JP2561192B2 - Suspended load stop control method and device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a suspended load stop control method and apparatus, and more particularly, to a suspension system for automatically suspending a trolley or a crane for transporting a suspended load at a predetermined transport location. The present invention relates to a load stop control method and apparatus.

[0002]

2. Description of the Related Art Generally, when a heavy load is transferred by a trolley or a crane, wire ropes are pulled out from these transfer devices and are carried in a suspended state with a load on a hook at the tip. In such a transport mode, the suspended load has a movement delay with respect to the moving speed of the transport device depending on the length of the suspending wire. Therefore, even if the suspension supporting end of the transport device is stopped at the target position, the suspended load will swing there. Moreover, since the transport device is located at a high place, it is difficult to stop the load accurately above the suspended load stop position, and the suspended load cannot be accurately stopped at the target position.

For this reason, conventionally, the speed of the transfer device is slowed down so that the suspended load is not shaken, and the suspended load is transported to the vicinity of the target position. I was trying to unload the hanging load.

[0004]

In the conventional method as described above, not only the capacity of the transfer device cannot be fully utilized, but
It takes a very long time to accurately lower the suspended load to the stop position, which is disadvantageous in workability. Further, there is a safety problem because it is necessary to make the auxiliary worker stand by at the suspended position of the suspended load.

The object of the present invention is to pay attention to the above-mentioned conventional problems and to stop the suspended load quickly and accurately at the stop target position, and automatically without the auxiliary worker waiting at the stop position. It is an object of the present invention to provide a suspension load stop control method and device capable of transferring a suspension load to a target position.

[0006]

In order to achieve the above object, a method of controlling suspension of a suspended load according to the present invention is such that, when suspending and transporting a load to a target location by means of a transport means, the suspending tool moves to the target location. When they match, a teaching signal is output, and the target stop position of the carrier is calculated from the swing angle and the hanging length of the hanger or load with respect to the carrier at this time, and the current position of the carrier with respect to the target stop position is calculated. While detecting the position by the deflection angle measurement, the deviation is fed back to the drive device of the conveying means to stop the conveying means at the target position.

Further, the suspended load stop control device according to the present invention includes a position teaching means for outputting a teaching signal when a suspending tool or a suspended load passes a target location due to the swing of the transported suspended load, Measuring means provided in the conveying means of the load for detecting the swing angle of the lifting means, and a signal from the position teaching means are inputted, and the stopping target of the conveying means is determined from the swinging angle of the lifting means and the hanging length of the hanging means. The controller is provided with a calculation unit that calculates the deviation to the position and a controller that has a drive control unit that feedback-controls the driving unit of the conveying unit based on the deviation.

[0008]

[Operation] When the operator changes the trolley to a low speed movement or stops it when the trolley that is carrying the load is conveyed near the stop target position, the suspended load moves until then. It sways and moves to the front of the trolley position under the influence of speed. As a result, the suspending tool passes the stop position, so that a trigger signal when the suspending tool passes the target stop position is transmitted by the teaching console or the like. The controller inputs this teaching signal, and at the same time, acquires measurement data such as the trolley position and the swing angle of the lifting device from the trolley side, so that the trolley travels to the target stop position by inputting the teaching signal. Can be calculated. Therefore, the controller can output a control signal to the drive device so that the trolley moves to the calculated traveling distance, perform feedback control, and accurately stop at a predetermined target position. In this feedback control, drive control of the trolley may be performed so as to perform sway stop control so as to converge the sway of the suspended load. By such an action, the trolley is accurately stopped at a predetermined position so as to match the target position without shaking the suspended load. Since the teaching signal can be transmitted at any position, the stop target position can be changed at any time, and the stop position is not restricted.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Specific embodiments of a suspended load stop control method and apparatus according to the present invention will be described in detail below with reference to the drawings.

FIG. 1 is an explanatory diagram of an embodiment. This embodiment is applied to a trolley crane device and is used when the suspended load 10 is conveyed by a traverse trolley 12 and is stopped at a predetermined target position. The traverse trolley 12 is reciprocally movable along an overhead traveling rail 14, and a drive rope 16 connected to the front and rear of the traverse trolley 12 is wound around a drive device 18 such as a drum device so that the traverse trolley 12 travels by the unwinding operation or the winding operation. It has become. A suspending tool 22 is attached to the tip of a suspending rope 20 on such a trolley 12, and the suspending tool 22 is configured to suspend and transport the suspended load 10.

