JP2013018556A - Device for detecting sway angle of suspended load of crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for detecting a sway angle of a suspended load of a crane, capable of precisely detecting a sway angle of a suspended load in real time with a compact and simple mechanism, without requiring angle conversion by a controller or without constraints on assembly such as causing the length of a detection rod to be a specific length or more.SOLUTION: A detector body 17 provided with a MEMS inertial sensor detecting a two-axis angle or angular velocity about a luffing axis 13 parallel to a crane luffing center axis and a horizontal pivot 14 orthogonal thereto is suspended from a crane distal end 1 via a suspension member 16, and the detector body 17 is provided so as to be movable relative to a wire rope 2 hoisting up and down the suspended load and capable of following the sway angle of the wire rope. Accordingly, the detector body 17 suspended by the suspension member 16 can follow the sway of the wire rope 2, and the sway angle is precisely detected in real time by the MEMS inertial sensor provided at the detector body 17. The device is thereby made compact.

Description

  The present invention relates to an apparatus for detecting a swing angle of a suspended load of a crane, which can detect a swing angle of a wire rope required for swing control of a suspended load such as a jib crane in a compact, high-precision and real-time manner.

  Conventionally, cranes installed at construction sites and harbors have been controlled with suspension control of the suspended load to suppress the swing, and detection of the swing angle of the wire rope that lifts and lowers the suspended load. The swing angle of the suspended load is detected using the apparatus, and the steadying control is performed based on the detected angle.

Various types of conventional deflection angle detection devices have been proposed. For example, Patent Document 1 discloses detection capable of turning around two axes orthogonal to each other through a gimbal mechanism at the tip of a crane jib. The rod is supported, and a presser roller mechanism is provided at the lower end of this detection rod to hold the wire rope that lifts and lowers the suspended load so that the detection rod follows the swing of the wire rope. An angle detection means for detecting the rotation angle around the two axes (the undulation axis and the turning axis) is provided, and the swing angle of the suspended load is obtained by calculation by the controller based on the detected angle.
As a result, the wire rope is clamped by the presser roller mechanism, the influence of the wire rope twist is suppressed, the detection rod is made to follow the wire rope swing, the swing angle is detected accurately, and the movable part is minimized, and the device The swing angle is detected with high accuracy while suppressing the influence of frictional resistance.

  Further, in Patent Document 2, an optical fiber gyroscope is provided as a deflection angle sensor for measuring a deflection angle of a suspended load on a side surface of a hook body portion suspended from a crane via a wire rope. The swing angle is measured to control the suspension of the suspended load.

JP 2010-159106 A Japanese Patent Laid-Open No. 08-143272

However, in the rope deflection angle detection device of Patent Document 1, the displacement of the deflection must be detected and converted into an angle by the controller at the subsequent stage, so that the burden on the controller is large, and it has a high degree of arithmetic processing capability. It must be a controller, and in order to detect deflection displacement, a certain distance or more is required in the height direction of the wire rope, and the length of the detection rod must be increased. There is a problem of becoming large.
In addition, when an optical fiber gyro sensor is used, there is a problem that a space is required for incorporation and there is a limitation on the incorporation.

  The present invention has been made in view of the above-described problems of the prior art, and there is no need for angle conversion by a controller, and there are restrictions on installation such as restrictions on the height direction for installation such as the length of the detection rod. Therefore, an object of the present invention is to provide a crane swing angle detection device that can be made compact with a simple mechanism and can detect the swing angle of a suspended load with high accuracy and in real time.

  In order to solve the above-described problems of the prior art, the crane swing angle detection device according to claim 1 of the present invention includes two around the undulation axis parallel to the crane undulation center axis and around the swivel axis perpendicular to the undulation axis. A detector body provided with a MEMS inertial sensor that detects the angle or angular velocity of the shaft is suspended from the tip of the crane via a suspension member, and can be moved relative to the wire rope that lifts and lowers the suspended load. The detector main body is provided so as to be able to follow a corner.

  According to a second aspect of the present invention, in addition to the configuration according to the first aspect, the vibration reduction device configured by a spring and a damper between the detector main body and the MEMS inertial sensor. A mechanism is provided.

  According to a third aspect of the present invention, in addition to the configuration according to the first or second aspect, the detector main body includes a V-groove roller and a wire facing the V-groove roller. A presser roller that biases the rope in the clamping direction is provided.

  According to a fourth aspect of the present invention, in addition to the structure according to any one of the first to third aspects, the suspension member includes a suspension rod, and One end of the rod is attached to the tip of the crane via a universal joint, and the detector main body is attached to the other end.

