JP2007314333A - Crane device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable conveyance of conveyed objects to any direction, enable conveyance to any direction in accordance with detection of swing of a rope body, achieve excellent responsiveness of drive of motors with respect to swing of the rope body and securely obtain compensation of responsiveness. <P>SOLUTION: This crane device is provided with a pair of first traveling bodies traveling on first rails by first motors 12; a second traveling body traveling on a second rail suspended on the first traveling bodies by a second motor 22; the rope body 30 hung from the second traveling body and suspending a conveyed object; a detection part 40 detecting swing of the rope body 30; and a drive control means 60 for performing drive control of the first and second motors 12, 22. The detection part 40 comprises three or more proximity detection sensors 41a to 41d arranged around the rope body 30 and detecting the proximity of the rope body 30. The drive control means 60 determines rotating directions of the first and second motors 12, 22 based on presence/absence of detection by the respective proximity detection sensors 41a to 41d, and drives the respective motors 12, 22. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a crane apparatus that is installed in a factory or the like and suspends and conveys a conveyed product.

  Conventionally, as this kind of crane apparatus, what was described in patent document 1 (Unexamined-Japanese-Patent No. 10-87274) is known, for example.

As shown in FIG. 10, the crane device is provided with a rail 1 provided at a predetermined height, a traveling body 2 that travels on the rail 1, a motor 3 that travels the traveling body 2, and a suspension that is suspended from the traveling body 2. The rope 4 that suspends the transported object 8, the winch 5 that is provided on the traveling body 2 to wind and unwind the rope 4, and the inclination angle sensor that is provided on the traveling body 2 and detects the inclination of the rope 4. 6 and drive control means (not shown) for driving and controlling the motor 3 so that the transported object 8 is transported in the direction of the swing of the cable body 4.
The rope 4 is provided with a hook 7 for suspending the conveyed product 8.
Incidentally, reference numeral 9 in the figure denotes a controller for operating the winch 5 and the like.

  When using this crane apparatus, the conveyed product 8 is hooked on the hook 7 via a belt-like body. In this state, when the transported object 8 is pushed in a direction in which the transported object 8 is desired to be transported along the longitudinal direction of the rail 1, the rope body 4 is tilted, and the tilt angle sensor 6 detects this tilt. Based on the detection of the inclination angle sensor 6, the drive control means drives the motor 3 to rotate forward or reversely so that the traveling body 2 travels in the direction in which the rope body 4 is inclined.

JP-A-10-87274

  By the way, in such a crane apparatus, since conveyance control of the conveyed product 8 can be carried out only in one direction in the longitudinal direction of the rail 1, rails are also provided in a direction orthogonal to the rail 1 to convey the conveyed product in an arbitrary direction. The crane apparatus that can be transported has a problem that the drive control means cannot be applied as it is. In addition, since the configurations of the tilt angle sensor 6 and the drive control means are not clear, there is a problem in that it is not always possible to compensate for the drive responsiveness of the motor 3 with respect to the detection of the shake of the cable body 4.

  The present invention has been made in view of the above-described problems, and allows a transported object to be transported in an arbitrary direction, and allows it to be transported in an arbitrary direction in response to detection of the shake of the cord body, It is an object of the present invention to provide a crane apparatus that can improve motor drive responsiveness with respect to runout of a rope body and reliably obtain responsiveness compensation.

  A crane apparatus of the present invention for achieving such an object includes a pair of first rails provided in parallel at a predetermined height position, a pair of first traveling bodies respectively traveling on the first rails, A first motor that is driven and stopped by a forward rotation command signal, a reverse rotation command signal, and a stop command signal to drive the first traveling body by driving, a second rail suspended from the pair of first traveling bodies, A second traveling body that travels on two rails, a second motor that is driven and stopped by a forward rotation command signal, a reverse rotation command signal, and a stop command signal, and that travels the second traveling body by driving, and is suspended from the second traveling body A cable body that is lowered and suspends a conveyed object, a winch that is provided on the second traveling body and that winds and unwinds the cable body, and a detection unit that is provided on the second traveling body and detects a shake of the cable body And the transported object is in the direction of deflection of the cord In a crane apparatus comprising drive control means for driving and controlling the first and second motors so as to be conveyed, the detection unit is disposed around the cord body and the cord body is suspended vertically. Three or more proximity detection sensors for detecting proximity from a vertical position, and the drive control means includes detection presence / absence recognition means for detecting the presence / absence of detection of each proximity detection sensor and the detection presence / absence recognition. Motor rotation direction determination means for determining the rotation directions of the first and second motors based on the recognition of the means, and forward rotation commands to the corresponding first and second motors based on the determination of the motor rotation direction determination means And a command signal sending means for sending a signal, a reverse command signal, or a stop command signal.

