JP2023096654A - Crane device and placing method by automatic operation of crane device - Google Patents

Abstract

To provide a crane device capable of laterally moving a cargo while keeping a gap between the cargo and a floor surface and landing the cargo while being in contact with a side surface of a stop member placed on the floor surface by automatic operation.SOLUTION: In a crane device allowing a coil 34 to land while being in contact with a side surface of a rootstock 33 by automatic operation, a control device 20 has a function of laterally moving a lifter 10 toward the rootstock 33 by lowering the lifter 10 at a position horizontally separated from a target lowering position by a first offset amount in a direction where the coil 34 is not contacted with the side surface of the rootstock 33 and by raising the lifter 10 up to a prescribed height lower than the height of a placement surface 32 of the rootstock 33 when load detection means 13 detects that no load is applied.SELECTED DRAWING: Figure 4

Description

TECHNICAL FIELD The present invention relates to a crane device for transportation and a loading method by automatic operation of the crane device. TECHNICAL FIELD The present invention relates to a crane device that can be placed on a loading platform of a vehicle such as a trailer by automatic operation, and a method of placing the crane device by automatic operation.

Patent Literature 1 discloses a crane automatic control device that conveys a suspended load such as a steel coil placed in a warehouse by a crane and places the load on a loading platform of a vehicle such as a coil transport trailer by automatic operation. . The crane automatic control device shown in Patent Document 1 measures the position of coils of suspended cargo placed in a warehouse and the bed of a vehicle using a wide range sensor such as a three-dimensional laser scanner capable of measuring in the X, Y, and Z directions. Then, automatic operation is performed using an overhead crane for coil transportation, and the coil is automatically transported to the vehicle bed.

When the coil is placed on the cargo bed of the vehicle (landing), a stock is provided on the cargo bed as a stopper to prevent the coil loaded on the cargo bed from slipping forward while the vehicle is running. It is necessary to place the coil in close contact with the rootstock on the back side of the tree. Therefore, in order to land the coil in close contact with the stock, which is the target position, the coil is lowered to the rear side of the stock and then laterally moved so that the coil is brought into close contact with the stock and placed on the loading platform.

Moreover, the coil as a product is covered with a packing material in order to prevent the surface of the coil from being damaged or deformed. Therefore, when the overhead crane is used to laterally move on the vehicle bed, it is necessary to provide a slight gap between the coil and the bed in order to prevent the packing material from tearing.

JP-A-6-323809

For that purpose, it is necessary to accurately measure and control the height direction. On the other hand, wide-range distance sensors such as 3D laser scanners can measure accurately in the X and Y directions, but in the Z direction, which is the height direction, there are rubber materials and lashing materials for coil protection on the vehicle bed. In many cases, it may not be possible to measure as accurately as in the X and Y directions. Moreover, even if the measurement can be performed with high accuracy, the bending of the crane itself, the elongation of the wire, etc., make it impossible to accurately stop the height direction position of the target measurement result. Therefore, since there is an error in the stopping accuracy, when the coil covered with the packing material is laterally moved on the bed of the vehicle by the overhead crane, the coil is moved laterally while being in contact with the bed of the vehicle. There is a problem that the coil itself is torn, or the coil itself is damaged or deformed.

Accordingly, the present invention has been devised in view of the above problem, and the load is laterally moved while providing a gap between the load and the floor, and the load is brought into contact with the side surface of the stopping member placed on the floor. It is an object of the present invention to provide a crane device for automatically landing on a floor in a state and a placement method by automatic operation of the crane device.

One aspect of the present invention is a holding device that holds a load, a vertical movement device that vertically moves the holding device, a lateral movement device that includes the vertical movement device and moves horizontally in the horizontal direction, and a load that lands on the floor. It is connected to a wide range sensor for measuring the position of a fixed member placed on the floor from above the floor, a load detection means for detecting the presence or absence of a load due to a load on the holding device, and a wide range sensor and the load detection means. , a holding device, a vertical movement device, and a control device for controlling the lateral movement device, the control device recognizes the position of the fixed member based on a wide range sensor, and when the load lands on the fixed member, the load moves to the fixed member. Laterally moving the lateral movement device from a target lowered position, which is a horizontal position where the load contacts the side surface, to a first lowered position, which is a position horizontally separated by a first offset amount in a direction in which the load does not contact the side surface of the securing member. Then, the holding device holding the cargo is lowered at the first lowered position, and when the load detection means detects that there is no load, the holding device is raised to a predetermined height lower than the height of the fixed member from the floor surface, and is horizontally moved. This crane device has a function of automatically moving a moving device laterally in the direction of a fixed member and landing a load in contact with the side surface of the fixed member.

