JP5870395B2 - Sensor for detecting the swing angle of crane load - Google Patents

Description

  The present invention relates to a swing angle detection sensor for a suspended load of a crane, and uses a weight for a limit to raise the swing angle of a wire rope necessary for steady control of a suspended load such as a jib crane in a compact, high-precision, real-time manner. It can be detected.

  Conventionally, cranes installed at construction sites and harbors have been controlled with suspension control of suspended loads to suppress the swing and detect the swing angle of the wire rope that lifts and lowers suspended loads. 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. In order to detect the displacement of the shake with high accuracy, a detection rod having a certain length or more in the height direction of the wire rope is required, and the apparatus is increased in size. There's a problem.
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 does not require conversion by a controller. There is no restriction on installation in the height direction for installation of a detection rod or the like, and there is no restriction for the hoisting limit. An object of the present invention is to provide a crane swing angle detection sensor capable of detecting a swing angle of a suspended load with high accuracy and in real time with a simple mechanism using a weight.

In order to solve the above-described problems of the prior art, the crane swing angle detection sensor according to claim 1 of the present invention is for an overwinding detection limit switch through which a wire rope for lifting and lowering a crane suspended load is inserted. A weight sensor, an attitude sensor based on a MEMS inertial sensor that detects an angle or an angular velocity attached to the weight, and a non-rotating wire composed of two wires that prevent rotation of the weight around the vertical axis; , wherein the one end of the two wires, attached at intervals to the tip of the crane, substantially V-said two wires by attaching the other end of the two wires to the weight arranged Jo, the rotation preventing configured to be capable of around a vertical axis around the attachment to the weight, the MEMS inertial sensor, detects the angle or angular velocity about two axes perpendicular to the horizontal plane Capable constructed, the two axes the orthogonal, the is configured by installing the weight as two axes around a horizontal rotation axis perpendicular and around the crane hoisting central axis parallel undulations axis which, in that It is a feature.

  According to a second aspect of the present invention, in addition to the configuration according to the first aspect, the crane hanging load detection sensor for the suspended load is provided with a roller guide that sandwiches the wire rope at the wire rope insertion portion of the weight. It is characterized by.

  According to a third aspect of the present invention, in addition to the configuration according to the first aspect, a crane guide for detecting the swinging load of a crane is provided with a rope guide through which a wire rope is inserted into the weight or a separate weight. It is characterized by being 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 crane hanging load detection sensor includes two weights, and two crane wires. Each of the ropes is inserted into the rope, and the posture sensor is provided in a connecting portion that connects two weights.

According to the crane swing angle detection sensor according to claim 1 of the present invention, a weight for an overwinding detection limit switch through which a wire rope for lifting and lowering the crane's suspended load is inserted, and the weight An attitude sensor using a MEMS inertial sensor for detecting an attached angle or angular velocity, and a non-spinning wire composed of two wires for preventing rotation about the vertical axis of the weight, the two wires one end of attachment spaced tip of the crane, placing the two wires the other end the two wires attached to the weight of the substantially V-shaped, to the weight the attachment portion is prevented configured to be capable of rotation around the vertical axis centered on, the MEMS inertial sensor is detectably constituting the angle or angular velocity about two orthogonal axes on a horizontal plane, the two orthogonal axes Since the is configured by installing the weight as two axes around a horizontal rotation axis perpendicular and around the crane hoisting central axis parallel undulations axis which was provided to the weight for the excessive winding detecting limit switch The MEMS inertial sensor can follow the swing of the wire rope, and the MEMS inertial sensor controls the angle or angular velocity of two axes around the undulation axis parallel to the crane undulation central axis and the horizontal rotation axis perpendicular thereto. In addition, it is possible to detect in real time with high accuracy without using a converter, and it is possible to make the apparatus compact by using the weight.
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.
Moreover, the includes a rotation-resistant wire comprised of two wires to prevent rotation around the vertical axis of the weight, one end of the two wires, attached at intervals to the tip of the crane, The other end of the two wires is attached to the weight, and the two wires are arranged in a substantially V shape so that rotation around a vertical axis centering on the attachment to the weight can be prevented. Since it comprised, the swing angle of a wire rope can be detected with high precision by restraining the rotation of the weight (rotation around the vertical axis) with a non-rotating wire.
Further, the MEMS inertial sensor is configured to be able to detect angles or angular velocities around two orthogonal axes on a horizontal plane, and the two orthogonal axes are arranged around a undulation axis parallel to the crane undulation central axis and to a horizontal axis orthogonal thereto. Since it is configured to be installed on the weight as two axes around the rotation axis, the two axes of the MEMS sensor are installed in accordance with the two axes around the undulation axis and the horizontal rotation axis perpendicular to the undulation axis. The swing angle of the wire rope can be detected easily and with high accuracy.