When transporting a transported object with this crane device, in a state where the transported object is suspended from the rope body, for example, by pushing or pulling the transported object and shaking the rope body in the direction in which the transported object is desired to be transported, At least one of the proximity detection sensors of the detection unit detects the proximity of the cord body. The detection presence / absence recognition means recognizes this detection, and the motor rotation direction determination means determines whether the first motor is rotating forward, reverse, or stopped, and determines whether the second motor is rotating forward, reverse, or stopped. Then, based on the determination by the motor rotation direction determination means by the command signal transmission means, any one of the normal rotation command signal, the reverse rotation command signal, and the stop command signal is transmitted to the first and second motors.
Then, based on this command signal, the first motor is normally driven, reversely driven or stopped, and the second motor is normally driven, reversely driven or stopped. As a result, the second rail is suspended by the pair of traveling bodies, and the longitudinal directions of the first rail intersect with each other. Therefore, the forward rotation drive, reverse rotation drive and stop of the first motor and the second motor The conveyed product can be conveyed to a desired position by a combination of forward rotation driving, reverse rotation driving and stopping.

  In this case, since three or more proximity detection sensors are provided around the rope body, the detection of shake from the vertical position of the rope body is ensured. Further, three or more proximity detection sensors are provided to reliably detect the vibration of the rope body, and the drive control means recognizes the presence or absence of detection of each proximity detection sensor, and based on this recognition, the first and second motors are detected. Since the traveling direction is determined, the motor drive responsiveness to the detection of the shake of the cable body is improved, and compensation for the drive responsiveness of the first and second motors can be reliably obtained.

In addition, as necessary, the detection unit includes a pair of proximity detection sensors that face each other across the cord body, and a plurality of proximity detection sensor sets are provided.
Thereby, in the opposing direction of a pair of proximity | contact proximity detection sensor which opposes, it can detect reliably which side the cord body touched. That is, the detection accuracy of the proximity detection sensor is increased, and the responsiveness of the motor drive to the vibration of the cable body is improved. Therefore, compensation for the drive response of the first and second motors can be reliably obtained.

Furthermore, if necessary, two sets of the proximity detection sensors are provided, and one set of the proximity detection sensors of the two sets of proximity detection sensors is opposed to each other along the longitudinal direction of the first rail, and the other A pair of proximity detection sensors are configured to face each other along the longitudinal direction of the second rail.
In this case, the motor rotation direction determination means, for example, drives the first motor in the normal direction when the cable body swings to one end side in the longitudinal direction of the first rail, and moves to the first side when the cable body swings to one end side. The first motor is configured to be driven in the reverse direction, and the second motor is driven to rotate forward when the cable body swings to one end side in the longitudinal direction of the second rail. Two motors are configured to be driven in reverse. Therefore, the process of the motor rotation direction determination means can be simplified.

Furthermore, if necessary, the detecting unit is supported by the second traveling body and has a plate body having a through-hole through which the cable body penetrates in the center, and is inserted into the cable body to follow the vibration of the cable body. A ring body that slidably moves the plate body, and a holding body that holds each proximity detection sensor on a circumference around the cord body that is vertically suspended so that the ring body can be detected. It is configured with.
As a result, even if the outer shape of the cable body is irregular, the proximity detection sensor detects the vibration of the cable body through the ring body having a well-formed external shape. Thus, the detection error such as a situation where the proximity detection sensor is detected in a state where it is not shaken can be reduced, and the response of the motor drive to the shake of the rope body is improved. Therefore, compensation for the drive response of the first and second motors can be reliably obtained.

Further, if necessary, a stopper is provided on the upper side of the plate body to stop the ring body moved following the cord body wound up by the winch.
Even if the ring body tries to move upward by following the cable body when the cable body is rolled up using the winch, the ring body hits the stopper, so that the wall of the ring body is surely And between the proximity detection sensors. Thereby, even if the winch is operated, the proximity detection sensor is hardly affected.

  According to the crane device of the present invention, a conveyed product can be conveyed in an arbitrary direction, and in addition, it can be conveyed in an arbitrary direction in response to detection of the shake of the rope. Moreover, since the detection unit is provided with three or more proximity detection sensors that are arranged around the cable body and detect that the cable body is approaching from the vertical position where the cable body is vertically suspended, Detection of shake is ensured. In addition, three or more proximity detection sensors are provided to reliably detect the vibration of the cord body, and the drive control means recognizes the presence or absence of detection of the proximity detection sensor, and based on this recognition, the first and second motors are detected. Since the rotational direction is determined, the motor drive response to the detection of the shake of the cable body is improved, and compensation for the drive response of the first and second motors can be reliably obtained.

