JP2831190B2 - Load stacking control 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 stacking control device for a cargo handling machine for stacking loads such as containers.

[0002]

2. Description of the Related Art Taking a container cargo handling as an example, a horizontal displacement between a load already placed and a load to be piled up at the time of stacking of a conventional load can be visually inspected by a driver from a driver's seat of a cargo handling machine or on the ground. It has been carried out by visual cueing of workers on board.

[0003]

When automating cargo handling operations of containers and the like, particularly in a cargo handling machine such as a tire traveling type transport crane, the upper and lower containers are liable to be horizontally displaced when stacking the containers. If the container is shifted with respect to the lower container, there arises a problem that a container to be placed adjacent to the container cannot be unloaded, or the containers accumulated due to the shift and the stacked containers fall down.

[0004] In addition, there is also a problem that it is difficult to handle the automatic operation of the transport crane if the container is displaced when picking up the stacked containers, which makes it difficult to automate the crane loading operation. According to the present invention, in order to solve the above-described conventional problems, it is possible to automatically detect the horizontal displacement of the upper and lower loads and to automatically position the upper and lower loads by using the detected horizontal displacement signal when loading and unloading the loads. An object of the present invention is to provide a load stacking control device.

[0005]

For this reason, according to the load-stacking control device of the present invention, in a cargo-handling machine in which a traveling device, a traversing device, and a hoisting device are each operated to load a load, a suspension frame is provided. A detector for detecting a distance to a side surface of a load that has already landed, and a shift amount between the load that has already landed and the load that is suspended on the suspension frame based on a detection signal of the detector. And a memory storing a preset allowable shift value, and determining whether the shift amount calculated by the first arithmetic unit is within a range of the shift allowable value stored in the memory. Check whether the deviation is within the range of the deviation tolerance or if the deviation exceeds the deviation tolerance, the comparator that outputs the deviation and the deviation sent from the comparator that exceeds the tolerance are reduced to zero. Deviation output from the second calculator for calculating the correction amount and the comparator A control device consisting of a traveling device, a traversing device, and a sequencer for controlling the operation of the hoisting device based on a signal within the range of the value or the output signal of the second computing unit. It is characterized in that the displacement amount can be automatically adjusted within an allowable value.

[0006]

According to the present invention, when a load such as a container hung on a suspension frame lands on a load that has already landed, a detector provided on the suspension frame detects the side of the load that has already landed. Measure the horizontal distance to The horizontal distance measured by the detector is input to a control device provided in the operator's cab of the cargo handling machine, and the load on the floor and the load suspended on the suspension frame by the displacement calculator as the first calculator. The amount of deviation is calculated, and the comparator checks whether the deviation is within the allowable range of the allowable deviation value stored in advance in the memory. If the deviation exceeds the allowable range, the amount of deviation is sent to a correction amount calculator as a second calculator. A correction amount for inputting the shift amount to approach zero is calculated, and the calculated correction amount is input to the sequencer. The sequencer automatically controls each drive system based on the correction amount received from the second computing unit, for example, in the order of micro-winding of the load, traversing in the direction of zero displacement, or running, lifting of the load, and landing on the load. Align to the range.

The comparator inputs a permissible signal to the sequencer when the measured deviation is within the permissible range, and the sequencer uses this signal to separate the load from the suspension frame by the loading / unloading device and to wind up the suspension frame. , Automatically control each drive system like
Further, by inputting a pickup position and a stepped position of the next load in the operator's cab, the drive means of the traveling, traversing and hoisting devices are automatically controlled to the pickup position to move the suspension frame.

[0008]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a load stacking control device according to the present invention. FIGS. 1 and 2 show the front and side views of a container transfer crane to which the load stacking control device of the present invention is applied. In the figure, 1 is a portal crane body running on a tire type traveling apparatus 2, 3 is a club mounted on the body 1, 4 is a container suspension frame supported by a hoisting device 5 on the club 3, 6 is a club suspension 7 is a detector supporting device provided on the suspension frame 4, 8 is a cab of a crane provided integrally with the club 3, and 10 is a detector to the side of a container provided at the tip of the supporting device 7. A horizontal distance detector 11; a traveling distance detector 11 provided in the traveling device 2; a traversing distance detector 12 provided near the traversing device 6 on the club; Quantity detector,
Reference numeral 14 denotes a control device provided in the operator's cab 8, and reference numeral 15 denotes a container as a load which is carried by the suspension frame 4 and is stacked. The crane body 1 runs across the pile of the containers 15 to be stacked, and the containers 15 are stacked or stacked in the directions of the arrows A and B from the trailer 16 by the traverse and hoisting by the club 3. Carry the load container 15 to the trailer 16.

