Tug line device, cargo handling device, and method for controlling tug line device

Abstract

A tag line device, a cargo handling device, and a method for controlling the tag line device are provided that can efficiently suppress swing of a hanging part. [Solution] The tag line wire 20 can suppress sway by pulling the suspending part 7 to which it is connected in accordance with the movement of the suspending part 7. Here, the control device 40 controls the torque generated by the drive unit 22 based on the operating status of the cargo handling device 1. This allows the drive unit 22 to wind and unwind the tag line wire 20 with an appropriate generated torque, taking into account the operating status of the cargo handling device 1. As described above, the tag line device 100 can efficiently suppress sway of the suspending part 7.

Description

[Technical Field]

[0001] The present invention relates to a tugline device, a cargo handling device, and a method for controlling a tugline device. [Background technology]

[0002] For example, Patent Document 1 discloses a jib crane that includes a tower body, a rotating body installed on the tower body, and a jib attached to the rotating body. This jib crane is configured to suspend a load using a suspending part suspended from the jib. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-198630 Summary of the Invention [Problem to be solved by the invention]

[0004] In cargo handling equipment such as a jib crane, swing occurs in the suspending part suspended from the jib. To counter this swing, a tag line device with a tag line wire has been used to suppress the swing. Therefore, there is a need for a tag line device that can more efficiently suppress the swing of the suspending part.

[0005] An object of the present invention is to provide a tag line device, a cargo handling device, and a method for controlling a tag line device that efficiently suppresses swing of a hanging part. [Means for solving the problem]

[0006] A tag line device according to one aspect of the present invention is provided on a cargo handling device and suppresses the swinging of a hanging part suspended from the cargo handling device, and comprises a tag line wire connected to the hanging part, a winding part that winds and unwinds the tag line wire, a drive part that drives the winding part, and a control part that controls the drive part, and the control part controls the torque generated by the drive part based on the operating status of the cargo handling device.

[0007] This tag line device includes a tag line wire connected to a sling portion, a winding portion that winds and unwinds the tag line wire, and a drive portion that drives the winding portion. Therefore, the drive portion drives the winding portion to suppress sway of the sling portion. This allows the tag line wire to suppress sway by pulling the sling portion in accordance with the movement of the connected sling portion. Here, the control portion controls the torque generated by the drive portion based on the operating status of the cargo handling device. This allows the drive portion to wind and unwind the tag line wire with an appropriate generated torque, taking into account the operating status of the cargo handling device. As described above, the tag line device can efficiently suppress sway of the sling portion.

[0008] The drive unit may drive the winding unit using an electric motor. In this case, the drive unit does not use hydraulic oil as in a hydraulic drive unit, so contamination due to oil leakage can be avoided. In addition, using an electric motor makes it easier to control the control unit.

[0009] The control unit may calculate the command torque to be commanded to the drive unit based on the device state, which is the state of the loading device, as the operating condition. In this case, the control unit can calculate an appropriate command torque based on the state of the loading device.

[0010] Specifically, the device state may be at least one of the hoisting and lowering states of the cargo handling device, the attitude of the cargo handling device, and the load, which is the weight of the load on the cargo handling device.

[0011] The control unit may calculate a command torque to be commanded to the drive unit based on the state of the suspending unit, which is the operating condition. In this case, the drive unit can calculate an appropriate command torque based on the state of the suspending unit.

[0012] Specifically, the state of the suspending portion may be at least one of the lifting height of the suspending portion of the cargo handling device and the swing of the suspending portion.

[0013] The control unit may calculate the command torque to be commanded to the drive unit by integrating a torque increase factor that increases the generated torque and a torque decrease factor that decreases the generated torque, among the driving conditions. In this case, the control unit can calculate an appropriate command torque by appropriately reflecting the influence of the torque increase factor and the influence of the torque decrease factor.

[0014] The control unit may calculate the command torque by referring to a data table in which the operating conditions are associated with the required torque. In this case, the control unit can quickly calculate the command torque using the data table prepared in advance.

