JP2000143151A - Carrying device and loading/unloading processing facility having carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obviate leveling of garbage and measurement of a distance up to the surface by calculating a division position containing a division point and distance data from a distance measured value with every division position obtained from a distance measuring means, and controlling operation of a hoisting part, a laterally moving part and a traveling moving part. SOLUTION: Since an overhead crane 1 automatically moves on the basis of data showing a height of garbage with every division position, work of flatly leveling garbage in a garbage pit 2 and investigating a height up to the garbage surface by manual operation is wholly obviated. A garbage condition in the garbage pit 2 changing according to carrying-in/carrying-out of the garbage is successively measured by a measuring distance measuring means 28 to correct data of a division position/distance data storage part to obviate even estimative operation by corrected by an anticipative calculation by considering a changing condition of the garbage.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport device such as a crane for transporting irregularly shaped loads such as garbage, cereals, powder and the like of domestic waste, and a loading / unloading facility equipped with the transport device. .

[0002]

2. Description of the Related Art FIG. 5 shows a waste incineration facility. The garbage carried into the platform falls into the garbage pit and accumulates. Grab the garbage from the garbage pit that has been loosened by the overhead crane bucket and throw it into the garbage input hopper. The refuse that has fallen under the refuse input hopper is spilled by the refuse transfer device and the dust supply device and enters the incinerator. Inhale from under the incinerator,
Incineration with a burner while evacuating from above. Those that cannot be incinerated are discharged by an incombustible discharge device after being burned in an incinerator.

By the way, in the process before automatically transferring the waste from the waste pit to the waste input hopper, the following manual operation has been performed.

[0004] First, since the height of the refuse is large and irregular, the bucket is manually moved and leveled so that there is no unevenness. Thereafter, the bucket is lowered by manual operation until the bucket reaches the surface of the dust. Using the rotary encoder attached to the rotation axis of the hoist,
Measure and use as reference position data. Based on the reference position data, an automatic transport operation for transporting the waste from the waste pit to the waste hopper is performed. While the garbage is being transported to the garbage input hopper, the garbage situation in the garbage pit changes.

[0005]

In the above-described conventional apparatus, the height of the waste must be leveled evenly, and the distance to the surface of the waste must be measured. there were. In addition, although it was a prospective operation with data correction, it often did not match the actual waste situation.

It is an object of the present invention to address the above problems and to provide one that does not require leveling of the debris or measuring the distance to the debris surface.

[0007]

SUMMARY OF THE INVENTION The present invention relates to a transport device having a winding part, a traverse moving part, and a traveling moving part, wherein distance measuring means for measuring a distance from above a loading place to a surface of a load is provided. And calculating the data of the section position including the section point and the distance from the distance measurement value for each section position obtained from the distance measuring means, and based on the calculated data, the winding section, the traverse moving section and the traveling moving section. It is characterized by performing operation control.

[0008]

Embodiments of the present invention will be described below with reference to the drawings. First, description will be given with reference to FIGS. 1 and 2 showing a waste pit of a waste incineration facility.

The overhead crane 1 is provided on the ceiling of the garbage pit 2. Garbage pit 2 is, for example, 10
It has a size of about 0 m, a width of about 30 m, and a depth of about 40 m. In the garbage pit 2 on the platform side where the garbage truck arrives,
A garbage inlet 3 for introducing garbage from the transport vehicle is provided. A refuse input hopper 4 is provided in the refuse pit 2 opposite the refuse input port 3. 3 garbage input hoppers, 3 garbage input ports
Are provided at four locations.

