JP2570302Y2 - Crane rope deflection angle detection device - Google Patents

Description

[Detailed description of the invention]

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the detection of the swing angle of various types of crane ropes, and more particularly to a high-sensitivity, high-precision crane rope swing angle detection apparatus that uses the swing angle data detected for shake prevention control or the like.

[0002]

2. Description of the Related Art Conventionally, as this type, a type in which a generally used inclination sensor is applied to the detection of a swing angle of a crane rope can be considered. This tilt sensor is roughly classified into several types according to its principle and method. It detects the movement of liquid as a change in capacitance and converts it into an electric signal. It detects the movement of air bubbles two-dimensionally with a photodiode. And a servo type using gravitational acceleration.

[0003]

However, in these conventional examples, the cost of the device is increased because the tilt sensor itself is expensive. For this reason, there is a problem that it cannot be used frequently in practical use.

[0004] In addition, since the above-mentioned various tilt sensors have a complicated structure, there is a problem that the durability is poor and maintenance is not easy.

Further, some of the tilt sensors are susceptible to vibration, generate errors, have a large time lag from detection to data output, and are not suitable for crane rope swing prevention control. In some cases, it takes a long time before the detection can be started with the state of the sensor stabilized, and there is a practical problem.

Accordingly, an object of the present invention is to provide a crane rope deflection angle detection device which is inexpensive and has good durability and is optimal for deflection angle control.

[0007]

SUMMARY OF THE INVENTION The present invention has been made in view of such a problem. In an apparatus for detecting a swing angle of a rope suspended from a crane main body and hoisting a load, one end portion is connected to the crane main body. A first arm-shaped member rotatably arranged on a vertical axis, and one end of the first arm-shaped member is rotatably arranged on the other end of the first arm-shaped member along a vertical axis. A second arm-shaped member that slides in the middle of the rope at the other end, a first potentiometer that detects a relative rotation angle between the first arm-shaped member and the crane body, and outputs a first angle signal; A second potentiometer that detects a relative rotation angle between the arm-shaped member and the second arm-shaped member and outputs a second angle signal; and a first potentiometer and a second potentiometer from the first and second potentiometers. A crane rope deflection angle detection device comprising: a calculation device that calculates an angle signal based on a table value stored in advance and calculates XY direction deflection angle data indicating a deflection angle of the rope in the XY directions on a horizontal plane. It is characterized by.

[0008]

According to this means, when the crane operates and the suspended load swings, and the rope swings, the rope slides on the other end of the second arm-shaped member, thereby pushing the rope from the rope. The first and second arm-shaped members are rotated by the pressure. Thereby, the relative rotation angle between the first arm-shaped member and the crane main body and the relative angle between the first arm-shaped member and the second arm-shaped member change. These changes in the relative rotation angle are detected by the first potentiometer and the second potentiometer and sent to the arithmetic unit as a first angle signal and a second angle signal.

The arithmetic unit calculates the first and second angle signals based on a table value stored in advance to calculate XY direction deflection angle data.

[0010]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 to 4 show an embodiment of the present invention.

First, the construction will be described. As shown in FIG. 1, a rope 3 is suspended from a rope winding drum 2 of a crane main body 1.

As shown in FIG. 1, the crane main body 1 is provided with a crane traveling base 14 movably disposed on a portal base 25 via wheels 26, and on the traveling base 14 via wheels 16. The crane traverse table 15 is movably disposed. The rope winding cylinder 2 is disposed on the crane traversing platform 15, and the tip of the rope 3 wound around the rope winding cradle 2 is connected to the back surface of the crane traversing platform 15. The load 18 is lifted.

The following device for detecting the deflection angle of the rope 3 is provided.

That is, a mount member 19 is fixed to the back side of the crane traverse table 15, and as shown in FIGS. 2 and 3, one end 5 of the first arm member 4 is attached to the mount member 19. It is arranged so as to be rotatable about a vertical axis. One end 8 of a second arm member 7 is rotatably disposed at the other end 6 of the first arm member 4. The rope 3 is slidably inserted into an insertion hole 20 at the other end 9 of the second arm-shaped member 7.

The first arm member 4 and the mount member 1
9 between the first arm-shaped member 4 and the mounting member 19.
A first potentiometer 11 for detecting a relative rotation angle with respect to the first rotation angle signal, converting the rotation angle into an electric signal as a resistance value, and outputting the electric signal as a first rotation angle signal is provided.

Further, a relative rotation angle between the first arm-shaped member 4 and the second arm-shaped member 7 is detected between the first arm-shaped member 4 and the second arm-shaped member 7. A second potentiometer 12 that converts the electric signal into a certain electric signal and outputs the electric signal as a second rotation angle signal is provided.

The crane body 1 is electrically connected to a first potentiometer 11 and a second potentiometer 12, and calculates the first rotation angle signal and the second rotation angle signal based on a table value stored in advance. A microcomputer 13 is provided as an arithmetic unit for calculating XY direction swing angle data indicating the swing angle of the rope 3 in the XY directions on the horizontal plane.

In the microcomputer 13, the first potentiometer 11 and the second potentiometer 1
Each rotation angle signal sent from 2
D / D converter 21 and second A / D converter 22
Perform D conversion. Each of these converted rotation angle signals is compared with an angle conversion table previously stored in the storage unit 24 by the CPU 23, and the X-direction deflection angle data and the Y-direction deflection are output from the first output port 25 and the second output port 26. It is output as angle data.