[0015] The control unit may set at least one of the following as torque increase factors: retraction of the jib of the cargo handling device, an increase in the load (weight of the load) of the cargo handling device, hoisting of the hoisting part of the cargo handling device, swing of the hoisting part of the cargo handling device, a decrease in the lifting height of the hoisting part of the cargo handling device, and when the cargo handling device is turning. In this case, the control unit can appropriately increase the generated torque while appropriately considering the operating conditions.

[0016] A loading and unloading device according to one aspect of the present invention is a loading and unloading device that includes a tag line device that suppresses the swing of a suspended hanging part, the tag line device including a tag line wire, a winding unit that winds and unwinds the tag line wire, a drive unit that drives the winding unit, and a control unit that controls the drive unit, and the control unit controls the torque generated by the drive unit based on the operating status of the loading and unloading device.

[0017] A method for controlling a tag line device according to one aspect of the present invention is a method for controlling a tag line device that is provided on a cargo handling device and suppresses the swing of a hanging part suspended from the cargo handling device, wherein the cargo handling device is provided with a tag line wire connected to the hanging part and controls the tension of the tag line wire based on the operating status of the cargo handling device.

[0018] The control method for the cargo handling device and the tug line device can obtain the same functions and effects as the above-mentioned tug line device. [Effects of the Invention]

[0019] According to the present invention, it is possible to provide a tag line device, a cargo handling device, and a method for controlling a tag line device that efficiently suppress swing of a hanging part. [Brief explanation of the drawings]

[0020] [Figure 1] 1 is a schematic diagram illustrating the overall configuration of a cargo handling apparatus according to an embodiment of the present invention. [Figure 2] FIG. 2 is a conceptual diagram showing the configuration of a tag line wire. [Figure 3] 3 is a diagram showing the configuration of a winding section and a drive section of a tag line device. FIG. [Figure 4] 3 is a diagram showing the configuration of a winding section and a drive section of a tag line device. FIG. [Figure 5] FIG. 2 is a diagram showing a block configuration of a tag line device. [Figure 6] 10 is a graph showing the relationship between the torque increase factor and the generated torque. [Figure 7] 1 shows an example of a data table. [Figure 8] 4 is a flowchart showing processing performed by the control device. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, an embodiment of a cargo handling apparatus and a tugline apparatus according to the present invention will be described with reference to the accompanying drawings. In the following description, the same or equivalent elements will be designated by the same reference numerals, and duplicated explanations will be omitted.

[0022] First, the structure of a cargo handling apparatus according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is a schematic diagram illustrating the overall configuration of a cargo handling apparatus according to this embodiment.

[0023] In this embodiment, a jib crane is used as the cargo handling apparatus 1. Note that the cargo handling apparatus 1 is not limited to the type of jib crane shown in Fig. 1, and may be a double-link level luffing crane (LLC), a truck crane, a wheel crane, a crawler crane, a floating crane, a bridge crane, a portal crane, or the like.

[0024] The cargo handling device 1 is a device for handling cargo W. As shown in FIG. 1, the cargo handling device 1 includes legs 2A, 2B, a swivel device 3, a jib 6, a hoisting part 7, wires 8, 9, and a tag line device 100.

[0025] The legs 2A, 2B are a frame body that is placed on the ground F and supports the entire cargo handling apparatus 1. The legs 2A, 2B extend in the vertical direction. A traveling device that runs on a running track on the ground is provided at the lower ends of the legs 2A, 2B. The traveling device may run on the road surface or on rails. A slewing device 3 is provided on the upper part of the legs 2A, 2B. The slewing device 3 rotates relative to the legs 2A, 2B to rotate the jib 6. The slewing device 3 is provided with a support column 4 that extends upward. The slewing device 3 can rotate the support column 4 together with the jib 6 around a center line CL. The center line CL extends in the vertical direction at the center position of the rotation axis of the slewing device 3. A machine room 5 is provided on the back side of the support column 4.

[0026] The jib 6 is a member supported by the slewing device 3 via the support 4. The jib 6 extends from a midpoint in the vertical direction of the support 4 toward the outer periphery. The jib 6 can be raised and lowered by retracting and pushing, centered on the connection with the support 4. The tip of the jib 6 approaches the center line CL by retracting, and moves to a higher position. The tip of the jib 6 moves away from the center line CL by pushing, and moves to a lower position. The jib can also be called a boom.