FIGS. 3 and 4 are schematic side and front views, respectively, in which the suspension frame 4 in FIGS. 1 and 2 is enlarged. The suspension frame 4 is a hoisting device 5 shown in FIGS.
Of the container 15 by a detachable coupling device 17 such as a twist lock provided at the lower four corners of the suspension frame.
And detach. The support device 7 for the horizontal distance detector 10 is a suspension frame 4
An arm 7b supported by a bearing 7a of the suspension frame 4 so as to be pivotable along the longitudinal side of the arm, and a drum 7e driven by a servo motor 7d with a wire 7c having one end connected to the arm 7b.
The drum 7e was taken up and unwound, and the arm 7b was rotated so as to be movable. However, this may be operated by an electric motor or a hydraulic device. Further, instead of pivoting the arm 7b, the arm 7b may be operated by extension / contraction operation, in other words, as long as the horizontal distance detector 10 can be arranged on the side of the lower container as described below. .

The arm 7b is connected to the upper container 15a as shown in the figure.
Is landed on the lower container 15b, and the drum 7e is unwound by the servo motor 7d to be fed from the broken line position to the lower container 15b side in the solid line position. The horizontal distance detector 10 can use a light wave type or ultrasonic type distance measuring device. The arm 7b is sent out to the position indicated by the solid line, the servo motor 7d is stopped, and the measurement is started. In FIG. 4, the support device 7 and the horizontal distance detector 10 are provided in a symmetrically paired manner to measure the horizontal distances 10a and 10b, respectively. However, one set may be provided only on one side. FIG. 5 is a block diagram showing the configuration of the control unit of the above-described device. Travel distance, traversing distance, winding up / down amount detectors 11, 1
Each of the detection signals 2 and 13 is sent to the control device 14 and the converter 1
8 and is input to a correction amount calculator 19 as a second calculator. Further, the distance detection signals of the horizontal distance detectors 10 and 10 enter the shift amount calculator 20 as a first calculator through the converter 18 of the control device 14, and the horizontal shift amount of the upper container is calculated. It is output to the comparator 21. The comparator 21 compares the deviation allowable value stored in the memory 22 in advance with the deviation amount from the deviation amount calculator 20 and checks whether the deviation amount from the deviation amount calculator is within the range of the deviation allowable value. . The comparator 21 sends the signal to the sequencer 23 when the shift amount from the shift amount calculator is within the allowable range of the shift allowable value. When the shift amount exceeds the allowable range of the shift allowable value, the shift amount is set to the second value. The correction amount is sent to the correction amount calculator 19 as a second calculator, and the correction amount in the direction to make the deviation amount zero is calculated and sent to the sequencer 23.

When the sequencer 23 receives a signal from the comparator 21 indicating that the load is within the allowable range, the sequencer 23 changes the load from the hanging frame 4 by the load removing / attaching device systems 17, 17 as shown in FIG. The separation of the load 15, the lifting of the suspension frame 4 by the hoisting systems 5, 5, and the movement by the traversing systems 6 ′, 6, and the traveling systems 2 ′, 2 to the next load receiving position specified in the operator cab 8, respectively. Automatically controls the drive system. At this time, the detection position signals of the traveling distance, traversing distance and winding vertical amount detectors 11, 12, and 13 pass through the correction amount calculator 19 and enter the sequencer, and the position data of the automatic control of the traveling, traversing, and hoisting systems are performed. Used as

When the sequencer 23 receives a correction amount signal from the correction amount calculator 19 in the direction of reducing the shift amount to zero, the hoisting systems 5 ', 5 lift the load slightly and set the shift amount to zero. The movement of the load by the traversing system 6 ', 6 in the direction,
Each drive system is automatically controlled in the order of minute lowering and landing of the load by the hoisting systems 5 'and 5 to perform automatic positioning.

FIG. 6 is a control flow according to the block diagram of FIG. 5 described above. The vertical flow on the left side of the figure is the operation flow for correcting the horizontal deviation of the load, and the flow from the middle comparator 21 on the left to the right is the flow without horizontal deviation correction. It is a stacking operation flow. The detectors 11, 12, and 13 for traveling distance, traversing distance, and winding up / down amount detect the number of wheel axis or drum axis pulses, convert them to a distance signal by a converter 18 and pass them to a correction amount calculator 19, and also detect a horizontal distance. The detector 10 detects the reflection time of the light wave or the ultrasonic wave from the load, converts it into a distance signal by the converter 18, and passes it to the shift amount calculator 20 as the first calculator. When the horizontal distance detectors 10 are paired, the shift amount calculator 20 outputs the distance signal (10a'-1).
0b ′) The shift amount can be calculated as １ ／.
When the detector 10 is provided on only one side, a reference value when there is no shift may be set in the memory 22 and the difference between this reference value and the measured distance signal may be calculated as the shift amount.

