JP6576848B2 - Traveling crane device and traveling cargo handling device - Google Patents

Description

  The present invention relates to a traveling crane apparatus and a traveling cargo handling apparatus.

  2. Description of the Related Art A traveling crane device such as an RTG (Rubber Tired Gantry Crane) is known as a cargo handling facility that performs cargo handling work in a yard such as a harbor. The traveling crane device needs to perform a cargo handling operation at a predetermined storage position. Therefore, the traveling of the traveling crane device is controlled such that the amount of deviation between the stop position and the storage position is within a predetermined amount of deviation (for example, ± 35 mm). In Patent Document 1, as a technique for reducing the amount of deviation between the stop position and the storage position of the traveling crane device, the right and left wheels of the self-propelled crane are used according to the deviation angle and the traveling speed immediately before stopping. A technique for setting a negative acceleration is disclosed.

Japanese Patent Laid-Open No. 2005-67753

  Some traveling crane apparatuses transmit power generated by a motor to wheels by meshing a chain and a sprocket. The chain meshing with the sprocket is provided with a slack to prevent an increase in driving resistance and to reduce a load applied to the chain. Thus, when slack is provided in the chain, the wheel can freely rotate by the amount of the slack, and thus there may be a deviation in the stop position of the traveling crane device.

  The objective of this invention is providing the traveling crane apparatus which reduces the deviation | shift amount of a stop position.

  A traveling crane apparatus according to the present invention is a traveling crane apparatus that performs cargo handling, and is capable of traveling in the front-rear direction, with a main body portion, a cargo handling portion that is provided on the main body portion, and handles cargo to be conveyed. A travel unit that moves the main body in the front-rear direction, and a control unit that controls the travel unit, the travel unit is provided for at least a pair of wheels provided in the front-rear direction, and each wheel, A rotation drive unit that generates a rotational force, and a belt-shaped member that is spanned between the wheel shaft and the shaft of the rotation drive unit and transmits the rotational force generated by the rotation drive unit to the wheel, and the control unit includes: When stopping the traveling by the traveling unit, the rotational driving unit for one of the pair of wheels is controlled, and the rotational driving force in the rotational direction toward the opposite side of the traveling direction in the rotational driving unit for the one wheel. Is generated.

  In the traveling crane device according to the present invention, when the traveling unit stops traveling by the traveling unit, the control unit controls a rotation driving unit for one wheel in the traveling direction among the pair of wheels, and rotates the one wheel. In the drive unit, a rotational force in a rotational direction toward the opposite side to the traveling direction is generated. In this case, tension acts on the belt-like member spanned between the shaft of one wheel and the shaft of the rotation drive unit in the rotational direction toward the opposite side to the traveling direction. When the traveling unit stops in this state, the slack of one of the belt-like members is a state that allows movement in the direction opposite to the traveling direction. On the other hand, a tension acts on the belt-like member spanned between the shaft of the other wheel and the shaft of the rotation drive unit in the rotational direction toward the traveling direction. When the traveling unit stops in this state, the slack of the other band member is in a state that allows movement in the traveling direction. As described above, the other belt-like member after the stop and the one belt-like member are slack so that the directions in which the movement is allowed to be different from each other, and therefore, the movement of the traveling unit after the stop can be restrained. . As described above, the amount of deviation of the stop position can be reduced.

  In the traveling crane apparatus according to the present invention, the control unit may lower the torque limit of the rotational drive unit for one wheel when stopping traveling by the traveling unit as compared to the torque limit during traveling. With such a configuration, it is possible to suppress an excessive rotational force from acting in the rotational direction toward the opposite side to the traveling direction.

