JP2001261283A - Deflection angle detection device for cargo on crane device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo deflection angle detection device on a crane device capable of precisely detecting a deflection angle of a cargo without being influenced upon by an environment and in inexpensive constitution. SOLUTION: A connecting member 11 to be connected to one end part of a rope 6 for suspension to suspend a cargo and the side of a traversing carriage 1 are connected to each other by three pieces of link members 13 both end parts of which are respectively connected by pins 12, a load detector 14 to detect force in the axial direction to work on each of these link members 13 is provided, and a deflection angle computing device to compute the deflection angle in accordance with a ratio of a force component component in the three axial directions by inputting each of detected values from each of the load detectors 14 is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swing angle detecting device for detecting a swing angle of a load suspended by a crane device.

[0002]

2. Description of the Related Art Conventionally, as a device for detecting a swing angle of a load suspended by a crane device, for example, Japanese Unexamined Patent Publication No.
There is one disclosed in Japanese Patent No. 89797. This detection device provides a target on luggage suspended on a crane's traversing trolley, captures the target with a camera device provided on the traversing trolley, measures the position of the target, and measures the position of the camera device. The shift of the target from the center position is detected, and the swing angle of the load is obtained from the shift amount.

[0003] Further, as disclosed in Japanese Patent Publication No. 63-60325, there is one using a wire. This configuration,
A sensing wire is provided separately from the suspending wire, and the deflection angle is obtained from the movement of the sensing wire and the rope tension.

[0004]

According to the former configuration, large-sized cranes such as container cranes are often used outdoors, and are therefore installed in the case of a deflection angle detection device using a camera device. It is easily affected by the environment, for example, night work, rain, fog, morning sun, sunset, or greatly affected by disturbance light such as search light, and it is not possible to detect the swing angle of the luggage in a stable state and the image There is a problem that the apparatus itself is expensive, such as requiring processing. In addition, in the case of the wire type as in the latter, there is a drawback that it is greatly affected by strong winds, and a motor that generates a constant torque so that the sensing wire does not loosen in accordance with the winding operation of the hanging wire. There was a problem that required the used sensing wire winding device and the like.

[0005] In addition to the above-mentioned conventional example, there is a method of detecting a difference in tension generated on a hanging rope when a load swings (Japanese Patent Laid-Open No. 2-18293). In addition, there is a drawback that the vertical swing is also detected, and it can be used when lifting with a plurality of ropes, that is, effective when using a spreader, for example, one rope It cannot be applied to objects that are lifted.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an apparatus for detecting a swing angle of a load in a crane device capable of accurately detecting the swing angle of a load with an inexpensive configuration irrespective of the environment.

[0007]

In order to solve the above-mentioned problems, a swing angle detecting device for a load in a crane device according to the present invention has one end fixed to a carriage that can run on a girder member of the crane device. The other end is a device for detecting a swing angle of a load suspended via a rope wound on a winding drum disposed on the carriage, and a connecting member coupled to one end of the rope. And the bogie side are connected by three link members each having a pin connection at both ends, and an axial force detector for detecting an axial force acting on each of the link members is provided. The apparatus is provided with a shake angle calculating device for inputting each detection value from the vessel and calculating a shake angle.

[0008] Further, the connecting member in the above configuration is a connecting member pin-connected to the ends of the three link members, and the connecting member is rotatably supported about a vertical axis and is connected to one end of the cable body. Or a connecting body connected to the ends of the three link members by pins, and one end of the cable body which is rotatably held in any direction by the connecting body. And a spherical body to which the parts are connected.

According to each of the above constructions, the load acting on this rope is applied to one end of the hanging rope for hanging the load.
The load acting on each link member is detected by an axial force detector, and the detected values from these axial force detectors are input to the deflection angle calculation unit, and the load is applied to the suspension unit. Since the deflection angle of the rope is calculated, a very simple and inexpensive deflection angle detection device can be obtained.

[0010] Further, in the swing angle detecting device for a load in another crane device of the present invention, one end is fixed to a truck that can travel on a girder member of the crane device, and the other end is disposed on the truck. An apparatus for detecting a swing angle of a load suspended via a rope wound around a winding drum,
A three-direction axial force detector attached to the bogie and capable of detecting a three-axis direction force component, and one end of the rope body is rotatably held by the three-direction axial force detector in an arbitrary direction. A spherical joint having a connected spherical body, and a deflection angle calculating device for calculating a deflection angle by inputting each detection value from the axial force detector.

