LOADING CRANE, METHOD FOR PREVENTING LOADING CRANE SWING, AND METHOD FOR TRANSPORTING THE LOAD

Abstract

When transporting a load from an arbitrary starting position to an arbitrary destination position, it is possible to control swaying without any constraints and with a simple control system. A load crane is provided that includes a jib swing mechanism (4) that rotates a crane arm (2); a jib lifting mechanism (3) that adjusts the lifting angle; a jib extension and retraction mechanism (5) that adjusts the arm length; and a control device that calculates a path along which a suspended load (7) is transported, and that controls the jib swing mechanism (4), the jib lifting mechanism (3), and the jib extension and retraction mechanism (5).The control device calculates the trajectory to be a straight-line path viewed at least from the vertical direction, according to the load's starting position and destination position; it calculates a turning angle θ, a lifting angle θ, and an arm length L so that the trajectory is a straight-line path using the load's starting position, the load's destination position, a maximum speed vmax, a suspended load turning cycle T, and a start time T1; and it controls the arm turning mechanism (4), the arm lifting mechanism (3), and the arm extension and retraction mechanism (5) to achieve the calculated turning angle θ, the lifting angle θf, and the arm length L.

Description

LOADING CRANE, METHOD FOR PREVENTING LOADING CRANE SWING, AND METHOD FOR TRANSPORTING THE LOAD FIELD OF INVENTION The present invention relates to a cargo crane, a method for preventing the cargo crane from swinging, and a method for transporting the cargo. BACKGROUND OF THE INVENTION In a steel mill, when products like coils are shipped by sea, they are transported using a slewing crane. This work involves workers on land who perform the slinging, crane operators who operate the crane, and workers on board who position and secure the coils to the ship—a labor-intensive task. Therefore, in anticipation of a future reduction in the workforce, it is necessary to conserve labor. In the cargo transport operation using the previously described cargo crane, in order to automate the crane's operation, it is necessary to implement a control system to prevent the oscillation of a suspended load. Conventional methods for implementing oscillation prevention control of the suspended load include methods such as acceleration at a constant rate, uniform motion, and deceleration at a constant angular velocity while maintaining a fixed turning radius (PTL 1 to 3), and a method using feedback control in the circumferential direction (PTL 4). List of appointments Patent Literature PTL 1:JP 2004-161460 A PTL 2: JP 2009-083977 A PTL 3: JP 2012-001324 A PTL 4: JP 2011-111242 A BRIEF DESCRIPTION OF THE INVENTION Technical problem In PTL 1 to 3, since the transport path of a suspended load is arc-shaped, control of the load's oscillation is required not only in the direction of forward movement (i.e., circumferentially) but also in the direction of the turning radius. Therefore, it is necessary to adjust the transport time to an integral multiple of one oscillation cycle of the suspended load, or to adjust the oscillation cycle by changing the rope length during transport. In some cases, this adjustment becomes a constraint. In PTL 4, since sensors that detect the position and speed of a suspended load are required to use feedback control, costs are generated such as the cost of introducing the sensors and additional control devices and the cost of maintenance. Therefore, the present invention has been developed focusing on the problems described above and aims to provide a loading crane, a method to avoid the L / ZQLn / ZZnZ / E / YIAl crane load swing and a method for transporting the load that can control swing prevention without a restriction condition and with a simple control system when transporting from an arbitrary load starting position to an arbitrary load destination position. Solution According to one aspect of the present invention, a loading crane is provided configured to transport a suspended load from an arbitrary initial load position to a load destination position by a slewing motion of a crane arm, the load being suspended by a cable provided to a portion of the distal end of the crane arm. The loading crane includes: an arm slewing mechanism configured to slew the crane arm; an arm lifting mechanism configured to adjust a lifting angle of the crane arm; and an arm extension and retraction mechanism configured to adjust a length of the crane arm.and a control device configured to calculate a path in which the suspended load is transported, and configured to control the boom swing mechanism, the boom lifting mechanism, and the boom extension and retraction mechanism, wherein the control device is configured to: calculate the path so that it is a straight-line path viewed from at least one vertical direction, according to the load's starting position and the load's destination position; using the load's starting position, the load's destination position, a maximum speed, a swing cycle of the suspended