  A traveling type cargo handling apparatus according to the present invention is a traveling type cargo handling apparatus that performs cargo handling, and is capable of traveling in the front-rear direction, with a main body part, a cargo handling part that is provided on the main body part and that handles a material to be conveyed. A travel unit that moves the main body in the front-rear direction, and a control unit that controls the travel unit, the travel unit is provided for at least a pair of wheels provided in the front-rear direction, and each wheel, A rotation drive unit that generates a rotational force, and a belt-shaped member that is spanned between the wheel shaft and the shaft of the rotation drive unit and transmits the rotational force generated by the rotation drive unit to the wheel, and the control unit includes: When stopping the traveling by the traveling unit, the rotational driving unit for one of the pair of wheels is controlled, and the rotational driving force in the rotational direction toward the opposite side of the traveling direction in the rotational driving unit for the one wheel. Is generated.

  According to the traveling type cargo handling apparatus according to the present invention, it is possible to obtain the same operations and effects as those of the traveling type crane apparatus described above.

  According to the present invention, the amount of shift of the stop position can be reduced.

1 is a perspective view of a traveling crane device according to an embodiment of the present invention. It is a side view of the traveling part shown in FIG. It is a schematic diagram for demonstrating the effect | action and effect of a traveling crane. It is a schematic diagram for demonstrating the effect | action and effect of the traveling crane which concerns on a modification.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same part or an equivalent part, and the overlapping description is abbreviate | omitted.

  Hereinafter, embodiments will be described in detail with reference to the drawings. FIG. 1 is a perspective view showing an external appearance of a traveling crane apparatus according to an embodiment of the present invention. The traveling crane device is a device that performs cargo handling. In the present embodiment, a tire-type portal crane apparatus is illustrated as an example of the traveling crane apparatus 1. The traveling crane device 1 according to the present embodiment is provided, for example, in a container yard of a container terminal that loads and unloads containers C, loads containers C, and the like with respect to a container ship touching a quay. The container yard is provided with a plurality of lanes (passages) on which the traveling crane device 1 travels.

  The traveling crane device 1 includes a main body unit 20, a cargo handling unit 30, a traveling unit 40, and a control unit 2. The main body 20 includes a pair of girders 6 that extend in the lateral direction and leg portions 5 that extend downward from both ends of the pair of girders 6 and is configured in a gate shape. The cargo handling unit 30 is provided on the main body unit 20 and handles cargo to be conveyed. The cargo handling unit 30 includes a trolley 7 that can traverse the girder 6 and a hoisting device 8 that is provided on the trolley 7. A spreader 10 is suspended from the hoisting device 8 via a suspension wire 9 so as to be movable up and down. The traveling unit 40 is provided at the lower end of each leg 5 of the main body 20. The traveling unit 40 is connected to the cargo handling unit 30 via the main body unit 20, and travels in the front-rear direction (a direction orthogonal to the lateral direction in which the girder 6 extends), thereby moving the entire traveling crane device 1 in the front-rear direction. Let it run.

  With reference to FIG. 2, the structure of the traveling part 40 is demonstrated in detail. FIG. 2 is a diagram of the traveling unit 40 viewed from the lateral direction. In FIG. 2, only one traveling unit 40 in the horizontal direction is shown, but the traveling unit 40 on the opposite side also has the same concept. In FIG. 2, the left side of the drawing is referred to as “front side” and the right side of the drawing is referred to as “rear side”, but this is for convenience of explanation and may be reversed.

  As shown in FIG. 2, the traveling unit 40 includes a traveling device 4 </ b> A provided on the front side, a traveling device 4 </ b> B provided on the rear side, and the control unit 2. The traveling device 4 </ b> A and the traveling device 4 </ b> B are connected to each other at the upper end portion by a connecting member 70 that extends in the front-rear direction. The control unit 2 is disposed at the upper end portion of the connecting member 70. However, the control part 2 may be arrange | positioned in any part of the traveling crane apparatus 1. FIG.

  The front traveling device 4A is provided for a pair of wheels 42A provided on the front side, a pair of wheels 45A provided on the rear side, a support member 46A that supports the wheels 42A and 45A, and the wheels 42A. A rotation drive unit 41A that generates a rotation force and a belt-like member 43A that transmits the rotation force generated by the rotation drive unit 41A to the wheels 42A are provided.

