JP2003063773A - Method/system for detecting displacement angle of suspended cable - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method/system of detecting an angle suppressing deterioration of durability caused by abrasion or the like while eliminating generation of a detection error, by directly detecting, in a noncontact manner, a displacement angle of a cable suspended from an upper air region. SOLUTION: A magnetic coating is applied to a surface total region of a cable lowered down from a cable winding device, a magnetic sensor is arranged in a state of a plurality of rows on the external periphery in a prescribed distance apart in a horizontal direction from the center in a vertical direction of the cable, a displacement angle relating to the vertical direction of the cable is detected in the noncontact style with the cable.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winding device such as a winch, and more particularly to a method for detecting a displacement angle of a hanging cable for detecting a deflection of a suspended cable and a displacement angle detecting method.

[0002]

2. Description of the Related Art When using a helicopter to rescue a mountain or sea victim, drop materials to a destination, or use a crane to transfer building materials, use a winch or the like to suspend a wire rope from the sky. Although it lowers and guides the tip to the destination, the wire rope descends while driving the helicopter and crane, so the wire rope sways due to movement of the helicopter and crane and weather conditions, and the wire rope feed adjustment is also added. Descent operation to is difficult.

Further, although a method of guiding the raising and lowering of the wire rope by a roller provided at the tip of the arm is generally used,
If the wire rope sways and does not fall vertically, excessive pressure is applied to the rollers, and there is a risk that the wire rope will be worn or damaged.

Conventionally, there is a method shown in FIG. 6 as an angle detecting method for detecting the deflection of a cable such as a winch. As shown in FIG. 6, a cable 1, a pulley 2, a frame 3 for fixing the pulley 2, a roller 7 in contact with the cable 1 is attached to the tip of the arm 5, and the arm 5 moves following the movement of the cable 1. The angle sensor 8 detects the displacement of the cable 5, and the angle sensor 8 detects the deflection of the arm 5 to detect the deflection angle of the cable 1 (first prior art).

In the first prior art described above, since the roller at the tip of the arm is in contact with the cable, if the arm does not move following the cable, the cable bends at the roller position which is the contact point, and the detected cable is detected. There is an error in the angle.

In addition, the trolley of the overhead crane (a traversing body) is hoisted and the drum 21 is driven to drive the wire rope 2
The lifting device 23 such as a hook block provided at the lower end of 2 is lifted to lift the suspended load, and the traverse motor drives the traverse along the girder (traveling body). The girder travels with the trolley by driving the traveling motor. When a trolley that travels along a rail and hangs a suspended load by a wire rope traverses on a girder, a lifting device deflection angle detection device for a crane detects, for example, the angle at which the lifting device swings to the left and right. 5
It is disclosed in Japanese Patent No. 7526 (second prior art).

In the second prior art, as shown in FIG. 7, the hanger plate 24 is pivotally supported on the outer surface of the hanger 23 by the shaft of the hanger 23 provided at the lower end of the wire rope 22.
The hanger plate 24 is fixed above the hanger 23 with a sheave bracket, and the hanger-side sheave 25 is pivotally supported by the sheave bracket. The hanger-side sheave 25 is attached so as to be located above the center of the hanger 23, rotates with the movement of the detection rope 20, and has a degree of freedom with respect to the twist of the hanger 23.

A sensor base 29 is provided with a mounting member 28 fixedly mounted on the upper surface of the trolley, a mounting member 28 having a gimbal rotatable in two directions, a counterweight below, and a connector for connecting the detection rope 20 to the lower end. Support vertically.

Two sets of torque balance type inclinometers 31 are installed on the upper surface of the sensor base 29 to detect the inclination angle of the traverse and the traveling direction of the crane, respectively. Two sets of accelerometers 32 for detecting

The mounting bracket is fixed to the trolley frame below the mounting bracket 28 for mounting the sensor base 29 of the trolley, and the guide sheave 26 for guiding the detection rope 20 is attached to the mounting bracket, and the detection rope 20 is wound and detected. A detection rope take-up reel 27 is provided for giving an appropriate tension to the rope 20.