  According to the crane hanging load swing angle detection sensor according to claim 2 of the present invention, since the roller guide for sandwiching the wire rope is provided at the wire rope insertion portion of the weight, the wire rope is attached by the roller guide. By pinching, the play between the weight and the wire rope is reduced, and the deflection angle of the wire rope can be detected with higher accuracy.

  According to the crane hanging load deflection angle detection sensor according to claim 3 of the present invention, the rope is configured such that a rope guide through which a wire rope is inserted is provided integrally or separately from the weight. The guide and weight are integrated into a high-thickness rope guide with a small-diameter insertion hole, or play with the wire rope by a rope guide that protrudes from the upper end of the weight and is provided separately. This also makes it possible to detect the deflection angle of the wire rope with higher accuracy.

According to the crane hanging load swing angle detection sensor according to claim 4 of the present invention, the weight is composed of two pieces, each inserted through the two wire ropes of the crane, and the two weights. Since the posture sensor is provided in the connecting portion to be connected, the swing angle of the wire rope can be detected with higher accuracy by detecting the swing angle of the two wire ropes of the large crane.

It is the schematic front view and schematic left view of the state attached to the crane concerning one Embodiment of the deflection angle detection sensor of the crane of this invention. 1 is a schematic perspective view according to an embodiment of a swing angle detection sensor for a crane of the present invention. It is a schematic perspective view of the decomposition | disassembly state concerning one Embodiment of the deflection angle detection sensor of the crane of this invention. It is the longitudinal cross-sectional view provided with the roller guide concerning other one Embodiment of the deflection angle detection sensor of the crane of this invention, and a top view. It is the schematic perspective view provided with the rope guide concerning further another embodiment of the deflection angle detection sensor of the crane of this invention, and the schematic perspective view of a rope guide combined weight. It is a schematic perspective view concerning other embodiment of the deflection angle detection sensor 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 sensor 10 is provided with a MEMS inertial sensor 12 as an attitude sensor attached to a weight 11 for an overwinding detection limit switch of a crane hook, for example, to prevent the weight 11 from rotating (rotating around a vertical axis). Therefore, by constraining the rotation of the weight 11 around the wire rope R with the two non-rotating wires 13 and 13, the undulation axis 2 parallel to the undulation central axis of the crane jib is detected from the swing of the wire rope R. The angle or angular velocity around the horizontal rotation axis 3 that is orthogonal to the surroundings is accurately detected in real time by the MEMS inertial sensor 12 of the weight 11 inserted through the wire rope R for hanging load. This eliminates the need for conversion and eliminates the need for a long hanging rod for ensuring detection accuracy, thereby making the device 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.

  In this crane swing angle detection sensor 10, a sensor mounting bracket 14 is attached to a cylindrical weight 11 in which an insertion hole 11 a of a wire rope R is formed in the center part for an overwinding detection limit switch for a suspended load. The sensor mounting bracket 14 includes an upper surface plate 14a applied to the upper surface of the weight 11 and two face plates 14b and 14c orthogonal to the two side surfaces, and a U-shaped opening on the upper surface plate 14a. The sensor mounting bracket 14 is fixed by two bolts 15 penetrating the weight 11 through mounting holes on both sides of the opening.

  A micro electro mechanical systems (MEMS) inertial sensor 12 as an attitude sensor is attached to a side plate 14b of the sensor mounting bracket 14, and a sensor cover 16 is attached via a seal rubber to cover the whole. An extraction hole for wiring is formed in the cable so that the wiring can be taken out.

