Crane device and transportation method of suspended load

Abstract

To provide a crane device capable of suppressing multiple pendulum motions.SOLUTION: A crane device has a hanging part to hold a suspended load, a holding part connected to the hanging part via a connection part, and a moving part to move the holding part in the horizontal direction. The hanging part is hung with the connection part, and has a load swing suppression part including a rotating shaft, a rotating body rotatably supported around the axis of the rotating shaft, a converter to convert kinetic energy due to the rotation of the rotating body to heat energy, and transmission means to transmit the kinetic energy due to the rotation of the rotating body to the converter.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a crane device having a so-called multiple pendulum structure and a method for transporting a suspended load.

Background Art

[0002] When the suspension part for suspending the suspended load is moved in a direction along the horizontal direction, so-called load swing occurs, in which the suspended load swings like a pendulum at the start or stop of the movement. Conventionally, suppressing such load swing has been carried out.

[0003] For example, Patent Document 1 discloses suppressing the swing of a suspended load by adjusting the length of a damping rope.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] By the way, some suspension parts are provided with a sheave that is rotatably supported around the axis of a rotating shaft. When the suspension part having the sheave is moved in a direction along the horizontal direction, a pendulum motion also occurs in the sheave, so-called double pendulum motion occurs. When such double pendulum motion is performed, the pendulum motion occurring on the suspended load side is more difficult to predict in operation than the pendulum motion occurring on the side holding the suspension part, and suppressing its operation is required.

[0006] In the method for suppressing load swing described in Patent Document 1, the suppressing effect on the pendulum motion occurring on the suspended load side is poor, and further improvement is required.

[0007] The present invention has been made in view of the above problems, and an object thereof is to provide a crane device capable of suppressing so-called multiple pendulum motion.

Means for Solving the Problems

[0008] In order to solve the above problems, the present invention has the following features.

[0009] [1] A crane device having a suspension part for suspending a suspended load, a holding part connected to the suspension part via a connecting part, and a moving part for moving the holding part in a direction along the horizontal direction, wherein the suspension part includes a rotation shaft and a rotating body rotatably supported about the axis of the rotation shaft, a conversion part for converting the kinetic energy of the rotation of the rotating body into thermal energy, and a transmission means for transmitting the kinetic energy of the rotation of the rotating body to the conversion part, and a load swing suppression part including the transmission means, A crane device having the above. [2] A detection part for detecting the movement of the suspension part, a switching part for switching the transmission state between the rotating body and the load swing suppression part by the transmission means, The switching part cuts off the transmission by the transmission means based on the detection mode of the detection part, and the crane device according to [1]. [3] The detection part detects the lifting and lowering movement of the suspension part, The switching part cuts off the transmission by the transmission means based on the detection of the detection part, and the crane device according to [2]. [4] A method for transporting a suspended load using the crane device according to [2] or [3], including a detection step of detecting the movement of the suspension part, and a cutting step of cutting off the transmission between the rotating body and the load swing suppression part by the transmission means based on the detection mode of the detection step. A method for transporting a suspended load.

Effects of the Invention

[0010] According to the crane device of the present invention, there is provided a load swing suppression unit including a conversion unit that converts the kinetic energy generated by the rotation of a rotating body into thermal energy, and a transmission means that transmits the kinetic energy generated by the rotation of the rotating body to the conversion unit. As a result, since the kinetic energy generated by the rotation of the rotating body is converted into thermal energy, it becomes possible to suppress the multi-pendulum motion that occurs at the tip side in the suspension direction of the suspension part.

[0011] Further, according to the method for transporting a suspended load of the present invention, there is a cutting step of cutting off the transmission between the rotating body and the load swing suppression unit by the transmission means that transmits the kinetic energy generated by the rotation of the rotating body to the conversion unit, based on the detection mode in the detection step of detecting the movement of the suspension part. As a result, it becomes possible to operate the load swing suppression unit according to the movement mode of the suspension part. For example, by cutting off the transmission between the rotating body and the load swing suppression unit when the suspension part moves up and down, the movement of the suspension part can be performed efficiently.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0013] Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows the configuration of a crane device 100. As shown in FIG. 1, the crane device 100 includes a suspension part 20 that suspends a suspended load 10, a holding part 40 that is connected to the suspension part 20 via a connection part 30, and a moving part 50 that moves the holding part 40 in a direction along the horizontal direction.

[0014] The suspension load 10 is provided with a sling 11 that can be connected to the suspension part 20. The sling 11 is not particularly limited, and examples include wire ropes, belt slings, and chain slings.