  Hereinafter, a crane device according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

  1 to 3 show a crane apparatus. In the embodiment, this crane device conveys the glass plate 70 as a conveyed product. Specifically, the crane device includes a pair of first rails 10 provided in parallel at a predetermined height position, a pair of first traveling bodies 11 that respectively travel on each first rail 10, a forward rotation command signal, A first motor 12 that is driven and stopped by a reverse rotation command signal and a stop command signal and that causes the first traveling body 11 to travel by driving, a second rail 20 that is suspended between the pair of first traveling bodies 11, and a second rail 20. A second traveling body 21 that travels, a second motor 22 that is driven and stopped by a forward rotation command signal, a reverse rotation command signal, and a stop command signal, and that causes the second traveling body 21 to travel by driving, and is suspended from the second traveling body 21. The rope 30 that suspends the transported object, the winch 31 that is provided on the second traveling body 21 to wind and unwind the rope 30, and the swing of the rope 30 that is provided on the second traveling body 21 is detected. The detection unit 40 and the transported object are the ropes 3 And it is configured with first and second motor 12 and 22 so as to be conveyed in the direction of the deflection of a drive control unit 60 for controlling driving.

The longitudinal directions of the first rail 10 and the second rail 20 are orthogonal to each other, and are located near the ceiling by a support (not shown) or the like, for example. Moreover, the 1st rail 10 is set to the north-south direction for the longitudinal direction, for example.
The first traveling body 11 is provided with wheels 13 that roll on the first rail 10 inside. Further, both of the pair of first traveling bodies 11 are provided with a first motor 12 that is configured by a three-phase motor and that rotates the wheels 13 to cause the first traveling body 11 to travel. The first motor 12 is driven synchronously. Further, the first motor 12 causes the first traveling body 11 to travel northward when driven in the forward direction, and causes the first traveling body 11 to travel southward when driven in the reverse direction.

  Both ends of the second rail 20 are fixed to the pair of first traveling bodies 11. The longitudinal direction of the second rail 20 is aligned with, for example, the east-west direction. The second traveling body 21 is provided with wheels 23 that roll on the second rail 20 inside. The second traveling body 21 is configured with a three-phase motor, and is provided with a second motor 22 that rotates the wheel 23 and causes the second traveling body 21 to travel. The second motor 22 causes the second traveling body 21 to travel east when driven in the forward direction, and causes the second traveling body 21 to travel toward the west when driven in the reverse direction.

Moreover, the rope body 30 is comprised with the chain, and the glass plate holding | maintenance apparatus 36 which has the some suction pad 35 which adsorb | sucks the glass plate 70 which is a conveyed product is provided in the front-end | tip. Although not shown, the glass plate holding device 36 includes a tilt mechanism that tilts the glass plate 70 and a turning mechanism that turns the glass plate 70 while the glass plate 70 is sucked by the suction pad 35.
The winch 31 is fixed to the second traveling body 21. The winch 31 is operated by a controller (not shown) provided in the glass plate holding device 36. The controller can also operate a tilting mechanism and a turning mechanism.

  As shown in FIGS. 2 and 3, the detection unit 40 detects that the detection unit 40 is disposed around the cord body 30 and approaches the vertical position V where the cord body 30 is vertically suspended (three or more ( In the embodiment, four proximity detection sensors 41a, 41b, 41c, and 41d are provided. Specifically, the detection unit 40 includes a pair of proximity detection sensors (41a-41b, 41c-41d) facing each other across the cord body 30, and two sets of proximity detection sensors are provided. Moreover, the proximity detection sensors 41a and 41b of one set (41a-41b) of the two sets of proximity detection sensors (41a-41b, 41c-41d) are opposed to each other along the longitudinal direction of the first rail 10, and the other The pair (41c-41d) of proximity detection sensors 41c and 41d are opposed to each other along the longitudinal direction of the second rail 20. Therefore, in the embodiment, the proximity detection sensor 41a is located on the north side, 41b is located on the south side, 41c is located on the east side, and 41d is located on the west side.

In addition, each proximity detection sensor 41 a, 41 b, 41 c, 41 d is provided inside the casing 42. The casing 42 includes a pair of plate bodies 43 and 44 parallel to the vertical direction having a through hole 45 through which the cable body 30 penetrates in the center, and a side plate 46 on the outer periphery of the pair of plate bodies 43 and 44. . The casing 42 is attached to the second traveling body 21 via an attachment member 47 suspended from the winch 31.
Each proximity detection sensor 41 a, 41 b, 41 c, 41 d is held on a circumference centered on the cord body 30 vertically suspended by the holding body 48. The holding body 48 is formed by bending a metal plate into an L shape, and the one piece 49a and the proximity detection sensors 41a, 41b, 41c, 41d that are joined to the lower plate 44 are penetrated and fixed. The other piece 49b is provided.