The traveling rail 5 of the overhead crane 1 is provided above the waste pit 2. The two running rails 5 extend in parallel and in the vertical direction of the garbage pit 2. A girder member 6 of a traveling moving unit placed so as to straddle both traveling rails 5
Are supported on the traveling rail 5 via a traveling wheel 7 so as to be freely movable. The traveling moving unit is provided with a traveling motor 8 for driving the traveling wheels 7 to rotate. A rotary encoder 9 is provided on a rotating shaft of the traveling motor 8. The rotation of the traveling motor 8 causes the traveling moving unit to move back and forth on the traveling rail 5.
The trolley 20 of the traversing unit mounted on the spar member 6 is supported by the spar member 6 via a traversing wheel 21 so as to be able to traverse freely. The traversing unit is provided with a traversing motor 22 for rotatingly driving the traversing wheels 21, and a rotary encoder 23 is provided on a rotating shaft of the traversing motor 22. The rotation of the traverse motor 22 causes the traverse member to move back and forth over the spar member 6. The hoisting machine at the top of the hoist placed on the carriage 20 has a hoisting motor 24 and a rotary encoder 25 on a rotating shaft. A bucket 27 is attached to the lower end of the wire rope 26 descending from the hoist. The overhead crane 1 provided on the ceiling of the garbage pit 2 has the above configuration.

Above the waste pit 2 provided with such an overhead crane 1, a distance measuring means 28 is provided. The distance measuring means 28 are provided on the left and right of the dust pit 2 and are arranged at equal intervals along the vertical direction.

The distance measuring means 28 measures the distance to the object to be measured based on the time from when the light pulse emitted from the light source unit is reflected by dust (object to be measured) and returns to the light receiving unit. This is called the pulse method. In addition to the light pulse method, a modulation method, a stereo method, and the like can be given.
The modulation method modulates a light wave instead of a light pulse, emits the light wave, measures a phase delay with respect to reflected light, and obtains a distance to a measurement object. In the stereo method, an object is observed at different points, and a shape (dimension) is obtained from parallax information.

The reason why a large number of distance measuring means 28 are arranged on both sides of the garbage pit 2 is to measure the height of the garbage at points at each position which finely partitions the wide garbage pit (100 m in length and 30 m in width). is there. If the distance measuring means 28 is provided on the truck 20 or the upper part of the overhead crane 1, only one distance measuring means 28 is required. When the overhead crane 1 is provided, there is an advantage that only one distance measuring unit 28 is required.
Must be moved over the entire waste pit 2. In the former case, although a large number of distance measuring means 28 are required, the height of the refuse can be measured in a short time over the entire area without operating the overhead crane 1. Which of the distance measuring means 28 is provided may be appropriately selected in consideration of the size of the dust pit 2 and the like.

FIG. 3 is a block circuit diagram mainly showing the control device 30. The control device 30 that takes in the distance measurement value for each section position measured by the distance measuring means 28 includes a distance data input section 31, a section position / distance data calculation section 32, a section position / distance data storage section 33, and a crane operation instruction section 3.
4 is provided. The distance measurement value for each section position measured by the distance measurement unit 28 is input to the distance data input unit 31. The section position / distance data calculation unit 32 includes the distance data input unit 3
From the distance data taken in from No. 1, data on the distance between the partition position including the partition point and the surface of the refuse is calculated, and the data on the partition position / distance is stored in the partition position / distance data storage unit 33.
To be stored. The crane operation instruction unit 34 fetches the data of the section position / distance data storage unit 33 and gives a driver instruction to the hoist motor 24, the traverse motor 22, and the traveling motor 8.

The crane operation instructing section 34 includes an instruction signal of an operation panel 40 for issuing an overall operation instruction, information 41 regarding loading of garbage, information on hopper loading information such as a request to input garbage to the garbage loading hopper 4. 42, incinerator information 43 relating to refuse combustion of the incinerator, information of a load cell 44 for measuring the weight of the suspended load, and the like are taken in. The hoisting motor 24, the traversing motor 22, and the traveling motor 8 are also taken into consideration. The operation is controlled.

Further, the crane operation instruction section 34 also receives rotation information on rotation from the rotary encoders 9, 23, 25, and performs high-precision operation control of the hoist motor 24, the traverse motor 22, and the travel motor 8. Done.

FIG. 4 is a bird's-eye view showing the result of measuring the height of the dust over the entire area of the dust pit 2. That is, the measured value of the measured distance measuring means 28 is taken into the distance data input section 31, and the section position / distance data calculating section 32 performs arithmetic processing to calculate data combining the section position and the height distance. It can be understood that the data of the partition position and the height distance calculated over the entire area of the garbage pit 2 are summarized in FIG. The contents shown in FIG. 4 are stored in the section position / distance data storage unit 33.

