusting the undulation angle of the crane arm, and an arm extension mechanism for adjusting the arm length. The method calculates the trajectory of the load being transported based on the loading / unloading start position and the loading / unloading target position, ensuring that the trajectory is a straight track at least when viewed from the vertical direction. The swing angle, undulation angle, and arm length of the crane arm are calculated using the loading / unloading start position, loading / unloading target position, maximum speed, load swing period, and lifting time, in a manner that ensures the trajectory is a straight track. The arm swing mechanism, arm undulation mechanism, and arm extension mechanism are controlled in a manner that yields the calculated swing angle, undulation angle, and arm length.

[0017] According to one aspect of the present invention, a loading and unloading method is provided, which is a loading and unloading crane that transports a suspended object suspended by a cable provided at the top end of the crane arm from any loading and unloading start position to a loading and unloading target position by means of the rotational movement of the crane arm, wherein the loading and unloading crane is used to transport the suspended object.

[0018] Invention Effects

[0019] According to one aspect of the present invention, a loading and unloading crane, a method for preventing the loading and unloading crane from any loading and unloading start position to any loading and unloading target position without any constraints and controlled by a simple control system, and a loading and unloading transportation method are provided. Attached Figure Description

[0020] Figure 1 This is a side view showing a loading and unloading crane according to an embodiment of the present invention.

[0021] Figure 2 This is a top view showing a loading and unloading crane according to an embodiment of the present invention.

[0022] Figure 3 This is an explanatory diagram showing the track at the top of the crane boom.

[0023] Figure 4 It is a graph showing the control mode of acceleration at the tip of the arm.

[0024] Figure 5 It is a graph showing the speed control mode at the tip of the arm.

[0025] Figure 6 This is an explanatory diagram showing the trajectory of the suspended object in Embodiment 1.

[0026] Figure 7 This is a graph showing the time-varying coordinate position of the suspended object in Example 1.

[0027] Figure 8 This is a graph showing the time variation of the speed of the suspended object in Example 1.

[0028] Figure 9 This is an explanatory diagram showing the trajectory of the suspended object in Embodiment 2.

[0029] Figure 10 This is a graph showing the time-varying coordinate position of the suspended object in Example 2.

[0030] Figure 11 This is a graph showing the time variation of the speed of the suspended object in Example 2.

[0031] Figure 12This is an explanatory diagram showing the trajectory of the suspended object in Embodiment 3.

[0032] Figure 13 This is a graph showing the time-varying coordinate position of the suspended object in Example 3.

[0033] Figure 14 This is a graph showing the time variation of the speed of the suspended object in Example 3. Detailed Implementation

[0034] In the following detailed description, embodiments of the present invention will be described with reference to the accompanying drawings. In the drawings, the same or similar parts are labeled with the same or similar reference numerals, and repeated descriptions are omitted. The drawings are schematic and may include situations different from reality. Furthermore, the embodiments shown below illustrate apparatus and methods for embodying the technical concept of the present invention; the technical concept of the present invention does not define the materials, structures, arrangements, etc., of the constituent components as described below. The technical concept of the present invention can be modified in various ways within the scope of the claimed protection.

[0035] Loading and unloading cranes

[0036] A loading and unloading crane 1 according to one embodiment of the present invention will be described. For example... Figure 1 and Figure 2 As shown, the loading / unloading crane 1 includes a crane boom 2, a boom undulation mechanism 3, a boom slewing mechanism 4, a boom telescopic mechanism 5, and a cable 6. The top of the crane boom 2 where the cable 6 is installed is also referred to as the boom tip 21. It should be noted that in the attached drawings, the x-axis, y-axis, and z-axis are mutually orthogonal axes, the x-axis and y-axis are parallel to the horizontal direction, and the z-axis is parallel to the vertical direction. The loading / unloading crane 1 lifts the load 7 installed at the top of the cable 6 and transports it from the loading / unloading start position (x1, y1) to the loading / unloading target position (x2, y2). It should be noted that, in this embodiment, as an example, the load 7 is a product manufactured in a steel plant, namely a steel coil.

[0037] Arm undulation mechanism 3 adjusts the undulation angle undulation angle The angle θ is the extension direction of the crane boom 2 relative to the horizontal direction. The boom slewing mechanism 4 adjusts the slewing angle θ [°] by rotating the crane boom 2. The slewing angle θ [°] is the angle of the extension direction of the crane boom 2 relative to the x-axis direction. The boom telescopic mechanism 5 adjusts the boom length L [m]. The boom length L [m] is the protruding length of the crane boom 2 in the extension direction from the support position of the crane boom 2 on which the boom slewing mechanism 4 is installed.