Further, the detection unit 40 includes a ring body 50 that is inserted through the cable body 30 and that slides and moves the lower plate body 44 following the vibration of the cable body 30. Thereby, each proximity detection sensor 41a, 41b, 41c, 41d is attached to the holding body 48 so that the distance to the outer periphery of the ring body 50 can be detected and the vibration of the cord body 30 can be detected. The ring body 50 is formed in a cylindrical shape, follows the deflection of the cord body 30, and moves in sliding contact with the plate body 44. Furthermore, the proximity detection sensors 41a, 41b, 41c, and 41d are set with dead widths, and detect this when the ring body 50 comes close beyond the dead width.
Further, a stopper is provided on the upper side of the plate body 44 to stop the ring body 50 that has moved following the cable body 30 wound up by the winch 31. The stopper is composed of an upper plate 43. The ring body 50 has an upper side that makes contact with the back surface of the plate body 43.

  As shown in FIG. 3, the drive control means 60 is based on the detection presence / absence recognition means 61 that recognizes the presence / absence of detection of the proximity detection sensors 41 a, 41 b, 41 c, and 41 d and the detection presence recognition means 61 based on the first detection. And a motor rotation direction determination means 62 for determining the rotation direction of the second motors 12 and 22, and forward rotation command signals and reverse rotations to the corresponding first and second motors 12 and 22 based on the determination of the motor rotation direction determination means 62. Command signal sending means 63 for sending a command signal or a stop command signal, respectively. The drive control means 60 is comprised by the sequencer etc., for example.

  The detection presence / absence recognition means 61 is connected to proximity detection sensors 41a and 41b that face each other in the north-south direction. The first detection presence / absence recognition means 61a that recognizes the presence / absence of the detection and the proximity detection sensor 41c that faces each other in the east-west direction. , 41d, and second detection presence / absence recognition means 61b for recognizing the presence / absence of the detection.

The motor rotation direction determination means 62 includes first motor rotation direction determination means 62 a that determines the rotation direction of the first motor 12 and second motor rotation direction determination means 62 b that determines the rotation direction of the second motor 22. .
When the first detection presence / absence recognition unit 61a recognizes that the proximity detection sensor 41a on the north side has detected, the first motor rotation direction determination unit 62a determines whether the first motor 12 is rotating forward and performs first detection. When the presence / absence recognition unit 61a recognizes the presence of the detection by the proximity detection sensor 41b on the south side, the reverse rotation of the first motor 12 is determined. Further, when it is recognized that the proximity detection sensors 41a and 41b on both the north side and the south side are not detected, the stop determination of the first motor 12 is made.
When the second detection presence / absence recognition unit 61b recognizes that the proximity detection sensor 41c on the east side has detected, the second motor rotation direction determination unit 62b determines the normal rotation of the second motor 22 and performs the second detection. When the presence / absence recognizing means 61b recognizes that the proximity detection sensor 41d on the west side is detected, the reverse rotation of the second motor 22 is determined. Further, when it is recognized that the proximity detection sensors 41c and 41d on both the east side and the west side are not detected, the stop determination of the second motor 22 is made.

  The command signal sending means 63 includes a first command signal sending means 63a for sending a command signal to the first motor 12 side and a second motor rotation direction judging means 62b based on the judgment of the first motor rotation direction judging means 62a. Based on the determination, a second command signal sending means 63b for sending a command signal to the second motor 22 side is provided.

A forward rotation command, a reverse rotation command, and a stop command are received from the first command signal transmission unit 63a between the first motor 12 and the first command signal transmission unit 63a, and the first motor 12 is based on this command. In contrast, a first inverter 65 is provided to change the frequency of the power supply voltage by switching between the forward rotation direction and the reverse rotation direction, and to drive and stop the first motor 12 by acceleration rotation drive, deceleration rotation drive, constant speed rotation drive, and the like. .
When there is a normal rotation command or a reverse rotation command from the decelerating rotation drive and stop state of the first motor 12, the first inverter 65 rotates the first motor 12 normally or reversely, and accelerates and rotates the rotation for a predetermined time, It is driven to rotate at a constant speed after a predetermined time has elapsed. Further, when there is a stop command in a state where the first motor 12 is driven to accelerate or rotate at a constant speed, the first inverter 65 drives the first motor 12 to decelerate for a predetermined time, and stops after the elapse of the predetermined time.