load, and a start time, calculate a crane boom swing angle, a lifting angle, and the boom length so that the path is the straight-line path;and control the arm's swivel mechanism, arm's lifting mechanism, and arm's extension and retraction mechanism to achieve the calculated swivel angle, lifting angle, and arm length. According to one aspect of the present invention, a method is provided for preventing the oscillation of a loading crane configured to transport a suspended load from an arbitrary load start position to a load destination position by a slewing motion of a crane arm, the load being suspended by a cable provided to a portion of the distal end of the crane arm. The method for preventing the oscillation of the loading crane includes: using, as a loading crane, a loading crane that includes an arm slewing mechanism configured to slew the crane arm, an arm lifting mechanism configured to adjust a lifting angle of the crane arm, and an arm extension and retraction mechanism configured to adjust a length of the crane arm;Calculate a path along which the suspended load is transported, so that it is a straight-line path viewed from at least one vertical direction, according to the load's starting position and destination position; calculate a crane arm swing angle, lifting angle, and arm length so that the path is a straight-line path using the load's starting position, the load's target position, a maximum speed, a swing cycle of the suspended load, and a start time; and control the arm swing mechanism, the arm lifting mechanism, and the arm extension and retraction mechanism to achieve the calculated swing angle, lifting angle, and arm length. According to one aspect of the present invention, a method is provided for transporting the load by means of a cargo crane configured to transport a suspended load. L / ZQLn / ZZnZ / E / YIAl from an arbitrary initial load position to a destination load position by means of a swinging motion of a crane arm, the load being suspended by a cable provided to a portion of the distal end of the crane arm, wherein the method for transporting the load transports the suspended load using the loading crane. Advantageous effects of the invention According to one aspect of the present invention, a loading crane, a method for preventing the loading crane from swinging, and a method for transporting the load are provided, which can control the prevention of swinging without a restriction condition and with a simple control system when transporting from an arbitrary load starting position to an arbitrary load destination position. BRIEF DESCRIPTION OF THE FIGURES Figure 1 is a side view illustrating a loading crane according to an embodiment of the present invention. Figure 2 is a plan view illustrating the loading crane according to the embodiment of the present invention. Figure 3 is an explanatory diagram that illustrates the trajectory of a portion of the distal end of a crane arm. Figure 4 is a graph that illustrates a control pattern of the acceleration of the distal portion of the arm. Figure 5 is a graph that illustrates a velocity control pattern of the distal portion of the arm. Figure 6 is an explanatory diagram illustrating an axis of a suspended load in Example 1. Figure 7 is a graph that illustrates a time change of a coordinate position of the suspended load in Example 1. Figure 8 is a graph that illustrates a time change in the velocity of the suspended load in Example 1. Figure 9 is an explanatory diagram illustrating an axis of a suspended load in Example 2. Figure 10 is a graph that illustrates a time change of a coordinate position of the suspended load in Example 2. Figure 11 is a graph that illustrates a time change in the velocity of the suspended load in Example 2. Figure 12 is an explanatory diagram that illustrates one axis of a suspended load in Example 3. Figure 13 is a graph that illustrates a time change of a coordinate position of the suspended load in Example 3. Figure 14 is a graph illustrating a time change in the velocity of the suspended load in Example 3. DETAILED DESCRIPTION OF THE INVENTION In the following detailed description, one embodiment of the present invention is described with reference to the figures. In the description of the figures, equal or similar signs are given to identical or similar parts, and duplicate descriptions are omitted. The figures are illustrative only, and cases that differ from the actual ones are included. Furthermore, the embodiment given below merely exemplifies devices and methods for incorporating the technical idea of ​​the present invention. The technical idea of ​​the present invention does not limit the materials, structures, arrangements, and the like of the constituent components to those described below. The technical idea of ​​the present invention may be modified in various ways within the technical scope defined by the claims. <Grúa de carga> A loading crane 1 according to one embodiment of the present invention will be described. As illustrated in Figures 1 and 2, the loading crane 1 includes a crane arm 2, an arm lifting mechanism 3, an arm swiveling mechanism 4, an arm extension and retraction