JP2004284736A - Overhead travelling crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an overhead travelling crane capable of lifting and lowering attachment in accordance with distribution of bulk piling-up height when a trolley runs laterally and a girder runs. <P>SOLUTION: This overhead travelling crane is constituted in such a way that a controller 18 measures piling-up height of refuse 6 at a floor landing point of a bucket 7 based on signals 20, 21, 22 from rotary encoders 9, 11, 13 and a signal 19 from a weight measuring device 17, infers piling-up height of refuse 6 at a diffusion point to obtain distribution of piling-up height of refuse 6 in a refuse storage pit 1, and lifts and lowers the bucket 7 in accordance with distribution of piling-up of refuse 6 when the trolley 4 runs laterally and the girder 3 runs to avoid interference of the refuse 6 with the bucket 7. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an overhead crane.
[0002]
[Prior art]
2. Description of the Related Art In recent years, overhead cranes as shown in FIGS. 2 and 3 have been proposed as devices for transporting various bulks (bulks) such as grains, ores, and garbage that are not combined into one unit. (For example, see Patent Document 1).
[0003]
The overhead crane is provided with rails 2 provided horizontally and parallel to each other on one side and the other side of a garbage storage tank 1, a girder 3 running along both rails 2, and traversing along the girder 3. A trolley 4, a bucket 7 as an attachment suspended from the trolley 4 by a hoisting cable 5 so as to be able to ascend and descend and grasping and releasing dust 6, and a rotary encoder 9 for obtaining rotation information of a running wheel driving motor 8 of the girder 3. And a rotary encoder 11 that obtains rotation information of a motor 10 for driving the traversing wheels of the trolley 4 and a rotary encoder 13 that obtains rotation information of the motor 12 for driving the drum of the hoisting cable 5.
[0004]
On one side of the garbage storage tank 1, a plurality of garbage carry-in ports 14 for introducing garbage 6 carried by the carrier into the garbage storage tank 1 are arranged in parallel in the traveling direction of the girder 3.
[0005]
On the other side of the refuse storage tank 1, a plurality of refuse input hoppers 15 for feeding the refuse 6 released by the bucket 7 to a feeder connected to the incinerator are arranged in parallel in the traveling direction of the girder 3.
[0006]
Further, a plurality of distance measuring means 16 are arranged in parallel in the traveling direction of the girder 3 above one side and the other side of the garbage storage tank 1.
[0007]
The distance measuring means 16 measures the time until the light pulse emitted from the light source unit is reflected by the dust 6 as a measuring object and enters the light receiving unit. The distance measuring means 16 and the surface layer of the dust 6 are measured. The method of obtaining the distance between the two is applied.
[0008]
The reason why the plurality of distance measuring means 16 are arranged on both sides of the trash storage tank 1 is to increase the number of measurement points in the trash storage tank 1 and to grasp the pile height distribution of the trash 6.
[0009]
Conventionally, as an example of the automatic operation of the overhead crane, a bucket 7 holding a bulk such as garbage 6 is raised to an upper limit position closest to the girder 3, and then the bulk is moved by the trolley 4 or traveling of the girder 3. The bucket 7 is positioned just above the point to be dissipated, and the bulk is released. In addition, when the bucket 7 is raised to the upper limit position, the bulk is newly grasped by traversing the trolley 4 or running the girder 3. In general, the bucket 7 is placed on the floor after the bucket 7 is positioned directly above the power point.
[0010]
In the above-described operation method, it is possible to prevent the bucket 7 from hitting the bulk accumulated in the bulk storage tank such as the trash storage tank 1 when the trolley 4 traverses or the girder 3 travels. There is a demand that the operation be performed simultaneously with the traversing operation of the trolley 4 and the traveling operation of the girder 3 so as to increase the amount of bulk transported per unit time.
[0011]
Therefore, the distribution height of the bulk such as the garbage 6 is grasped by using the distance measuring means 16 described above, and the bucket 7 is moved simultaneously with the traversing operation of the trolley 4 and the traveling operation of the girder 3 so that the bucket 7 does not hit the bulk. It is under consideration to carry out the lifting and lowering operation of No. 7.
[0012]
[Patent Document 1]
JP 2000-143151 A
[Problems to be solved by the invention]
However, in the vast trash storage tank 1, it is necessary to install a large number of distance measuring means 16, and further, dirt such as dust adhering to the light source unit and the light receiving unit of the distance measuring means 16 or water droplets is removed. If the work is not performed on a daily basis, the distribution of the accumulation height of the refuse 6 cannot be grasped, so that the use of the distance measuring means 16 does not fit the actual situation.