Further, a forward rotation command, a reverse rotation command, and a stop command are received from the second command signal transmission unit 63b between the second motor 22 and the second command signal transmission unit 63b. A second inverter 66 is provided to change the frequency of the power supply voltage by switching the motor 22 in the normal rotation direction or the reverse rotation direction, and to cause the second motor 22 to be accelerated and driven, decelerated and driven at a constant speed, and stopped. ing.
When there is a forward rotation command or a reverse rotation command from the decelerating rotation drive and stop state of the second motor 22, the second inverter 66 rotates the second motor 22 forward or reverse and accelerates the rotation for a predetermined time, It is driven to rotate at a constant speed after a predetermined time has elapsed. Further, if there is a stop command in a state where the second motor 22 is driven to accelerate or rotate at a constant speed, the second motor 22 is driven to decelerate for a predetermined time and is stopped after a predetermined time has elapsed.

  Note that stoppers (not shown) that restrict the first traveling body 11 from being removed from both ends of the first rail 10 are provided at both ends of the first rail 10. Two stoppers (not shown) for restricting the traveling body 21 from being removed from both ends of the second rail 20 are provided. Further, when the first traveling body 11 and the second traveling body 21 are regulated by the stoppers, stop signals are sent from the first and second command signal sending means 63a and 63b so as not to advance further. Processing is performed by the drive control means 60.

Therefore, this crane apparatus will be described as follows according to the flowcharts of FIGS.
First, for example, in a state where the glass plate 70 is held by the glass plate holding device 36, the glass plate holding device 36 is pushed or pulled by hand in a direction in which the glass plate 70 is desired to be conveyed. For example, as shown in FIGS. 6 and 7A, when the glass plate holding device 36 is pushed, the rope body 30 swings east from the vertical position V, and the ring body 50 moves to the east side. When the ring body 50 approaches the east side proximity detection sensor 41c beyond the dead width, the east side proximity detection sensor 41c detects the ring body 50 (FIG. 7B). When there is a detection by the proximity detection sensor 41c on the east side, the second detection presence / absence recognition means 61b recognizes this (1-1).

At this time, since the ring body 50 is inserted into the cable body 30, even if the cable body 30 is formed of a chain with an irregular outer shape, the proximity detection sensor is connected via the ring body 50 with the outer shape arranged. 41a, 41b, 41c, and 41d detect the vibration of the cable body 30. Therefore, the proximity detection sensors 41a, 41b, and 41c are detected in a state in which the cable body 30 is not substantially shaken from the vertical position V due to twisting or the like. , 41d can be prevented, and the responsiveness of driving of the first and second motors 12, 22 to the shake of the cable body 30 is improved. Therefore, compensation for the drive response of the first and second motors 12 and 22 can be reliably obtained.
The detection unit 40 includes a pair of proximity detection sensors 41a, 41b, 41c, and 41d that face each other across the cord body 30, and two sets of proximity detection sensors 41a, 41b, 41c, and 41d are provided. Therefore, in which direction the pair of proximity detection sensors 41a, 41b, 41c, 41d are opposed to each other, it can be reliably detected which side the cord 30 has touched. That is, the detection accuracy of the proximity detection sensors 41a, 41b, 41c, and 41d is increased, and the response of the motor drive to the shake of the cord body 30 is improved. Therefore, compensation for the drive response of the first and second motors 12 and 22 can be reliably obtained.

Next, the motor rotation direction determination means 62 determines the rotation direction of the motor (1-2). As shown in FIG. 5, the first motor rotation direction determination means 62a recognizes that the north proximity detection sensor 41a is not detected (2-1N) and recognizes that the south proximity detection sensor 41b is not detected. (2-3N), it is determined whether the first motor 12 is stopped (2-5). Further, the second motor rotation direction determination means 62b recognizes that the proximity detection sensor 41c on the east side is detected (2-6Y) and recognizes that the proximity detection sensor 41d on the west side is not detected. Judgment of forward rotation of the motor 22 is made (2-7).
At this time, if both the proximity detection sensors 41a and 41b in the north-south direction or the proximity detection sensors 41c and 41d in the east-west direction are recognized to be detected, an alarm is sounded as an abnormality, etc. Stop.

Next, based on the determination of the motor rotation direction determining means 62, the command signal sending means 63 sends a stop command signal to the first inverter 65 and sends a normal rotation command signal to the second inverter 66 (1- 3). The first inverter 65 keeps the first motor 12 stopped, and the second inverter 66 drives the second motor 22 to rotate forward.
As a result, the first traveling body 11 travels east. Therefore, the glass plate 70 suspended in the direction in which the cord body 30 is swung is transported, that is, the direction in which the cord body 30 is swung is the direction in which the glass plate 70 is transported, so the glass plate 70 is transported in a desired direction. can do. Further, the glass plate 70 can be transported without pressing a switch or the like.