mechanism 5, and a cable 6. A distal end of the crane arm 2 to which the cable 6 is attached will also be referred to as the distal end portion of the arm 2. In the figures, an x-axis, a y-axis, and a z-axis are mutually perpendicular axes, the x-axis and the y-axis being parallel to the horizontal direction, and the z-axis being parallel to the vertical direction. The loading crane 1 lifts a suspended load 7 attached to the end of the cable 6 and transports the suspended load 7 from a load start position (xi,yi) to a load destination position (X2,y2). In this modality, as an example, the suspended load 7 is assumed to be a coil that is a product produced in a steel mill. The lifting mechanism of arm 3 adjusts a lifting angle φ [°]. The lifting angle φ [°] is the angle of the crane arm 2 in its extension direction with respect to the horizontal direction. The slewing mechanism of arm 4 adjusts a slewing angle Θ [°] by rotating the crane arm 2. The slewing angle θ [°] is the angle of the crane arm 2 in its extension direction with respect to the x-axis direction. The extension and retraction mechanism of arm 5 adjusts an arm length L [m]. The arm length L [m] is the protrusion length of the crane arm 2 in its extension direction from a support position of the crane arm 2 in which the slewing mechanism of arm 4 is provided. The load crane 1 is equipped with a lifting device (not illustrated) that adjusts the cable length 6 from the distal end portion of the arm 21. Additionally, the load crane 1 is equipped with a control device (not illustrated). To transport the suspended load 7 from the load's starting position (xi,yi) to the load's destination position (X2,y2), the control device controls the lifting mechanism of arm 3, the slewing mechanism of arm 4, the extension and retraction mechanism of arm 5, and the lifting device to adjust the lifting angle φ, the slewing angle Θ, the arm length L, and the cable length. The control device calculates a trajectory for the suspended load 7 such that it is a straight-line path viewed at least from the vertical direction (z-axis direction), according to the load's starting and target positions.Subsequently, using the load's starting position, target load position, maximum speed vmax, suspended load swing cycle T, and start time Ti, the control device calculates the swing angle Θ, the lifting angle φ, and the length L of the crane arm 2 so that the path of the suspended load 7 becomes a straight-line path. Then, the control device controls the swing mechanism of arm 4, the lifting mechanism of arm 3, and the extension and retraction mechanism of arm 5 to achieve the calculated swing angle Θ. L / ZQLn / ZZnZ / E / YIAl lifting angle φ and arm length L, thus transporting the suspended load 7. Details of a method for preventing the oscillation of the load crane 1 by means of the control device will be described later. <Método para evitar la oscilación de la grúa de carga> In a method for preventing the oscillation of the load crane 1 according to this modality, as illustrated in Figure 3, the suspended load 7 is transported from a starting point (x, y1), the load's initial position, to a final point (x2, y2), the load's destination position. In the coordinate system illustrated in Figure 3, the origin is the position of the center of rotation of the crane arm 2. In this modality, the suspended load 7 is transported in a straight line from the initial point (x1, y1) to the final point (x2, y2) in at least one xy-plane viewed from the z-direction (vertical direction). In this case, the transport path of the suspended load 7 in the xy-plane forms a straight-line path given by formula (1) below. In formula (1), x and y represent an xy coordinate and a y coordinate of the distal end portion of arm 21 of crane arm 2, respectively. Matt. 1 and 2 -yi X2-%! X1 · · ·(1) L / ZQLn / ZZnZ / B / YIAl When the suspended load 7 is transported in this straight-line path, a position (x, y) of the distal end portion of the arm 21 is provided by a formula (2) and a formula (3) below using a turning radius [m] of the load crane 1. In addition, from formulas (1) to (3), the turning radius r is provided by a formula (4) below. Mat. 2 x = rcose -··(2) y = rsin0 · · · (3)yi~y^y± / yl-yl--- ·*·(4) sin# — --— cose In addition, xey, which represent the position of the distal end portion of arm 21, are provided by a formula (5) and a formula (6) below, using a twist angle Θ. Mat. 3v_ y¿__yix Υΐ γ _ γΧ1Λ2 cosG · ··(5) sin# — cose X2X1 Accordingly, the velocity v [m / s] of the distal portion of arm 21 in the xy plane is provided by formula (7) below. Matt. 4 i ? ' 2 —μ -t- y2~ y* vi zv = + =yixL~xi1L + p -Y2de ... J\dt / \dt / (sin0-^—— cos0)2-Jxx2— xa dtxz— xi ' By solving the above for an angular velocity of rotation dOdt, it is possible to derive an angular velocity of rotation dOdt (formula (8) below) that is required to move the distal end portion of arm 21 of crane 2 at speed v in the straight-line path of Figure 3. It should be noted that t represents a time (elapsed time) [s] from the start of the rotation. Matt. 5 de=(slng-juicos»)*dt(“Λ+ / Í ' I1 +Σλ2λ1 \λ2 Subsequently, a velocity