  The pair of wheels 42A is disposed so as to face each other in the lateral direction on the front end side of the support member 46A (see FIG. 1). The pair of wheels 42A is pivotally supported by a common shaft 47A. The shaft 47A is provided with a pulley 48A for hanging the belt-like member 43A. Further, both end portions of the shaft 47A in the lateral direction are supported by a shaft support member 49A extending downward from the support member 46A. The pair of wheels 45A are disposed so as to face each other in the lateral direction on the rear end side of the support member 46 (see FIG. 1). The pair of wheels 45A is pivotally supported on a common shaft 51A. Both end portions of the shaft 51A in the lateral direction are supported by a shaft support member 52A extending downward from the support member 46A. The wheels 42A and 45A are rubber tire type wheels. The other wheels described later are similarly rubber tire wheels.

  The rotational drive unit 41A applies a rotational force to one (outside in the lateral direction) wheel 42A. The rotation drive unit 41A includes a rotation shaft extending in the vertical direction and a motor that rotates the rotation shaft. The rotation drive unit 41A includes a shaft 53A that is connected to the rotation shaft through a gear and extends in the lateral direction.

  The belt-like member 43A is an endless member that is stretched around the shaft 47A (pulley 48A) of the wheel 42A and the shaft 53A of the rotation drive unit 41A. Any member such as a belt or a chain can be adopted as the belt-like member 43A. The belt-like member 43A transmits the rotational force in the same direction as the rotation direction to the wheel 42A via the pulley 48A and the shaft 47A when the shaft 53A of the rotation driving unit 41A rotates. In the present embodiment, the shaft 53A of the rotation drive unit 41A is disposed obliquely above the front side of the shaft 47A of the wheel 42A. Accordingly, the belt-like member 43A also extends obliquely upward on the front side from the shaft 47A of the wheel 42A. However, the angle or the like of the belt-like member 43A is not particularly limited, and may extend rearward and obliquely upward from the shaft 47A, or may extend right above.

  A jack 44A extending downward from the support member 46A is provided between the wheel 42A and the wheel 45A. The jack 44A can float the wheel 42A and the wheel 45A from the ground by extending by hydraulic pressure or the like. The wheel 42A and the wheel 45A can be maintained by lifting the wheel 42A and the wheel 45A from the ground by the jack 44A.

  The rear traveling device 4B is provided for a pair of wheels 42B provided on the rear side, a pair of wheels 45B provided on the front side, a support member 46B that supports the wheels 42B and 45B, and the wheels 42B. , A rotation drive unit 41B that generates a rotation force, and a belt-like member 43B that transmits the rotation force generated by the rotation drive unit 41B to the wheels 42B.

  The pair of wheels 42B are arranged so as to face each other in the lateral direction on the rear end side of the support member 46B (see FIG. 1). The pair of wheels 42B is pivotally supported on a common shaft 47B. The shaft 47B is provided with a pulley 48B for hanging the belt-like member 43B. Further, both end portions of the shaft 47B in the lateral direction are supported by a shaft support member 49B extending downward from the support member 46B. The pair of wheels 45B are disposed so as to face each other in the lateral direction on the front end side of the support member 46 (see FIG. 1). The pair of wheels 45B is pivotally supported on a common shaft 51B. Both end portions of the shaft 51B in the lateral direction are supported by a shaft support member 52B extending downward from the support member 46B.

  The rotation drive unit 41B applies a rotational force to one (outside in the lateral direction) wheel 42B. The rotation drive unit 41B includes a rotation shaft that extends in the vertical direction and a motor that rotates the rotation shaft. The rotation drive unit 41B includes a shaft 53B that is connected to the rotation shaft through a gear and extends in the lateral direction.

