Cargo crane, cargo-crane swing prevention method, and cargo conveyance method

Abstract

A cargo crane including an arm turning mechanism that turns a crane arm; an arm luffing mechanism that adjusts the luffing angle; an arm extension and contraction mechanism that adjusts the arm length; and a control device that calculates a trajectory in which a suspended cargo is conveyed, and that controls the mechanisms. The control device calculates the trajectory so as to be a straight line trajectory as viewed from at least the vertical direction; calculates a turning angle θ, a luffing angle φ, and an arm length L so as to cause the trajectory to be the straight line trajectory by using the cargo start position, the cargo target position, a maximum speed v, a suspended cargo swing cycle T, and a start-up time T; and controls the mechanisms so as to achieve the calculated turning angle θ, luffing angle φ, and arm length L.