Another aspect of the present invention is a holding device for holding a load, a vertical movement device for vertically moving the holding device, a lateral movement device provided with the vertical movement device and horizontally moving horizontally, and a load for landing on a floor. A crane device equipped with a wide range sensor for measuring the position of a fixed member placed on the floor from above the floor and a load detection means for detecting the presence or absence of a load due to the load on the holding device. A loading method by automatic operation of a crane device that lands while contacting a side surface of a fixed member, wherein a horizontal position at which the load lands and contacts the side surface of the fixed member is determined as a target descent position, The lateral movement device is laterally moved from the target lowered position to the first lowered position, which is a position horizontally separated by the first offset amount in the direction in which the load does not come into contact with the side surface of the fixed member. After laterally moving the moving device, the holding device holding the cargo is lowered at the first lowered position, and when the load detection means detects that there is no load, the holding device is lowered to a predetermined height lower than the height of the fixed member from the floor surface. After raising the holding device to a predetermined height, the lateral movement device is laterally moved toward the fixing member, the holding device is lowered, and the load is in contact with the side surface of the fixing member. It is a placement method by automatic operation of a crane device to be landed.

According to one aspect of the present invention, automatic operation moves the cargo laterally while providing a gap between the cargo and the floor surface, and lands the cargo on the floor in contact with the side surface of the stop member placed on the floor surface. It is possible to provide a crane device and a loading method by automatic operation of the crane device.

1 is a schematic configuration diagram of a crane device according to an embodiment of the present invention; FIG. It is a schematic diagram of the load detection means which concerns on embodiment of this invention. 1 is a schematic diagram showing a vehicle on which a coil according to an embodiment of the invention is mounted; FIG. It is explanatory drawing which shows embodiment in case the crane apparatus which concerns on embodiment of this invention makes a coil land. FIG. 4 is an explanatory diagram showing an embodiment in which the crane device according to the embodiment of the present invention places the coil in close contact with the rootstock to land on the floor. It is explanatory drawing which shows other embodiment in case the crane apparatus which concerns on embodiment of this invention makes a coil land.

The following detailed description describes embodiments of the invention with reference to the drawings. In the description of the drawings, the same or similar parts are denoted by the same or similar reference numerals, and overlapping descriptions are omitted. Each drawing is schematic and may differ from the actual one. In addition, the embodiments shown below are examples of apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is based on the material, structure, arrangement, etc. of component parts. It is not specific to the following. Various modifications can be made to the technical idea of the present invention within the technical scope defined by the claims.

The crane device according to the present embodiment includes a holding device for holding a load, a vertical movement device for vertically moving the holding device, a lateral movement device provided with the vertical movement device and horizontally moving horizontally, and a load for landing on the floor. A wide-range distance sensor for measuring the position of a fixed member placed on the floor from above the floor, a load detection means for detecting the presence or absence of a load due to the load on the holding device, and a wide-range distance sensor and the load detection means. and a control device for controlling the holding device, the vertical movement device and the lateral movement device, the control device recognizing the position of the fixed member based on a wide range sensor, and when the load lands on the fixed member From the target lowered position, which is the horizontal position where the load contacts the side of the fixed member, to the first lowered position, which is the position horizontally separated by the first offset amount in the direction where the load does not contact the side of the fixed member. When the load detecting means detects that there is no load, the holding device is raised to a predetermined height lower than the height of the fixed member from the floor surface, This crane device has a function of automatically moving a laterally moving device in the direction of a fixed member and landing a load in contact with the side surface of the fixed member. Details of the crane apparatus according to the present embodiment will be described below with reference to FIGS. 1 and 2. FIG.

FIG. 1 is a schematic configuration diagram of a crane device 1 according to an embodiment. For example, the crane device 1 shown in FIG. 1 is used when transporting a coil 34 having a center hole 36 as a load, which is an object to be transferred, placed in a predetermined storage place in a warehouse (not shown) to another storage place. used for This crane device 1 is composed of an overhead crane, and has a garter 3 running on two running rails 2 installed on two pillars 15 provided on the floor of a warehouse, and a garter 3 installed on the garter 3. A club 5 that traverses on a traversing rail 16 that is mounted, a hoisting device 7 installed on the club 5, and a lifter 10 that is suspended from the hoisting device 7 by a wire 8 and grips a load. A running rail 2, a garter 3, and a traversing rail 16 move the club 5 horizontally. The hoisting device 7 also vertically moves the lifter 10 . The lifter 10 is a holding device that holds a coil 34 as a load.

The garter 3 includes running wheels 4 that run on the running rails 2 and a running motor (not shown) that drives the running wheels 4 . The club 5 also includes traversing wheels 6 that traverse on the traversing rails 16 of the garters 3 and a traversing motor (not shown) that drives the traversing wheels 6 . The hoisting device 7 is composed of a winch driven by a drive motor, and hoists and lowers a lifter 10 that is suspended by a wire 8 and holds a load. The hoisting device 7 is provided with an encoder 9 as a lowering amount detection sensor that detects the lowering amount of the lifter 10 by detecting the rotation angle of the rotating shaft of the winch. As the wire 8 is hoisted by the hoisting device 7 , the lifter 10 moves vertically in the vertical direction. Since the lifter 10 moves laterally when the club 5 on which the hoisting device 7 is installed and the garter 3 on which the club 5 is installed laterally move, the club 5 and the garter 3 serve as lateral movement devices for the lifter 10. . The running rail 2, the garter 3, the traversing rail 16, the club 5, and the hoisting device 7 are moving devices that move the lifter 10 as a holding device horizontally and vertically.