Two wire guide plates 17 and 18 are attached to the weight 11 to which such a sensor mounting bracket 14 is attached in the vertical direction.
The upper wire guide plate 17 has a substantially rectangular plate shape, and is configured such that a semicircular portion 17b slightly larger than the outer diameter of the wire rope R is formed on the back side of the U-shaped opening 17a. Two upper wire guide plates 17 are fixed by two bolts 15 penetrating the weight 11 through attachment holes on both sides of the portion 17a.
The lower wire guide plate 18 has a substantially circular plate shape, and is configured such that a semicircular portion 18b slightly larger than the outer diameter of the wire rope R is formed on the back side of the U-shaped opening 18a. Two lower wire guide plates 18 are fixed by two bolts 15 penetrating the weight 11 through mounting holes on both sides of the portion 18a.
Even if the insertion hole 11a of the wire rope R at the center of the weight 11 is large by the upper wire guide plate 17 and the lower wire guide plate 18, the gap (play) with the wire rope R is reduced by the semicircular portions 17b and 18b. The swing of the wire rope R is transmitted to the weight 11 with high accuracy.

  A cushion rubber 19 is attached to the lower side of the lower wire guide plate 18 so as to relieve an impact when the hook hits, and has a substantially disc shape with a through hole 19a formed in the center. A slit 19b is formed at a location so that the wire rope R can be inserted, and the two bolts 15 penetrating the weight 11 are attached through the attachment holes on both sides of the through hole 19a. A counterbore is provided so that it does not.

In the crane swing angle detection sensor 10 configured as described above, the wire rope R for lifting and lowering the suspended load from above the weight 11 is provided with the openings 17 a of the two upper guide plates 17 and the openings of the sensor mounting bracket 14. Is inserted into the insertion hole 11a, and is further routed so as to reach the hook through the opening 18a of the two lower guide plates 18 and the through hole 19a of the cushion rubber 19.
Then, two non-spinning wires 13 and 13 are connected to the upper part of the weight 11 through which the wire rope R is inserted, and the upper end part is spaced from a fixed part such as an inspection sidewalk part at the tip of the jib of the crane 1. It is opened and opened.
As a result, the weight 11 is restricted from rotating around the four vertical axes, and the weight 11 includes the undulation axis 2 parallel to the undulation center axis of the crane and the horizontal rotation axis 3 orthogonal thereto. Can swing around.

  Therefore, in the micro electro mechanical systems (MEMS) inertial sensor 12 attached to the side plate 14b of the sensor mounting bracket 14 of the weight 11, the undulation axis 2 parallel to the undulation center axis of the crane and the horizontal rotation axis 3 perpendicular to the undulation axis 2 are obtained. It is possible to detect the swing angle or angular velocity of two orthogonal axes centering on the center, and the detection signal of the MEMS inertial sensor 12 is input to a steady-state control device (not shown), thereby making it easy to control the suspension of the suspended load. Can be done.

  According to the swing angle detection sensor 10 of the crane's suspended load, the MEMS inertial sensor 12 provided on the weight 11 for the overwinding detection limit switch can follow the swing of the wire rope R. The MEMS inertial sensor 12 can detect the angle or angular velocity of the two axes around the parallel undulation axis 2 and the horizontal rotation axis 3 perpendicular to the axis with the MEMS inertial sensor 12 without the need for conversion in the controller, and accurately detect it in real time. The apparatus can be made compact by using the weight 11.

  In addition, in 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 that suspends the sensor portion must be longer than a certain length. If the length of the hanging wire rope is 40 m, in order to accurately measure the swing width (both amplitudes) 1 m of the suspended load with the above resolution, the detection rod needs to be 2 m or more. Compared to the verification, when the weight 11 is used, there is no restriction, the position of the normal weight is sufficient, and the apparatus can be made compact.

  Further, according to the swing angle detection sensor 10 for the suspended load of the crane, the rotation of the weight 11 (rotation around the vertical axis) is restrained by the non-rotating wires 13 and 13 so that the wire rope R can be made with higher accuracy. Can be detected.

Next, another embodiment of the swing angle detection sensor for the suspended load of the crane will be described.
In the crane swing angle detection sensor 10A, if there is a gap (play) between the load wire rope R and the insertion hole 11a of the weight 11, the detection accuracy of the swing angle of the wire rope R is improved. In order to greatly influence, the roller guide 21 is provided inside the insertion hole 11a of the weight 11 and is provided at three places in the circumferential direction at three places at intervals of 120 degrees in the circumferential direction.
By sandwiching the wire rope R from the three directions around and three places above and below with such a roller guide 21, the gap (play) can be reduced, and the deflection of the wire rope R can be detected with high accuracy. .