[0027] The suspending part 7 is suspended by a wire 8 from the tip of the jib 6. The suspending part 7 is the part where the load W is loaded and unloaded. The suspending device used for the suspending part 7 is appropriate for the load W, and examples include a hook, spreader, grab bucket, lifting magnet, and coil lifter. Hooks, spreaders, etc. may be used. The center position at the lower end of the suspending part 7 is defined as the reference position SP. The height of the reference position SP from the ground F is defined as the "lifting height H." The radial distance from the center line CL of the reference position SP is defined as the "radius R."

[0028] The wire 8 is connected to the hoisting unit 7 from the winding device 11 in the machine room 5 via diverting sheaves 12 and 13. The diverting sheaves 12 and 13 are rotating members that rotate along with the movement of the wire 8 and change the direction of the wire 8. The diverting sheave 12 is provided at the upper end of the support 4. The diverting sheave 13 is provided at the tip of the jib 6. The wire 8 extends downward from the diverting sheave 13 and is connected to the hoisting unit 7 (see Figure 2). The wire 9 is passed from the winding device 14 in the machine room 5 through the diverting sheave 12 and is folded back at the diverting sheave 13 (see Figure 2). The wire 9 is a member used to raise and lower the jib 6. The winding device 11 is a mechanism that winds the wire 8 around a drum. The winding device 11 winds and unwinds the wire 8, thereby moving the hoisting unit 7 up and down. The winding device 14 retracts and pushes out the jib 6 by winding and unwinding the wire 9. As described above, the adjustment of the lifting height H of the reference position SP of the suspending part 7 is performed by the raising and lowering operation of the jib 6 and the winding and unwinding of the wire 8 by the winding device 11.

[0029] The tag line device 100 is provided on the cargo handling device 1 and is a device that suppresses swing of the hanging part 7 suspended from the jib 6. The tag line device 100 includes a tag line wire 20, a winding part 21, a driving part 22, and a control device (control part) 40.

[0030] The tag line wire 20 is a member that extends from the reeling part 21 toward the suspending part 7 and is connected to the suspending part 7. The tag line wire 20 extends from the reeling part 21, which is provided near the base of the jib 6, to the suspending part 7 via a deflecting sheave 23, which is provided at a midpoint on the jib 6. The deflecting sheave 23 is a rotating member that rotates in accordance with the movement of the tag line wire 20 and changes the direction of the tag line wire 20.

[0031] The configuration of the tag line wire 20 will be described in more detail with reference to Figure 2. As shown in Figure 2, the tag line wire 20 is wound around a winding section 21 and can be unwound and wound by rotation of the winding section 21. The tag line wire 20 extends from the winding section 21 and is redirected by a diverting sheave 23 toward the suspension section 7. The tag line wire 20 splits into two sections 20a and 20b just before the suspension section 7. One section 20a of the tag line wire 20 is connected to one end of the suspension section 7, and the other section 20b is connected to the other end of the suspension section 7.

[0032] Next, the configurations of the winding unit 21 and the drive unit 22 of the tag line device 100 will be described in detail with reference to FIG. 3. The winding unit 21 includes a disk-shaped main body 21a and a pair of regulating plates 21b, 21b provided at both ends of the main body 21a. The tag line wire 20 is wound around the outer circumferential surface of the main body 21a. The pair of regulating plates 21b, 21b have a diameter larger than that of the main body 21a and regulate the tag line wire 20 from coming off the main body 21a. The winding unit 21 includes a pressing member 27 that presses the tag line wire 20 wound around the main body 21a from the outer circumferential side. The pressing member 27 includes a roller 27a that presses the tag line wire 20 against the main body 21a. The drive unit 22 includes an electric motor 26 and a reducer 30. The electric motor 26 and the reducer 30 are provided coaxially adjacent to the winding unit 21. The electric motor 26 and the reducer 30 apply a rotational force to the rotating shaft 21c of the winding unit 21. The electric motor 26 drives the winding unit 21 when power is supplied to the electric motor 26. As a result, the drive unit 22 drives the winding unit 21 using the electric motor 26. The electric motor 26 and the reducer 30 are placed on a base 31 with the winding unit 21 rotatably suspended in the air.