  The belt-like member 43B is an endless member that is stretched around the shaft 47B (pulley 48B) of the wheel 42B and the shaft 53B of the rotation drive unit 41B. Any member such as a belt or a chain can be adopted as the belt-like member 43B. The belt-like member 43B transmits the rotational force in the same direction as the rotation direction to the wheel 42B via the pulley 48B and the shaft 47B when the shaft 53B of the rotation driving unit 41B rotates. In the present embodiment, the shaft 53B of the rotation drive unit 41B is disposed obliquely upward on the rear side of the shaft 47B of the wheel 42B. Accordingly, the belt-like member 43B also extends rearward and obliquely upward from the shaft 47B of the wheel 42B. However, the angle or the like of the belt-like member 43B is not particularly limited, and may extend obliquely upward from the shaft 47B or may extend right above.

  A jack 44B extending downward from the support member 46B is provided between the wheel 42B and the wheel 45B. The jack 44B can float the wheel 42B and the wheel 45B from the ground by extending by hydraulic pressure or the like. Maintenance of the wheel 42B and the wheel 45B can be performed by floating the wheel 42B and the wheel 45B from the ground by the jack 44B.

  The control unit 2 controls the rotation driving unit 41A of the traveling device 4A and the rotation driving unit 41B of the traveling device 4B. When the control unit 2 according to the present embodiment stops traveling by the traveling unit 40, the control unit 2 rotationally drives the wheels on the downstream side in the traveling direction among the pair of wheels 42A and 42B coupled to the rotation driving units 41A and 41B. And the rotational drive unit for the downstream wheels generates a rotational force in the rotational direction toward the opposite side of the traveling direction. Such a rotational force toward the opposite side of the traveling direction causes the downstream wheel to rotate in the traveling direction by the driving force of the upstream wheel in the traveling direction, whereas the downstream wheel travels. Occurs by resisting from rotating in the direction.

  When the traveling direction is a forward direction, the wheel 42B corresponds to the “downstream wheel in the traveling direction”, and the rotation driving unit 41B corresponds to the corresponding rotation driving unit. Therefore, when stopping the traveling by the traveling unit 40, the control unit 2 controls the rotation driving unit 41B for the downstream wheel 42B in the traveling direction, and in the rotation driving unit 41B for the downstream wheel 42B, Generates a rotational force in the direction of rotation toward the opposite side (clockwise in FIG. 2). On the other hand, when the traveling direction is the direction toward the rear, the wheel 42A corresponds to the “wheel on the downstream side in the traveling direction”, and the rotation driving unit 41A corresponds to the corresponding rotation driving unit. Therefore, when stopping the traveling by the traveling unit 40, the control unit 2 controls the rotation driving unit 41A for the downstream wheel 42A in the traveling direction, and in the rotation driving unit 41A for the downstream wheel 42A, Generates a rotational force in the direction of rotation toward the opposite side (counterclockwise in FIG. 2).

  Specifically, the control unit 2 includes a speed control unit 60 that controls a speed command value transmitted to the rotation drive units 41A and 41B, and a torque limit control unit 61 that controls a torque limit in the rotation drive units 41A and 41B. It is equipped with.

  When the traveling by the traveling unit 40 is stopped, the speed control unit 60 outputs a speed command value at a lower speed than the rotational driving unit for the upstream wheels to the rotational driving unit for the downstream wheels in the traveling direction. The control content of the speed control unit 60 will be described with reference to FIG. In FIG. 3A, it is assumed that the traveling direction RD is a forward direction. For example, the speed control unit 60 outputs a speed command value of “V1” to the rotation drive unit 41A of the upstream wheel 42A and “V2” lower than V1 to the rotation drive unit 41B of the downstream wheel 42B. ”Is output. As described above, the speed command values are different between the upstream side and the downstream side, but the wheels 42A and 42B are connected to each other via the connecting member 70 (see FIG. 2), so the actual speed of the wheel 42B is It becomes “V1” according to the speed of the wheel 42A on the upstream side. Thus, although the speed command value for the rotation drive unit 41B is “V2”, it actually rotates at a rotational speed corresponding to a higher speed “V1”. Therefore, the difference between them generates a rotational force (repulsive torque) T that the rotational drive unit 41B repels in the actual rotational direction. Thereby, in the rotational drive part 41B with respect to the wheel 42B of the downstream side, the rotational force to the rotation direction (clockwise) which goes to the opposite side to a running direction generate | occur | produces. In addition, although the rotational drive part 41B is generating the rotational force to the rotation direction which goes to the opposite side to a running direction, the actual rotation direction of the axis | shaft 53B is a rotation direction which goes to a running direction. Further, the speed command value output by the speed control unit 60 may be any value, and may be “speed = 0”.