In addition, two pairs of proximity detection sensors 41a, 41b, 41c, and 41d that detect the proximity of the cable body 30 from the vertical position V where the cable body 30 is vertically suspended are disposed around the cable body 30. Since the traveling directions of the first and second motors 12 and 22 are determined based on the detection of the proximity detection sensors 41a, 41b, 41c and 41d, the motor drive response to the detection of the shake of the cord body 30 is good. Thus, it is possible to reliably obtain the compensation of the drive responsiveness of the first and second motors 12 and 22.
Then, each of the proximity detection sensors 41a, 41b, 41c, and 41d repeats the above processing until another detection is made (1-4N, 1-1, 1-2, 1-3).
At this time, since the second inverter 66 accelerates the second motor 22 for a certain time after driving the second motor 22, the start of the travel of the second traveling body 21 becomes smooth. Thereafter, the second inverter 66 drives the second motor 22 at a constant speed after a predetermined time has elapsed.

When the pressing of the glass plate holding device 36 is stopped at a desired position, the cable body 30 moves to the vertical position V side by the traveling of the second traveling body 21, and the dead width of the proximity detection sensor 41c on the east side. When the ring body 50 enters, the east side proximity detection sensor 41c does not detect the ring body 50, and the second detection presence / absence recognition means 61b recognizes that the east side proximity detection sensor 41c is not detected (FIG. 7C). 1-1).
At this time, the motor rotation direction determination means 62 is (1-2), and the first motor rotation direction determination means 62a still recognizes the absence of detection by the proximity detection sensor 41a on the north side and the proximity detection sensor 41b on the south side (2). −1N, 2-3N), the stop of the first motor 12 is determined (2-5). The second motor rotation direction determination means 62b recognizes that the east side proximity detection sensor 41c is not detected (2-6N) and recognizes that the west side proximity detection sensor 41d is not detected (2-8N). Therefore, it is determined whether the second motor 22 is stopped (2-10).

  Then, based on the determination of the motor rotation direction determining means 62, the command signal sending means 63 sends a stop command signal to the first inverter 65 and sends a stop command signal to the second inverter 66 (1-3). The first inverter 65 keeps the first motor 12 stopped, and the second inverter 66 causes the second motor 22 to decelerate for a certain period of time and stop it after a certain period of time.

Accordingly, when the cord body 30 returns to the vertical position V without being pushed or pulled, the traveling of the second traveling body 21 is stopped, so that the glass plate 70 can be transported to a desired position.
In addition, since the traveling directions of the first and second motors 12 and 22 are determined based on the detection of the two sets of proximity detection sensors 41a, 41b, 41c, and 41d, the motor stop for the detection of the shake of the cord 30 is detected. The responsiveness is also improved, and compensation for the responsiveness of stopping of the first and second motors 12 and 22 can be reliably obtained.

  Furthermore, two sets of proximity detection sensors 41a, 41b, 41c, 41d are provided, and one set of proximity detection sensors (41a, 41b) out of the two sets of proximity detection sensors (41a-41b, 41c-41d). Since the proximity detection sensors (41c, 41d) of the other set are opposed to each other along the longitudinal direction of the first rail 10, the motor rotation direction determination means 62 is opposed to each other along the longitudinal direction of the second rail 20. The configuration becomes easier. That is, if the cable body 30 swings to the north side, the first motor 12 is driven to rotate forward, and if the cable body 30 swings to the south side, the motor rotation direction determination means 62 is programmed to drive the first motor 12 in reverse rotation. If the cable body 30 swings to the east side, the second motor 22 is driven to rotate forward, and if the cable body 30 swings to the west side, the motor rotation direction determination means 62 is configured to drive the second motor 22 in reverse rotation. Just program. Therefore, the configuration of the motor rotation direction determination unit 62 is simplified as compared with the case where the proximity detection sensors 41a, 41b, 41c, and 41d are disposed regardless of the longitudinal directions of the first and second rails 10 and 20. .

  Then, the cable body 30 is wound or unwound by the winch 31 to release the adsorption of the glass plate 70 at a desired height, and the conveyance of the glass plate 70 is finished. At this time, if the winch 31 is rolled up, the ring body 50 follows the cord body 30 and tries to move upward, but this ring body 50 makes contact with the upper plate body 43 as a stopper. Therefore, the wall portion of the ring body 50 is surely positioned between the cable body 30 and the proximity detection sensors 41a, 41b, 41c, and 41d. Therefore, even if the winch 31 is operated, the proximity detection sensors 41a, 41b, 41c, and 41d are hardly affected.