Four wide-range distance sensors 14 are arranged at predetermined intervals below the garter 3 . The wide range sensor 14 is a sensor capable of measuring a wide three-dimensional range. Therefore, the wide-range distance sensor 14 can detect the position of a base 33 (to be described later), which is the target of the position where the coil 34 held by the lifter 10 is to land, and the preceding coil already placed on the mounting surface 32 shown in FIG. The position of 35 is measured from above the mounting surface 32 . In this embodiment, by arranging the wide-range distance sensors 14 at four locations, it is possible to measure a wide range of distances that cannot be covered by one location.

The lifter 10 has a pair of left and right arms 11L and 11R which are movably opposed to each other. The left arm 11L and the right arm 11R are provided with chuck mechanisms 17R and 17L having claws 12L and 12R that are inserted into the center hole 36 of the coil 34 and support the coil 34, respectively. The chuck mechanisms 17R and 17L have actuators (not shown) to move the claws 12L and 12R in and out. The chuck mechanisms 17R and 17L are provided with load detection means 13L and 13R for detecting the load of the coil 34, respectively.

The crane device 1 also includes a control device 20 connected to a host computer (not shown), the load detection means 13 and the wide range sensor 14 to control the holding device and the moving device. That is, the control device 20 controls driving of the traveling motor that drives the traveling wheel 4 of the garter 3 and the traversing motor that drives the traversing wheel 6 of the club 5 , and also controls the hoisting device 7 and the chuck mechanism 17 . The host computer has information such as the width, outer diameter, inner diameter, and weight of the coil 34 as product information of the coil 34, and sends the product information of the coil 34 to the controller 20 as necessary.

Next, the load detection means 13 of this embodiment will be described with reference to FIG. 2(a). Of the left and right load detection means 13R and 13L, only the right load detection means 13R is shown in FIG. 2(a), and the letter "R" is omitted. Similarly, the letter R is omitted in the other configurations shown in FIG. 2(a). The omitted left load detection means 13L is the same as the right load detection means 13R. The same applies to FIGS. 2(b) and 2(c).

The load detection means 13 detects the presence or absence of a load due to the coil 34 applied to the lifter 10 . The load detection means 13 has a detection pin 40 and a limit switch 41 . The detection pin 40 is arranged on the locking surface 18 of the pawl 12 that locks onto the inner peripheral surface of the center hole 36 of the coil 34 . The detection pin 40 is provided so as to be retractable with respect to the locking surface 18. When the claw 12 does not lock the coil 34, the tip of the detection pin 40 protrudes from the locking surface 18, and the claw 12 locks the coil 34. The tip does not protrude from the locking surface 18 and is buried in the claw 12. - 特許庁The limit switch 41 detects whether the detection pin 40 appears or disappears. The detection pin 40 and the limit switch 41 directly detect that the locking surface 18 of the claw 12 is locked to the inner peripheral surface of the center hole 36 of the coil 34 (hereinafter referred to as the inner peripheral surface of the coil 34). . When the lifter 10 grips the coil 34 and the locking surfaces 18 of the left and right claws 12R and 12L lock the inner peripheral surface of the coil 34, the control device 20 receives a signal from the limit switch 41 to stop the load from the coil 34. judge there is. When the lifter 10 descends, the coil 34 lands on the mounting surface 32, and the engaging surfaces 18 of the left and right claws 12R and 12L are separated from the inner peripheral surface of the coil 34, the control device 20 starts the limit switch 41. , it is determined that the coil 34 is not loaded.

FIGS. 2(b) and 2(c) show the load detection means 13 of another embodiment. As shown in FIG. 2(b), the load detection means 13 has a proximity switch 42. As shown in FIG. The proximity switch 42 is arranged inside the pawl 12 and on the locking surface 18 side. The proximity switch 42 directly detects that the inner peripheral surface of the coil 34 is locked to the locking surface 18 .

The load detection means 13 of FIG. 2(c) comprises a detection pin 40 and a proximity switch 42. As shown in FIG. The arm 11 has a support surface 19 that supports a claw portion lower surface 21 that is the lower surface of the claw 12 when the claw 12 protrudes from the arm 11 . The detection pin 40 is arranged on the lower surface 21 of the claw portion. The detection pin 40 is provided so as to be retractable with respect to the pawl lower surface 21 , and when the pawl 12 does not engage the coil 34 , the tip protrudes from the pawl lower surface 21 , and the claw 12 engages the coil 34 . The tip is buried in the claw 12 without protruding from the lower surface 21 of the claw portion. A proximity switch 42 is arranged inside the pawl 12 to detect whether the detection pin 40 appears or disappears. The detection pin 40 and the proximity switch 42 indirectly detect that the inner peripheral surface of the coil 34 is locked to the locking surface 18 .