According to such a configuration, when the crane operates and the load 18 swings, and thereby the rope 3 swings, the rope 3
Presses the second arm-shaped member 7 while sliding on the inner peripheral wall of the insertion hole 20. At this time, the relative rotation angle between the first arm-shaped member 4 and the crane main body 1 and the relative angle between the first arm-shaped member 4 and the second arm-shaped member 7 change. The change in the relative rotation angle is detected as a change in the electric resistance value by the first potentiometer 11 and the second potentiometer 12, and sent to the microcomputer 13 as the first angle signal and the second angle signal.

In the microcomputer 13, the first angle signal and the second angle signal are A / D-converted by the first and second A / D converters 21 and 22 and sent to the CPU 23. The CPU 23 converts the first angle signal and the second angle signal into XY-direction deflection angle data based on table values stored in the storage unit 24 in advance.

Depending on the relative rotation angle between the first arm-shaped member 4 and the crane body 1 and the relative angle between the first arm-shaped member 4 and the second arm-shaped member 7, the middle of the rope 3 slides on the insertion hole 20. The movement amount of the rope 3 in the XY directions in the horizontal plane at the given position is determined. Therefore, the first
And immediately using the table value from the second angle signal,
The swing angle in the XY directions with respect to the suspension direction of the rope 3 can be calculated. The swing angles of the rope 3 in the X and Y directions determined in this way are output from the first and second output ports as X and Y direction swing angle data.

The X- and Y-direction deflection angle data output in this way is fed back to a power unit or the like such as the crane traverse table 15 and used for shake prevention control and the like.

In the crane rope deflection angle detecting device of the present invention, the position in the middle of the rope 3 is directly detected by using the first and second potentiometers 11 and 12 which are a kind of electric resistor. As compared with the detection device using each of the above-described tilt sensors, the structure can be simplified and the configuration can be made extremely inexpensive. Therefore, the durability is good, the maintenance is easy, and the manufacturing cost can be reduced.

Moreover, the swing angle of the rope 3 can be reliably detected in real time, and is suitable for the swing angle control using feedback or the like.

Further, fine adjustment can be performed only by changing the table value stored in the storage unit 24.
The error can be further reduced, and the accuracy can be further improved. In addition, by simply changing the table values in this way, it is possible to detect the swing angle of crane ropes of various specifications, and since it is compatible with various crane ropes, the universality is good, and in this regard, the manufacturing cost is also high. Reduction can be achieved.

At the time of starting, the apparatus can be used immediately by simply turning on the power, so that the workability is better than that of some deflection angle detection devices using a conventional inclination sensor.

[0028]

As described above, according to the present invention, the first and second potentiometers, which are a kind of electric resistor, are used in comparison with the conventional detecting device using each of the tilt sensors. Since the position in the middle of the rope is directly detected, the structure is simple and an extremely inexpensive configuration can be achieved. Therefore, the durability is good, the maintenance is easy, and the manufacturing cost can be reduced.

Moreover, the swing angle of the rope can be reliably detected in real time, which is suitable for swing angle control using feedback or the like.

Further, fine adjustment can be performed only by changing the table value stored in the storage unit, so that errors can be further reduced and accuracy can be further improved.
In addition, by simply changing the table values in this way, it is possible to detect the swing angle of crane ropes of various specifications, and since it is compatible with various crane ropes, the universality is good, and in this regard, the manufacturing cost is also high. Reduction can be achieved.

Since it can be used immediately after the power is turned on at the time of starting, it has a practically useful effect that the workability is better than some of the deflection angle detecting devices using the conventional tilt sensor. Demonstrate.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of a crane rope deflection angle detection device of the present invention.

FIG. 2 is a cross-sectional view taken along the line II-II of FIG. 1, showing a main part of the same embodiment, and showing a state in which first and second arm-shaped members and the like are viewed from above.

FIG. 3 is a side view showing a main part of the same embodiment and showing a state where first and second arm-shaped members are viewed from the side.

FIG. 4 is a block diagram showing the same embodiment and showing a configuration of an arithmetic unit.

[Explanation of symbols]

 1 Crane body 3 Rope 4 First arm-shaped member 5 One end 6 Other end 7 Second arm-shaped member 8 One end 9 Other end 11 First potentiometer 12 Second potentiometer 13 Microcomputer (computing device)

Continuation of front page (56) References JP-A-4-223993 (JP, A) JP-A-56-126710 (JP, A) JP-A-2-300093 (JP, A) JP-A-1-133389 (JP) , A) Fully open 1986-61184 (JP, U) Fully open 1986-41184 (JP, U) Fully open 2-112690 (JP, U) Fully open 2-15989 (JP, U) Fully open 1-143787 (JP, U) Japanese Utility Model Application Showa 54-177053 (JP, U) (58) Field surveyed (Int. Cl. ⁶ , DB name) B66C 13/22

Claims (1)

(57) [Scope of request for utility model registration] 1. A device for detecting a swing angle of a rope suspended from a crane main body and hoisting a load, wherein a first arm-shaped member having one end rotatably disposed on the crane main body about an axis extending in a vertical direction. A second arm-shaped member, one end of which is rotatably disposed at the other end of the first arm-shaped member about an axis along the vertical direction, and the other end of which is in sliding contact with the middle of the rope; A first potentiometer for detecting a relative rotation angle between the one arm-shaped member and the crane body and outputting a first angle signal, and detecting a relative rotation angle between the first arm-shaped member and the second arm-shaped member; A second potentiometer for outputting a two-angle signal, and calculating the first angle signal and the second angle signal from the first and second potentiometers based on a table value stored in advance, Crane rope swing angle detecting apparatus characterized by comprising an arithmetic unit for calculating the XY direction deflection angle data indicating the deflection angle of the rope in the XY direction at.