control pattern v for the distal end portion of arm 21 will be described. As illustrated in Figure 4, first, an acceleration a is linearly increased for a start-up time Ti [s], which is a fixed time. The start-up time Ti is a predetermined time for changing the acceleration a and is preferably as short as possible within the equipment specification range. Then, the acceleration is performed at a constant acceleration a for a time (nT), which is n (a natural number) times one oscillation cycle T. Since the transport time is preferably as short as possible, n = 1 is preferable if feasible in terms of equipment performance. The oscillation cycle T is defined by formula (9) below. In formula (9), I represents a length [m] of cable 6 and G represents gravitational acceleration [ms²]. Math. 6 = 2^-(9) Furthermore, the acceleration a is reduced linearly during the time Tt to perform the transport at a constant speed. Consequently, the oscillation angle of the suspended load 7 becomes 0° during the transport at constant speed. Subsequently, during the stop, an operation is performed in reverse to that performed during acceleration to stop the suspended load 7 in the target position with the oscillation angle of 0°. Figure 5 illustrates a time change in the velocity v of the distal end portion of arm 21 when the control described above is performed. In Figure 5, tt represents a transport time of the suspended load [s], and the transport time of the suspended load tt is set so that an area S defined by oblique lines on a graph in Figure 5 (i.e., an integrated value from the graph) and given by formula (10) later becomes a distance from the load's starting position to its target position. In formula (10) and similar formulas, vmax represents a maximum velocity [m / s], which is a speed at constant speed. Then, substituting the velocity v into formula (8), one obtains a rotational angular velocity dOdt at each of the times t given by formulas (11) to (17). L / ZQLn / ZZnZ / E / YIAl Formula (11) represents a velocity v of the distal end portion of arm 21 at a time when t < Ti, formula (12) at a time when Ti < t < nT, formula (13) at a time when nT < t < nT + Ti, formula (14) at a time when nT + Ti < t < tt < nT - Ti, formula (15) at a time when tt - nT - Ti < t < tt - nT, formula (16) at a time when tt - nT < t < tt - Ti, and formula (17) at a time when tt - Ti < t < tt. Mat. 7 UZQLn / ZZnZ / E / YIAl S = vmax(tt-nT-T1) ---(10) v = -^t2---(ii) Til 1 ^maxλ, ^maxTi v = vmax···(14) V ^ = -=^^-^ + ^ + ^ + 1^---(15) Til i 2 = -^-^ + 7,)+^-..(16) ^ = 7^^-^---(^ ΔιΙΙ i The control of a lift angle φ and a boom length L of the crane arm 2 will now be described. The turning radius r of the load crane 1 is given by formula (18) shown later, using a boom length L and a lift angle φ. Subsequently, by substituting formula (18) into formula (4) and differentiating both sides with respect to time, formula (19) is obtained. Furthermore, when the suspended load 7 is transported at a constant height, since Lsinrp is constant, it is possible to obtain formula (20) shown later. Then, from formula (19) and formula (20), formulas (21) and (22) are derived later. Mat. 8 L = arcs <p · · · (18) άφ dL —£-^sin<p + —cos<p = -y1 +y^yi *2 - xi (sine ~ Y _ Y cose)2a. y 2 Yi .acosO -I--sine X2“ \de d¿ dt -yi -f dtp dL L — costp 4- — if ntp = 0 · · · (20) y2- Vi dtp dt (sine - *2Y1co: X -A. 1 _yi +y^yi -7 JY~ — Y. y2— We \ άθ -------sine )COSm __ · · · (21) x2- xi 7 dtv 7(sine - cose) X Λ2 ·*! / y2- y, \ sintp de cose + ------ sine I —-—— · · · (22) x2- Xj 7 L dt7 In other words, in the method for preventing the oscillation of the loading crane 1 according to this modality, when the suspended load 7 is transported by the loading crane 1, the path from the load's starting position (xi, yi) to its destination position (xz, yz) is first calculated by the control device or similar equipment provided on the loading crane 1. In this case, the calculation is performed such that the path from the load's initial position (xi, yi) to its target position (x2, y2) becomes a straight-line path in the xy-plane viewed from the z-direction. In this calculation, it is preferable to determine the swing angle Θ of the crane 2 arm using formula (8). Then, in the method for preventing the oscillation of the loading crane 1 according to this modality, the suspended load 7 is transported from its starting position to its destination position along the calculated path. Consequently, when controlling the oscillation of suspended load 7, it is sufficient to control the oscillation in the direction of forward movement of the suspended load 7. Therefore, it is not necessary to control the oscillation in the direction of the turning radius, unlike in PTL 1 to 3. Therefore, the number of adjustment elements for controlling the oscillation of the load is reduced, making control easier. According to this method, the transport distance is reduced compared to the case where transport is carried out along an arc-shaped path, as in PTL 1 to 3, and thus it is possible to shorten the transport time.Furthermore, according to this method, even when the turning radius differs between the