[0015] The suspension part 20 has a sheave 21 as a rotating body that is pivotally supported so as to be rotatable around the axis of the rotating shaft 22. A connecting part 30 is hung on the sheave 21. Further, the suspension part 20 is provided with a hook 23 for hanging the sling 11.

[0016] The connecting part 30 may be any that can suspend the suspension part 20, and wires, ropes, chains, etc. can be used. The connecting part 30 may be appropriately selected according to the weight of the suspension load 10 and the like.

[0017] The holding part 40 has a winch 41 that can wind up and unwind the connecting part 30. Therefore, by operating the winch 41, the position of the suspension part 20 in the height direction can be moved.

[0018] The moving part 50 has a rail 51 formed to extend in a direction along the horizontal direction, a wheel 52 fitted to the rail 51, and a driving part 53 for driving the wheel 52. The moving part 50 moves along the rail 51 in response to the drive of the driving part 53. In other words, the suspension part 20 moves in a direction along the horizontal direction in response to the drive of the driving part 53.

[0019] Figure 2 shows the configuration of the suspension part 20. As shown in Figure 2, the suspension part 20 has support bodies 24 formed in a plate shape and arranged opposite to each other. A rotating shaft 22 extending along the opposing direction is provided on the pair of support bodies 24. A disc-shaped sheave 21 is inserted through the rotating shaft 22.

[0020] The hook 23 is fixed to the support body 24 by a rotating shaft 25 extending in the opposing direction of the pair of support bodies 24. The hook 23 is pivotally supported so as to be rotatable around the axis of the rotating shaft 25.

[0021] The suspension part 20 is provided with a load swing suppression part 60 that suppresses the swing of the suspended load 10 caused by the rotation of the sheave 21.

[0022] The load swing suppression part 60 includes a conversion part 61 that converts the kinetic energy due to the rotation of the sheave 21 into thermal energy, and a transmission means 70 that transmits the kinetic energy due to the rotation of the sheave 21 to the conversion part 61.

[0023] The conversion part 61 is not particularly limited as long as it can convert kinetic energy into thermal energy. For example, a viscous damper, a friction damper, etc. can be used. Examples of such dampers include rotary dampers.

[0024] The torque of the damper may be appropriately set in the conversion part 61 according to the weight of the suspended load, the moving speed of the moving part 50, the distance between the sheave 21 and the holding part 40, and the swing angle of the suspended load 10. It is preferable that the conversion part 61 uses one whose torque can be adjusted.

[0025] The transmission means 70 is provided between the sheave 21 and the conversion part 61. The transmission means 70 includes a first shaft 71 and a second shaft 72 that is connected to the first shaft 71 and is connected to the conversion part 61.

[0026] The transmission means 70 includes a drive gear 73 inserted through the rotating shaft 22 and a driven gear 74 that meshes with the drive gear 73 and is inserted through the first shaft 71.

[0027] Therefore, when the sheave 21 rotates, the rotational motion is transmitted to the drive gear 73 via the rotating shaft 22. The rotation of the drive gear 73 is transmitted to the first shaft 71 and the second shaft 72 via the driven gear 74. The rotational motion of the sheave 21 is transmitted to the conversion part 61 via the second shaft 72. In the conversion part 61, the kinetic energy is converted into thermal energy. As a result, the rotation of the sheave 21 is suppressed, and the swing of the suspended load 10 is suppressed.

[0028] The crane device 100 may be provided with a switching unit 80 that switches the transmission state between the sheave 21 and the load swing suppression unit 60.

[0029] The switching unit 80 includes a clutch 81 that switches the connection or disconnection between the first shaft 71 and the second shaft 72, a control unit 82 that controls the operation of the clutch 81, and a detection unit 83 that detects the movement of the suspension unit 20 in the direction along the height direction.

[0030] For example, an electromagnetic clutch can be used as the clutch 81. The control unit 82 controls the clutch 81 to switch between connection and disconnection according to the detection signal transmitted from the detection unit 83.

[0031] As the detection unit 83, for example, a multi-axis gyro sensor that detects the rotation and direction change of an object as an angular velocity can be used. When a multi-axis gyro sensor is used as the detection unit 83, it is preferable to constantly sense the multi-axis gyro sensor. That is, when the relative angular velocity change of the multi-axis gyro sensor exceeds a predetermined threshold value, the lifting and lowering movement or the movement in the direction along the horizontal direction of the suspension unit 20 may be detected. Incidentally, the detection unit 83 may be configured to detect the swing of the suspension unit 20.