[0033] Next, other configurations of the reeling unit 21 and the drive unit 22 of the tag line device 100 will be described in detail with reference to Fig. 4. In the example shown in Fig. 4, the drive unit 22 has a hydraulic motor 28. The hydraulic motor 28 is connected to a hydraulic unit 29 via hydraulic piping 29a. The hydraulic motor 28 rotates the reeling unit 21 by the force of hydraulic pressure supplied from the hydraulic unit 29. The rotation shaft of the reeling unit 21 is rotatably attached to a mounting frame 32.

[0034] Next, the system configuration of the tag line device 100 will be described with reference to Fig. 5. The tag line device 100 includes, as its system configuration, an information acquisition unit 60, a control device 40, an input unit 51, an output unit 52, and the drive unit 22 described above.

[0035] The information acquisition unit 60 acquires various pieces of information related to the operating status of the cargo handling apparatus 1. The information related to the operating status of the cargo handling apparatus 1 is information indicating the status of the cargo handling apparatus 1 during operation, and is various pieces of information related to the sway prevention of the suspending unit 7 by the tagline device 100. The information related to the operating status of the cargo handling apparatus 1 includes information related to the apparatus status, which is the status of the cargo handling apparatus 1, and information related to the suspending unit status, which is the status of the suspending unit 7. The information acquisition unit 60 includes an apparatus status acquisition unit 61 and a suspending unit status acquisition unit 62. The apparatus status acquisition unit 61 acquires the apparatus status. Specifically, the apparatus status may be at least one of the hoisting and lowering status of the cargo handling apparatus 1, the attitude of the cargo handling apparatus 1, and the load, which is the weight of the load on the cargo handling apparatus 1. The apparatus status may include information such as the operating status, which indicates the status of the cargo handling apparatus 1, the crane attitude, which indicates the attitude of the cargo handling apparatus 1, and the load, which is the weight of the load W on the cargo handling apparatus 1. The operating state includes, for example, information on whether the cargo handling device 1 is hoisting or lowering the hoisting part 7. The crane attitude includes, for example, information on whether it is rotating or not, whether the jib 6 is being retracted or pushed out, and the angle of the jib 6.

[0036] The device status acquisition unit 61 acquires the device status by, for example, acquiring command information issued by the control device 40 to each component. The device status acquisition unit 61 also acquires the device status based on information detected by each sensor provided at each location of the cargo handling device 1. The suspending part status acquisition unit 62 acquires the suspending part status. Specifically, the suspending part status may be at least one of the lifting height and swing of the suspending part 7 of the cargo handling device 1. More specifically, the suspending part status may include information such as the swing amount of the suspending part 7, the swing period of the suspending part 7, the lifting height of the suspending part 7, and the inertial force acting on the load W. The suspending part status acquisition unit 62 may acquire the swing amount and swing period based on the driver inputting the swing amount and swing period via the input unit 51. The suspending part status acquisition unit 62 may acquire the lifting height by acquiring command signals issued by the control device 40 to each component.

[0037] The input unit 51 is an interface through which the user inputs information to the control device 40. The input unit 51 may be, for example, a keyboard, a mouse, a touch panel, or a microphone. The output unit 52 is an interface that outputs information from the control device 40 to the user. The output unit 52 may be, for example, a monitor or a speaker. The input unit 51 and the output unit 52 may be provided in the driver's cab of the cargo handling device 1, or may be provided in a management device installed in a ground office. The management device is installed in a ground office or the like and manages the cargo handling device 1. The management device may communicate with the control device 40 wirelessly or via wired communication.

[0038] The control device 40 is a device that controls the entire cargo handling device 1. The control device 40 includes a processor, a memory, a storage, a communication interface, and a user interface, and is configured as a general computer. The processor is an arithmetic unit such as a CPU (Central Processing Unit). The memory is a storage medium such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage is a storage medium such as an HDD (Hard Disk Drive). The communication interface is a communication device that realizes data communication. The processor controls the memory, storage, communication interface, and user interface, and realizes the functions described below. The control device 40 realizes various functions, for example, by loading a program stored in the ROM into the RAM and executing the program loaded into the RAM by the CPU. The control device 40 may be configured from multiple computers.