Next, the floor surface on which the coil 34 according to the present embodiment is to be placed will be described with reference to FIG. The floor surface of this embodiment is the mounting surface 32 of the loading platform 31 of the vehicle 30 . As shown in FIG. 3A, a base 33 is placed on the mounting surface 32 of the vehicle 30 as a fixing member for fixing the coil 34 so that it does not move when the vehicle 30 is driven. A is the vertical height of the base 33 from the mounting surface 32 . In this embodiment, the vertical height of the base 33 from the mounting surface 32 is 200 mm. The vehicle 30 is a vehicle in which the loading platform 31 sinks according to the weight of the coil 34 that has landed when the coil 34 lands. In this embodiment, the maximum sinking amount B is 40 mm.

Next, with reference to FIG. 4, the case where the crane apparatus according to the present embodiment uses automatic operation to land the coil 34 on the floor will be described. The feature of the embodiment is that the coil 34 is automatically placed on the floor in contact with the side surface of the base 33, which is a fixed member, so that the lifter 10 of the crane device 1 is placed on the floor. The control until a certain coil 34 is held and moved to the vicinity of the target position where the coil 34 lands is omitted because it is handled by a known automatic operation technology, and the lifter 10 holds the coil 34 and moves to the target position. will be described from the state of moving to the vicinity of .

The control device 20 recognizes the position information of the rootstock 33 placed on the mounting surface 32 of the loading platform 31 of the vehicle 30 based on the information from the wide range sensor 14 . In addition, the control device 20 acquires the width, outer diameter, and inner diameter as product information of the coil 34 possessed by a host computer (not shown), and based on the position information of the rootstock 33 and the product information of the coil 34, the target of lowering the coil 34. Determine the descent position. The target descent position is the position in the horizontal direction at which the coil 34 comes into contact with the side surface of the rootstock 33 when it lands. Next, the control device 20 determines a first descent position, which is a position horizontally away from the target descent position by a first offset amount L1 in a direction in which the side surface of the rootstock 33 and the coil 34 do not come into contact with each other.

Although the garter 3 and the club 5 are not shown in FIG. 4, the lifter 10 moves laterally as the garter 3 or the club 5 moves. Also, the lifter 10 is vertically moved by the hoisting device 7 installed on the club 5 . In the following, for the sake of convenience, the movement by the club 5 will be described as lateral movement. As shown in FIG. 4(a), by moving the club 5, the lifter 10 is laterally moved to the first lowered position, and after being laterally moved to the first lowered position, the lateral movement is stopped, and the hoisting device is moved. 7, the lifter 10 is vertically lowered (longitudinal movement). When the lifter 10 descends in the vertical direction, the lower end of the coil 34 eventually comes into contact with the mounting surface 32 . Since the vehicle 30 is a vehicle in which the loading platform 31 sinks according to the weight of the coil 34 that has landed when the coil 34 has landed, the coil 34 is mounted on the mounting surface 32 as shown in FIG. When it starts to sink, the mounting surface 32 sinks, and when the amount of sinking reaches B, the sinking of the mounting surface 32 stops. When the mounting surface 32 stops sinking, the load due to the total weight of the coil 34 is applied to the mounting surface 32. Therefore, the load detecting means 13 of the lifter 10 holding the coil 34 detects that there is no load due to the coil 34. detect. When the load detection means 13 detects that there is no load from the coil 34, the control device 20 causes the hoisting device 7 to lift the lifter 10 vertically (longitudinal movement), as shown in FIG. 4(c).

The amount of movement Y when the lifter 10 is vertically moved is B<Y<A. In this embodiment, the movement amount Y is 100 mm. Since the movement amount Y is larger than the maximum sinking amount B (=40 mm) of the loading platform 31, when the lifter 10 is vertically moved by the movement amount Y, the clearance between the lower end of the coil 34 and the mounting surface 32 is 60 mm. (=100mm-40mm) can be secured. In addition, since the vertical height of the base 33 from the mounting surface 32 is smaller than A (=200 mm), the movement amount Y is smaller than A (=200 mm). When the club 5 is laterally moved in the direction of , the coil 34 can reliably contact the side surface of the base 33 . That is, the movement amount Y for vertically raising the lifter 10 is larger than the maximum sinking amount B, and when the coil 34 is laterally moved toward the stock 33 by the lateral movement of the club 5, the coil 34 does not fall on the stock 33. It is sufficient if the height is such that it can contact the side surface. The vertical height A of the base 33 from the mounting surface 32 and the maximum sinking amount B of the loading platform 31 are stored in advance in a storage device (not shown) of the control device 20 or a host computer (not shown). ing. Further, a plurality of heights A of the base 33 from the mounting surface 32 in the vertical direction and B of the maximum sinking amount of the loading platform 31 may be stored so that they can be selected.

The coil is usually covered with a packing material to prevent the surface of the coil from being damaged or deformed. , is larger than the maximum sinking amount B of the loading platform 31, a clearance can be secured between the lower end of the coil 34 and the mounting surface 32. As shown in FIG. Therefore, even when the lifter 10 laterally moves on the mounting surface 32 of the vehicle 30 while holding the coil, it is possible to prevent the packing material from tearing.