  The torque limit control unit 61 lowers the torque limit of the rotational drive unit for the downstream wheels when the traveling by the traveling unit 40 is stopped as compared with the torque limit during traveling. For example, when the control such as the speed control unit 60 is performed without reducing the torque limit, the rotational force generated in the rotary drive unit on the downstream side becomes excessive. If the rotational force (repulsive torque) generated in the downstream rotational drive unit becomes excessive, a sudden braking force that causes the traveling unit 40 to suddenly stop traveling is generated. Therefore, by reducing the torque limit for the downstream rotational drive unit, it is possible to generate a rotational force with an appropriate strength. Note that when the torque limit is excessively reduced, the rotational drive unit on the downstream side does not generate a rotational force in the rotational direction opposite to the traveling direction, so a torque limit equal to or greater than a predetermined amount is set. The torque limit control unit 61 may set the torque limit of the downstream rotational drive unit to, for example, 1 to several percent of the rating.

  The operation and effect of the traveling crane device 1 according to this embodiment will be described.

  First, with reference to FIG.3 (b), control of the traveling crane apparatus which concerns on a comparative example is demonstrated. In the traveling crane apparatus according to the comparative example, the upstream and downstream rotational drive units in the traveling direction RD are stopped in the same deceleration mode. In this case, tension TS acts on the belt-like member 43A spanned between the shaft 47A of the upstream wheel 42A and the shaft 53A of the rotation drive unit 41A in the rotational direction toward the traveling direction RD. In the upstream belt-like member 43A, the portion on the upstream side in the rotational direction (here, counterclockwise) with respect to the shaft 53A of the rotation drive unit 41A is in a tensioned state, and the portion on the downstream side in the rotational direction is It becomes a state where slack has occurred. When stopped in this state, the upstream side wheel 42A is opposite to the traveling direction RD (here, the rear side) because the downstream portion of the belt-like member 43A is stretched without bending. ) But is allowed to move in the traveling direction RD (here, the front side). That is, the slack of the upstream belt-like member 43A is in a state of allowing movement in the traveling direction RD. Therefore, the direction DS1 that can move by the slack of the upstream belt-like member 43A is the traveling direction RD. On the other hand, the slack of the downstream belt-like member 43A occurs in the same direction as the upstream belt-like member 43A. That is, the slack of the upstream belt-like member 43A is in a state of allowing movement in the traveling direction RD. Therefore, the direction DS1 that can move by the slack of the upstream belt-like member 43A is the traveling direction RD. Thus, since the upstream belt-like member 43A and the downstream belt-like member 43B after the stop are slack so that the directions in which the movement is allowed to be the same, the traveling unit 40 after the stop is produced. Will be allowed to move. From the above, there is a possibility that the amount of deviation of the stop position becomes large.