[0039] The control device 40 is a device that controls the drive unit 22 of the tag line device 100. The control device 40 controls the torque generated by the drive unit 22 based on the operating status of the cargo handling device 1. The control device 40 includes an operation control unit 41, a transmitting / receiving unit 42, a calculation unit 43, and a memory unit 44.

[0040] The operation control unit 41 controls the cargo handling apparatus 1. The operation control unit 41 controls the operation of the cargo handling apparatus 1. The operation control unit 41 controls the operation of the cargo handling apparatus 1 based on input from the input unit 51. The operation control unit 41 also controls the operation of the drive unit 22 of the tag line device 100. The operation control unit 41 controls the torque generated by the drive unit 22 based on the operating status of the cargo handling apparatus 1. To this end, the operation control unit 41 commands the drive unit 22 to the command torque calculated by the calculation unit 43. The transmission / reception unit 42 transmits and receives information to and from the input unit 51, output unit 52, information acquisition unit 60, and each component of the cargo handling apparatus 1.

[0041] The calculation unit 43 performs various calculations required for controlling the tag line device 100. The calculation unit 43 calculates a command torque to be commanded to the drive unit 22 based on the device state, which is the state of the cargo handling device 1, as the operating condition. The command torque is a torque that the control device 40 commands to the drive unit 22 so that the drive unit 22 can generate the desired torque. The calculation unit 43 performs calculations based on the device state acquired by the device state acquisition unit 61. The calculation unit 43 calculates a command torque to be commanded to the drive unit 22 based on the suspender state, which is the state of the suspender 7, as the operating condition. The calculation unit 43 performs calculations based on the suspender state acquired by the suspender state acquisition unit 62.

[0042] The calculation unit 43 calculates the command torque by taking into consideration, among the operating conditions, a torque increase factor that increases the generated torque and a torque decrease factor that decreases the generated torque. Specifically, the calculation unit 43 calculates the command torque so as to increase the generated torque (torque increase factor) as the jib 6 of the cargo handling apparatus 1 is retracted, so that slack occurs in the tag line wire 20 due to a decrease in tension, and the anti-sway force does not decrease. The calculation unit 43 calculates the command torque so as to decrease the generated torque (torque decrease factor) as the jib 6 of the cargo handling apparatus 1 is extended. When the jib 6 is extended, the drive unit 22 operates to lower the tag line wire 20 while supporting it, which tends to lower due to its own weight. Therefore, the tension in the tag line wire 20 increases and slack does not occur, so the generated torque is smaller than when the jib 6 is retracted.

[0043] The calculation unit 43 calculates the command torque so as to increase the generated torque (torque increase factor) as the load weight of the load W on the cargo handling device 1 increases. The calculation unit 43 calculates the command torque so as to decrease the generated torque (torque decrease factor) as the load weight of the load W on the cargo handling device 1 decreases. The calculation unit 43 calculates the command torque so as to increase the generated torque (torque increase factor) as the hoisting unit 7 of the cargo handling device 1 is wound up. The calculation unit 43 calculates the command torque so as to decrease the generated torque (torque decrease factor) as the hoisting unit 7 of the cargo handling device 1 is unwound. When the hoisting unit 7 is wound up, the drive unit 22 increases the generated torque to prevent slack caused by a decrease in tension in the tag line wire 20 and a decrease in the anti-sway force. When lowering the hanging part 7, the drive unit 22 operates to lower the hanging part 7 and the load W while supporting them as they try to lower under their own weight, so the tension in the tag line wire 20 increases and no slack occurs, resulting in a smaller torque being generated than when hoisting.