Next, using the flowcharts of FIGS. 4 and 5 and the schematic diagrams shown in FIGS. 8 and 9, the first and second traveling bodies 11 and 21 when the rope body 30 is swung in a direction other than the east side. Traveling will be described.
FIG. 8 shows a case where the cable body 30 swings from the vertical position V to the south side.
When the cord body 30 swings to the south side (FIG. 8 (a)) and the ring body 50 follows this and exceeds the dead width, the proximity detection sensor 41a on the north side detects the ring body 50 (FIG. 8 (b)), The first detection presence / absence recognizing means 61a recognizes the presence of the north proximity detection sensor 41a (1-1). Next, in the motor rotation direction determination means 62 (1-2), the first motor rotation direction determination means 62a recognizes that the north proximity detection sensor 41a is not detected (2-1N), and the south proximity detection sensor. Since 41b is recognized as being detected (2-3Y), it is determined whether the first motor 12 is reversely rotated (2-4). In the second motor rotation direction determination means 62b, the east side proximity detection sensor 41c and the west side proximity detection sensor 41d recognize that there is no detection (2-6N, 2-8N). (2-10).

The command signal sending means 63 sends a reverse command signal to the first inverter 65, sends a stop command signal to the second inverter 66 (1-3), and the first inverter 65 reverses the first motor 12. Driven, the second inverter 66 keeps the second motor 22 stopped. As a result, the first traveling body 11 travels southward. At this time, the first motor 65 is driven to accelerate for a certain time by the first inverter 65 and is driven at a constant speed after a certain time.
Next, when the cord body 30 returns to the vertical position V and the ring body 50 enters the dead zone as in the above, the motor rotation direction determination means 62 is (1-2) in the first motor rotation direction determination means 62a. Recognizes the absence of detection by the proximity detection sensor 41a on the north side and the proximity detection sensor 41b on the south side (2-1N, 2-3N), and determines that the first motor 12 is stopped (2-5). Further, since the second motor rotation direction determination means 62b still recognizes that the east side proximity detection sensor 41c and the west side proximity detection sensor 41d are not detected (2-6N, 2-8N), the second motor 22 is stopped. (2-10). And the 1st motor 22 is stopped similarly to the said 2nd motor 22, and the substantial movement to the south side of the 2nd traveling body 22 stops.

FIG. 9 shows a case where the cable body 30 swings from the vertical position V to the northwest side.
When the cable body 30 swings to the northwest side (FIG. 9A) and the ring body 50 follows this and exceeds the dead width, the proximity detection sensor 41a on the north side and the proximity detection sensor 41d on the west side detect the ring body 50. (FIG. 9 (b)), the first detection presence / absence recognition means 61a recognizes the detection by the proximity detection sensor 41a on the north side, and the second detection presence / absence recognition means 61b recognizes the detection by the proximity detection sensor 41d on the west side ( 1-1). Next, in the motor rotation direction determination means 62 (1-2), the first motor rotation direction determination means 62a recognizes the presence of detection by the proximity detection sensor 41a on the north side (2-1Y), and the proximity detection sensor on the south side. Since 41b is not detected, it is determined whether the first motor 12 is rotating forward (2-2). Further, the second motor rotation direction determining means 62b recognizes that the proximity detection sensor 41c on the east side is not detected (2-6N), and recognizes the detection of the proximity detection sensor 41d on the west side (2-8Y). ), The reverse rotation of the second motor 22 is determined (2-9).

The command signal sending means 63 sends a forward rotation command signal to the first inverter 65, sends a reverse rotation command signal to the second inverter 66 (1-3), and the first inverter 65 turns the first motor 12 off. The second inverter 66 drives the second motor 22 to rotate in the reverse direction. As a result, the first traveling body 11 travels to the north side and the second traveling body 21 travels to the west side, so that the second traveling body 21 moves substantially in the northwest direction.
Next, when the cord body 30 returns to the vertical position V and the ring body 50 enters the dead zone as in the above, the motor rotation direction determination means 62 is (1-2) in the first motor rotation direction determination means 62a. Recognizes the absence of detection by the proximity detection sensor 41a on the north side and the proximity detection sensor 41b on the south side (2-1N, 2-3N), and determines that the first motor 12 is stopped (2-5). The second motor rotation direction determination means 62b recognizes that the east side proximity detection sensor 41c and the west side proximity detection sensor 41d are not detected (2-6N, 2-8N). The stop is judged (2-10). And it stops like the said 1st motor 12 and the 2nd motor 22, and the substantial movement to the northwest side of the 2nd traveling body 22 stops.

  In this way, the forward drive, reverse drive and stop of the first motor 12 and the forward drive and reverse drive of the second motor 22 are used without using a controller or the like that indicates the direction of transporting the glass plate 70 as the transport object. The second traveling body 21 moves substantially in each direction of east, west, south, north, tohoku, southwest, northwest, and southeast by the combination of the stop and the glass plate suspended from the rope body 30. 70 can be transported to a desired position in the plane direction.