After vertically moving the lifter 10 by the moving amount Y, as shown in FIG. After the lateral movement, the lifter 10 is stopped, and the lifter 10 is vertically lowered (longitudinal movement) as shown in FIG. 4(e). When the lifter 10 descends in the vertical direction, the lower end of the coil 34 eventually comes into contact with the mounting surface 32 . Since the vehicle 30 is a vehicle in which the cargo bed 31 sinks according to the weight of the coil 34 that has landed when the coil 34 lands, the mounting surface 32 sinks when the coil 34 starts to be mounted on the mounting surface 32 . , when the amount of sinking reaches B, the sinking of the mounting surface 32 stops. When the mounting surface 32 stops sinking, the load due to the total weight of the coil 34 is applied to the mounting surface 32. Therefore, the load detecting means 13 of the lifter 10 holding the coil 34 detects that there is no load due to the coil 34. detect. When the load detection means 13 detects that there is no load from the coil 34, the club 5 laterally moves in the returning direction by a second offset amount L2, which will be described later. When the club 5 laterally moves in the returning direction by the second offset amount L2, the lifter 10 reaches the target lowering position as shown in FIG. 4(f). When the lifter 10 reaches the target lowered position, the hook 12 is released from the coil 34 and lifted vertically (longitudinal movement). Details of the movements in FIGS. 4(d) to 4(f) will be described with reference to FIG.

FIG. 5 is an explanatory view showing the case of lateral movement from the first lowered position in the horizontal direction toward the rootstock 33 shown in FIG. 4(c). After the lifter 10 moves (rises) vertically from the first lowered position by the movement amount Y, it stops, and the club 5 moves toward the base 33 by the amount L1+L2 obtained by adding the second offset amount L2 to the first offset amount L1. move laterally. This L1+L2 is the actual amount of lateral movement of the club 5 . The target descent position is a position in the horizontal direction at which the coil 34 contacts the side surface of the base 33 when it lands on the floor, and the first descent position is a position horizontally away from the target descent position by a first offset amount L1. Therefore, when the club 5 moves in the direction of the rootstock 33 by the actual movement amount L1+L2, the distance from the first lowered position to the target lowered position is the first offset amount L1, so the coil 34 is reliably moved to the base. contact the side of the tree 33; The horizontal position where the club 5 has moved toward the rootstock 33 by the actual movement amount L1+L2 is the second lowered position. The second offset amount L2 is stored in advance in a storage device (not shown) of the controller 20 or a host computer (not shown).

The club 5 moves toward the rootstock 33 by the actual amount of movement L1+L2, reaches the second lowered position, and then stops, and the lifter 10 descends vertically. When the lifter 10 descends in the vertical direction, the lower end of the coil 34 eventually comes into contact with the mounting surface 32 . Since the vehicle 30 is a vehicle in which the cargo bed 31 sinks according to the weight of the coil 34 that has landed when the coil 34 lands, the mounting surface 32 sinks when the coil 34 starts to be mounted on the mounting surface 32 . , when the amount of sinking reaches B, the sinking of the mounting surface 32 stops. When the mounting surface 32 stops sinking, the load due to the total weight of the coil 34 is applied to the mounting surface 32. Therefore, the load detecting means 13 of the lifter 10 holding the coil 34 detects that there is no load due to the coil 34. detect. In this state, the horizontal positions of the club 5 and the lifter 10 are shifted by the second offset amount L2. Therefore, if the lifter 10 is raised in this state, the arm 11 of the lifter 10 may come into contact with the side surface of the coil 34 and damage or break the coil 34 . Therefore, when the load detection means 13 detects that there is no load from the coil 34, the club 5 laterally moves in the returning direction by the second offset amount L2. When the club 5 laterally moves in the returning direction by the second offset amount L2, the club 5 reaches the target descent position. When the club 5 reaches the target descent position, the horizontal positions of the club 5 and the lifter 10 become the same. When the club 5 reaches the target lowered position, the control device 20 releases the hook 12 from the coil 34 and raises the lifter 10 vertically (longitudinal movement), as shown in FIG. 4(f).

In the present embodiment, after the club 5 moves toward the stock 33 by the actual movement amount L1+L2, the lifter 10 descends, so that the coil 34 reliably contacts the side surface of the stock 33 . Further, after the club 5 moves toward the rootstock 33 by the actual movement amount L1+L2, the lifter 10 is lowered, and then the club 5 is laterally moved in the returning direction by the second offset amount L2, whereby the club 5 is lowered to the target descent. reach the position. After the club 5 reaches the target lowered position, the pawl 12 is unlocked from the coil 34 and the lifter 10 is raised vertically. After the club 5 reaches the target lowering position, the lifter 10 is lifted vertically (longitudinal movement) to prevent the arm 11 from contacting the coil 34 and damaging or damaging the coil 34 .

In the above-described embodiment, the base 33 is used as the fixing member. The case will be described with reference to FIG.