[0038] Additionally, the loading / unloading crane 1 is equipped with a winch device (not shown) for adjusting the length of the cable 6 from the top 21 of the boom. Furthermore, the loading / unloading crane 1 is equipped with a control device (not shown). The control device adjusts the boom undulation angle by controlling the boom undulation mechanism 3, the boom slewing mechanism 4, the boom telescopic mechanism 5, and the winch device in order to transport the load 7 from the loading / unloading start position (x1, y1) to the loading / unloading target position (x2, y2). The rotation angle θ, boom length L, and cable length are specified. The control device calculates the trajectory of the load 7 based on the loading / unloading start position and the loading / unloading target position, ensuring it remains a straight track at least when viewed from the vertical direction (z-axis direction). Then, the control device uses the loading / unloading start position, loading / unloading target position, and maximum speed v... max The swing period T and lifting time T1 of the suspended object are used to calculate the slewing angle θ and undulation angle of the crane boom 2 in order to make the track of the suspended object 7 a straight track. and arm length L. Then, the control device calculates the rotation angle θ and the undulation angle. The boom slewing mechanism 4, boom undulation mechanism 3, and boom telescopic mechanism 5 are controlled by the boom length L to transport the suspended load 7. Details regarding the anti-sway method of the loading and unloading crane 1 controlled by the control device will be described later.

[0039] <Anti-swaying methods for loading and unloading cranes>

[0040] In the anti-sway method of the loading and unloading crane 1 in this embodiment, such as Figure 3 As shown, the load 7 is transported from the starting position (x1, y1) to the target position (x2, y2). It should be noted that... Figure 3 In the coordinate system shown, the origin is located at the center of rotation of the crane boom 2. Furthermore, in this embodiment, at least in the xy plane viewed from the z-direction (vertical direction), the load 7 is transported linearly from the starting point (x1, y1) to the ending point (x2, y2). At this time, the transport path of the load 7 in the xy plane becomes a straight track represented by the following equation (1). It should be noted that in equation (1), x and y represent the x-coordinate and y-coordinate of the top end 21 of the crane boom 2, respectively.

[0041]

[0042] When transporting the load 7 on the straight track, the position (x, y) of the top part 21 of the boom is expressed by the following equations (2) and (3) using the swing radius r [m] of the loading and unloading crane 1. Moreover, the swing radius r is expressed by the following equation (4) based on equations (1) to (3).

[0043] x=rcosθ···(2)

[0044] y=rsinθ···(3)

[0045]

[0046] Furthermore, the position of the top part 21 of the arm, namely x and y, is expressed by the following equations (5) and (6) using the rotation angle θ.

[0047]

[0048]

[0049] Therefore, the velocity v[m / s] in the xy plane of the top part 21 of the arm is expressed as follows (7).

[0050]

[0051] By solving for the gyration angular velocity dθ / dt, it is possible to derive the result that the tip 21 of the crane boom 2 is in Figure 3 The cyclotron angular velocity dθ / dt required to move at a speed v on a straight track (as shown in equation (8) below). It should be noted that t represents the time elapsed since the start of the cyclotron [s].

[0052]

[0053] Next, the control mode of the velocity v at the tip of the arm 21 will be explained. For example... Figure 4 As shown, firstly, the acceleration a is linearly increased for a constant lifting time T1 [s]. The lifting time T1 is a predetermined time for the acceleration a to change, and preferably, it is set to be as short as possible within the range of equipment specifications. Next, acceleration is performed for a time (nT) that is n (natural number) times the oscillation period T at a constant acceleration a. It should be noted that the transport time is preferably short, so if it can be achieved in the output of the equipment, it is preferred to set n = 1. The oscillation period T is defined by the following equation (9). It should be noted that in equation (9), l is the length of the rope 6 [m], and G is the gravitational acceleration [m / s²]. 2 ].

[0054]

[0055] Furthermore, the acceleration a is linearly reduced over time T1 to achieve uniform transport. By doing so, the swing angle of the suspended object 7 becomes 0° during uniform transport. Then, upon stopping, the operation is performed in the opposite direction to the acceleration, bringing the suspended object 7 to a stop at the target position with a swing angle of 0°.

