Swing prevention can be controlled by a simple control system without restricting the conveyance from an arbitrary loading/unloading start position to an arbitrary loading/unloading target position. The present invention is provided with an arm turning mechanism (4) for turning a crane arm (2), an arm raising and lowering mechanism (3) for adjusting the raising and lowering angle, an arm extension and retraction mechanism (5) for adjusting the arm length, and a control device for calculating the track on which a hoisted object (7) is conveyed and controlling the arm turning mechanism (4), the arm raising and lowering mechanism (3), and the arm extension and retraction mechanism (5). A trajectory is calculated so as to become a linear trajectory at least when viewed from the vertical direction, and a turning angle [theta], an undulating angle, and an arm length L are calculated so that the trajectory becomes a linear trajectory using a loading/unloading start position, a loading/unloading target position, a maximum speed vmax, a hoisting swing period T, and a lifting time T1. The arm turning mechanism (4), the arm raising and lowering mechanism (3), and the arm telescoping mechanism (5) are controlled so as to become the calculated turning angle (theta), raising and lowering angle, and arm length (L).

    能够将从任意的装卸开始位置向任意的装卸目标位置的运送无制约条件地且通过简易的控制系统而控制防摆。具备使起重机臂(2)回旋的臂回旋机构(4)、调整起伏角的臂起伏机构(3)、调整臂长的臂伸缩机构(5)、以及运算吊物(7)被运送的轨道且控制臂回旋机构(4)、臂起伏机构(3)及臂伸缩机构(5)的控制装置,控制装置根据装卸开始位置和装卸目标位置,以至少在从铅垂方向观察时成为直线轨道的方式运算轨道,使用装卸开始位置、装卸目标位置、最大速度vmax、吊物摆动周期T及提升时间T1,以使轨道成为直线轨道的方式运算回旋角θ、起伏角及臂长L,以成为运算出的回旋角θ、起伏角及臂长L的方式控制臂回旋机构(4)、臂起伏机构(3)及臂伸缩机构(5)。


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    Title :

    Loading and unloading crane, anti-swing method of loading and unloading crane, and loading and unloading conveying method


    Additional title:

    装卸起重机、装卸起重机的防摆方法及装卸运送方法


    Contributors:

    Publication date :

    2023-03-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66C Krane , CRANES



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