load's starting and destination positions, unlike in PTL 1 to 3, no additional operation is required to absorb the load's oscillation in the direction of the turning radius. Additionally, since feedback control is not required in this method, there is no need to introduce sensors to detect the position and speed of the suspended load (7), or to install control devices after the sensors are added. Therefore, compared to PTL 4, this method simplifies the equipment configuration, thus reducing equipment introduction, maintenance, and related costs. In the method for preventing oscillation of the load crane 1 according to this modality, after calculating the straight-line path for transporting the suspended load 7, the velocity v of the distal end portion of the arm 21 in the xy plane is calculated using the control device or similar device provided on the load crane 1. In this case, the velocity v of the distal end portion of the arm 21 in the xy plane is preferably calculated using formulas (11) to (17) as a function of the time t from the start of the swing. In this case, the transport time of the suspended load tt is obtained from formula (10) according to the distance in the xy plane from the load's starting position to its destination position. The maximum velocity vmax, the oscillation cycle T, the constant n, and the start time Ti, which are set in formula (10), can be predetermined.Consequently, it is possible to eliminate the oscillation of the load in the forward direction of the suspended load 7. Furthermore, in the method for preventing oscillation of the load crane 1 according to this modality, it is preferable to control the length of the boom L and the lifting angle φ of the boom 2 by means of the control device under a condition that complies with formula (19). When it is desired to control the suspended load 7 at a constant height, it is preferable to further control the length of the boom L and the lifting angle φ of the boom 2 by means of formula (21) and the L / ZQLn / ZZnZ / B / YIAl formula (22). <modificaciones> Although the present invention has been described with reference to a specific embodiment, the description given above is not intended to limit the invention. By referring to the description of the present invention, the described embodiment and other embodiments of the present invention, including various modifications, are obvious to those skilled in the art. Therefore, the embodiments of the invention described in the claims should be understood to also encompass embodiments that include modifications taken alone or in combination described herein. For example, in the embodiment described above, the straight-line path of the suspended load 7 connecting the load's starting position and destination position is assumed to be constant in height, but the present invention is not limited to such an example. The height of the suspended load 7 can be configured to be non-constant. Furthermore, in the embodiment described above, the suspended load 7 is assumed to be a hot-rolled coil, but the present invention is not limited to such an example. The suspended load 7 may be any other type, provided it is transported by the loading crane 1 as illustrated in Figures 1 and 2. <Efectos de la modalidad> (1) The loading crane 1 according to one aspect of the present invention is the loading crane 1 that transports the suspended load 7 from an arbitrary load starting position to a load destination position by the slewing motion of the crane arm 2, the load 7 being suspended by the cable 6 provided in the distal end portion of the crane arm 21, the loading crane 1 including: the slewing mechanism 4 that slews the crane arm 2; the lifting mechanism 3 that adjusts the lifting angle φ of the crane arm 2;the extension and retraction mechanism of arm 5 that adjusts the length of the arm L of the crane 2 and the control device that calculates a path in which the suspended load 7 is transported, and that controls the slewing mechanism of arm 4, the lifting mechanism of arm 3, and the extension and retraction mechanism of arm 5, wherein the control device calculates the path so that it is a straight-line path viewed at least from the vertical direction, according to the initial position of the load and the target position of the load; it calculates the slewing angle Θ, the lifting angle φ and the arm length L of the crane arm 2 so that the path is a straight-line path using the starting position of the load, the target position of the load, the maximum speed vmax, the slewing cycle of the suspended load T and the start time Ti;and controls the arm 4 rotation mechanism, the arm 3 lifting mechanism, and the arm 5 extension and retraction mechanism to achieve the calculated rotation angle Θ, the lifting angle φ, and the arm length L.; According to the configuration (1) described above, since the suspended load 7 is transported along a straight path, compared to the case where the transport is along an arc, the number of adjustment elements for controlling load oscillation is reduced, making control easier. Furthermore, the transport time can be shortened. Additionally, since feedback control is not