According to another configuration of the load swing angle detecting device, one end of the hanging rope for hanging the load is connected to the three-way axial force detector via the spherical joint, so that the load of the load is reduced to three.
Directly detecting the force component in the axial direction, and inputting each detection value from the three-direction axial force detector to the deflection angle calculation unit,
Since the swing angle of the hanging rope is calculated, a very simple and inexpensive swing angle detection device can be obtained also in this case.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of a crane apparatus according to the present invention will now be described with reference to FIG.
This will be described with reference to FIG.

In FIG. 1, reference numeral 1 denotes a traversing truck arranged on a traveling girder (girder material) 2 of a girder crane (an example of a crane device), which is made to travel on the girder 2 by traveling wheels 3. The traversing carriage 1 has a suspension wire rope (an example of a cord, hereinafter referred to as a rope) 6 for suspending the load A via the suspension pulley 4 and the suspension hook 5.
A winding device 8 having a winding drum 7 for winding the rope 6 is provided.
A swing angle detection device 9 for detecting the swing angle of the suspended load A is provided. One end of the rope 6 is fixed to the side of the trolley 1, and the other end of the rope 6 is wound around the pulley 6 for suspension, and then connected to the take-up drum 7.

As shown in FIGS. 2 to 4, the deflection angle detecting device 9 includes a connecting member 11 connected to one end of the rope 6.
And three suspension link members (hereinafter, referred to as link members) disposed between the connecting member 11 and the traversing carriage 1 and both ends are connected by pins 12 and are provided radially at equal angles. ) 13 and these link members 1
3 is a load detector (an example of an axial force detector that detects a force acting on each link member 13 (gravity acting on a load, hereinafter referred to as a load). Used) and a deflection angle calculation device 15 which inputs the detection value detected by each of the load detectors 14 to calculate the deflection angle by calculation.

As shown in FIGS. 4 and 5, the deflection angle calculation device 15 receives the loads fa, fb, and fc detected by the load detectors 14 and receives the three-dimensional coordinate axes (x Axis component force (fa) along the axis, y-axis, z-axis) (e.g., the x-axis is chosen to be the traveling direction of the traversing truck and the y-axis direction is chosen to be the traveling direction of the girder).
_{x, fa y, fa z)} , (fb x, fb y, fb z), (fc
_x, fc _y, the axial component force component calculating unit 21 for obtaining the fc _z),
As shown in the following equations (1) to (3), the axial component force calculated by the axial component force calculating unit 21 is added for each component, and the resultant axial component force (F _x , F _y , F _z ), and a deflection angle calculation unit 23 that inputs the respective resultants of the axis components calculated by the calculation result and calculates a deflection angle of the load A. Have been.

[0016] _{F x = fa x + fb x} + fc x ··· (1) F y = fa y + fb y + fc y ··· (2) F z = fa z + fb z + fc z ··· (3) By the way, As the deflection angle used for the control for suppressing the deflection of the load, the inclination angle of the projection line of the rope 6 onto the xz plane with respect to the z-axis (hereinafter referred to as the x-axis direction deflection angle)
θ and the inclination angle φ of the projection line of the rope 6 onto the yz plane with respect to the z-axis (hereinafter referred to as the y-axis direction deflection angle).

Accordingly, the shake angle calculating section 23 calculates the shake angle θ in the x-axis direction and the shake angle φ in the y-axis direction based on the following equations (4) and (5). θ = tan ⁻¹ (F _x / F _z ) (4) (However, −π / 2 <θ <π / 2) φ = tan ⁻¹ (F _y / F _z ) (5) (However, −π / 2 <θ <π / 2) Note that the shake angle calculation unit 23 also obtains the shake angle α with respect to the z-axis based on the following equation (6).

Α = tan ⁻¹ (√ (F _x ² + F _y ² ) / F _z ) (6) (provided that −π / 2 <θ <π / 2) A connecting member 31 to which an end of each link member 13 is connected via a pin 12, and a vertical shaft which is inserted through a hole 31a formed in the center of the connecting member 31 and via a pair of upper and lower bearings 32. A rotating shaft 33 rotatably supported around a center;
And a U-shaped connection fitting (a universal joint or the like may be used) 35 connected rotatably to a lower end of the rope 6 by a connection pin 34 and connected to one end of the rope 6. I have.

That is, no matter how the load A swings, the torsional direction force is not transmitted to the connecting body 31 by the rotating shaft 33 and the connecting fitting 35, so that the load due to the load A is three links. The members 13 are dispersed and supported.

In the above configuration, the luggage A is
When the luggage A sways when the trolley 1 and the girder 2 are transported to a predetermined place by suspending the
In operation, it is necessary to suppress the swing of the load A.