[0056] The time change of the velocity v of the arm tip 21 under such control is... Figure 5 As shown in [the image]. Figure 5 In the middle, tt is the hoisted object transportation time [s], and the hoisted object transportation time t is set in such a manner that the area S (i.e., the integral value of the curve graph) surrounded by the slanted lines of the curve graph shown in the following formula (10) becomes the distance from the loading / unloading start position to the loading / unloading target position Figure 5 . Note that in formula (10) etc., v t is the speed during uniform motion, i.e., the maximum speed [m / s]. And by substituting this speed v into formula (8), the angular velocity of rotation dθ / dt at each time t represented by the following formulas (11) to (17) is derived. Note that formula (11) represents the speed v of the tip 21 of the arm during the time t < T1, formula (12) represents the speed v of the tip 21 of the arm during the time T1 ≤ t < nT, formula (13) represents the speed v of the tip 21 of the arm during the time nT ≤ t < nT + T1, formula (14) represents the speed v of the tip 21 of the arm during the time nT + T1 ≤ t < t max - nT - T1, formula (15) represents the speed v of the tip 21 of the arm during the time t t - nT - T1 ≤ t < t t - nT, formula (16) represents the speed v of the tip 21 of the arm during the time t t - nT ≤ t < t t - T1, formula (17) represents the speed v of the tip 21 of the arm during the time t t - T1 ≤ t ≤ t t . t

[0057] S = v max (t t - nT - T1) ··· (10)

[0058]

[0059]

[0060]

[0061] v = v max ··· (14)

[0062]

[0063]

[0064]

[0065] Next, the control of the elevation angle of the crane arm 2 and the arm length L will be described. The turning radius r of the loading / unloading crane 1 uses the arm length L and the elevation angle And this is expressed by the following equation (18). Furthermore, if equation (18) is substituted into equation (4) and time-differentiated on both sides, the following equation (19) is derived. Moreover, in the case where the transport is carried out with the height of the suspended object 7 constant, Since it is constant, we can obtain the following equation (20). Furthermore, through equations (19) and (20), we can derive the following equations (21) and (22).

[0066]

[0067]

[0068]

[0069]

[0070]

[0071] In other words, in the anti-sway method of the loading and unloading crane 1 in this embodiment, when transporting the load 7 using the loading and unloading crane 1, firstly, the control device installed on the loading and unloading crane 1 calculates the track from the loading and unloading start position (x1, y1) to the loading and unloading target position (x2, y2). At this time, the calculation is performed in such a way that the track from the loading and unloading start position (x1, y1) to the loading and unloading target position (x2, y2) is a straight track in the xy plane viewed from the z direction. In this calculation, it is preferable to determine the swing angle θ of the crane arm 2 using equation (8). Next, in the anti-sway method of the loading and unloading crane 1 in this embodiment, the load 7 is transported from the loading and unloading start position to the loading and unloading target position along the calculated track.

[0072] By doing so, in controlling the swing of the load 7, only the swing of the load 7 in the direction of travel needs to be controlled, thus eliminating the need to control the swing of the load in the direction of the radius of rotation as in Patent Documents 1-3. Therefore, fewer adjustments are required for controlling the swing of the load, making control easier. Furthermore, according to this embodiment, the transport distance is shorter compared to transporting using an arc track as in Patent Documents 1-3, thus reducing transport time. Moreover, according to this embodiment, unlike Patent Documents 1-3, when the radius of rotation differs between the loading / unloading start position and the loading / unloading target position, there is no need to perform additional operations to absorb the swing of the load in the direction of the radius of rotation. Additionally, in this embodiment, since feedback control is not required, there is no need to introduce sensors for detecting the position and speed of the load 7, or the control system equipment associated with the sensors. Therefore, according to this embodiment, compared to Patent Document 4, the equipment structure is simplified, and the costs associated with equipment introduction and maintenance are reduced.

[0073] It should be noted that in the anti-sway method of the loading and unloading crane 1 in this embodiment, after calculating the linear track for transporting the load 7, the speed v of the boom tip 21 in the xy plane is calculated by the control device or the like installed on the loading and unloading crane 1. At this time, the speed v of the boom tip 21 in the xy plane is preferably calculated by equations (11) to (17) based on the time t from the start of the rotation. At this time, the transport time t of the load is calculated according to equation (10) based on the distance in the xy plane from the loading and unloading start position to the loading and unloading target position. t It should be noted that in equation (10), the maximum speed v is... max The swing period T, constant n, and lifting time T1 can also be preset. By doing so, the swaying of the cargo 7 in the direction of travel can be suppressed.