  According to a fifth aspect of the present invention, in addition to the configuration according to any one of the first to third aspects, the suspension load detecting device for a suspended load of the crane has the suspension member at one end of the crane at the end of the crane. The other end is attached to the detector body and is made of a non-rotating wire that can prevent rotation.

  According to a sixth aspect of the present invention, in addition to the configuration according to any one of the first to fifth aspects, the crane main body swing angle detection device detects an angle or angular velocity around a vertical axis in the detector body. The present invention is characterized in that a MEMS inertial sensor is attached.

According to the crane swing angle detection device according to the first aspect of the present invention, the MEMS detects the angle or angular velocity of the two axes around the undulation axis parallel to the crane undulation central axis and the swivel axis perpendicular thereto. The detector body provided with an inertial sensor is suspended from the tip of the crane via a suspension member, and can be moved relative to the wire rope that lifts and lowers the suspended load and can follow the deflection angle of the wire rope. Since the detector body suspended by the suspension member can follow the swing of the wire rope, the MEMS inertial sensor provided on the detector body eliminates the need for conversion in the controller in real time. Thus, the deflection angle can be detected with high accuracy and the apparatus can be made compact.
As a result, by using the deflection angle obtained in real time, the suspension control of the suspended load can be performed with high accuracy.

According to the crane swing angle detection device according to claim 2 of the present invention, the vibration reduction mechanism configured by the spring and the damper is provided between the detector main body and the MEMS inertial sensor. The swing angle can be detected by suppressing the influence of vibration caused by the hoisting and lowering of the rope as much as possible.
As a result, the swing angle of the suspended load can be controlled by detecting the swing angle with higher accuracy.

  According to the crane hanging load swing angle detection device according to claim 3 of the present invention, the detector body is provided with a V-groove roller and the V-groove roller facing the V-groove roller and urging the wire rope in the clamping direction. Since the presser roller is provided, the V-groove roller can further suppress the effect of changes in the rope diameter due to twisting of the wire rope, and can reliably follow the swing of the wire rope. Can be detected.

  According to the crane swing angle detection device according to claim 4 of the present invention, the suspension member is composed of a suspension rod, and one end of the suspension rod is connected to the crane tip via a universal joint. Since the detector body is attached to the other end, attaching the detector body via the hanging rod and the universal joint ensures that the wire rope can follow the swing and shorten the hanging rod. However, the deflection angle can be detected with high accuracy.

  According to the crane hanging load swing angle detecting device according to claim 5 of the present invention, the suspension member is attached to the crane tip with one end spaced apart and the other end attached to the detector body. Since it is composed of a non-spinning wire that can prevent rotation, it is possible to prevent the rotation of the detector body and detect the deflection angle with high accuracy by configuring the suspension member with a non-spinning wire composed of multiple wires. Can do.

  According to the crane hanging load swing angle detecting device according to the sixth aspect of the present invention, since the MEMS inertial sensor for detecting the angle or angular velocity around the vertical axis is attached to the detector body, the vertical axis The deflection angle around the undulation axis and the turning axis of the absolute coordinate system can be calculated from the angle around the earth (around the ground axis) or the angular velocity.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic side view of the state attached to the crane concerning one Embodiment of the swing angle detection apparatus of the crane of this invention. It is the front view and side view concerning one embodiment of the deflection angle detection device of the crane of this invention. It is the front view and side view concerning other embodiment of the deflection angle detection apparatus of the crane of this invention.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
The crane swing angle detection device 10 is provided with, for example, a jib that is raised and lowered around a horizontal undulation center axis on a swivel that can be turned around a vertical axis on a base that constitutes the crane. The detector body is provided from the tip of the jib as a suspension member via a hanging rod as a suspension member, and the detector body has a undulation axis parallel to the undulation center axis and a rotation axis orthogonal to this. A MEMS inertial sensor that detects the angle or angular velocity of the two axes is attached, and this detector body can be relatively moved (slided) to the wire rope for hanging, for example, to the wire rope via a presser roller mechanism, and the deflection angle The swing angle of the wire rope can be directly obtained by holding it in such a way that it can be tracked, and the MEMS inertial sensor provided in the detector body eliminates the need for conversion by the controller. It is possible to accurately detect the vibration angle in real time Te does not require a long suspension rod in order to secure the detection accuracy, it is possible to make the apparatus compact.
This makes it possible to control the suspension of the suspended load with high accuracy by using the deflection angle obtained in real time.

  The crane swing angle detection device 10 includes a mounting frame 11 that is attached to the tip of the jib 1 that is the tip of the crane. By attaching the mounting plate 12 at the upper end to the jib 1 with two bolts and nuts, The mounting frame 11 can be fixed to the jib 1.