The suspended load 10 carried by the trolley 12
The control device for stopping the carriage at the target stop position S includes a console 24 for teaching that the suspending tool 22 in the middle of conveyance has passed the target stop position S. The console 24 as the position teaching means is provided with a target button 26, and the operator holds it with his / her hand to stop the stop position S
When the suspension 22 passes the stop position S, the target button 26 is manually turned on to output a teaching signal of the stop position S. Further, the console 24 is provided with a manual operation unit 28 for performing normal trolley traveling, which outputs a speed notch signal by an operation lever as shown in FIG. 2 and generates a speed command for inputting this output signal. The drive unit 18 is controlled and driven by the unit 30 so that the trolley 12 travels at a desired speed.

On the other hand, the crane device side is equipped with the motor drive device 18 for laterally driving the trolley 12 as described above, but at the same time, the swing angle θ of the suspending tool 22 with respect to the trolley 12 and the payout length of the hanging rope 20 are provided. A measuring device 32 for measuring the traverse position of the trolley 12, the traverse position, and the traverse speed is mounted. In the embodiment, the measuring means of the deflection angle θ of the suspension 22 is constituted by an image pickup device 34 such as a CCD camera mounted on the trolley 12, and the movement of the suspension 22 is captured as an image, which is described later in a controller. The shake angle is calculated by calculating the image position of the hanger 22 by the image processing means on the side. Further, the length of the hanging rope 20 to be unwound is determined by detecting the rotation of the hoisting drum, and the trolley traverse position and traverse speed may be determined by detecting the rotational amount and rotational speed of the drive drum of the drive device. However, these may be implemented by an appropriate known measuring method.

Trolley 1 in such a crane device
In order to perform the drive control of No. 2, the teaching signal from the target button 26 is input and the measuring device 32
A controller 36 for inputting the measurement data from is provided. As shown in FIG. 2, the controller 36 is provided with an arithmetic unit 38 for inputting a teaching signal from the target button 26 of the console 24 and inputting measurement data from the measuring device 32. Here, traveling to a target stop position is performed. I try to calculate the distance. That is, the teaching trigger signal from the target button 26 is received, the deflection angle θ of the hanging device 22, the hanging rope length l, and the traverse position x at that time are input from the measuring device 32, and the target position L is calculated by the following equation. To do.

[0014]

[Equation 1] L = x + l · tan θ

In this case, the deflection angle θ is determined by the controller 3 by the image processing means 40 for inputting the image pickup data of the suspension 22.
6, the measurement data from the image pickup device 34 is calculated by a known method, and the calculated value is output to the calculation unit 38. Other data is input by bypassing the image processing means 40.

Further, the controller 36 is provided with a feedback control section 42 for inputting an output signal from the arithmetic section 38. Here, the target position L calculated by the calculation unit 38 is set, and at the same time, the steady-state feedback control is performed in which the final target shake angle and angular velocity of the suspension 22 are set to "0". A driver 44 that receives the output of the feedback control unit 42 is mounted, and the driver 18 on the crane device side is controlled and driven via the driver 44. The control operation of the drive unit 18 by the controller 36 is performed in the automatic mode, but in this case, the drive unit 18 is controlled so as not to conflict with the operation by the manual operation unit 28 of the console 24.
An input switching section 46 is provided in the input section to input the teaching signal when the target button 26 is output, and switches the drive path from the manual operation section 28 to the drive path from the controller 36. I have to.

A control operation using the suspension control device for the suspended load 10 having such a configuration will be described with reference to FIGS. FIG. 3 shows a control flowchart. First, the load 10 is hung on the trolley 12 and made to traverse toward the target position, but initially it is made to travel manually (step 100). In this traveling state, the suspended load 10 moves following the traveling of the trolley 12 with a positional delay as shown in FIG. 4 (1). During this traveling, the deflection angle θ, the hanging rope length l, the traverse position x, and the traverse speed v of the hoisting tool 22 are measured by the measuring device 34 mounted on the crane device and sequentially output to the controller 36 (step 11
0).