[0074] Furthermore, in the anti-sway method of the loading and unloading crane 1 in this embodiment, it is preferable to use a control device to control the boom length L and undulation angle of the crane boom 2. Controlled as a condition satisfying equation (19). Furthermore, in order to control the suspended load 7 at a constant height, it is even more preferable to control the boom length L and undulation angle of the crane boom 2. Use equations (21) and (22) to control it.

[0075] <Variation Example>

[0076] The present invention has been described above with reference to specific embodiments, but is not intended to limit the invention by means of these descriptions. Other embodiments of the invention, including various modifications, will be apparent to those skilled in the art upon reference to the description. Therefore, it should be understood that embodiments comprising these modifications, individually or in combination, are also included in the embodiments of the invention as described in the claims.

[0077] For example, in the above embodiment, the straight track of the suspended object 7 is assumed to be a track with a constant height connecting the loading / unloading start position and the loading / unloading target position, but the present invention is not limited to this example. The height of the suspended object 7 may also not be constant.

[0078] Furthermore, in the above embodiment, the suspended object 7 is assumed to be a hot-rolled steel coil, but the present invention is not limited to this example. The suspended object 7 can be made of any material... Figure 1 and Figure 2 Such a loading and unloading crane can be used to transport goods, or other items.

[0079] <Effects of the Implementation Method>

[0080] (1) A loading and unloading crane 1 according to one embodiment of the present invention is a loading and unloading crane 1 that transports a load 7 suspended by a cable 6 provided at the arm tip 21 of a crane arm 2 from an arbitrary loading and unloading start position to a loading and unloading target position by the swinging operation of the crane arm 2. It includes: an arm swing mechanism 4 that swings the crane arm 2; an arm elevation mechanism 3 that adjusts the elevation angle of the crane arm 2 an arm telescoping mechanism 5 that adjusts the arm length L of the crane arm 2; and a control device that calculates the trajectory along which the load 7 is transported and controls the arm swing mechanism 4, the arm elevation mechanism 3, and the arm telescoping mechanism 5. The control device calculates the trajectory so as to be at least a straight line trajectory when viewed from the vertical direction based on the loading and unloading start position and the loading and unloading target position, and uses the loading and unloading start position, the loading and unloading target position, the maximum speed v max , the load swing period T, and the lifting time T1 to calculate the swing angle θ, the elevation angle of the crane arm 2, and the arm length L in such a way that the trajectory becomes a straight line trajectory, and controls the arm swing mechanism 4, the arm elevation mechanism 3, and the arm telescoping mechanism 5 so as to be the calculated swing angle θ, the elevation angle and the arm length L.

[0081] According to the structure of (1) above, since the load 7 is transported along a straight line trajectory, compared with the case of transporting along an arc trajectory, the adjustment items for controlling the cargo swing are reduced, and the control becomes easier. In addition, the transportation time can be shortened. Moreover, since feedback control is not required, the equipment structure can be simplified, and the costs for equipment introduction, maintenance, etc. can be reduced.

[0082] (2) In the structure of (1) above, the control device calculates in such a way that the height in the vertical direction of the straight line trajectory is constant.

[0083] According to the structure of (2) above, the load 7 can be transported in a state where its height is constant.

[0084] (3) In the structure of (1) or (2) above, the control device calculates the swing angle θ according to Equation (8) using the speed v of the arm tip 21 calculated according to Equations (11) to (17). When calculating the speed v, Equation (11) is used for the time t < T1, Equation (12) is used for the time T1 ≤ t < nT, Equation (13) is used for the time nT ≤ t < nT + T1, Equation (14) is used for the time nT + T1 ≤ t < t t - nT - T1, Equation (15) is used for the time t t - nT - T1 ≤ t < t t - nT, Equation (16) is used for the time t t - nT ≤ t < t t - T1, Equation (17) is used for the time t t - T1 ≤ t ≤ tt The time is calculated using formula (17).

[0085] Based on the structure described in (3) above, the swing of the cargo 7 can be controlled by a simple control method.

[0086] (4) In any of the structures described in (1) to (3) above, the control device will adjust the fluctuation angle. The arm length L is controlled to meet the conditions of equation (19).