The mounting frame 11 is provided with a undulation shaft 13 parallel to the undulation central axis of the jib and a horizontal rotation shaft 14 parallel to the jib slewing central axis perpendicular to the jib through a universal joint 15 and opened downward. Inside the U-shaped outer frame 15a, a box-shaped inner frame 15b having an opening at the bottom is arranged, and an undulating shaft 13 arranged in parallel to the turning center axis of the jib 1 is divided into both sides on the outer frame 15a. An inner frame 15b is attached between the undulating shaft 13 which is rotatably attached via a bearing and divided into two. Then, a turning shaft 14 which is horizontal to the inner frame 15b and is perpendicular to the undulation shaft 13 is rotatably mounted via a bearing, and is suspended on the center line of the undulation shaft 13 on the center line of the turning shaft 14. A rod 16 is attached via a flange 16a.
As a result, the suspension rod 16 is supported so that its upper end is rotatable about a undulation shaft 13 parallel to the undulation central axis of the jib 1 and a horizontal turning shaft 14 orthogonal thereto, and in two orthogonal directions. It can be swung, and rotation about an axis (vertical axis) parallel to the turning center axis direction is restricted.

  A detector main body 17 is attached to the hanging rod 16 through a flange 16b at the lower end thereof, and a micro electro mechanical systems (MEMS) inertial sensor 18 is attached to the detector main body 17 so as to rotate around the undulation shaft 13 and rotate. An angle or angular velocity around the axis 14 can be detected. And the detection signal of this MEMS inertial sensor 17 is input into the steadying control apparatus which is not shown in figure.

  Further, in the crane swing angle detection device 10, the MEMS inertial sensor 17 is attached to the detector main body 17 via a vibration reduction mechanism 19 composed of a spring and a damper for reducing disturbance vibration.

The detector main body 17 is provided with a presser roller mechanism 21 for following the suspension wire rope 2 and is provided with a vertical plate-like base 22 via a connecting plate 23 attached to the upper end of the base 22. The lower end of the suspension rod 16 is connected to the flange 16b, and the connecting plate 23 is attached to the base 22 at a slight angle, so that the crane swing angle detection device 10 can be connected to the tip of the jib 1. In this state, the base 22 is substantially vertical. The base 22 is provided with a horizontal fixed rotation shaft, and a fixed roller 24 is rotatably supported. Here, the base 22 is constituted by a V-groove roller, and the suspension wire rope 2 is slid while being guided in the V-groove. It can be moved.
A presser roller 25 that rotates around a horizontal rotation shaft is disposed opposite to the center of the fixed roller 24 constituted by the V-groove roller, is urged toward the V-groove roller 24, sandwiches the suspension wire rope 2, and is suspended. The wire rope 2 can slide.
For this reason, the upper end portion of the rotation plate 26 is rotatably supported at the end portion of the base 22, and both end portions of the presser roller 25 are rotatably attached to the intermediate portion of the rotation plate 26. One end of the spring unit 27 is connected between the rotation center of the press roller 25 and the rotation center of the presser roller 25, and the other end is connected to the base 22 and urges them toward each other. Further, an arm portion 28 is formed at the lower end portion of the rotating plate 26 so that the hanging wire rope 2 is inserted from the base 22 side opposite to the rotating plate 26 and the hanging wire rope 2 is applied to the V-groove roller 24. Then, the suspension wire 26 can be clamped by the pressing roller 25 and can be clamped and pressed by the spring unit 27 by rotating the rotation plate 26 so as to close it.

  In such a presser roller mechanism 21, the suspension wire rope 2 is sandwiched between the V-groove roller 24 and the presser roller 25 facing the V-groove roller 24. Even if the rope 2 slides, its influence can be suppressed as much as possible, and transmission of vibration to the MEMS inertial sensor 18 of the detector body 17 can be suppressed.

According to the crane swing angle detection device 10 as described above, the swing angle or angular velocity around the hoisting shaft 13 and the swing shaft 14 of the suspension wire rope 2 can be directly detected using the MEMS inertial sensor 18. By using the result for steadying control, steadying control can be easily performed without the need for arithmetic processing.
Moreover, in the conventional crane swing angle detection devices, for example, in order to ensure accuracy of 0.1 ± 0.01 deg and resolution of 0.01 deg, the detection rod has to be a certain length or longer, When the length of the wire rope is 40 m, it has been verified that the detection rod needs to be 2 m or more in order to accurately measure the swing width (both amplitudes) of 1 m with the above resolution. As compared with the above, the hanging rod 16 can be reduced to about a fraction, and the apparatus can be made compact.
Further, since the MEMS inertial sensor 18 is attached to the detector main body 17 via the vibration reduction mechanism 19, disturbance vibration caused by contact between the hanging wire rope 2 and the V groove roller 25 of the presser roller mechanism 21 is reduced. The swing angle of the hanging wire rope 2 can be detected with high accuracy.