[0032] By providing the switching unit 80, it becomes possible to operate the load swing suppression unit 60 according to the movement mode of the suspension unit 20. Specifically, the control unit 82 of the switching unit 80 may operate the clutch 81 to cut off the above-mentioned transmission by the transmission means 70 when the suspension unit 20 is moving up and down, for example, based on the detection mode of the detection unit 83. That is, the control unit 82 may operate the clutch 81 to cut off the above-mentioned transmission by the transmission means 70 when the operation by the load swing suppression unit 60 is not appropriate such as reducing the operating efficiency.

[0033] Further, for example, when the suspension unit 20 is moving in a direction along the horizontal direction, that is, a direction along the laying direction of the rail 51, the control unit 82 may operate the clutch 81 so that the above-described transmission by the transmission means 70 is performed.

[0034] According to such an aspect, it is possible to block the intervention of the load swing suppression unit 60 during the lifting and lowering movement. Therefore, the suspension unit 20 can be efficiently moved up and down. Further, for example, when the suspension unit 20 is moved in a direction along the horizontal direction, the load swing of the suspended load 10 can be suppressed by operating the load swing suppression unit 60.

[0035] FIG. 3 shows the engagement state between the drive gear 73 and the driven gear 74. As shown in FIG. 3, when the suspension unit 20 moves in a direction along the horizontal direction, it moves along an arc like the arrow of the chain line provided below the figure as the rotation shaft 22 rotates.

[0036] When the rotation shaft 22 rotates in the direction of the arrow of the chain line, the drive gear 73 rotates in the same direction accordingly. Since the driven gear 74 is engaged with the drive gear 73, it rotates in the direction opposite to the rotation of the drive gear 73. The rotation of the driven gear 74 is attenuated by the load swing suppression unit 60. For this reason, the rotation of the drive gear 73 is suppressed. As a result, the amount of rotation of the rotation shaft 22 decreases. Therefore, it is possible to suppress the amount of movement of the suspension unit 20, that is, the amount of load swing.

[0037] FIG. 4 shows the processing flow of the method for transporting the suspended load. The processing flow of the method for transporting the suspended load shown in FIG. 4 is executed, for example, based on the activation of the crane device. First, the suspension unit 20 is moved up and down or in a direction along the horizontal direction by the operation of the operator.

[0038] When the suspension part 20 moves up and down or moves in a direction along the horizontal direction, the detection part 83 detects the movement of the suspension part 20 and executes a detection step (step S01). In the detection step of step S01, for example, when the relative change of the multi-axis gyro sensor exceeds a predetermined threshold value, a detection signal is transmitted from the multi-axis gyro sensor to the control part 82. The signal is transmitted in a state where the up-and-down movement of the suspension part 20 or the movement in the direction along the horizontal direction is identified.

[0039] Based on the received signal, the control part 82 determines whether the movement of the suspension part 20 is an up-and-down movement (step S02). In the determination step of step S02, the control part 82 determines whether the movement of the suspension part 20 is an up-and-down movement by identifying the signal transmitted from the multi-axis gyro sensor.

[0040] If, in the determination of step S02, the control part 82 determines that the movement of the suspension part 20 is an up-and-down movement (step S02: YES), the control part 82 controls the clutch 81 to disconnect the transmission state of the transmission means 70 and executes a disconnection step (step S03).

[0041] If, in the determination of step S02, the control part 82 determines that the movement of the suspension part 20 is not an up-and-down movement (step S02: NO), the control part 82 controls the clutch 81 to maintain the transmission state of the transmission means 70 and executes a connection step (step S04).

[0042] FIG. 5 shows a mode in which the connection step is executed in step S04. As shown in FIG. 5, when the suspension part 20 moves in a direction along the horizontal direction, a pendulum motion occurs as shown by the dashed-dotted line in the figure. Further, when the suspension part 20 rotates around the axis of the rotating shaft 22, a so-called double pendulum is formed in which the angle θ1 and θ2 are formed between the line L1 connecting the sheave 21 and the holding part 40 and the line L2 connecting the hook 23 and the rotating shaft 22.

[0043] When the connection step is executed in step S04, the amount of rotation of the rotating shaft 22 is decreased by the load swing suppression unit 60. As a result, the angles θ1 and θ2 formed by the line L1 connecting the sheave 21 and the holding unit 40 and the line L2 connecting the hook 23 and the rotating shaft 22 can be reduced. Therefore, it becomes possible to suppress the multiple pendulum motion generated on the tip side in the suspension direction from the sheave 21.