When the trolley 12 reaches the vicinity of the stop target position S and the manual operation portion 28 is operated to switch to the low speed traveling, the suspended load 10 moves forward from the position of the trolley 12 by the inertial force (see FIG. 2)), the hanging device 2 prior to the trolley 12
2 passes through the stop target position S ((3) in FIG. 4). When the suspending tool 22 has passed the stop target position S, the driver having the console 24 turns on the target button 26 and outputs a stop position teaching signal to the controller 36 (step 120). By inputting this trigger signal, the controller 36 calculates the stop target position L based on the equation 1 (step 130), inputs it to the feedback control unit 42, and sets the final target swing angle and angular velocity of the suspension 22 to "0". The steady rest state "" is input and set as a target value (step 140). This may be stored in the memory in advance and read according to the set input of the target position. Simultaneously with such processing, the controller 36 outputs a switching signal to the input switching unit 46 to switch the operation of the trolley 12 from the manual mode to the automatic mode (step 150).

When the controller 36 shifts to the automatic control mode, the feedback control section 42 of the controller 36 drives the trolley drive device 18 by the driver 44 so that the deviation between the set position L and the traverse position x becomes "0", and at the same time. Combination control is performed so that the suspended load 10 is damped (step 160). That is, the traverse speed at which the suspended load 10 can be positioned at the target stop position S is calculated while damping, and the driver 44 controls the speed of the motor of the drive device 18. A known method may be adopted for the damping control, and basically, the traverse direction and the traverse speed are adjusted by the deflection angle θ of the suspending tool 22 and its angular velocity. By such control drive, the suspended load 10 is moved to the position shown in FIG.
As shown in FIG. 7, the vibration is finally damped to stop at the target position. Therefore, the transmission of the teaching signal by the position teaching console 24 is stopped and the control ends (step 17).
0).

As described above, according to the present embodiment, the operator intervenes in the same manner as in the conventional case, but the operator visually measures the position of the swinging swinging tool, and the suspending tool passes the position where the operator wants to stop. At this point, simply push the target button 26 for position teaching. As a result, the positioning controller 36 can calculate the target stop position from the hanging rope length, the deflection angle, etc., and perform the positioning while automatically damping the vibration, which allows the rapid transportation.

[0021]

As described above, according to the present invention,
The deflection angle measuring means of the suspension is mounted on the transportation means such as a trolley, and while the measurement is performed, the position teaching means outputs that the suspension has passed the target stop position as a teaching signal and moves the transportation means from the deflection angle. Since the positioning is performed by calculating the distance, it is possible to perform the positioning accurately and promptly as compared with the unstable positioning by the high-positioned conveying means, and in particular, the position of the conveying means cannot be directly visually recognized. In this case, there is an effect that it is effective and can efficiently carry the suspended load.

[Brief description of drawings]

FIG. 1 is an explanatory diagram showing an overall configuration of a suspended load stop control device according to an embodiment.

FIG. 2 is a device configuration block diagram of the same device.

FIG. 3 is a flowchart of a suspended load stop control method according to an embodiment.

FIG. 4 is an operation explanatory diagram of stop control.

[Explanation of symbols]

 10 Suspended Load 12 Trolley 14 Overhead Rail 16 Drive Rope 18 Drive Device 20 Suspension Rope 22 Lifting Tool 24 Console 26 Target Button 28 Manual Operation Section 30 Speed Command Generation Section 32 Measuring Device 34 Imaging Device 36 Controller 38 Computing Section 40 Image Processing Means 42 Feedback control unit 44 Driver 46 Input switching unit

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hiroshi Hirasawa 3-1-1 Tam, Tamano-shi, Okayama Mitsui Engineering & Ships Co., Ltd. Tamano Works (72) Inventor Kazumasa Fujiwara 3-chome, Tamano-shi, Okayama No. 1 Mitsui Engineering & Shipbuilding Co., Ltd., Tamano Works (56) Reference JP-A-59-92892 (JP, A)

Claims (2)

(57) [Claims] 1. When suspending and transporting a load to a target location by the transport means, a teaching signal is output when the suspending tool coincides with the target location, and the deflection angle of the suspending tool or suspended load with respect to the transport means at this time. The stop target position of the conveying means is calculated from the hanging length, the current position of the conveying means with respect to this stop target position is detected by measuring the deflection angle, and the deviation is fed back to the drive device of the conveying means to target the conveying means. A method for controlling suspension of a suspended load, which comprises stopping at a position. 2. A position teaching means for outputting a teaching signal when a hoisting tool or a hoisting load passes a target location due to the swinging of the hoisting load being conveyed, and a swing angle of the hanger provided on the means for carrying the hoisting load. And a calculation unit for inputting a signal from the position teaching unit and calculating a deviation from the deflection angle of the hanging device and the hanging length of the hanging device to the stop target position of the conveying device and the deviation. And a controller having a drive control unit for feedback-controlling the drive unit of the conveying means based on the above.