The detection rope take-up reel 27 is provided with a spring or a motor in order to take up or give a tension force. One end of the detection rope 20 is connected to the tip of the sensor base 29, and one end of the detection rope 20 is connected to the detection rope take-up reel 27 through the hoisting tool-side sheave 25 and the guide sheave 26.
A matching addition calculation circuit 32 for performing a matching addition calculation of each output of the torque balance type inclinometer 30 and the accelerometer 31 and detecting a swing angle is housed in a crane control device arranged on a trolley or a girder or installed independently. . As described above, in the second conventional technique, the trolley and the girder travel and the lifting device 2
3 of the torque balance type inclinometer 30 for detecting the swing angle at which the sheave 25 on the hanger side swings and the detection rope 20 swings in the transverse direction of the trolley, and the swing of the hanger 23 causes the trolley and the girder to swing. Requires two sets of accelerometers 31 to detect the applied acceleration, and has a large number of components and is complicated.

As a magnetic sensor for detecting the magnetic paint applied to the cable, an acoustic signal detecting portion (underwater portion) for detecting sound waves in the sea and acoustic information from the underwater portion are modulated into VHF and transmitted. Suspension of the underwater part while suspending the underwater part with the signal cable from the levitation part, detecting the magnetic paint applied at a predetermined interval to the signal cable with the magnetic sensor and adjusting the length of the signal cable. A variable suspension sonobuoy that determines the position is disclosed in, for example, Japanese Patent Laid-Open No. 61-752.
It is disclosed in Japanese Patent No. 78 (third prior art).

In the third prior art described above, a magnetic material is applied to the exterior of the hanging cable at a predetermined interval and magnetized, and when the hanging cable is paid out from the cable drum, the magnetism is detected by a magnetic sensor. The suspension depth can be freely set by counting the number of detections and stopping the feeding of the suspension cable by operating the stopper when a predetermined count value is reached.

As described above, according to the third conventional technique, when suspending the underwater portion from the floating portion above the sea by the cable, the magnetic material applied to the cable at a predetermined interval is detected and counted by the magnetic sensor to measure the cable length. Since it is easy to adjust the cable length, it is not possible to detect and adjust the vertical hanging angle of the cable.

[0015]

In the first prior art described above, since the roller at the tip of the arm is in contact with the cable, when the arm does not move following the cable, the cable is moved at the roller position which is the contact point. It bends and causes an error in the detected cable angle.

In the second prior art described above, the trolley and the girder travel, the runner 23 swings, and the runner-side sheave 25 moves.
2 sets of torque balance type inclinometers 30 for detecting a swing angle at which the detection rope 20 swings in the transverse direction of the trolley.
In addition, two sets of accelerometers 31 for detecting the acceleration applied to the trolley and the girder due to the swing of the hanger 23 are required, and the number of components is large and complicated.

In the third prior art, when suspending an underwater portion from a floating portion above the sea by a cable, the magnetic material applied to the cable at a predetermined interval is detected and counted by a magnetic sensor to adjust the cable length. Therefore, the cable length can be easily adjusted, but the vertical hanging angle of the cable cannot be detected and adjusted.

An object of the present invention is to detect a displacement angle of a cable suspended from the sky directly without contact, thereby eliminating a detection error and suppressing deterioration of durability due to abrasion or the like. It is to provide a method and a detection method.

[0019]

DISCLOSURE OF THE INVENTION The method for detecting the angle of displacement of a hanging cable according to the present invention is a cable winding device that conveys a person or material by dropping a cable from the sky to a target or hoisting a cable that has dropped to a target. The displacement angle of the cable descending from the cable winding device with respect to the vertical direction is detected without contacting the cable.

Further, the cable is characterized in that the entire surface thereof is coated with magnetic paint.

The displacement angle of the cable with respect to the vertical direction is detected by a magnetic sensor.

Further, the magnetic sensors are arranged in a plurality of rows on the outer periphery which is horizontally separated from the vertical center of the cable by a predetermined distance.

The suspension cable displacement angle detection method of the present invention is a cable winder for lowering a cable from the sky to a target or hoisting a cable lowered to a target to convey a person or a material. A mounting bracket for mounting a pulley fixed to the lower part of the frame, the pulley for rotatably mounted around a predetermined position of the mounting bracket as a spindle to convey the cable, and a vertical guide for the cable. And a plurality of magnetic sensors arranged at the tip of the arm for detecting the displacement angle of the cable.

Further, the cable is characterized in that a magnetic paint is applied over the entire surface.

Further, the magnetic sensors are arranged in a plurality of rows on the outer periphery which is horizontally separated from the vertical center of the cable by a predetermined distance.

Further, a preamplifier circuit which is provided corresponding to each of the plurality of magnetic sensors and which inputs a detection signal of each of the magnetic sensors to correct variations in the detection characteristics of the magnetic sensors, and the preamplifier circuit. An amplifier circuit which is provided corresponding to each of the preamplifier circuits and which receives the output of the preamplifier circuit and amplifies a detection signal of each of the magnetic sensors; An A / D conversion circuit for converting the detection signal of to a digital signal,
An arithmetic circuit for inputting the conversion output of the A / D conversion circuit and calculating the displacement angle of the cable.