  In the traveling crane apparatus 1 according to the present embodiment, when the traveling by the traveling unit 40 is stopped, the control unit 2 controls the rotational drive unit 41B for the downstream wheel 42B in the traveling direction RD, and In the rotational drive part 41B with respect to the wheel 42B, the rotational force T to the rotation direction which goes to the opposite side to the driving direction RD is generated. In this case, as shown in FIG. 3A, the belt-like member 43B spanned between the shaft 47B of the downstream wheel 42B and the shaft 53B of the rotation drive unit 41B is directed to the opposite side of the traveling direction RD. The tension TS acts in the direction of rotation toward the direction. In the downstream belt-like member 43B, the downstream portion in the rotation direction (counterclockwise in this case) with respect to the shaft 53B of the rotation drive unit 41B is tensioned by the action of the tension TS. The part is in a state where slack has occurred. When the vehicle stops in this state, the downstream side wheel 42B moves in the traveling direction RD (here, the front side) because the belt-like member 43B is stretched in the downstream side in the rotational direction without bending. Although it cannot, the movement to the opposite side (here rear side) of driving direction RD is permitted. That is, the slack of the belt-like member 43B on the downstream side is in a state that allows movement to the opposite side of the traveling direction RD. Therefore, the direction DS2 that can move by the slack of the belt-like member 43B on the downstream side is the opposite side of the traveling direction RD. On the other hand, as for the slack of the belt-like member 43A on the upstream side, the movement in the traveling direction RD is allowed as in the comparative example of FIG. Therefore, the direction DS1 that can move by the slack of the upstream belt-like member 43A is the traveling direction RD. As described above, the upstream belt-like member 43A and the downstream belt-like member 43B after the stop are slack so that the directions in which the movement is allowed to be different from each other. Can be restrained. As described above, the amount of deviation of the stop position can be reduced.

  In the traveling crane device 1 according to the present embodiment, the control unit 2 uses the torque limit of the rotational drive unit 41B for the downstream wheel 42B when stopping traveling by the traveling unit 40 as the torque limit during traveling. It is lower than that. With such a configuration, it is possible to suppress an excessive rotational force from acting in the rotational direction toward the opposite side to the traveling direction RD. Moreover, it can suppress that a sudden braking force generate | occur | produces when an excessive rotational force acts. In addition, when a sudden brake is applied, not only is the load applied to the entire crane apparatus, but an impact is applied to the load suspended by the cargo handling unit 30, but this situation can also be suppressed.

  The present invention is not limited to the embodiment described above.

  For example, in the above-described embodiment, a tire-type portal crane has been exemplified, but if the purpose of the traveling unit is the same, the type of crane is not limited, and other traveling crane devices, traveling unloaders, and the like The traveling type cargo handling device may be used. Examples of other traveling crane devices include a bridge crane and a jib crane that can travel on rails provided on the ground. As another traveling crane device, an overhead crane capable of traveling on a rail provided on a wall portion in a building can be exemplified.

  Moreover, the structure of this invention is not limited to a traveling crane apparatus, It is applicable also to another traveling type cargo handling apparatus. For example, a traveling unloader may be employed as the traveling cargo handling apparatus. As a traveling unloader, it can travel on rails provided on the ground and can use a bucket to load and unload loads from the ship's hold and can travel on rails provided on the ground. For example, a traveling continuous unloader that continuously loads and unloads cargo from the ship's hold using a bucket elevator can be used. In the traveling continuous unloader, a bucket elevator is attached to the tip of a girder constituting the main body. The bucket elevator is provided with an endless chain and a plurality of buckets attached to the endless chain, and the endless chain circulates so that the bucket scrapes and loads the cargo in the hold. The bucket elevator corresponds to the cargo handling part.

  Moreover, the structure of a driving | running | working part is not limited to the above-mentioned form. For example, the number of wheels is not particularly limited, and there may be at least a pair of wheels. Further, the traveling unit is not limited to one having rubber tire type wheels, and may be wheels that travel on rails.