[0044] As described above, according to the crane device 100 of the present invention, it has a load swing suppression unit 60 including a conversion unit 61 and a transmission means 70. Thereby, since the kinetic energy due to the rotation of the sheave 21 is converted into thermal energy, it becomes possible to suppress the multiple pendulum motion generated on the tip side in the suspension direction from the sheave 21.

[0045] Further, according to the method for transporting a suspended load of the present invention, based on the detection mode of the detection step in step S01, it has a disconnection step in step S03 for disconnecting the transmission between the sheave 21 and the load swing suppression unit 60 by the transmission means 70. Thereby, by disconnecting the transmission between the sheave 21 and the load swing suppression unit 60 when the suspension unit 20 moves up and down, the movement of the suspension unit 20 can be efficiently performed.

[0046] In the above-described embodiment, an example of the crane device 100 in which a so-called double pendulum motion is performed has been described. However, the crane device is not limited to the double pendulum motion, and may be configured so that a so-called multiple pendulum motion is performed. When the crane device is configured in this way, the load swing suppression unit 60 may be provided at various positions of the rotating shafts constituting the multiple pendulums. Further, at least one of the plurality of load swing suppression units 60 may be provided on the base end side in the suspension direction. By doing so, it is possible to reduce the number of superposed multiple pendulums. As a result, it becomes possible to suppress the movement of the multiple pendulum motion in an irregular direction.

[0047] In the above-described embodiment, an example in which the load swing suppression unit 60 converts the kinetic energy due to the rotation of the sheave 21 into thermal energy has been described. The rotating body is not limited to the sheave 21, and for example, it may be the hook 23. In this case, the load swing suppression unit 60 may be provided via the rotating shaft 25 that pivotally supports the hook 23.

[0048] Further, in the above-described embodiment, an example in which the detection unit 83 is configured by a sensor such as a multi-axis gyro sensor has been described. However, the detection unit 83 is not limited to such a mode, and for example, it may be configured to detect an input operation related to the hoisting operation or the lowering operation of the winch 41. Further, the detection unit 83 may be configured to detect an input operation related to the driving of the drive unit 53 of the moving unit 50. Even if the detection unit 83 is configured in this way, the same operational effects as those of the above-described embodiment can be obtained.

[0049] In addition, the switching unit 80 can be arbitrarily provided according to the implementation mode. For example, when the lifting and lowering movement distance of the suspension unit 20 is short or the suspended load 10 is light, etc., since it is considered that the influence of the transmission loss by the load swing suppression unit 60 is small, the transmission state of the transmission means 70 may be constantly connected even during the lifting and lowering movement.

[0050] Further, in the above-described embodiment, an example in which the moving unit 50 includes the rail 51, the wheels 52 that fit into the rail 51, and the drive unit 53 that drives the wheels 52 has been described. However, the moving unit 50 is not limited to such a mode, and for example, it may be configured by a turning unit (not shown) formed to be turnable in a direction along the horizontal direction. When the moving unit is configured in this way, the holding unit is preferably configured using a so-called boom or the like.

Explanation of Reference Numerals

[0051] 100 Crane device 10 Suspended load 20 Suspension unit 21 Sheave 22 Rotating shaft 23 Hook 30 Connection part 40 Holding unit 50 Moving part 60 Load swing suppression part

Claims

1. A crane device having a suspension part for suspending a suspended load, a holding part connected to the suspension part via a connection part, and a moving part for moving the holding part in a direction along the horizontal direction, wherein the suspension part includes a rotating shaft and a rotating body rotatably supported around the axis of the rotating shaft, a conversion part for converting the kinetic energy generated by the rotation of the rotating body into thermal energy, and transmission means for transmitting the kinetic energy generated by the rotation of the rotating body to the conversion part, and a load swing suppression part including the same, A crane device having the above.

2. The crane device according to claim 1, further comprising a switching part for switching the transmission state between the rotating body and the load swing suppression part by the transmission means, wherein the switching part has a detection part for detecting the movement of the suspension part, and cuts off the transmission by the transmission means based on the detection mode of the detection part.

3. The detection part detects the lifting and lowering movement of the suspension part, The crane device according to claim 2, wherein the switching part cuts off the transmission by the transmission means based on the detection of the detection part.

4. A method for transporting a suspended load using the crane device according to claim 2 or 3, including a detection step of detecting the movement of the suspension part, and a cutting step of cutting off the transmission between the rotating body and the load swing suppression part by the transmission means based on the detection mode of the detection step.

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