The horizontal distance detector 10 of the above-described apparatus can be provided not only on both sides of the load 15 shown in FIGS. 3 and 4 but also on both ends or one end of the load, and is provided in both the length direction and the width direction. In some cases, the horizontal displacement of the load in the traveling system 2 ′ and the two directions can be automatically corrected in the same manner and the automatic positioning can be performed. According to the above-described configuration, a conventional cargo handling machine that performs this kind of stacking,
This makes it possible to automate the horizontal alignment of the upper and lower loads, which has been a hindrance to the automatic operation, and achieve smooth automation of the operation of the entire cargo handling machine.

[0015]

As is apparent from the above description, the load stacking control device of the present invention is provided on a suspension frame in a loading and unloading machine for stacking loads by running, traversing, and operating a hoisting system. A detector for detecting a distance to a side surface of the load that has landed, and calculating a shift amount between the load that has already landed and the load that is suspended on the suspension frame based on a detection signal of the detector. With the provision of the first computing unit, the horizontal displacement at the time of aligning the load can be quickly grasped with high accuracy instead of the conventional visual observation. Also, it is checked whether the deviation calculated by the measurement is within the range of the deviation allowable value set and stored in the memory, and if the deviation exceeds the allowable value, a comparator for outputting the deviation is provided. A second arithmetic unit for calculating a correction amount for making the amount zero, and a sequencer for correcting the deviation amount to within an allowable value by automatically controlling a drive system of each device based on a correction amount signal received from the second arithmetic unit. With this arrangement, the stacking operation alignment correction operation is automatically determined and controlled, thereby achieving an effect that automation of this kind of cargo handling machine can be achieved.

[Brief description of the drawings]

FIG. 1 is a front view of a container transfer crane as an embodiment to which a load stacking control device of the present invention is applied.

FIG. 2 is a side view taken along line 2-2 of FIG. 1;

FIG. 3 is a schematic side view of a detector provided on a suspension frame via a supporting device.

FIG. 4 is a front view taken along the line 4-4 in FIG. 3;

FIG. 5 is a block diagram showing one embodiment of the load stacking control device of the present invention.

6 is a control flowchart showing automatic stacking positioning and automatic stacking operation according to the block diagram of FIG. 5;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane body 2 Traveling device 3 Club 4 Suspension frame 5 Hoisting device 6 Traversing device 7 Supporting device 7a Bearing 7b Arm 7c Wire 7d Servo motor 7e Drum 8 Operating room 10 Horizontal distance detector as detector 11 Travel distance detector 12 Traversing distance detector 13 Winding up / down amount detector 14 Control device 15 Container as load 16 Trailer 17 Loading / unloading device 18 Converter 19 Correction amount calculator as second calculator 20 Degree calculation as first calculator Unit 21 Comparator 22 Memory 23 Sequencer

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-52-95476 (JP, A) JP-A-49-135369 (JP, A) JP-A 54-132172 (JP, U) JP-A Sho 63- Microfilm (JP, U) photographing the contents of the specification and drawings attached to the application form No. 137813 (Japanese Utility Model Application No. 2-57895) (58) Field surveyed (Int. Cl. ⁶ , DB name) B66C 13 / 00-15/06

Claims (1)

(57) [Claims] In a cargo handling machine for stacking loads by operating a traveling device, a traversing device, and a hoisting device, a detection device is provided on a suspension frame and detects a distance to a side surface of a load that has already landed. vessels and, first of calculating a shift amount of the load which is suspended in the load and Tsuwaku that the already landed based on a detection signal of the detector
And a memory storing a preset deviation allowable value, and checking whether the deviation calculated by the first arithmetic unit is within the range of the deviation allowable value stored in the memory, A signal which is within a range of the deviation allowable value or a comparator which outputs the deviation amount when exceeding the deviation allowable value;
A second calculator for calculating a correction amount Ru closer only <br/> the displacement amount exceeds the allowable value sent from the comparator to zero, the signal is within the range of deviation allowable value output from the comparator or A control device including a sequencer for controlling the operation of the traveling device, the traversing device, and the hoisting device based on the output signal of the second arithmetic unit is provided. A load stacking control device characterized in that the position can be adjusted.