  In the above-described embodiment, the control unit 2 controls the downstream rotational drive unit, but may control the upstream rotational drive unit. As shown in FIG. 4, when stopping the traveling by the traveling unit 40, the control unit 2 controls the rotational driving unit 41 </ b> A for the upstream wheel 42 </ b> A in the traveling direction RD, and rotationally drives the upstream wheel 42 </ b> A. In the portion 41A, a rotational force T in the rotational direction toward the opposite side to the traveling direction RD is generated. In this case, as shown in FIG. 4, with respect to the belt-like member 43A spanned between the shaft 47A of the upstream wheel 42A and the shaft 53A of the rotation drive unit 41A, the rotation direction toward the opposite side to the traveling direction RD Tensile force TS acts. In the upstream belt-like member 43A, the portion of the downstream side in the rotational direction (counterclockwise in this case) with respect to the shaft 53A of the rotational drive unit 41A is in a tensioned state due to the action of the tension TS. The part is in a state where slack has occurred. When the vehicle stops in this state, the upstream side wheel 42A moves in the traveling direction RD (here, the front side) because the belt-side member 43A is stretched downstream without being bent. Although it cannot, the movement to the opposite side (here rear side) of driving direction RD is permitted. That is, the slack of the upstream belt-like member 43A is in a state of allowing movement to the opposite side of the traveling direction RD. Therefore, the direction DS1 in which the upstream belt-like member 43A can move by the slack is the opposite side of the traveling direction RD. On the other hand, the slack of the belt-like member 43B on the downstream side is in a state in which movement in the traveling direction RD is permitted, as in the comparative example of FIG. Accordingly, the direction DS2 that can move by the amount of slack of the belt-like member 43B on the downstream side is the traveling direction RD. As described above, the downstream belt-like member 43B and the upstream belt-like member 43A after the stop are slack so that the directions in which the movement is allowed to be different from each other. Can be restrained. As described above, the amount of deviation of the stop position can be reduced.

  DESCRIPTION OF SYMBOLS 1 ... Traveling crane apparatus, 2 ... Control part, 30 ... Handling part, 40 ... Traveling part, 41A, 41B ... Rotation drive part, 42A, 42B, 45A, 45B ... Wheel, 43A, 43B ... Band-shaped member, 47A, 47B , 53A, 53B ... axis.

Claims (3)

A traveling crane device for cargo handling,
The main body,
A loading / unloading section provided on the main body section for loading / unloading an object to be conveyed;
A traveling part capable of traveling in the front-rear direction, and moving the main body part in the front-rear direction;
A control unit for controlling the traveling unit,
The traveling unit is
At least a pair of wheels provided in the front-rear direction;
A rotation drive unit that is provided for each of the wheels and generates a rotational force;
A belt-shaped member that spans the shaft of the wheel and the shaft of the rotational drive unit and transmits the rotational force generated by the rotational drive unit to the wheel;
The controller is
When stopping the traveling by the traveling unit, the rotational driving unit for one of the pair of wheels is controlled,
In the rotational drive unit for the one wheel, a rotational force in the rotational direction toward the opposite side to the traveling direction is generated ,
A traveling crane apparatus that outputs a speed command value to the rotation drive unit for the other wheel and outputs a speed command value at a speed lower than the speed command value to the rotation drive unit for the one wheel .   2. The traveling crane according to claim 1, wherein the control unit lowers a torque limit of the rotational drive unit for the one wheel when stopping traveling by the traveling unit as compared with a torque limit during traveling. apparatus. A traveling cargo handling device that performs cargo handling,
The main body,
A loading / unloading section provided on the main body section for loading / unloading an object to be conveyed;
A traveling part capable of traveling in the front-rear direction, and moving the main body part in the front-rear direction;
A control unit for controlling the traveling unit,
The traveling unit is
At least a pair of wheels provided in the front-rear direction;
A rotation drive unit that is provided for each of the wheels and generates a rotational force;
A belt-shaped member that spans the shaft of the wheel and the shaft of the rotational drive unit and transmits the rotational force generated by the rotational drive unit to the wheel;
The controller is
When stopping the traveling by the traveling unit, the rotational driving unit for one of the pair of wheels is controlled,
In the rotational drive unit for the one wheel, a rotational force in the rotational direction toward the opposite side to the traveling direction is generated ,
A traveling type cargo handling apparatus that outputs a speed command value to the rotation drive unit for the other wheel and outputs a speed command value at a speed lower than the speed command value to the rotation drive unit for the one wheel .

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