It is a perspective view which shows the crane apparatus which concerns on embodiment of this invention. In the crane apparatus which concerns on embodiment of this invention, it is a figure which shows the longitudinal cross-section of (a) a detection part, and (b) the cross section of a detection part, respectively. It is a functional block diagram of the crane apparatus which concerns on embodiment of this invention. It is a flowchart figure of the drive control means of the crane apparatus which concerns on embodiment of this invention. It is a flowchart figure of the motor rotation direction judgment means of the crane apparatus which concerns on embodiment of this invention. It is a figure which shows the effect | action of the crane apparatus which concerns on embodiment of this invention, Comprising: (a) The longitudinal cross-section of a detection part, (b) It is a figure which shows the cross section of a detection part, respectively. In the crane apparatus which concerns on embodiment of this invention, it is a figure which shows the effect | action at the time of a cable body swinging to the east side. In the crane apparatus which concerns on embodiment of this invention, it is a figure which shows the effect | action at the time of a cable body swinging to the south side. In the crane apparatus which concerns on embodiment of this invention, it is a figure which shows the effect | action at the time of a rope swinging to the northwest side. It is a figure which shows an example of the conventional crane apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 1st rail 11 1st traveling body 12 1st motor 13 wheel 20 2nd rail 21 2nd traveling body 22 2nd motor 23 wheel 30 cable body 31 winch 35 suction pad 36 glass plate holding | maintenance apparatus 40 detection part 41a proximity of north side Detection sensor 41b Proximity detection sensor 41c on the south side Proximity detection sensor 41d on the east side Proximity detection sensor on the west side V Vertical position 42 Casing 43 Plate (stopper)
44 Plate body 45 Through hole 46 Side plate 47 Mounting member 48 Holding body 49a One piece 49b The other piece 50 Ring body 60 Drive control means 61 Detection presence / absence recognition means 61a First detection presence / absence recognition means 61b Second detection presence / absence recognition means 62 Motor rotation Direction determination means 62a First motor rotation direction determination means 62b Second motor rotation direction determination means 63 Command signal sending means 63a First command signal sending means 63b Second command signal sending means 65 First inverter 66 Second inverter

Claims (5)

Drive and stop by a pair of first rails provided in parallel at a predetermined height position, a pair of first traveling bodies respectively traveling on the first rails, a forward rotation command signal, a reverse rotation command signal, and a stop command signal A first motor for driving the first traveling body by driving, a second rail suspended between the pair of first traveling bodies, a second traveling body traveling on the second rail, a forward rotation command signal, A second motor that is driven and stopped by a reverse rotation command signal and a stop command signal and that causes the second traveling body to travel by driving, a rope that is suspended by the second traveling body and suspends a conveyed object, and the second traveling A winch provided on the body for winding and unwinding the cable body, a detection unit provided on the second traveling body for detecting the vibration of the cable body, and the transported object in the direction of the swing of the cable body The first and second motors are controlled so as to be conveyed. In the crane apparatus equipped with a driving control means for,
The detection unit is arranged around the cable body and includes three or more proximity detection sensors that detect that the cable body is approaching from a vertical position where the cable body is vertically suspended.
A motor presence / absence recognizing unit for recognizing presence / absence of detection of each proximity detection sensor and a motor rotation direction for determining the rotation direction of the first and second motors based on the recognition of the detection presence / absence recognizing unit. And a command signal sending means for sending a forward rotation command signal, a reverse rotation command signal, or a stop command signal to the corresponding first and second motors based on the judgment of the motor rotation direction judgment means. A crane apparatus characterized by that.   2. The crane apparatus according to claim 1, wherein the detection unit includes a pair of proximity detection sensors facing each other with the rope interposed therebetween, and a plurality of sets of the proximity detection sensors are provided.   Two sets of proximity detection sensors are provided, and one set of proximity detection sensors of the two sets of proximity detection sensors are opposed to each other along the longitudinal direction of the first rail, and the other set of proximity detection sensors 3. The crane apparatus according to claim 2, wherein the cranes are opposed to each other along the longitudinal direction of the second rail.   The detection unit includes a plate body that is supported by the second traveling body and has a through-hole through which the cable body passes, and the plate body that slides through the cable body and follows the vibration of the cable body. A ring body that moves in contact with the ring body, and a holding body that holds each proximity detection sensor so as to be able to detect the ring body on a circumference centering on the cord body that is vertically suspended. The crane apparatus according to claim 1, 2, or 3.   The crane apparatus according to claim 4, wherein a stopper is provided on the upper side of the plate body to stop the ring body that has moved following the cable body wound up by the winch.

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