[0087] Based on the structure described in (4) above, the suspended object 7 can be transported along a straight track using a simple control method.

[0088] (5) In any of the structures described in (1) to (4) above, the control device will adjust the fluctuation angle. The arm length L is controlled to meet the conditions of equations (21) and (22).

[0089] Based on the structure described in (5) above, the suspended object 7 can be transported at a constant height using a simple control method.

[0090] (6) One aspect of the present invention is a method for preventing the swaying of a loading and unloading crane. This method involves transporting a load 7 suspended by a cable 6 provided at the top end 21 of the crane arm 2 from any loading / unloading start position to the loading / unloading target position through the rotation of the crane arm 2. The loading and unloading crane 1 uses an arm rotation mechanism 4 that rotates the crane arm 2 and adjusts the undulation angle of the crane arm 2. The loading and unloading crane, consisting of a boom undulation mechanism 3 and a boom extension mechanism 5 for adjusting the boom length L of the boom 2, calculates the trajectory of the load 7 to be transported based on the loading / unloading start position and the loading / unloading target position, in a manner that ensures a straight track at least when viewed from the vertical direction. This calculation uses the loading / unloading start position, the loading / unloading target position, and the maximum speed v. max The swing period T and lifting time T1 of the suspended load are used to calculate the slewing angle θ and undulation angle of the crane boom 2 in a way that makes the track a straight track. And the arm length L, to be used as the calculated rotation angle θ and undulation angle. The arm rotation mechanism 4, the arm undulation mechanism 3, and the arm extension mechanism 5 are controlled by the arm length L.

[0091] Based on the structure of (6) above, the same effect as (1) above can be obtained.

[0092] (7) One aspect of the present invention is a loading and unloading method based on a loading and unloading crane 1 that transports a suspended object 7 suspended by a cable 6 provided at the top end 21 of the crane arm 2 from any loading and unloading start position to a loading and unloading target position by means of the rotation of the crane arm 2, wherein the loading and unloading crane 1 with any of the structures of (1) to (5) above is used to transport the suspended object.

[0093] Based on the structure described in (7), the same effect as the structures described in (1) to (5) can be obtained.

[0094] Example 1

[0095] Next, Embodiment 1 performed by the inventors will be described. In Embodiment 1, using... Figure 1 The loading and unloading crane 1 shown performs the same anti-sway control as in the above embodiment, transporting a 10t hot-rolled steel coil suspended by a 10m long cable 6 as the load 7. Furthermore, in Embodiment 1, in a coordinate system (x, y) (unit "m") with the rotation center of the loading and unloading crane 1 as the origin, the load 7 is transported from the loading / unloading start position (20, 0) to the loading / unloading target position (-5, 15). Additionally, in Embodiment 1, as the initial condition for the crane boom 2, the rotation angle θ is set to 0°, and the undulation angle... Set the angle to 48° and the boom length L to 30m. Additionally, set the slewing time T1 to half the swing period T of the suspended object 7, and set the maximum speed v... max Set to 1.5 m / s, and set the constant n in equations (11) to (17) to 1.

[0096] The trajectory of the suspended object 7 in Example 1 is... Figure 6 The diagram shows the changes in the coordinates of the suspended object 7 in the x and y directions at each time t. Figure 7 As shown in the diagram, the suspended object 7 moves linearly from the loading / unloading start position to the loading / unloading target position. Furthermore, the change in the velocity v of the suspended object 7 at each time t is shown in the diagram. Figure 8 As shown in the figure, it was successfully confirmed that the velocity v becomes 0 at the time t when the load reaches the target loading / unloading position. Therefore, it was successfully confirmed that the anti-sway control of the suspended load 7 can be achieved.

[0097] Example 2

[0098] Furthermore, the inventors conducted Embodiment 2 using the same loading and unloading crane 1 as in Embodiment 1. In Embodiment 2, in a coordinate system (x, y) (unit "m") with the rotation center of the loading and unloading crane 1 as the origin, the load 7 was transported from the loading / unloading start position (10, 10) to the loading / unloading target position (-5, 15). Additionally, in Embodiment 2, as the initial condition for the crane boom 2, the rotation angle θ was set to 45°, and the undulation angle... Set the angle to 62° and the boom length L to 30m. Additionally, set the slewing time T1 to half the swing period T of the suspended object 7, and set the maximum speed v... max Set to 1.5 m / s, and set the constant n in equations (11) to (17) to 1.