The maximum sinking amount B, target descent position, first offset amount L1, second offset amount L2, first descent position, and second descent position in the second embodiment are the same as in the first embodiment. The vertical height A from the mounting surface 32 in the second embodiment indicates the vertical height of the leading coil 35 from the mounting surface 32 instead of the rootstock, and A=1000 mm in the second embodiment. is.

Based on the information from the wide range sensor 14 , the control device 20 recognizes the position information of the preceding coil 35 placed on the mounting surface 32 of the loading platform 31 of the vehicle 30 . In addition, the control device 20 acquires the outer diameter and inner diameter of the coil 34 as product information held by a host computer (not shown), and determines the target descent position of the coil 34 based on the position information of the preceding coil 35 and the product information of the coil 34. stipulate. The target drop position is the position in the horizontal direction at which coil 34 contacts the side surface of leading coil 35 when it lands. Next, the control device 20 determines a first lowered position, which is a position horizontally away from the target lowered position by a first offset amount L1 in a direction in which the side surface of the preceding coil 35 and the coil 34 do not come into contact with each other.

Although the garter 3 and the club 5 are not shown in FIG. 6, the lifter 10 moves laterally as the garter 3 or the club 5 moves. Also, the lifter 10 is vertically moved by the hoisting device 7 installed on the club 5 . In the following, for the sake of convenience, the movement by the club 5 will be described as lateral movement. As shown in FIG. 6(a), by moving the club 5, the lifter 10 is laterally moved to the first lowered position, and after being laterally moved to the first lowered position, the lateral movement is stopped, and the hoisting device is moved. 7, the lifter 10 is vertically lowered (longitudinal movement). When the lifter 10 descends in the vertical direction, the lower end of the coil 34 eventually comes into contact with the mounting surface 32 . Since the vehicle 30 is a vehicle in which the loading platform 31 sinks according to the weight of the coil 34 that has landed when the coil 34 has landed, the coil 34 is mounted on the mounting surface 32 as shown in FIG. When it starts to sink, the mounting surface 32 sinks, and when the amount of sinking reaches B, the sinking of the mounting surface 32 stops. When the mounting surface 32 stops sinking, the load due to the total weight of the coil 34 is applied to the mounting surface 32. Therefore, the load detecting means 13 of the lifter 10 holding the coil 34 detects that there is no load due to the coil 34. detect. When the load detection means 13 detects that there is no load from the coil 34, the control device 20 causes the hoisting device 7 to vertically move the lifter 10 upward (longitudinal movement), as shown in FIG. 6(c).

The amount of movement Y when the lifter 10 is vertically moved is B<Y<A. In this embodiment, the movement amount Y is 100 mm. Since the movement amount Y is larger than the maximum sinking amount B (=40 mm) of the loading platform 31, when the lifter 10 is vertically moved by the movement amount Y, the clearance between the lower end of the coil 34 and the mounting surface 32 is 60 mm. (=100mm-40mm) can be secured. In addition, since the vertical height of the leading coil 35 from the mounting surface 32 is smaller than A (=1000 mm), the moving amount Y is smaller than A (=1000 mm). When the club 5 is laterally moved in the direction of , the coil 34 can reliably contact the side surface of the preceding coil 35 . That is, the amount of movement Y for vertically raising the lifter 10 is larger than the maximum amount of sinking B, and when the club 5 laterally moves the coil 34 toward the preceding coil 35 , the coil 34 is pushed up by the preceding coil 35 . It is sufficient if the height is such that it can contact the side surface. The vertical height A of the preceding coil 35 from the mounting surface 32 and the maximum sinking amount B of the loading platform 31 are stored in advance in a storage device (not shown) of the control device 20 or a host computer (not shown). ing. Further, a plurality of the vertical height A of the preceding coil 35 from the mounting surface 32 and the maximum sinking amount B of the loading platform 31 may be stored so that they can be selected.

The coil is usually covered with a packing material to prevent the surface of the coil from being damaged or deformed. , is larger than the maximum sinking amount B of the loading platform 31, a clearance can be secured between the lower end of the coil 34 and the mounting surface 32. As shown in FIG. Therefore, even when the lifter 10 laterally moves on the mounting surface 32 of the vehicle 30 while holding the coil, it is possible to prevent the packing material from tearing.

6(d), after the lifter 10 has vertically moved (raised) from the first lowered position by the amount of movement Y, the lift is stopped, and the club 5 moves in the direction of the preceding coil 35 to the first offset amount L1. It shows the case of lateral movement by L1+L2, which is obtained by adding 2 offset amounts L2. Similar to the case shown in FIG. 5, this L1+L2 is the actual amount of lateral movement of the club 5 . The target descent position is a position in the horizontal direction at which the coil 34 contacts the side surface of the preceding coil 35 when it lands, and the first descent position is a position horizontally separated from the target descent position by a first offset amount L1. Therefore, when the club 5 moves in the direction of the leading coil 35 by the actual movement amount L1+L2, the distance from the first lowered position to the target lowered position is the first offset amount L1, so the coil 34 surely leads. It contacts the sides of the coil 35 . The horizontal position where the club 5 has moved toward the leading coil 35 by the actual movement amount L1+L2 is the second lowered position. The second offset amount L2 is stored in advance in a storage device (not shown) of the controller 20 or a host computer (not shown).