required, the equipment configuration can be simplified, thus reducing [the required equipment size and weight / cost]. L / ZQLn / ZZnZ / B / YIAl the costs of equipment introduction, maintenance and the like. (2) In the configuration (1) described above, the control device calculates so that the height of the straight-line path in the vertical direction is constant. According to the configuration (2) described above, it is possible to transport the suspended load 7 at a constant height. (3) In the configuration (1) or (2) described above, the control device calculates the rotation angle θ from formula (8) using a velocity v of the distal portion of arm 21 calculated from each of formulas (11) to (17); and when calculating the speed v, use formula (11) at a time where t < Ti, use formula (12) at a time where Ti < t < nT, use formula (13) at a time where nT < t < nT + Ti, use formula (14) at a time where nT + Ti < t < tt - nT - Ti, use formula (15) at a time where tt - nT - Ti < t < tt - nT, use formula (16) at a time where tt - nT < t < tt - Ti and use formula (17) at a time where tt - Tt < t < tt. According to the configuration (3) described above, it is possible to control the oscillation of the suspended load 7 with a simple control method. (4) In any of the configurations (1) to (3) described above, the control device controls the lift angle φ and the arm length L under a condition that satisfies formula (19). According to the configuration (4) described above, it is possible to transport the suspended load 7 in the straight line path with a simple control method. (5) In any of the configurations (1) to (4) described above, the control device controls the lift angle φ and the arm length L under a condition that satisfies formula (21) and formula (22). According to the configuration (5) described above, it is possible to transport the suspended load 7 to a constant height using a simple control method. (6) The method for preventing oscillation of the loading crane according to one aspect of the present invention is a method for preventing oscillation of the loading crane 1 that transports the suspended load 7 from an arbitrary load starting position to a load destination position by the slewing motion of the crane arm 2, the load 7 being suspended by the cable 6 provided in the distal end portion of the arm 21 of the crane arm 2, the method for preventing oscillation of the loading crane 1 including: using, as the loading crane 1, a loading crane that includes the slewing mechanism of the arm 4 that slews the crane arm 2, the lifting mechanism of the arm 3 that adjusts the lifting angle φ of the crane arm 2, and the extension and retraction mechanism of the arm 5 that adjusts the length of the arm L of the crane arm 2;Calculate a path in which the suspended load 7 is transported, such that it is a straight-line path viewed from at least the vertical direction, according to the load's starting position and destination position; calculate the swing angle Θ, the lifting angle φ, and the arm length L of the crane arm 2 so that the path is a straight-line path using the load's starting position, the load's destination position, the maximum speed Vmax, the swing cycle of the suspended load T, and the start time Tt; and control the arm slewing mechanism 4, the arm lifting mechanism 3, and the mechanism; L / ZQLn / ZZnZ / B / YIAl of arm extension and contraction 5 to achieve the calculated turning angle 0, the lifting angle φ and the arm length L. According to the configuration (6) described, the same effects are obtained as those of the configuration (1) described above. (7) The method for transporting the load according to an aspect of the present invention is a method for transporting the load using the loading crane 1 that transports the suspended load 7 from an arbitrary initial load position to a load destination position by the swinging motion of the crane arm 2, the load 7 being suspended by the cable 6 provided in the distal end portion of the arm 21 of the crane arm 2, wherein the method of transporting the load transports the suspended load using the loading crane 1 in any of the configurations (1) to (5) described above. According to the configuration (7) described above, the same effects are obtained as those of the configurations (1) to (5) described above. Example 1 Example 1, implemented by the present inventors, will now be described. In Example 1, the same oscillation prevention control was implemented as described above with the loading crane 1 illustrated in Figure 1, and a hot-rolled coil weighing 10 t was transported suspended by cable 6 with a length of 10 m as the suspended load 7. In Example 1, the suspended load 7 was transported from an initial loading position (20,0) to a target loading position (-5,15) in a coordinate system (x,y) (unit [m]) with its origin at the center of rotation of the loading crane 1. In Example 1, as the initial condition of the crane arm 2, the rotation angle Θ was set to 0°, the lifting angle φ to 48°, and the arm length L to 30 m. Furthermore, the turn start time Ti was set at half the turn cycle T of the suspended load 7, the maximum speed vmax at 1.5 