The crane operation instructing section 34 incorporates a program for performing an operation of picking up dust at a high place by the bucket 27 and throwing the dust into the dumping hopper 4. Data storage unit 33
The operation of the overhead crane 1 is automatically controlled based on the data stored in the overhead crane. Thus, the overhead crane 1
As it automatically moves based on the data indicating the height of the refuse at each parcel position, the preparatory work that was conventionally performed is to level out the refuse in the refuse pit 2 or manually check the height to the refuse surface Work was no longer necessary. Further, the state of the refuse in the refuse pit 2 that changes with the loading and unloading of the refuse is sequentially measured by the measuring distance measuring means 28, and the position of the partition /
By modifying the data in the distance data storage unit 33,
This eliminates the need for anticipated operation, which has been corrected by a prediction calculation that takes into account the state of change in waste, which was conventionally performed.

In addition to the automatic operation, the operation is performed by an artificial operation from the operation panel 40. Naturally, the instruction from the artificial operation panel 40 has priority.

Also, when the load carrying schedule information 41 in which the load is increased increases, the crane operation instructing section 34 gives an instruction to take out the garbage from the vicinity of the garbage inlet 3 in consideration of the information.

Hopper input information 42 indicating that there is no waste
When there is, the crane operation instructing unit 34 issues an instruction to carry the waste to the corresponding waste input hopper 4. When there is incinerator information 43 indicating that the amount of incineration waste has decreased, the crane operation instruction unit 34 issues an instruction to carry the waste to the waste infeed hopper 4 of the corresponding incinerator. When information indicating that the garbage held by the bucket 27 is too heavy is output from the load cell 44,
The crane operation instruction unit 34 issues an instruction to open the bucket 27 and release the grabbed dust.

FIG. 2 shows the movement of the overhead traveling crane 1 in the vertical and horizontal directions. The rotation of the traveling motor 8 causes the girder member 6 of the traveling moving section to move.
Moves back and forth on the running rail 5. Arrow (Li)
Indicates the traversing direction. By the rotation of the traverse motor 22, the trolley 20 of the traverse moving section moves back and forth on the spar member 6. The crane operation instruction unit 34 checks the rotation information of the rotary encoder 9 and the rotary encoder 23,
Since the operation of the traversing motor 22 can be controlled with high accuracy, the traversing motor 22 can be accurately stopped at a predetermined position based on the data in the section position / distance data storage unit 33. The height of the garbage at that position is also determined by the partition position / distance data storage unit 33
Thus, the crane operation instruction unit 34 can accurately turn the hoist motor 24 while watching the rotation information of the rotary encoder 25,
There is no erroneous operation that stops at 7 without reaching the garbage. The efficient operation of the overhead crane 1 is a simultaneous operation of raising and lowering the bucket 27 and simultaneously performing traveling and traversing operations. Since the height of the garbage at the predetermined position is known from the data in the section position / distance data storage unit 33, the bucket 27 can be simultaneously lowered to the predetermined height at which the garbage reaches the garbage while running and traversing. (If the user does not know the height of the garbage and lowers the bucket 27 at the same time as traveling and traversing, the bucket 27 may fall to the garbage before going to the predetermined position, Even if it comes, the bucket 27 will not reach the garbage and will stop halfway,
It will cause malfunction. Also, since the height of the refuse for each partition position can be known over the entire area of the refuse pit 2, the total amount of refuse in the refuse pit 2 can be obtained. Based on the total amount of waste, it becomes easier to schedule incinerator operations, carry in waste, etc.

Although the above embodiment relates to a refuse incineration facility, the present invention can be applied to a storage facility for food such as cereals and powders, or for industrial raw materials. Distance measuring means 2
Reference numeral 8 also includes a camera such as a video camera. From the camera image information,
Block position / height distance data including block points can be created.