Further, the arithmetic circuit is provided with a memory for measuring the detection distance vs. detection output signal characteristics of each of the plurality of magnetic sensors in advance and storing the characteristics corresponding to each of the magnetic sensors. The A / D based on the signal characteristics
Position detection means for detecting a distance corresponding to a detection signal of the magnetic sensor input from the conversion circuit and specifying a moving position of the cable; and a plurality of the magnetic sensors from a starting point of suspension of the cable from the pulley. Angle detecting means for calculating a displacement angle with respect to the moving position of the cable from the distance, the moving distance of the cable detected by the position detecting means, and the detection distance vs. detection output signal characteristics stored in the memory. Is characterized by.

[0028]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described with reference to the drawings. 1 is a structural diagram showing the main configuration of the present invention, FIG. 2 is a diagram showing the operating principle of the present invention, FIG. 3 is a diagram showing a method for measuring a cable moving position of the present invention, and FIG. 4 is a cable displacement angle of the present invention. 5 is a block diagram showing the main circuit configuration of the present invention.

As shown in FIG. 1, according to the present invention, a mounting member 6 fixed to a lower portion of a frame 3 of a cable winding device for mounting a pulley 2 is rotatable, and a predetermined position of the mounting member 6 is a pivot shaft. It includes a pulley 2 attached to the carriage 2 for conveying the cable 1, an arm 5 for guiding the cable 1 in the vertical direction, and a magnetic sensor 4 attached to the tip of the arm.

As shown in FIG. 2, a plurality of magnetic sensors 4 are arranged in a row in a horizontal direction with respect to a vertically suspended cable, on the outer periphery of the cable separated from the center of the cable by a predetermined distance.

Magnetic paint is applied to the entire area of the cable 1, and the magnetic sensor 4 detects the displacement angle of the cable.

Next, the principle of measuring the displacement angle due to the deflection of the cable will be described with reference to FIG. FIG. 2 (A) shows a state in which the cable 1 suspended in a vertical state sways and tilts in the forward direction (direction of arrow C).

The magnetic sensor 4 is, as shown in FIG.
A plurality of magnetic sensors are arranged in a row at a position spaced a distance R from the center of the cable 1 in a horizontal direction with respect to the cable 1 suspended in a vertical state, and based on a detection signal of each sensor. The position L1 of the cable 1 can be measured, and the displacement angle of the cable can be detected from the cable position L1 and the distance L2 from the pulley 2 to the magnetic sensor.

Next, the measurement of the displacement angle of the cable with respect to the vertical state will be described with reference to FIG.

In FIG. 3, the magnetic sensor in FIG.
The case where individual pieces are arranged is shown. Magnetic sensors 4-1, 4-2, 4-3, ... 4-7 are arranged at positions separated from the center position P in the vertical state of the cable 1 by a distance R.
The detection distance vs. detection output signal characteristic of each magnetic sensor is measured in advance and stored in each magnetic sensor.

When the cable 1 is tilted from the center position P to the position P1, the magnetic sensor 4-1 and the magnetic sensor 4-2,
P1 can be detected by the magnetic sensor 4-3.

The magnetic sensor 4-1 outputs a detection signal v1 corresponding to the distance to the position P1, the magnetic sensor 4-2 outputs a detection signal v2 corresponding to the distance to the position P1, and the magnetic sensor 4-3. Outputs a detection signal v3 corresponding to the distance to the position P1.

The magnetic sensor 4 which is actually measured and stored in advance.
The detection distances corresponding to the detection signals v1, v2 and v3 are calculated based on the detection distance vs. detection output signal characteristics of the magnetic sensor -1, the magnetic sensor 4-2 and the magnetic sensor 4-3 to specify the position P1.

That is, the detection signal v is detected from the detection distance vs. detection output signal characteristic of each magnetic sensor which is actually measured and stored in advance.
A distance r1 with respect to 1, a distance r2 with respect to the detection signal v2,
The distance r3 with respect to the detection signal v3 is calculated, and r1, r2, r
The intersection point on the circumference having a radius of 3 is the position P1 of the cable.

If the position P1 of the cable 1 can be specified, the position shown in FIG.
As shown in Fig. 3, the spindle of the pulley (cable 1 from pulley 2
Since the distance L1 between the magnetic sensors 4 from the suspension starting point) is fixed, the displacement angle θ of the cable 1 can be obtained by θ = tan (L2 / L1) as shown in FIG.