  Note that the MEMS inertial sensor may have a Kalman filter calculation function against disturbance vibration, and the detection accuracy can be improved by calculation.

Next, another embodiment of the crane swing angle detecting device according to the present invention will be described with reference to FIG. 3, but the same parts as those of the already described embodiments are denoted by the same reference symbols, and redundant description will be omitted. .
In this crane swing angle detection device 10 </ b> A, a suspension member that suspends the detector main body 17 from the jib 1 is configured with a non-rotating wire rope 16 </ b> A in place of the suspension rod 16.
For example, as shown in FIG. 3, the non-spinning wire rope 16 </ b> A has two wire ropes 16 </ b> Aa and 16 </ b> Ab that are spaced apart from each other in the direction parallel to the undulation shaft 13 on the mounting plate 12 of the mounting frame 11. On the other hand, the lower end portion thereof is integrated into the detector main body 17 or attached at a slight interval. As a result, the detector body 17 can be rotated around the undulation shaft 13 and the horizontal turning shaft 14, but is suspended in a restrained non-rotation state around the vertical axis (ground axis).
The other configuration of the crane swing angle detection device 10A is the same as that of the crane swing angle detection device 10 already described. Similarly, the MEMS inertial sensor 18 directly detects the swing angle or angular velocity of the hanging wire rope 2. It has the same action and effect.

  In addition, in the crane swing angle detection devices 10 and 10A according to the above two embodiments as the crane swing angle detection device of the present invention, when the MEMS inertial sensor 18 is attached to the detector body 17, the detector body 17 The rotation is constrained by the universal joint 15 or the non-rotating wire rope 16A and suspended so that the swing angle or angular velocity of the hanging wire rope 2 around the undulation axis 13 of the jib 1 and the horizontal turning axis 14 can be detected. However, even if the detector body 16 is rotated (rotated) around the vertical axis (ground axis) by detecting the angle or angular velocity around the three orthogonal axes by hanging without restriction, the vertical direction from the MEMS inertial sensor 18 The angle around the axis (ground axis) or the angular velocity can be converted into a deflection angle around the undulation axis of the absolute coordinate system and around the horizontal turning axis.

In the above embodiment, a jib crane has been described as an example of a crane. However, the present invention is not limited to this, and other types of cranes can be similarly applied as long as they use a hanging wire rope.
Furthermore, the urging by the pressing roller of the pressing roller mechanism is not limited to using the spring unit, and other urging means may be used.

1 Jib (Crane tip)
DESCRIPTION OF SYMBOLS 2 Hanging wire rope 10 Crane swing load deflection angle detection device 11 Mounting frame 12 Mounting plate 13 Undulating shaft 14 Rotating shaft 15 Universal joint 15a Outer frame 15b Inner frame 16 Hanging rod 16a Flange 16b Flange 16A Non-rotating wire rope 16Aa Wire rope 16Ab Wire rope 17 Detector body 18 MEMS inertial sensor 19 Vibration reduction mechanism 21 Presser roller mechanism 22 Base 23 Connecting plate 24 V groove roller (fixed roller)
25 Presser roller 26 Rotating plate 27 Spring unit (biasing means)
28 Arm

Claims (6)

  A detector body provided with a MEMS inertial sensor that detects the angle or angular velocity of two axes around the undulation axis parallel to the crane undulation center axis and the swivel axis orthogonal to the undulation axis is suspended from the crane tip via a suspension member. An apparatus for detecting a swing angle of a suspended load of a crane, wherein the detector main body is provided so as to be capable of moving relative to a wire rope for lifting and lowering a suspended load and following the swing angle of the wire rope.   2. The crane hanging load swing angle detecting device according to claim 1, wherein a vibration reducing mechanism including a spring and a damper is provided between the detector main body and the MEMS inertial sensor.   The crane according to claim 1 or 2, wherein the detector body is provided with a V-groove roller and a presser roller that opposes the V-groove roller and biases the wire rope in a clamping direction. For detecting the swing angle of suspended loads.   The suspension member is constituted by a suspension rod, one end of the suspension rod is attached to the tip of a crane via a universal joint, and the detector body is attached to the other end. The swing angle detection device for a suspended load of a crane according to any one of claims 3 to 4.   The suspension member is composed of a non-rotating wire that is attached to a crane tip with one end being spaced and the other end being attached to the detector body to prevent rotation. The swing angle detection device for a suspended load of a crane according to any one of claims 3 to 4.   6. The swing angle detection device for a suspended load of a crane according to claim 1, wherein a MEMS inertial sensor for detecting an angle or angular velocity around a vertical axis is attached to the detector main body.

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