[0099] The trajectory of the suspended object 7 in Example 2 is... Figure 9 The diagram shows the changes in the coordinates of the suspended object 7 in the x and y directions at each time t. Figure 10 As shown in the diagram, the suspended object 7 moves linearly from the loading / unloading start position to the loading / unloading target position. Furthermore, the change in the velocity v of the suspended object 7 at each time t is shown in the diagram. Figure 11 As shown in the figure, it was successfully confirmed that the velocity v becomes 0 at the time t when the load reaches the target position. Therefore, similar to Example 1, it was successfully confirmed that the anti-sway control of the suspended load 7 can be achieved.

[0100] Example 3

[0101] Furthermore, the inventors conducted Embodiment 3 using the same loading / unloading crane 1 as in Embodiment 1. In Embodiment 3, in a coordinate system (x, y) (unit "m") with the rotation center of the loading / unloading crane 1 as the origin, the load 7 was transported from the loading / unloading start position (20, 0) to the loading / unloading target position (-5, 15). Additionally, in Embodiment 3, as the initial condition for the crane boom 2, the rotation angle θ was set to 0°, and the undulation angle was... Set the angle to 48° and the boom length L to 30m. Additionally, set the slewing time T1 to half the swing period T of the suspended object 7, and set the maximum speed v... max Set to 1.5 m / s, and set the constant n in equations (11) to (17) to 1.

[0102] The trajectory of the suspended object 7 in Example 3 is... Figure 12 The diagram shows the changes in the coordinates of the suspended object 7 in the x and y directions at each time t. Figure 13 As shown in the diagram, the suspended object 7 moves linearly from the loading / unloading start position to the loading / unloading target position. Furthermore, the change in the velocity v of the suspended object 7 at each time t is shown in the diagram. Figure 14 As shown in the figure, it was successfully confirmed that the velocity v becomes 0 at the time t when the load reaches the target position. Therefore, similar to Example 1, it was successfully confirmed that the anti-sway control of the suspended load 7 can be achieved.

[0103] Explanation of reference numerals in the attached figures

[0104] 1. Loading and unloading cranes

[0105] 2. Crane boom

[0106] 21. Arm tip

[0107] 3-arm undulation mechanism

[0108] 4-arm rotary mechanism

[0109] 5-arm telescopic mechanism

[0110] 6. Ropes and cables

[0111] 7. Hanging objects.

Claims

1. A loading and unloading crane, which transports a load suspended by a cable located at the top end of the crane boom from any loading / unloading start position to a loading / unloading target position by means of the swing motion of the crane boom, wherein, have: The boom rotation mechanism enables the crane boom to rotate; An arm undulation mechanism adjusts the undulation angle of the crane arm; An arm extension mechanism adjusts the arm length of the crane arm; and The control device calculates the trajectory of the suspended load and controls the arm rotation mechanism, the arm undulation mechanism, and the arm extension mechanism. The control device calculates the trajectory based on the loading / unloading start position and the loading / unloading target position, in a manner that ensures the trajectory is a straight line when viewed from a vertical direction. The control device uses the loading / unloading start position, loading / unloading target position, maximum speed, load swing period, and lifting time to calculate the crane boom's swing angle, undulation angle, and boom length in a manner that ensures the track becomes a straight track. The control device controls the arm rotation mechanism, the arm undulation mechanism, and the arm extension mechanism in a manner that corresponds to the calculated rotation angle, the undulation angle, and the arm length. The control device uses the velocity at the tip of the arm calculated according to equations (11) to (17) to calculate the rotation angle according to equation (8). In calculating the speed, for the time of t < T1, the formula (11) is used, for the time of T1≤t<nT, the formula (12) is used, for the time of nT≤t<nT+T1, the formula (13) is used, for the time of nT+T1≤t<t t -nT-T1, the formula (14) is used, for the time of t t -nT-T1≤t<t t -nT, the formula (15) is used, for the time of t t -nT≤t<t t -T1, the formula (16) is used, for the time of t t -T1≤t≤t t -T1, the formula (17) is used, in, x1 represents the x-direction position where loading / unloading begins, in meters (m). x2 represents the x-direction position of the loading / unloading target location, in meters (m). y1 represents the y-direction position of the starting position of loading / unloading, in meters (m). y2 represents the y-direction position of the loading / unloading target location, in meters (m). θ represents the swing angle of the crane boom, in degrees. v represents the velocity at the tip of the arm, in m / s. v max This indicates the highest speed at the tip of the arm, expressed in m / s. t represents the time from the start of the spin, in seconds. T1 represents the lift time, measured in seconds (s). n represents a constant and is a natural number. T represents the oscillation period, measured in seconds (s). t t This indicates the time taken to transport the load, measured in seconds (s).