[0014]
SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide an overhead traveling crane in which an attachment can be moved up and down according to a bulk height distribution during traversing a trolley or traveling a girder.
[0015]
[Means for Solving the Problems]
To achieve the above object, an overhead crane according to claim 1 of the present invention is provided with a girder running on a bulk storage tank, a trolley traversing along the girder, and suspended from the trolley so as to be able to move up and down. Attachment for grasping and releasing bulk, traveling position detecting means for detecting the position of the girder with respect to the bulk storage tank, traversing position detecting means for detecting the position of the trolley with respect to the girder, and elevating position detecting means for detecting the position of the attachment with respect to the trolley Landing detection means for detecting the landing of the attachment, radiation detection means for detecting the radiation of the bulk from the attachment, the bulk height distribution of the storage tank is determined based on the signal of these detection means and girder or A control for raising and lowering the attachment according to the above-mentioned pile height distribution when at least one of the trolleys is operated It is equipped with a door.
[0016]
The overhead crane according to claim 2 of the present invention is equipped with a weigher for measuring the weight of the bulk grasped by the attachment, and is configured to use the weigher as a landing detection unit and a radiation detection unit. are doing.
[0017]
In the overhead crane according to claim 1 of the present invention, when a signal is obtained from the landing detection unit, the controller specifies the attachment landing point by using the signals of the traveling position detection unit and the traversing position detection unit. , The height of the bulk deposition at that point is measured by the elevation position detection signal.
[0018]
Also, when a signal is obtained from the emission detection means, the controller specifies the emission point of the bulk by each signal of the traveling position detection means and the traverse position detection means, and when the attachment first arrives at the point, The bulk deposition height is estimated based on the measured bulk deposition height and the number of times of bulk emission to the point.
[0019]
Further, the controller determines a bulk deposition height distribution based on the bulk deposition height measured at each attachment landing point and the bulk deposition height estimated at each bulk release point, and when at least one of the girder or the trolley is operated. Then, the attachment is moved up and down in accordance with the bulk deposition height distribution to avoid interference between the attachment and the bulk.
[0020]
In the overhead crane according to claim 2 of the present invention, based on whether the signal from the weigher has a value of 0, the controller determines and determines the landing of the attachment, and the signal from the weigher is output. The controller determines the emission of the bulk based on whether or not the value has become equivalent to the weight of the attachment.
[0021]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0022]
FIG. 1 shows an example of an embodiment of an overhead crane according to the present invention. In the drawing, portions denoted by the same reference numerals as those in FIGS. 2 and 3 represent the same components.
[0023]
In this overhead crane, a rotary encoder 9 as a traveling position detecting means of the girder 3, a rotary encoder 11 as a traversing position detecting means of the trolley 4, a rotary encoder 13 as a lifting and lowering position detecting means of the bucket 7, and a bucket 7 are provided. A weighing device 17 such as a load cell for measuring the weight of the garbage 6 grasped and a controller 18 are provided.
[0024]
The weigher 17 is mounted on the trolley 4 and is used as a means for detecting the landing of the bucket 7 on the refuse 6 in the refuse storage tank 1 and a means for detecting the emission of the refuse 6.
[0025]
The controller 18 determines that the bucket 7 has landed on the garbage 6 when the signal 19 from the weighing device 17 becomes 0 value, and the signal 19 from the weighing device 17 corresponds to the weight of the bucket 7. When the value reaches the value, it is determined that the dust 6 has been diffused, and further, based on the signals 20, 21, 22 from the rotary encoders 9, 11, 13, the accumulation height distribution of the dust 6 in the dust storage tank 1 is obtained. When at least one of the girder 3 and the trolley 4 is operated, the bucket 7 is moved up and down in accordance with the distribution of the accumulation height of the refuse 6.
[0026]
That is, when a zero-value signal 19 is obtained from the weighing device 17, the landing point of the bucket 7 in the garbage storage tank 1 is specified by the signals 20 and 21 from the rotary encoders 9 and 11, and the rotary encoder Based on the signal 22 from 13, the pile height of the refuse 6 at that point is measured from the vertical position information of the bucket 7.
[0027]
Also, when a signal 19 having a value corresponding to the weight of the bucket 7 is obtained from the weighing device 17, the emission point of the refuse 6 is specified by the signals 20 and 21 from the rotary encoders 9 and 11, The accumulation height of the refuse 6 is estimated based on the accumulation height of the refuse 6 measured when the bucket 7 has landed, and the number of times the refuse 6 is diffused to the point.
[0028]
That is, in consideration of the dust 6 and the volume assumed by the number of times of emission after that, and the general angle of repose of the dust 6, the accumulation height obtained at the time of landing of the bucket 7, Height can be estimated.