The club 5 moves in the direction of the leading coil 35 by the actual movement amount L1+L2, reaches the second lowered position, and then stops, and the lifter 10 descends vertically. Here, fine adjustment is made as shown in FIG. 6(f). When the lifter 10 descends in the vertical direction, the lower end of the coil 34 eventually comes into contact with the mounting surface 32 . Since the vehicle 30 is a vehicle in which the cargo bed 31 sinks according to the weight of the coil 34 that has landed when the coil 34 lands, the mounting surface 32 sinks when the coil 34 starts to be mounted on the mounting surface 32 . , when the amount of sinking reaches B, the sinking of the mounting surface 32 stops. When the mounting surface 32 stops sinking, the load due to the total weight of the coil 34 is applied to the mounting surface 32. Therefore, the load detecting means 13 of the lifter 10 holding the coil 34 detects that there is no load due to the coil 34. detect. In this state, the horizontal positions of the club 5 and the lifter 10 are shifted by the second offset amount L2. Therefore, if the lifter 10 is raised in this state, the arm 11 of the lifter 10 may come into contact with the side surface of the coil 34 and damage or break the coil 34 . Therefore, when the load detection means 13 detects that there is no load from the coil 34, the club 5 laterally moves in the returning direction by the second offset amount L2. When the club 5 laterally moves in the returning direction by the second offset amount L2, the club 5 reaches the target descent position. When the club 5 reaches the target descent position, the horizontal positions of the club 5 and the lifter 10 become the same. When the club 5 reaches the target lowered position, the controller 20 releases the hook 12 from the coil 34 and lifts the lifter 10 vertically (longitudinal movement), as shown in FIG. 6(g).

In the above-described embodiment, as the floor surface on which the coil 34 lands, the mounting surface of the vehicle in which the mounting surface 32 sinks according to the weight of the coil 34 on which the coil 34 has landed is used. The mounting surface 32 is not limited to this, and may be a floor surface of a factory or warehouse where the mounting surface 32 does not sink. The lifter 10 holding the coil 34 is lowered at the first lowering position, and when the load detecting means 13 detects that there is no load from the coil 34, the lifter 10 is raised to a predetermined height and the coil 34 is lowered to the base 33. Alternatively, the predetermined height when laterally moving toward the leading coil 35 is such that when the coil 34 is laterally moved toward the base 33 or the leading coil 35, the coil 34 is positioned at the side of the base 33 or the leading coil 35. Any height that allows contact, that is, a height lower than the height from the mounting surface 32 of the base 33 or the preceding coil 35 may be used.

The load detection means 13 in the above-described embodiment is provided on the arm 11 and detects the presence or absence of a load based on the operating state of the claw 12, but is not limited to this. It may be one that detects the presence or absence of a load.

In the above-described embodiment, the lifter 10, which is a holding device, includes a pair of arms 11 and a chuck mechanism 17 having claws 12 provided facing the lower ends of the pair of arms 11 and extending in and out of the coil holes. The lateral movement device is a garter 3 that travels along the running rail 2, and the club 5 that traverses the traverse rail 16 installed on the garter 3, and the vertical movement device is installed on the club 5 and a wire Although the hoisting device 7 winds up the holding device by 8, it is not necessarily limited to this. For example, as a lateral movement device and a vertical movement device, a boom that is attached to a swivel base that can be horizontally swiveled so that it can be raised and lowered and can be telescopically operated, and a wire that can be hoisted up and down at the tip of the boom. It may be a boom type crane having a winch for hoisting and lowering the wire of the suspended hook, and having the hook as a holding device.

Although the foregoing has been described with reference to a limited number of embodiments, the scope of rights is not limited thereto, and modifications of the embodiments based on the above disclosure will be obvious to those skilled in the art.

DESCRIPTION OF SYMBOLS 1... Crane apparatus, 2... Traveling rail, 3... Garter, 4... Traveling wheel, 5... Club, 6... Traversing wheel, 7... Hoisting device, 9... Encoder, 10... Lifter, 11... Arm, 12... Claw, DESCRIPTION OF SYMBOLS 13... Load detection means 14... Wide range distance sensor 15... Column 16... Traversing rail 17... Chuck mechanism 18... Locking surface 19... Support surface 20... Control device 21... Lower surface of claw portion 30... Vehicle 31 Cargo platform 32 Mounting surface 33 Base 34 Coil 35 Preceding coil 36 Center hole 40 Detection pin 41 Limit switch 42 Proximity switch

Claims (12)