2. The loading and unloading crane according to claim 1, The control device performs calculations in a manner that keeps the vertical height of the straight track constant.

3. The loading and unloading crane according to claim 1 or 2, The control device controls the undulation angle and the arm length to satisfy the condition of equation (19). in, This represents the undulation angle, in degrees. L represents the arm length, in meters (m). x1 represents the x-direction position where loading / unloading begins, in meters (m). x2 represents the x-direction position of the loading / unloading target location, in meters (m). y1 represents the y-direction position of the starting position of loading / unloading, in meters (m). y2 represents the y-direction position of the loading / unloading target location, in meters (m). θ represents the swing angle of the crane boom, in degrees. t represents the time from the start of the rotation, in seconds.

4. The loading and unloading crane according to claim 1 or 2, The control device controls the undulation angle and the arm length to satisfy the conditions of equations (21) and (22). in, This represents the undulation angle, in degrees. L represents the arm length, in meters (m). x1 represents the x-direction position where loading / unloading begins, in meters (m). x2 represents the x-direction position of the loading / unloading target location, in meters (m). y1 represents the y-direction position of the starting position of loading / unloading, in meters (m). y2 represents the y-direction position of the loading / unloading target location, in meters (m). θ represents the swing angle of the crane boom, in degrees. t represents the time from the start of the rotation, in seconds.

5. A method for preventing swaying in a loading and unloading crane, wherein the crane, which uses a cable suspended at the top of the crane boom to transport a load from any loading / unloading start position to a loading / unloading target position through the swinging motion of the crane boom, wherein... The loading and unloading crane used is an crane equipped with a boom slewing mechanism for rotating the crane boom, a boom undulation mechanism for adjusting the boom undulation angle, and a boom extension mechanism for adjusting the boom length. Based on the starting position and the target position of the loading / unloading, the trajectory for transporting the load is calculated in a manner that ensures it is a straight track at least when viewed from the vertical direction. The crane boom's swing angle, undulation angle, and boom length are calculated using the loading / unloading start position, target position, maximum speed, load swing period, and lifting time, in a manner that ensures the track becomes a straight track. The arm rotation mechanism, arm undulation mechanism, and arm extension mechanism are controlled in a manner that yields the calculated rotation angle, undulation angle, and arm length. The control device uses the velocity at the tip of the arm calculated according to equations (11) to (17) to calculate the rotation angle according to equation (8). When calculating the said speed, Equation (11) is used for the time of t < T1, Equation (12) is used for the time of T1 ≤ t < nT, Equation (13) is used for the time of nT ≤ t < nT + T1, Equation (14) is used for the time of nT + T1 ≤ t < t t - nT - T1, and Equation (15) is used for the time of t t - nT - T1 ≤ t < t t - nT, and Equation (16) is used for the time of t t - nT ≤ t < t t - T1, and Equation (17) is used for the time of t t - T1 ≤ t ≤ t t and Equation (17) is used for the time of in, x1 represents the x-direction position where loading / unloading begins, in meters (m). x2 represents the x-direction position of the loading / unloading target location, in meters (m). y1 represents the y-direction position of the starting position of loading / unloading, in meters (m). y2 represents the y-direction position of the loading / unloading target location, in meters (m). θ represents the swing angle of the crane boom, in degrees. v represents the velocity at the tip of the arm, in m / s. v max This indicates the highest speed at the tip of the arm, expressed in m / s. t represents the time from the start of the spin, in seconds. T1 represents the lift time, measured in seconds (s). n represents a constant and is a natural number. T represents the oscillation period, measured in seconds (s). t t This indicates the time taken to transport the load, measured in seconds (s).

6. A loading and unloading method, based on a loading and unloading crane that transports a load suspended by a cable located at the top of the crane boom from an arbitrary loading / unloading start position to a loading / unloading target position via the swing motion of the crane boom, wherein, The load is transported using the loading and unloading crane according to any one of claims 1 to 4.

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