[0044] The calculation unit 43 calculates the command torque so as to increase the generated torque (torque increase factor) as the lifting height of the suspending unit 7 of the cargo handling device 1 decreases. The calculation unit 43 calculates the command torque so as to decrease the generated torque (torque decrease factor) as the lifting height of the suspending unit 7 of the cargo handling device 1 increases. When the lifting height H (see FIG. 1) increases, the portion of the wire 8 extending downward from the diverting sheave 13 becomes shorter, and the weight of this portion decreases. Therefore, the generated torque of the drive unit 22 is reduced. On the other hand, when the lifting height H (see FIG. 1) decreases, the portion of the wire 8 extending downward from the diverting sheave 13 becomes longer, and the weight of this portion increases. Therefore, the generated torque of the drive unit 22 increases. The calculation unit 43 calculates the designated torque so as to increase the generated torque (torque increase factor) when the cargo handling device 1 swings. The calculation unit 43 calculates the command torque so as to increase the generated torque (torque increase factor) as the rotational runout of the suspending part 7 increases.

[0045] The calculation unit 43 may set the generated torque (command torque) to increase in multiple stages or to increase continuously depending on the level of the torque increase factor. The calculation unit 43 may set the generated torque (command torque) to decrease in multiple stages or to decrease continuously depending on the level of the torque decrease factor. For example, as shown in FIG. 6(a), the calculation unit 43 may increase the generated torque (command torque) in stages as the torque increase factor (e.g., the increase in the load weight of the load W) increases. Alternatively, as shown in FIG. 6(b), the calculation unit 43 may continuously increase the generated torque (command torque) by an amount corresponding to the increase in the torque increase factor (e.g., the increase in the load weight of the load W) increases.

[0046] Furthermore, the calculation unit 43 calculates the command torque to be issued to the drive unit 22 by integrating torque increase factors that increase the generated torque and torque decrease factors that decrease the generated torque among the operating conditions. For example, if an increase in the load weight of the load W on the loading device 1, which is a torque increase factor, and the lowering of the hoisting part 7 of the loading device 1, which is a torque decrease factor, occur simultaneously, the calculation unit 43 determines the designated torque by taking both factors into consideration and calculating the degree of influence of each factor on the torque. For example, if the factors are set as "x1: load weight," "x2: lifting height," "x3: hoisting operation in progress," "x4: lowering operation in progress," "x5: slewing operation in progress," "x6: retracting operation in progress," "x7: pushing operation in progress," "x8: rotational runout amount," and "nx: other," the calculation unit 43 calculates the command torque by integrating the influence of each factor using the formula "T_CMD=f(x1, x2...nx)."

[0047] The calculation unit 43 may calculate the command torque by referring to a data table in which the driving situation is associated with the required torque. For example, the storage unit 44 may store a data table such as that shown in FIG. 7. As shown in FIG. 7, for the item "driving situation", an item "operation" indicating the action to be performed and a corresponding "required torque" are set. Note that specific numerical values ​​may be set in the "light", "heavy", "low", and "high" fields in the "operation". Specific numerical values ​​may be set in the "small" and "large" fields in the "required torque".

[0048] The calculation unit 43 does not need to consider all of the above factors, but may calculate the command torque by considering at least one of the factors. That is, the calculation unit 43 may use at least one of the following as torque increase factors: retraction of the jib 6 of the cargo handling apparatus 1, an increase in the load which is the weight of the load W on the cargo handling apparatus 1, hoisting of the hoisting part 7 of the cargo handling apparatus 1, swing of the hoisting part 7 of the cargo handling apparatus 1, a decrease in the lifting height of the hoisting part 7 of the cargo handling apparatus 1, and when the cargo handling apparatus 1 is turning.

[0049] Next, the processing contents of the tag line device 100 will be described with reference to Fig. 8. Fig. 8 is a flowchart showing the processing contents of the tag line device 100. The processing in Fig. 8 is executed at a predetermined timing by the control device 40. As shown in Fig. 8, the control device 40 determines whether or not there is an operation command for the tag line device 100 (step S10). If it is determined in step S10 that there is no operation command, the processing shown in Fig. 8 ends.