[0024]

As described above, according to the present invention, the winding part,
A transport device having a traverse moving unit and a traveling moving unit,
Providing distance measuring means for measuring the distance from the upper part of the loading area to the surface of the load, calculating the data of the section position including the section point and the distance from the distance measurement value for each section position obtained from this distance measuring means, Based on the calculation data,
An operation control of the traversing movement unit and the traveling movement unit is provided.

With this configuration, the waste can be leveled evenly,
Preparatory work for manual operation, such as measuring the distance to the surface of the garbage, was eliminated.

[Brief description of the drawings]

FIG. 1 is a vertical cross-sectional view of a garbage discharge device according to an embodiment of the present invention.

FIG. 2 is a plan view of the garbage unloading device according to one embodiment of the present invention.

FIG. 3 is a control circuit diagram of the garbage unloading device according to one embodiment of the present invention.

FIG. 4 is a bird's-eye view showing a measurement result of a garbage height according to the embodiment of the present invention.

FIG. 5 is a longitudinal sectional view showing a waste incineration facility according to a conventional example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... overhead crane, 8 ... running motor, 22 ... traversing motor, 24 ... hoisting motor, 28 ... distance measuring means, 30 ... control device, 32 ... division position / distance data calculation part, 34 ... crane operation instruction part.

Continued on front page F term (reference) 3F004 EA35 NA07 PA05 3F204 AA02 BA09 CA01 DA04 DA08 DB07 DB09 DC03 DC07 DC08 DD12 DD14 DE06 DE08 3K062 AA24 AB01 AC01 BA02 CA05 CB01 DA38 DB30

Claims (5)

[Claims] 1. A crane or the like having a winding portion for raising and lowering a load, a traversing portion for traversing the winding portion, and a traveling moving portion for moving the winding portion in a direction intersecting the moving direction of the traversing portion. Transport device, provided with a distance measuring means for measuring the distance from above the loading area to the surface of the load, the partition position including the partition point and the distance from the distance measurement value for each partition position obtained from this distance measuring means Is calculated, and based on the calculated data,
A transfer device such as a crane, which controls the operation of a traverse moving unit and a traveling moving unit. 2. A crane or the like having a winding portion for raising and lowering a load, a traversing portion for traversing the winding portion, and a traveling moving portion for moving the winding portion in a direction intersecting the moving direction of the traversing portion. Transport device, comprising a distance measuring means and a control device for measuring the distance from the load storage area to the surface of the load, the control device, the distance measurement value for each section position measured by the distance measuring means A section position / distance data calculating section for calculating data of a section position including a section point and a distance, a section position / distance data storage section for storing data calculated by the section position / distance data calculating section, and a section An operation instructing unit that fetches the data in the position / distance data storage unit and instructs and controls the hoisting motor of the winding unit, the traversing motor of the traversing unit, and the traveling motor of the traveling unit. Conveying apparatus such as a crane to symptoms. 3. The running rail according to claim 1, wherein the running rail is disposed in parallel with the running rail, and the running rail is supported so as to run over the running rail. A carrier device such as a crane or the like including a girder member of the traveling moving unit, a trolley of the traversing unit supported traversably on the girder member, and the winding part supported by the trolley. 4. A transporting device such as a crane according to claim 2, wherein the measurement by the distance measuring means is continued and the data in the section position / distance data storage section is corrected. 5. A pit into which a load is loaded, an overhead crane provided above the pit, and a loading hopper for loading a load caught by a bucket of the overhead crane, wherein the overhead crane is arranged in parallel. A traveling rail having a traveling rail, a traveling member that is supported on the traveling rail, and is supported so as to straddle both traveling rails, Moving part,
A loading / unloading processing facility which is supported by a traversing unit and has a hoist having a hoisting machine for raising and lowering the bucket, provided with a distance measuring means for measuring a distance from above the pit to a surface of the load. Calculate the data of the section position including the section point and the distance from the distance measurement value for each section position obtained from the distance measuring means, and based on the calculated data,
A loading / unloading processing facility for controlling the operation of a traverse moving unit and a traveling moving unit.