FIG. 5 is a block diagram showing an example of the cable displacement angle detection circuit of the present invention. FIG. 5 is a block diagram when seven magnetic sensors 4 shown in FIG. 3 are arranged, and the detection signals of the magnetic sensors 4-1, 4-2, 4-3, 4-4 ... Preamplifier circuits 11-1, 11-2 to be input,
11-3, 11-4 ... 11-7 and preamplifier circuit 11
-1, 11-2, 11-3, 11-4 ... Amplifying circuits 12-1, 12-2, 12- that amplify the output signals of 11-7.
3, 12-4 ... 12-7 and amplifier circuits 12-1, 12
-2, 12-3, 12-4 ... A / D conversion circuits 13-1, 13- for converting the output signal of 12-7 into a digital signal
2, 13-3, 13-4 ... 13-7 and the arithmetic circuit 14
The arithmetic circuit 14 composed of and includes a position detecting means 14-1 for detecting the position of the cable, an angle detecting means 14-2 for detecting the displacement angle of the cable, and a magnetic sensor 4-.
1, 4-2, 4-3, 4-4 ... 4-7 Memory 1 in which individual detection distance vs. detection output signal characteristics are measured and stored in advance
4-3.

Preamplifier circuits 11-1, 11-2, 11-
3-11-4 ... 11-7 are for correcting the variations in the sensitivity characteristics of the individual magnetic sensors, and the variations are measured and corrected in advance. The preamplifier circuits 11-1 and 1
Magnetic sensors 4-1, 4-2, 4-3, 4-4 ... 4-7 amplified by 1-2, 11-3, 11-4 ... 11-7
Detection signals of the amplifier circuits 12-1, 12-2, 12-
3, 12-4 ... 12-7 is input and amplified. The gain of each amplifier circuit is the same.

Amplifier circuits 12-1, 12-2, 12-3,
12-4 ... The detection signals of the magnetic sensors amplified by 12-7 are A / D conversion circuits 13-1, 13-2, 13-.
3, 13-4 ... 13-7 is input and converted into a digital signal.

A / D conversion circuits 13-1, 13-2, 13
-3, 13-4 ... Magnetic sensor 4 converted by 13-7
The detection signals -1, 4-2, 4-3, 4-4, ... 4-7 are input to the arithmetic circuit 14.

The position detecting means 14-1 of the arithmetic circuit 14 is
As described with reference to FIG. 3 above, the distance r1 with respect to the detection signal v1 of the magnetic sensor 4-1 is detected from the detection distance vs. detection output signal characteristic of each magnetic sensor, which is actually measured and stored in the memory 14-3 in advance, A distance r2 with respect to the detection signal v2 of the magnetic sensor 4-2 and a distance r3 with respect to the detection signal v3 of the magnetic sensor 4-3 are obtained, and an intersection P1 on the circumference having radiuses r1, r2 and r3 is detected as a cable position.

As described with reference to FIG. 4 above, the angle detecting means 14-2, assuming that the distance from the central position P of the cable 1 to the position P1 is L2, as shown in FIG.
Is fixed, so as shown in FIG.
The displacement angle θ of is calculated by θ = tan (L2 / L1).

[0047]

As described above, according to the present invention, a plurality of magnetic sensors are arranged in a row on the circumference that is separated from the center of the cable by a predetermined distance in the horizontal direction with respect to the vertical direction of the cable.
Since the displacement angle of the cable with respect to the vertical direction can be detected by the plurality of magnetic sensors in a non-contact manner with respect to the magnetic material applied to the cable, the displacement angle detection accuracy of the cable is improved.

Further, since the displacement angle is detected without contacting the cable, the wear control is improved and the durability of the cable is improved.

[Brief description of drawings]

FIG. 1 is a structural diagram showing the main configuration of the present invention.

FIG. 2 is a diagram showing the operating principle of the present invention.

FIG. 3 is a diagram showing a method for measuring a cable displacement angle of the present invention.

FIG. 4 is a diagram showing a method for calculating a cable displacement angle according to the present invention.

FIG. 5 is a block diagram showing an example of a cable displacement angle detection circuit of the present invention.

FIG. 6 is a structural diagram showing a main configuration of a first conventional technique.

FIG. 7 is a diagram showing a main configuration of a second conventional technique.