In order to suppress the swing of the load A, it is necessary to know the swing state, that is, the swing angle. The swing angle is determined by the swing angle detecting device 9 provided on the side of the traversing carriage 2.
Is detected by

That is, the load which is the weight of the load A is transmitted to the three link members 13 via the rope 6 via the connecting member 11 provided at one end thereof. Then, a value detected by the load detector 14 provided on each link member 13 is input to the axial component force calculating unit 21 of the deflection angle calculating device 14, and first, the axial component force is obtained. Next, the axial component component force is input to the axial component resultant force calculating unit 22 to determine the axial component resultant force, and then the axial component resultant force is input to the deflection angle calculating unit 23, and the above equations (4) and (4) are obtained. Based on the equation (5), at least the x-axis direction deflection angle θ and the y-axis direction deflection angle φ are calculated.

Then, the obtained deflection angles θ and φ
Is input to a control device (not shown) of the girder crane, and drive motors of, for example, a hoisting device, a girder, and a trolley are controlled so that the swing of the load A is suppressed.

As described above, the load caused by the load A acting on the rope 6 is applied to one end of the rope 6 by the three link members 13.
The load acting on each link member 13 is detected by a load detector 14 and these load detectors 1
4 is input to the deflection angle calculation unit 23 to calculate the deflection angle θ in the x-axis direction and the deflection angle φ in the y-axis direction of the rope 6, so that the deflection angle detection is very simple and inexpensive. The device can be obtained, and the swing angle of the load can be accurately detected without being affected by the state of the environment.

Next, a description will be given of a load deflection angle detecting device in a crane device according to a second embodiment of the present invention with reference to FIG. In the first embodiment, the connecting member provided between one end of the rope and the traversing carriage is connected to the rotating shaft that is rotatably supported by the connecting member and the connection attached to the rotating shaft. Although it was composed of metal fittings,
In the embodiment, a spherical joint is used. In the following description, description will be given focusing on this portion, and the same components as those in the first embodiment will be assigned the same reference numerals and description thereof will be omitted.

As shown in FIG. 6, this spherical joint 41
Receiving seat 4 which is connected to the end of each link member 13 by pin 12 and has a hemispherical concave portion 42a formed in the lower portion.
2 and a hemispherical concave portion 42a formed in the receiving seat 42.
The spherical sliding body 43 is fitted into the inside and connected to one end of the rope 6, and a holding seat 44 for holding the spherical sliding body 43 in the hemispherical concave portion 42a.

Also in this case, since the weight of the load A, that is, the load is transmitted in the axial direction of the link member 13, the axial component component of the load acting on the load A is also accurately detected, and each axial component resultant force is also detected. Therefore, the deflection angles θ, φ, and α of the load A can be determined from the axial component resultant force.

In the configuration of the second embodiment, the same operation and effect as those of the first embodiment can be obtained. further,
A load deflection angle detection device in a crane device according to a third embodiment of the present invention will be described with reference to FIGS.

In the first and second embodiments, the connecting member 11 is connected to the end of the link member 13 to detect the load by the link member 13.
As shown in the figure, instead of the link member 13, a load detector 51 capable of directly detecting the axial component of the load (axial component resultant force) in three directions of the x-axis, the y-axis, and the z-axis is used. It was done. Also in this description, the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

That is, as shown in FIGS. 7 and 8,
The load detector 51 is directly fixed to the side of the trolley 1 and connected to the lower end thereof, for example, the second
The load F transmitted from the spherical joint 52 similar to that described in the embodiment is decomposed in three axial directions (F _x , F _y , F
_z ) A sensor (not shown) capable of measuring the size is provided.

Of course, this spherical joint 52 is
1 and a hemispherical recess 53a at the bottom.
And a rope 6 fitted into a hemispherical concave portion 53a formed in the
And a holding seat 55 for holding the spherical sliding body 54 in the hemispherical concave portion 53a.

It is to be noted that, from the above-mentioned sensors, a component force (F
_x , F _y , F _z ) are input to the deflection angle calculation unit, and the deflection angles θ, φ, and α of the load A can be obtained. In this case, the same operation and effect as those of the above embodiments can be obtained.

[0033]

As described above, according to the configuration of the load deflection angle detecting device of the present invention, the load acting on the rope is applied to one end of the rope for hanging the load by the three link members. Axial force acting on this link member is detected by an axial force detector, and each detected value from these axial force detectors is input to a deflection angle calculation unit, and the deflection angle of the hanging rope is Is calculated, a very simple and inexpensive deflection angle detection device can be obtained, and the deflection angle of the load can be accurately detected without being affected by the state of the environment.

According to another configuration of the load deflection angle detecting device of the present invention, one end of the hanging rope for hanging the load is connected to the three-way axial force detector via the spherical joint. In addition to directly detecting the force components of the load in the three axial directions, the detected values from the three-directional axial force detector are input to the deflection angle calculation unit to calculate the deflection angle of the suspension rope. Therefore, also in this case, a very simple and inexpensive deflection angle detection device can be obtained, and the deflection angle of the luggage can be accurately detected without being affected by the state of the environment.