[0050] On the other hand, if it is determined in step S10 that an operation command has been issued, the calculation unit 43 acquires the operation status from the information acquisition unit 60 (step S20). Next, the calculation unit 43 calculates a command torque to be issued to the drive unit 22 based on the operation status of the cargo handling apparatus 1 (step S30). In step S30, the calculation unit 43 calculates the command torque to be issued to the drive unit 22 by integrating, as described above, the torque increase factor that increases the generated torque and the torque decrease factor that decreases the generated torque, among the operation status. The operation control unit 41 outputs the command torque calculated by the calculation unit 43 to the drive unit 22 (step S40). Next, the control device 40 executes step S10 again. The control device 40 repeats steps S10 to S40 until there is no operation command for the tagline device 100.

[0051] Next, the actions and effects of the tugline device 100 and the cargo handling device 1 will be described.

[0052] The tag line device 100 includes a tag line wire 20 connected to a suspending part 7, a winding unit 21 that winds and unwinds the tag line wire 20, and a drive unit 22 that drives the winding unit 21. Therefore, the drive unit 22 drives the winding unit 21 to suppress sway of the suspending part 7. As a result, the tag line wire 20 can suppress sway by pulling the suspending part 7 in accordance with the movement of the connected suspending part 7. Here, the control device 40 controls the torque generated by the drive unit 22 based on the operating status of the cargo handling apparatus 1. As a result, the drive unit 22 can wind and unwind the tag line wire 20 with an appropriate generated torque, taking into account the operating status of the cargo handling apparatus 1, and can control the tension of the tag line wire 20 to an appropriate level. As described above, the tag line device 100 can efficiently suppress sway of the suspending part 7.

[0053] The drive unit 22 may drive the retractor 21 using an electric motor 26. Unlike hydraulic drive units 22, the drive unit 22 does not use hydraulic oil, thereby avoiding contamination due to oil leakage. Furthermore, using the electric motor 26 facilitates control by the control device 40. If a hydraulic motor 28 were used as the drive unit 22, there is a risk of oil leakage contaminating the surrounding area. Using the electric motor 26 and the reducer 30 as the drive unit 22 eliminates the need for approximately 100 liters of hydraulic oil, thereby avoiding contamination due to oil leakage. While the reducer 30 also uses approximately 1 liter of lubricating oil, unlike hydraulic oil, it is not under pressure, reducing the frequency and amount of oil leakage. Furthermore, the electric motor 26 can be controlled using an inverter control system to perform zero-speed control, multi-stage winding torque control, infinite winding torque control, and other control functions. The control of the electric motor 26 is not limited to inverter control, and various control methods, such as slip control and pole number control, can be used.

[0054] The control device 40 may calculate a command torque to be commanded to the drive unit based on the device state, which is the state of the cargo handling device 1, as the operating condition. In this case, the control device 40 can calculate an appropriate command torque based on the state of the cargo handling device 1.

[0055] Specifically, the device state may be at least one of the hoisting and lowering states of the cargo handling device 1, the attitude of the cargo handling device 1, and the load, which is the weight of the load on the cargo handling device 1.

[0056] The control device 40 may calculate a command torque to be commanded to the drive unit 22 based on the state of the suspender 7, which is the operating condition. In this case, the drive unit 22 can calculate an appropriate command torque based on the state of the suspender 7.

[0057] Specifically, the state of the suspending portion may be at least one of the lifting height of the suspending portion 7 of the cargo handling device 1 and the swing of the suspending portion 7.

[0058] The control device 40 may calculate the command torque to be issued to the drive unit 22 by integrating, among the driving conditions, a torque increase factor that increases the generated torque and a torque decrease factor that decreases the generated torque. In this case, the control device 40 can calculate an appropriate command torque by appropriately reflecting the influence of the torque increase factor and the influence of the torque decrease factor.

[0059] The control device 40 may determine the generated torque by referring to a data table that associates the driving situation with the required torque. In this case, the control device 40 can quickly determine the generated torque using the data table prepared in advance.

[0060] The control device 40 may increase the generated torque in response to at least one of the following: retraction of the jib 6 of the cargo handling device 1, an increase in the load (weight of the load on the cargo handling device 1), hoisting of the suspending part 7 of the cargo handling device 1, swinging of the suspending part 7 of the cargo handling device 1, a decrease in the lifting height of the suspending part 7 of the cargo handling device 1, and rotation of the cargo handling device 1. In this case, the control device 40 can appropriately increase the generated torque by appropriately considering the operating conditions.

