JPS6045117B2 - Tracking control device for carriers that follow moving objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a drive control device for a carrier that is pushed and pulled while supporting a connecting member that spans a plurality of points in a relative movement relationship.

This type of carrier is used, for example, as part of a power supply device in a crane.

As shown in FIGS. 1 and 2, the crane runs on wheels 5 with a trolley 3 supporting an operator's cab 4 on a main girder 1 and an elevating girder 2 forming the main body.

Supplying electric power from the main body to the motor 6 provided on the trolley 3 to rotate the wheels 5, and supplying operation signals from the driver's cab 4 to the hoisting device 8 and the elevating device 7 on the main body side. A covered electric wire 9 is stretched between the driver's cab 4 and the rear end of the main girder 1, and the process is carried out via this covered electric wire 9. Figures 1 and 2
The crane shown in the figure moves a hoist 13 up and down with a hoisting device 8 and travels a trolley 3 to take a cargo handling route as shown by arrow B in order to unload cargo 11 from a cargo ship 10 onto a truck 12.

In addition, during non-cargo handling, when the cargo ship 10 berths, the cargo ship 1
The elevating girder 2 is moved upward around the pin 14 using the elevating device 7 so as not to hit the mast etc. In this way, the trolley 3 travels and moves during cargo handling.

Furthermore, when raising and raising the elevating girder 2, it is also necessary to move the trolley 3 back toward the main girder 1, which accompanies the traveling movement of the trolley 3. For this reason, the covered electric wire 9 is required to have a following movement function as the trolley 3 moves.

In order to achieve the following movement function of the covered electric wire 9, a curtain cable type power supply means as shown in FIGS. 1 and 2 is conventionally employed.

This power feeding means includes a guide rail 15 provided in each girder 1, 2 in parallel with each girder 1, 2, and a large number of carriers 16, 17, 18, 19, 20, 21, 22,
23 and 24 are provided, and each carrier 16 to 24 carries a coated wire 9.
are supported at approximately equal intervals. This type of power feeding means is used to feed each carrier 16 to 2 when the trolley 3 travels.
4 is also pushed and pulled by the trolley 3 and runs on the guide rail 15. If the traction force is small, the carriers 16 to 24 may be caused to follow the coated wire 9 by applying a traction force to the coated wire 9, but generally, in order to prevent damage to the coated wire 9, each carrier 15 to 24 is moved as shown in FIG. 23 are connected by a wire lobe 25, and the traction force is transmitted to the wire lobe 25. The length of this wire lobe 25 is made shorter than the hanging interval of the covered electric wire 9 so that the traction force is not transferred to the covered electric wire 9. Conventionally, the following running conditions of the carriers 16 to 24 are as shown in FIGS. 3 and 4.

That is, when the trolley 3 travels in the direction of arrow C shown in FIG. 3, the trolley 3 is in a state of pushing each of the carriers 16 to 24. In addition, when the trolley 3 travels in the direction of arrow D as shown in FIG.
It is in a state of towing 4. If the traveling speed and acceleration/deceleration of the trolley 3 are increased in order to improve the cargo handling efficiency of the crane, in the case of FIG. 3, the carriers 16 to 2 of the trolley 3
The impact force on each carrier 16 to 24 increases.
The disadvantage is that the collision force increases even between the two. Also,
In the case of FIG. 4, the carrier in a nearly stationary state is rapidly and forcefully pulled, causing strain on the wire lobe 25 and causing the wire lobe 2 to be subjected to a strong tensile force.
5 and the covered electric wire 9. This causes a phenomenon in which the wire lobe 25 and the guide rail 15 easily come into contact with each other. Furthermore, due to the inertial running of the carriers 16 to 24, a large number of carriers 16 to 24 are moved toward the trolley side.
There are drawbacks such as rear-end collisions occurring one after another, and large rear-end collision forces occurring when the carrier is on the same dirt floor. These drawbacks become more noticeable as the relative speed difference between the trolley 3 and the carrier increases. All of these defects cause damage to the carriers 16 to 24 and the wire lobes 25, derailment of the carriers 16 to 24, and damage to the covered wire 9.

In order to eliminate this cause, conventional technology was developed in which only a portion of the carrier located in the intermediate portion was made of a sliding type, and this sliding friction resistance weakened the inertial running force of the carrier and buffered the rear-end collision force. It is publicly known in the publication No.

However, according to this known technique, although it can be expected to reduce the collision between the carriers due to the inertial running of the carriers that occurs immediately after the trolley 3 stops running, the trolley 3
When the carrier suddenly starts in the direction in which the wire lobe 25 is stretched, the running frictional resistance of the intermediate sliding carrier acts to stop the carrier, which has the opposite effect of increasing the relative speed difference, causing an impact on the wire lobe 25. It has the disadvantage of generating tension.

Further, even when pushing the carrier to loosen the coated wire 9, the sliding type carrier is difficult to move due to running frictional resistance, so the rear collision impact force L is large. Furthermore, it also has the disadvantage that maintenance of the sliding parts is troublesome. The main object of the present invention is to provide a smooth chasing operation to a carrier that supports and follows a member stretched between points in a relative movement relationship.

In the present invention, a carrier is provided with a pulley and connected to a moving body, and the carrier follows the moving body at a predetermined reduction ratio by using the carrier as a moving pulley.

Hereinafter, an embodiment of the saw will be described with reference to FIGS. 5 and 6 when the present invention is applied to the crane shown in FIGS. 1 and 2.

In each figure, common parts are given common symbols. In FIGS. 5 and 6, carriers 16 to 24 run on doid rails 15 provided on the main girder 1 and the elevation girder 2 while being connected by wire lobes 25, and each carrier 16 to
The point that 24 supports the covered electric wire 9 between the rear end of the main girder 1 and the driver's cab 4 is the same as in the conventional case.