[Explanation of symbols]

1 cable Two pulleys 3 frames 4 Magnetic sensor 4-1 Magnetic sensor 4-2 Magnetic sensor 4-3 Magnetic sensor 4-4 Magnetic sensor 4-5 Magnetic sensor 4-6 Magnetic sensor 4-7 Magnetic sensor 5 arms 6 Mounting bracket 7 Laura 8 angle sensor 11-1 Preamplifier circuit 11-2 Preamplifier circuit 11-3 Preamplifier circuit 11-4 Preamplifier circuit 11-5 Preamplifier circuit 11-6 Preamplifier circuit 11-7 Preamplifier circuit 12-1 Amplifier circuit 12-2 Amplification circuit 12-3 Amplification circuit 12-4 Amplification circuit 12-5 Amplifier circuit 12-6 Amplification circuit 12-7 Amplifier circuit 13-1 A / D conversion circuit 13-2 A / D conversion circuit 13-3 A / D conversion circuit 13-4 A / D conversion circuit 13-5 A / D conversion circuit 13-6 A / D conversion circuit 13-7 A / D conversion circuit 14 Arithmetic circuit 14-1 Position detecting means 14-2 Angle detection means 14-3 Memory 20 detection rope 21 winding drum 22 wire rope 23 Hanging equipment 24 hanger plate 25 Sheaves on the lifting equipment side 26 Guide sheave 27 Detection rope take-up reel 28 Mounting bracket 29 sensor base 30 Torque balance type inclinometer 31 Accelerometer 32 Matching addition verification circuit

Claims (9)

[Claims] 1. In a cable winder for dropping a cable from the sky to a target or hoisting a cable dropped to a target to convey a person or a material, a displacement angle of the cable dropping from the cable winder with respect to a vertical direction is set. A method for detecting a displacement angle of a hanging cable, which is characterized by detecting the cable in a non-contact manner. 2. The method for detecting a displacement angle of a hanging cable according to claim 1, wherein the surface of the cable is coated with magnetic paint. 3. The method of detecting a displacement angle of a hanging cable according to claim 1, wherein the displacement angle of the cable with respect to the vertical direction is detected by a magnetic sensor. 4. The suspension cable according to claim 1, wherein the magnetic sensors are arranged in a plurality of rows on an outer periphery of the cable which is horizontally separated from the vertical center by a predetermined distance. Displacement angle detection method. 5. A cable winding device for dropping a cable from the sky to a target or hoisting a cable dropped to a target to convey a person or a material, wherein a pulley fixed to a lower part of a frame of the cable winding device is attached. Mounting bracket, a pulley for rotatably mounted around a predetermined position of the mounting bracket as a spindle for carrying the cable, an arm for guiding the cable in a vertical direction, and a tip of the arm. A suspension cable displacement angle detection method, comprising: a plurality of magnetic sensors that are arranged to detect the displacement angle of the cable. 6. The displacement angle detection method for a suspension cable according to claim 5, wherein the cable is coated with magnetic paint over the entire surface. 7. The suspension cable according to claim 5, wherein the magnetic sensors are arranged in a plurality of rows on an outer periphery of the cable which is horizontally separated from the vertical center by a predetermined distance. Displacement angle detection method. 8. A preamplifier circuit, which is provided corresponding to each of the plurality of magnetic sensors, receives a detection signal of each of the magnetic sensors, and corrects variations in the detection characteristics of the magnetic sensor, and the preamplifier circuit. An amplifier circuit which is provided corresponding to each of the preamplifier circuits and which receives the output of the preamplifier circuit and amplifies a detection signal of each of the magnetic sensors; 6. An A / D conversion circuit for converting the detection signal of 1. into a digital signal, and an arithmetic circuit for inputting the conversion output of the A / D conversion circuit to calculate the displacement angle of the cable. 7. The method for detecting the angle of displacement of the hanging cable described in 7. 9. The arithmetic circuit comprises a memory for previously measuring the detection distance vs. detection output signal characteristic of each of the plurality of magnetic sensors and storing the characteristic corresponding to each of the magnetic sensors. Position detection means for detecting a distance corresponding to a detection signal of the magnetic sensor input from the A / D conversion circuit based on signal characteristics and specifying a moving position of the cable; and suspension of the cable from the pulley. The displacement angle with respect to the moving position of the cable is calculated from the distance from the starting point to the plurality of magnetic sensors, the moving distance of the cable detected by the position detecting means, and the detection distance vs. detection output signal characteristics stored in the memory. 9. An angle detecting means for calculating is provided.
Displacement angle detection method for the hanging cable described.