[Brief description of the drawings]

FIG. 1 is a side view showing a schematic configuration of a crane device according to a first embodiment of the present invention.

FIG. 2 is a plan view of a main part of a deflection angle detection device in the crane device.

FIG. 3 is a view taken in the direction of arrows BB in FIG. 2;

FIG. 4 is a block diagram illustrating a schematic configuration of the shake angle detection device.

FIG. 5 is a component diagram of a load when the swing angle is detected.

FIG. 6 is a side view showing a schematic configuration of a crane device according to a second embodiment of the present invention.

FIG. 7 is a side view showing a schematic configuration of a crane device according to a third embodiment of the present invention.

FIG. 8 is a component diagram of a load at the time of detecting a deflection angle according to the third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS A Luggage 1 Traversing cart 2 Girder 6 Suspension rope 7 Winding drum 8 Hoisting device 9 Deflection angle detector 11 Connecting member 13 Suspension link member 14 Load detector 15 Deflection angle calculator 21 Axis component force calculator 22 Axis component resultant force calculation unit 23 Shake angle calculation unit 31 Connected body 31a Hole 33 Rotating shaft body 35 Connection fitting 41 Spherical joint 51 Load detector 52 Spherical joint

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[Procedure amendment]

[Submission date] April 11, 2000 (2004.1.
1)

[Procedure amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0017

[Correction method] Change

[Correction contents]

Accordingly, the shake angle calculating section 23 calculates the shake angle θ in the x-axis direction and the shake angle φ in the y-axis direction based on the following equations (4) and (5). θ = tan ⁻¹ (F _x / F _z ) (4) (However, −π / 2 <θ <π / 2) φ = tan ⁻¹ (F _y / F _z ) (5) (However, −π / 2 < φ <π / 2) Note that the shake angle calculator 23 also obtains the shake angle α with respect to the z-axis based on the following equation (6).

[Procedure amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0018

[Correction method] Change

[Correction contents]

Α = tan ⁻¹ (√ (F _x ² + F _y ² ) / F _z ) (6) (provided that −π / 2 < α <π / 2) A connecting member 31 to which an end of each link member 13 is connected via a pin 12, and a vertical shaft which is inserted through a hole 31a formed in the center of the connecting member 31 and via a pair of upper and lower bearings 32. A rotating shaft 33 rotatably supported around a center;
And a U-shaped connection fitting (a universal joint or the like may be used) 35 connected rotatably to a lower end of the rope 6 by a connection pin 34 and connected to one end of the rope 6. I have.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Osamu Murakami, Inventor 1-7-89, Minamikohoku, Suminoe-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation (72) Inventor Hideharu Miyake 1-chome, Minamikohoku, Suminoe-ku, Osaka-shi, Osaka No. 7-89 Hitachi Zosen Corporation (72) Inventor Toshiaki Morii 1-89 Minami Kohoku, Suminoe-ku, Osaka-shi, Osaka F-term in Hitachi Zosen Corporation 3F204 AA02 CA03 EB02 EB07

Claims (4)

[Claims] An end is fixed to a carriage that can run on a girder member of a crane device, and the other end is suspended via a rope wound around a winding drum disposed on the carriage. A connecting member connected to one end of the rope body and the bogie side are connected by three link members each having both ends connected by pins. An axial force detector for detecting an axial force acting on the member is provided, and a deflection angle calculation device for calculating a deflection angle by inputting each detection value from each of the axial force detectors is provided. The load swing angle detection device in the crane device. 2. A connecting member which is pin-connected to ends of three link members, and which is rotatably supported around a vertical axis and connected to one end of a cable body. 2. A swing angle detecting device for a load in a crane device according to claim 1, wherein the swing angle detecting device comprises a rotating shaft body. 3. A connecting member which is pin-connected to ends of three link members, and one end of a cord is connected to the connecting member so as to be rotatably held in an arbitrary direction and connected to the connecting member. The swing angle detecting device for a load in a crane device according to claim 1, wherein the swing angle detecting device comprises a spherical body. 4. One end is fixed to a carriage that can run on a girder member of a crane device, and the other end is suspended via a rope wound around a winding drum disposed on the carriage. A three-axis axial force detector attached to the bogie side and capable of detecting a three-axis direction force component, and turning the three-directional axial force detector in an arbitrary direction. A spherical joint which is movably held and has a spherical body to which one end of the cord is connected, and which inputs respective detection values from the axial force detector to calculate a deflection angle. An apparatus for detecting a deflection angle of a load in a crane device, comprising a device.