[0029]
However, when the emission point of the dust 6 corresponds to the dust input hopper 15 based on the signals 20 and 21 of the rotary encoders 9 and 11, naturally, the accumulation height of the dust 6 is not estimated.
[0030]
Further, the distribution of the accumulation height of the refuse 6 in the refuse storage tank 1 is obtained based on the accumulation height measured at the landing point of the bucket 7 and the accumulation height estimated at each of the garbage 6 emission points.
[0031]
The information on the distribution of the height of the refuse 6 is updated every time when the landing of the bucket 7 or the release of the refuse 6 is confirmed by the signal 19 from the weighing device 17.
[0032]
Thereby, the controller 18 outputs the operation command signal 23 to the traveling wheel drive motor 8 to drive the girder 3 or outputs the operation command signal 24 to the traverse wheel drive motor 10 to drive the trolley 4. At the time of traversing, an operation command signal 25 is output to the drum driving motor 12, and the bucket 7 is raised and lowered so as to correspond to the information on the accumulation height distribution of the dust 6.
[0033]
Therefore, when the trolley 4 is traversing or the girder 3 is traveling, the bucket 7 can be moved up and down while avoiding interference with the refuse 6, and the transfer efficiency of the refuse 6 is improved.
[0034]
Thus, in the overhead crane shown in FIG. 1, the accumulation height of the refuse 6 at the landing point of the bucket 7 is determined by the signals 20, 21 and 22 of the rotary encoders 9, 11 and 13 and the signal 19 of the weigher 17. Since the measurement is performed and the accumulation height of the refuse 6 at the emission point is estimated, it is possible to obtain the accumulation height distribution of the refuse 6 only by a very practical means.
[0035]
Further, for example, the work of moving the dust 6 near the dust entrance 14 to the dust input hopper 15 side can be performed by automatically operating the overhead crane at night or the like based on the information of the accumulation height distribution.
[0036]
In addition, the overhead crane of the present invention is not limited to the above-described embodiment. The present invention is applied to transport of bulk such as valuables such as grains and ores, and is equipped with attachments other than buckets. Needless to say, the attachment operation signal is used as the radiation detection signal, and other changes can be made without departing from the scope of the present invention.
[0037]
【The invention's effect】
As described above, according to the overhead crane of the present invention, the following various excellent effects can be obtained.
[0038]
(1) In the overhead crane according to the first aspect, the bulk deposition height at the attachment landing point is determined by signals from the traveling position detecting means, the traversing position detecting means, the elevating position detecting means, the landing detecting means, and the radiation detecting means. Is measured, and the bulk deposition height at the emission point is estimated, so that the bulk deposition height distribution can be obtained only by a very practical means.
[0039]
(2) Since the attachment moves up and down while avoiding interference with the bulk when the trolley traverses or the girder runs, the overhead crane can be automatically operated efficiently and the bulk transport efficiency is improved.
[0040]
(3) In the overhead crane according to the second aspect, since the weigher that measures the weight of the bulk gripped by the attachment is used as the landing detection unit and the radiation detection unit, the configuration of the device can be simplified. .
[Brief description of the drawings]
FIG. 1 is a schematic front view showing an example of an embodiment of an overhead crane of the present invention.
FIG. 2 is a schematic front view showing an example of a conventional overhead crane.
FIG. 3 is a schematic plan view of the overhead crane related to FIG. 2;
[Explanation of symbols]
1 Garbage storage tank (bulk storage tank)
3 Girder 4 Trolley 6 Garbage (bulk)
7 bucket (attachment)
9 Rotary encoder (travel position detecting means)
11 rotary encoder (traversing position detecting means)
13 rotary encoder (elevation position detecting means)
17 Weigher (landing detection means / emission detection means)
18 Controller 19 Signal 20 Signal 21 Signal 22 Signal

Claims (2)

A girder running on the bulk storage tank, a trolley traversing the girder, an attachment suspended from the trolley so as to be able to move up and down, and holding the bulk, and a running position for detecting the position of the girder with respect to the bulk storage tank. Detecting means, traversing position detecting means for detecting the position of the trolley with respect to the girder, elevating position detecting means for detecting the position of the attachment with respect to the trolley, landing detecting means for detecting the landing of the attachment, and the bulk from the attachment. A radiation detecting means for detecting radiation, and a deposit height distribution of the bulk of the storage tank is determined based on signals from the detecting means, and the attachment is raised and lowered according to the deposit height distribution when at least one of the girder and the trolley is operated. An overhead crane comprising a controller. The overhead crane according to claim 1, further comprising a weigher for measuring the weight of the bulk gripped by the attachment, wherein the weigher is used as landing detection means and radiation detection means.

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