Further, in the swinging angle detection sensor 10B of the crane's suspended load, a rope guide 22 constituted by a pipe having a smaller diameter than the insertion hole 11a of the weight 11 is provided so as to protrude to the upper center of the weight 11. The rope guide 22 can also reduce the gap (play), and the deflection of the wire rope R can be detected with high accuracy.
In addition, by increasing the thickness of the rope guide 22 itself, the rope guide 22 can also be used as the heavy weight 11 and can be used as a high rope guide / use weight 23. Similarly, a gap (play) with the wire rope R can be obtained. And the deflection of the wire rope R can be detected with high accuracy.

In addition, in the crane hanging load swing angle detection sensor 10C, the crane hanging load swing angle detection sensors 10 to 10B so far have the weight 11 or the weight of the rope guide combined with one of the wire ropes R for the suspended load. The weight 23 is inserted, but here the weights 11 and 11 are inserted into the two wire ropes R and R for hanging loads, respectively, and the two weights 11 and 11 are connected by the connecting plate 24. The MEMS inertial sensor 12 as an attitude sensor is attached to the connecting plate 24 and is covered with a sensor cover 16.
According to such a crane swinging load detection sensor 10C, the swing angle can be detected from the swings of the two wire ropes R, R of the large crane, and detected from the swing of the single wire rope R. Compared with the case, the swing angle of the wire ropes R and R can be detected with higher accuracy.
Note that the roller guide 21, the rope guide 22, and the rope guide weight 23 can be combined with the crane swing angle detection sensor 10C to detect the swing angle with higher accuracy. can do.

  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 wire ropes for suspended loads. it can.

DESCRIPTION OF SYMBOLS 1 Crane 2 The undulation axis | shaft parallel to the undulation center axis | shaft of a jib 3 The horizontal rotation axis | shaft orthogonal to the undulation axis | shaft 2 The axis | shaft parallel to a vertical axis R The wire rope for a suspended load 10 The swing angle detection sensor of the suspended load of a crane 11 Weight 11a Insertion hole 12 MEMS inertial sensor 13 Non-rotating wire 14 Sensor mounting bracket 14a Upper surface plate 14b Side surface plate 14c Side surface plate 15 Bolt 16 Sensor cover 17 Upper guide plate 17a Opening portion 17b Semicircular portion 18 Lower guide plate 18a Opening portion 18b Half Circular part 19 Cushion rubber 19a Through hole 19b Slit 10A Crane swing load swing angle detection sensor 21 Roller guide 10B Crane lift swing angle detection sensor 22 Rope guide 23 Rope guide combined weight 10C Crane swing swing angle Detection sensor 24 stations Board

Claims (4)

A weight for an overwinding detection limit switch through which a wire rope for lifting and lowering the crane's suspended load is inserted;
A posture sensor by a MEMS inertial sensor that detects an angle or an angular velocity attached to the weight;
A non-spinning wire composed of two wires for preventing rotation around the vertical axis of the weight ,
Wherein one end of the two wires, attached at intervals to the tip of the crane, placing the two wires the other end the two wires attached to the weight of the substantially V-shaped , Configured to prevent rotation around the vertical axis centered on the attachment to the weight ,
The MEMS inertial sensor is configured to be able to detect an angle or angular velocity around two orthogonal axes on a horizontal plane, and the two orthogonal axes are rotated around an undulation axis parallel to the crane undulation center axis and horizontally orthogonal thereto. It is configured to be installed on the weight as two axes around the axis ,
A crane swing angle detection sensor characterized by that.   2. The crane swing angle detection sensor according to claim 1, wherein a roller guide that sandwiches the wire rope is provided at the wire rope insertion portion of the weight.   The crane hanging load swing angle detection sensor according to claim 1, wherein a rope guide through which a wire rope is inserted is provided in the weight, either integrally with the weight or separately.   The weight is composed of two pieces, each of which is inserted through two wire ropes of a crane, and the posture sensor is provided at a connecting portion for connecting the two weights. The swing angle detection sensor of the crane's suspended load in any one of -3.

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