[0061] The cargo handling equipment 1 in this embodiment is a cargo handling equipment 1 comprising a jib 6 and a tag line device 100 that suppresses the swinging of the suspension part 7 suspended from the jib 6, and the tag line device 100 comprises a tag line wire 20, a winding unit 21 that winds and unwinds the tag line wire 20, a drive unit 22 that drives the winding unit 21, and a control device 40 that controls the drive unit 22, and the control device 40 controls the torque generated by the drive unit 22 based on the operating status of the cargo handling equipment 1.

[0062] The control method for the tag line device 100 according to this embodiment is a control method for the tag line device 100 that is provided on the cargo handling device 1 and suppresses the swing of the suspension part 7 suspended from the cargo handling device 1, and the cargo handling device 1 is equipped with a tag line wire 20 connected to the suspension part 7, and controls the tension of the tag line wire 20 based on the operating status of the cargo handling device 1.

[0063] The control method for the cargo handling device and the tug line device can obtain the same functions and effects as the above-mentioned tug line device.

[0064] The present invention is not limited to the above-described embodiments.

[0065] For example, depending on the type of cargo handling device, the tag line device 100 may adopt a configuration different from that of the above-described embodiment. [Explanation of symbols]

[0066] 1...cargo handling device, 6...jib, 7...hanging part, 20...tag line wire, 21...winding part, 22...drive part, 40...control device (control part), 100...tag line device.

Claims

1. A tag line device that is provided in a cargo handling device and suppresses swing of a hanging part suspended from the cargo handling device, a tag line wire connected to the hanging portion; a winding unit that winds and unwinds the tag line wire; a drive unit that drives the winding unit; a control unit that controls the drive unit, The control unit controls the torque generated by the drive unit based on the operating status of the cargo handling device.

2. The tag line device according to claim 1 , wherein the drive unit drives the winding unit using an electric motor.

3. 3. The tag line apparatus according to claim 1, wherein the control unit calculates a command torque to be commanded to the drive unit based on an apparatus state, which is a state of the cargo handling apparatus, as the operating condition.

4. The device state is: The hoisting and lowering states of the cargo handling device; The attitude of the loading device, and 4. The tag line device according to claim 3, wherein the weight of the load on the cargo handling device is at least one of the following:

5. The tag line device according to claim 1 or 2, wherein the control unit calculates a command torque to be commanded to the drive unit based on a suspending portion state, which is a state of the suspending portion, as the operating condition.

6. The hanging portion state is: The lifting height of the lifting part of the cargo handling device, and The tag line device according to claim 5, wherein the swing of the hanging portion is at least one of the following:

7. 3. The tag line device according to claim 1, wherein the control unit calculates the command torque to be commanded to the drive unit by integrating a torque increase factor that increases the generated torque and a torque decrease factor that decreases the generated torque, among the driving conditions.

8. The tag line device according to claim 7 , wherein the control unit calculates the command torque by referring to a data table in which the operating conditions are associated with required torques.

9. The control unit Retracting the jib of the cargo handling device; an increase in the load, which is the weight of the load on the loading device; Hoisting the hanging part of the cargo handling device, Swing of the hanging part of the cargo handling device, The lifting height of the suspending part of the cargo handling device is reduced; and 8. The tag line apparatus according to claim 7, wherein the torque increase factor is at least one of when the cargo handling apparatus is turning.

10. A cargo handling device comprising a tag line device that suppresses the swing of a suspended hanging part, The tag line device is Tagline wire, a winding unit that winds and unwinds the tag line wire; a drive unit that drives the winding unit; a control unit that controls the drive unit, The control unit controls the torque generated by the drive unit based on the operating status of the loading and unloading device.

11. A method for controlling a tag line device that is provided in a cargo handling device and suppresses swing of a hanging part suspended from the cargo handling device, The cargo handling device is A tag line wire is connected to the hanging part, A method for controlling a tug line device, the method comprising controlling the tension of the tug line wire based on the operating status of the cargo handling device.

Images