A holding device for holding a load, a vertical movement device for vertically moving the holding device, a lateral movement device equipped with the vertical movement device for horizontal lateral movement, and a floor surface on which the load is placed. A wide-range distance sensor for measuring the position of the secured fixing member from above the floor surface; a load detection means for detecting the presence or absence of a load due to the baggage hanging on the holding device; and a connection to the wide-range distance sensor and the load detection means. and a control device that controls the holding device, the vertical movement device and the lateral movement device,
The control device is
recognizing the position of the fixed member based on the wide range sensor;
Horizontally by a first offset amount in a direction where the load does not contact the side surface of the fixed member from a target descent position, which is a horizontal position where the load contacts the side surface of the fixed member when the load lands on the floor. laterally moving the lateral movement device to a first lowered position, which is a remote position;
lowering the holding device holding the load at the first lowering position;
When the load detection means detects that there is no load, the holding device is raised to a predetermined height lower than the height of the fixed member from the floor surface, and the lateral movement device is directed toward the fixed member. A crane device characterized by having a function of automatically moving the load laterally and landing the load in contact with the side surface of the fixed member. 2. The crane apparatus according to claim 1, wherein the fixed member is a stock placed on the floor or a preceding cargo already placed on the floor. The floor surface on which the cargo is to land is a loading surface of a loading platform of a vehicle. is a vehicle that sinks,
The amount of elevation when the holding device is raised to the predetermined height is larger than the amount of sinking according to the weight of the load that has landed on the mounting surface when the load has landed on the mounting surface. The crane device according to claim 1 or 2, wherein 4. The crane according to claim 3, wherein the load detection means detects that there is no load due to the load when the load lands on the mounting surface and the vehicle stops sinking. Device. After raising the holding device to the predetermined height, the control device directs the lateral movement device in the direction of the fixed member and laterally moves by an actual movement amount larger than the first offset amount. to bring the load into contact with the side surface of the fixing member,
5. A crane apparatus according to any one of claims 1 to 4, characterized in that it has a function of automatically landing the load in contact with the side surface of the fixing member. The control device causes the lateral movement device to laterally move in a returning direction by an amount obtained by subtracting the first offset amount from the actual movement amount after landing the load in contact with the side surface of the fixing member. 6. The crane apparatus according to claim 5, further comprising a function of releasing the holding of the load by the holding device by moving the holding device and raising the holding device. said load is a coil with a hole in the center,
The holding device has a pair of arms, and a chuck mechanism provided with claws facing the lower end sides of the pair of arms and entering and exiting the holes of the coil,
The lateral movement device has a garter that travels along a running rail, and a club that traverses the traversing rail installed on the garter,
the longitudinal movement device includes a hoisting device installed on the club for hoisting the holding device with a wire;
A crane apparatus according to any one of claims 1 to 6, wherein a plurality of said wide-range distance sensors are installed on said garter, and said load detecting means is arranged on said chuck mechanism. A holding device for holding a load, a vertical movement device for vertically moving the holding device, a lateral movement device equipped with the vertical movement device for horizontal lateral movement, and a floor surface on which the load is placed. A crane device equipped with a wide-range distance sensor for measuring the position of the suspended fixed member from above the floor surface, and load detection means for detecting the presence or absence of a load due to the load applied to the holding device. A mounting method by automatic operation of a crane device that lands while in contact with the side surface of a fixed member,
determining a horizontal position at which the cargo touches the side surface of the fixed member when the cargo lands on the floor as a target descent position;
laterally moving the lateral movement device from the target lowered position to a first lowered position horizontally separated by a first offset amount in a direction in which the load does not come into contact with the side surface of the fixed member;
after laterally moving the lateral movement device to the first lowered position, lowering the holding device holding the load at the first lowered position;
When the load detection means detects that there is no load, the holding device is raised to a predetermined height lower than the height of the fixing member from the floor surface,
After the holding device is lifted to the predetermined height, the lateral movement device is laterally moved toward the fixed member to lower the holding device and bring the cargo into contact with the side surface of the fixed member. A placement method by automatic operation of a crane device, characterized in that the crane device is landed on the floor. The floor surface on which the cargo is to land is a loading surface of a loading platform of a vehicle. is a vehicle that sinks,
The amount of elevation when the holding device is raised to a predetermined height is larger than the amount of sinking according to the weight of the load that has landed on the mounting surface when the load has landed on the mounting surface. The placing method by automatic operation of the crane device according to claim 8. 10. The crane according to claim 9, wherein when the load lands on the mounting surface and the vehicle stops sinking, the load detecting means detects that there is no load due to the load. Placement method by automatic operation of the device. After the holding device is raised to the predetermined height, the lateral movement device is laterally moved from the first lowered position in the horizontal direction by an actual movement amount larger than the first offset amount to move the load. is brought into contact with the side surface of the fixing member,
After laterally moving the lateral movement device by the actual movement amount to bring the load into contact with the side surface of the fixing member, the holding device is lowered to allow the load to land on the floor surface. A mounting method by automatic operation of the crane device according to any one of claims 8 to 10. After the load is landed on the floor in contact with the side surface of the fixing member, the lateral movement device is laterally moved in the returning direction by an amount obtained by subtracting the first offset amount from the actual movement amount, thereby causing the load to land on the floor. 12. The method of placing by automatic operation of the crane device according to claim 11, wherein the holding of the crane device is released and the holding device is lifted.

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