ms and the constant n in formulas (11) to (17) in 1. Figure 6 illustrates an axis of the suspended load 7 in Example 1. Figure 7 illustrates a change in the coordinate position of the suspended load 7 in the xy direction to the y direction over time t. It can be observed that the suspended load 7 moved linearly from its initial position to its target position. Figure 8 illustrates the change in the velocity v of the suspended load 7 over time t. It has been confirmed that the velocity v becomes zero at time t when the target position of the load is reached. From this, it has been confirmed that the oscillation prevention control of the suspended load 7 is effective. Example 2 Furthermore, the present inventors carried out Example 2 using the same loader crane 1 as in Example 1. In Example 2, the suspended load 7 was transported from a load start position (10,10) to a load destination position (-5,15) in a coordinate system (x,y) (unit [m]) with its origin at the center of rotation of the loader crane 1. In Example 2, as an initial condition of the crane arm 2, the rotation angle Θ was set to 45°, the lift angle φ to 62°, and the arm length L to 30 m. In addition, the rotation start time Ti was set to half of the rotation cycle T of the suspended load 7, the maximum speed Vmax to 1.5 ms, and the constant n in formulas (11) to (17) to 1. L / ZQLn / ZZnZ / B / YIAl Figure 9 illustrates an axis of the suspended load 7 in Example 2. Figure 10 illustrates a change in the coordinate position of the suspended load 7 in the xy direction to the y direction over time t. It can be observed that the suspended load 7 moved linearly from its initial position to its target position. Figure 11 illustrates a change in the velocity v of the suspended load 7 over time t. It has been confirmed that the velocity v becomes zero at time t when the target position of the load is reached. From this, it has been confirmed that the oscillation prevention control of the suspended load 7, similar to Example 1, is in effect. Example 3 Furthermore, the present inventors carried out Example 3 using the same load crane 1 as in Example 1. In Example 3, the suspended load 7 was transported from an initial load position (20,0) to a target load position (-5,15) in a coordinate system (x,y) (unit [m]) with its origin at the center of rotation of the load crane 1. In Example 3, as an initial condition of the crane arm 2, the rotation angle θ was set to 0°, the lift angle φ to 48°, and the arm length L to 30 m. In addition, the rotation start time Ti was set to half of the rotation cycle T of the suspended load 7, the maximum speed vmax to 1.5 ms, and the constant n in formulas (11) to (17) to 1. Figure 12 illustrates an axis of the suspended load 7 in Example 3. Figure 13 illustrates a change in the coordinate position of the suspended load 7 in the xy direction to the y direction over time t. It can be observed that the suspended load 7 moved linearly from its initial position to its target position. Figure 14 illustrates a change in the velocity v of the suspended load 7 over time t. It has been confirmed that the velocity v becomes zero at time t when the target position of the load is reached. From this, it has been confirmed that the oscillation prevention control of the suspended load 7, similar to Example 1, is in effect. List of reference symbols: crane, load, crane arm, distal end portion of the arm, arm lifting mechanism, arm swivel mechanism, arm extension and retraction mechanism, cables, suspended load< / modificaciones>

Claims

1. A cargo crane configured to transport a suspended load from an arbitrary load start position to a load destination position by means of a swinging motion of a crane arm, the load being suspended by a cable provided to a portion of the distal end of the crane arm, the cargo crane being characterized in that it comprises: a swing mechanism configured to swing the crane arm; a lifting mechanism configured to adjust a lifting angle of the crane arm; an extension and retraction mechanism configured to adjust a length of the crane arm;and a control device configured to calculate a path in which the suspended load is transported, and configured to control the boom swing mechanism, the boom lifting mechanism, and the boom extension and retraction mechanism, wherein the control device is configured to: calculate the path so that it is a straight-line path viewed from at least one vertical direction, according to the load's starting position and the load's destination position; using the load's starting position, the load's destination position, a maximum speed, a swing cycle of the suspended load, and a start time, calculate a crane boom swing angle, a lifting angle, and the boom length to make the path the straight-line path;and control the arm's swivel mechanism, arm's lifting mechanism, and arm's extension and retraction mechanism to achieve the calculated swivel angle, lifting angle, and arm length.

2. The loading crane according to claim 1, further characterized in that the control device is configured to perform a calculation to make a height of the straight-line path in the vertical direction constant.