In this embodiment, the following structure is added to the conventional structure.
That is, pulleys 30, 31,
32 and 33 are attached, and one end of wire lobes 34 and 35, which are invertedly hung on the pulleys 30 and 31, is fixed to the main girder 1, and the other end is fixed to the trolley 3. On the other hand, one ends of the wire lobes 36 and 37, which are inverted and hung on the pulleys 32 and 33, are fixed to the main girder 1. The other ends of the wire lobes 36 and 37 are attached to the trolley 3 after sequentially inverting a lobe pulley 38 provided at the rear end of the main girder 1 and a lobe pulley 39 provided at the tip of the elevating girder 2.
Fixed to . In this embodiment, when the trolley 3 moves, the pulley 3. Since 30, 31, 32, and 33 function as movable pulleys, the intermediate carrier 20 follows the trolley 3 at half the speed.

At this time, the intermediate Kikiriya 20 pushes and accelerates each of the carriers 16 to 19 or 21 to 24 in the front in the following direction, and accelerates each of the carriers 21 to 24 or 16 to 1 in the rear direction.
9 and accelerate it. Since both the pushing speed and the pulling speed are half the speed of the trolley 3, the pulling and rear-end impact forces are not large. Moreover, since the carriers 16 to 24 begin to follow the trolley 3 from the time the trolley 3 starts moving, the relative speed difference between the trolley 3 and the carriers 16 to 24 is small.
A large impact tensile force does not occur on the wire lobe 25, etc.
Moreover, since the intermediate carrier 20 is linked to the trolley 6 both in tracking and stopping, free running due to inertia does not occur at all. Therefore, collision accidents do not occur between the carrier groups 16 to 19 and the carrier groups 21 to 24 located before and after the intermediate carrier 20. Therefore, the rear-end collision phenomenon that occurs when the trolley 6 stops is prevented midway. At this time, one carrier group collides with the intermediate carrier 20, but this collision force can be expected to be buffered by the extension of the wire lobes 34, 35, 36, and 37. Furthermore, if it is desired to reduce the total amount of rear-end collision force, another carrier may also be coupled to the trolley 3 via a deceleration means utilizing the principle of a movable pulley.

As described above, the carriers located at a distance from the trolley 3 are simultaneously accelerated in the following direction without delay at the time when the trolley 3 starts moving, and this acceleration is adjusted to an appropriate speed according to the order of the carriers using the deceleration device. In addition to regulating the speed with a suitable reduction ratio, trolley 3 allows the carrier to run freely due to its inertia.
This is prevented by a wire robe connecting the carrier and the carrier.

As a result, in each of the embodiments, acceleration in the pursuit direction is applied to the carrier and other carriers in the vicinity at the same time as the trolley 3 moves, and the relative speed between the trolley 3 and the carrier or the carrier is The difference can be minimized.

This eliminates the drawback of large rear-end collisions or traction impact forces caused by the carrier being suddenly pulled or pushed from an almost stationary state, and the trolley 3 reliably moves the carrier in the middle of its turn to the set position via the wire lobe. Since the position of the carriers can be controlled and stopped, the phenomenon of rear-end collision between the carriers can be prevented midway. especially,
Since the carrier 20 having movable pulleys 30 and 32 is directly connected to the trolley 3, even if the trolley 3 slips on the main girder 1, the carrier 20 can accurately follow the trolley 3 and prevent a collision. be.

The above embodiment has been described as an example in which electric power energy is transmitted by the covered electric wire 9, but when it is desired to transmit hydraulic energy, the covered electric wire 9 is used as a hydraulic hose, and when it is desired to transmit pneumatic energy, the covered electric wire 9 is used as a hydraulic hose. It is implemented by replacing it with a pneumatic hose.

As described above, the present invention provides a pulley on the carrier and connects the pulley to the moving body as a movable pulley, so that the relative speed between the moving body and the carrier is reduced, and the traction impact force is prevented from becoming excessive. Accurate tracking motion of the carrier can be obtained.

[Brief explanation of drawings]

Fig. 1 is an overall view of the container crane, Fig. 2 is a view taken along the FF direction in Fig. FIG. 6 is an enlarged top view of the main part shown in FIG. 5, which is a schematic diagram of the main part of the example. 1... Main girder, 2... Elevation girder, 3... Trolley, 4
...Operation room, 5...Wheels, 6...Motor, 9
... Covered electric wire, 15 ... Guide rail, 16, 17
, 18, 19, 20, 21, 22, 23, 24... carrier, 34, 35, 36... wire robe, 30
, 31, 32, 33... Pulley, 38, 39... Lobe pulley.

Claims (1)

[Claims] 1. One end of a flexible connecting member is provided on a moving body that is in a moving relationship with respect to the main body, the other end is provided on the main body at one end of the moving range of the moving body, and the connecting member runs on a guide rail of the main body. In a device supported by a plurality of carriers, a first pulley is provided on the main body at one end, a second pulley is provided on the main body at the other end of the movement range, and one of the intermediate portions of the plurality of carriers is provided with a first pulley on the main body at the other end of the moving range. A third pulley and a fourth pulley are provided on the carrier, and the first rope fixed to the moving body is connected to the second pulley,
The first pulley and the third pulley are successively spanned, and the end thereof is fixed to the main body on the side of the one end and outside the movement range of the carrier having the third pulley, and fixed to the moving body. A moving object characterized in that a second rope is hung on a fourth pulley, and its end is fixed to the main body on the other end side and outside the movement range of the carrier having the fourth pulley. Follow-up control device for the following carrier.