3. The loading crane according to claim 1 or 2, further characterized in that the control device is configured to: calculate the turning angle from a formula (8) by using a speed of the distal end portion of the arm calculated from each of the formulas (11) to (17); and when calculating the speed, use formula (11) at a time where t < Ti, use formula (12) at a time where Ti < t < nT, use formula (13) at a time where nT < t < nT + Ti, use formula (14) at a time where nT + Tt < t < tt - nT - Ti, use formula (15) at a time where tt - nT - Ti < t < tt - nT, use formula (16) at a time where tt - nT < t < tt - Ti, and use formula (17) at a time where tt - Tt < t < tt: L / ZQLn / ZZnZ / E / YIAl Mat. 1 d0 dt (sinS — ———cos0)2 ______________*2 xi____________ r .. , y2 - yi Ί , ry2 -yív v · ·· (8) L / ZQLn / ZZnZ / B / YIAl ^max ,7 V — -----t 2ηΤΤΛ (11) ^max r. —x.''max'l V -—— (t ~ TD + --·♦· nT 2nT (12) (13) ^max ' V v - - (t - tt + nT + TJ2 + vmax - · · (15) ¿Til l ] ^max / . . i »t» \ । ^max^l V vY^(í-tt)2 ---(17) Lili J -j where xi : a position in the x direction [m] of the load's starting position, X2 : a position in the x direction [m] of the load's target position, yi : a position in the y direction [m] of the load's starting position, y2 : a position in the y direction [m] of the load's target position, Θ: rotation angle [°] of the crane arm, v: a speed [m / s] of the distal end portion of the arm, Vmax: a maximum speed [m / s] of the distal portion of the arm, t: a time [s] from the start of the turn, Ti : start time [s], n: a constant (natural number), T: one oscillation cycle [s], and tt: transport time of the suspended load [s].

4. The loading crane according to any of claims 1 to 3, further characterized in that the control device is configured to control the lifting angle and the arm length under a condition that complies with formula (19): Mat. 2 άφ dL —í-^-sinyi + —cos <p x2 (sirt0 — —^-cos6)2 x2 xi y, \ dfl (cos0 -i- -------sino ) · (19) x, dt donde φ: un ángulo de elevación [°], l: una longitud brazo [m], xt : posición en dirección x [m] la inicio carga, del objetivo yt y y2 θ: giro [°] grúa, t: tiempo [s] desde el giro.

5. la grúa carga conformidad con cualquiera las reivindicaciones 1 a 4, caracterizada además porque dispositivo control está configurado para controlar bajo condición que cumpla fórmula (21) (22): mat. 3 d¿ (sin# cose) vi z^cos0 -i--sinfl) cosy>— · · · (21) d«p dt -Vi + y 2 - vi *2 ~*1 sine — y2-yi x2-Xi yz — Vi cose -I--sin6 X2-Xi sin <p de l dt •••(22) zqln zznz e yial donde φ: un ángulo elevación [°], l: una longitud brazo [m], xi : posición en dirección x [m] la inicial carga, x2 del objetivo yi y inicio y2 θ: giro [°] grúa, t: tiempo [s] desde el giro.

6. A method for preventing the oscillation of a loading crane configured to transport a suspended load from an arbitrary initial load position to a load destination position by a slewing motion of a crane arm, the load being suspended by a cable provided to a portion of the distal end of the crane arm, the method for preventing the oscillation of the loading crane characterized in that it comprises: using, as a loading crane, a loading crane that includes a slewing mechanism configured to slew the crane arm, a lifting mechanism configured to adjust a lifting angle of the crane arm, and an extending and retracting mechanism configured to adjust a length of the crane arm;Calculate a path along which the suspended load is transported, so that it is a straight-line path viewed from at least one vertical direction, according to the load's starting position and destination position; calculate a crane arm swing angle, lifting angle, and arm length to make the path a straight-line path using the load's starting position, load's destination position, maximum speed, swing cycle of the suspended load, and start time; and control the arm swing mechanism, arm lifting mechanism, and arm extension and retraction mechanism to achieve the calculated swing angle, lifting angle, and arm length.

7. A method for transporting a load by means of a cargo crane configured to transport a suspended load from an arbitrary initial load position to a destination load position by means of a swinging motion of a crane arm, the load being suspended by a cable provided to a portion of the distal end of the crane arm, characterized in that the method for transporting the load transports the suspended load using the cargo crane in accordance with any one of claims 1 to 5.

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