JP2891633B2 - Luggage deflection angle detector for crane equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for detecting a deflection angle of a load in a crane device.

[0002]

2. Description of the Related Art Conventionally, as a device for detecting the swing angle of a load suspended by a crane device, an image processing device is used (for example, Japanese Patent Application Laid-Open Nos. 4-8995 and 4-201988). And those using a light beam (for example, Japanese Utility Model Laid-Open No. 1-176680).

[0003] In the case of using the former image processing, for example, disclosed in Japanese Patent Laid-Open No. 4-201988, a pair of reference points are provided on the upper surface of a load hanging device, and the pair of reference points are provided on a trolley. The image data obtained by this camera is photographed, and the image data obtained by this camera is subjected to predetermined processing by an image processing device to obtain the center positions of both reference points, and the deflection angle is obtained from the center position data. is there.

In the latter type using a light beam (Japanese Utility Model Laid-Open No. 1-176680), a light beam is irradiated on a light detector provided in a lifting device, and the reflected light beam is detected in a semiconductor position. The deflection angle of the lifting device is calculated from the coordinate position of the input light beam.

[0005]

According to the former configuration, a television and an image processing device are required to detect the position of the hanging member. According to the latter configuration, the light beam irradiator and the semiconductor are also required. It requires a position detector and the like, both of which are very expensive devices and have the drawback of being affected by, for example, weather.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a load deflection angle detecting device in a crane device which can solve the above-mentioned problem.

[0007]

In order to solve the above-mentioned problems, a load swing angle detecting device in a crane device of the present invention is suspended via a hanging member by a bogie that can travel on a girder member of the crane device. An apparatus for detecting a swing angle of a load, wherein a pair of first guide pulleys and a pair of second
A guide pulley is provided, and a pair of third guide pulleys is provided on the hanging device side. The other end of the cable body having one end connected to the weight is one first guide pulley, one third guide pulley, and the other. Connected to the weight via the first guide pulley, one second guide pulley, the other third guide pulley, and the other second guide pulley, and connected to the other first guide pulley and one second guide pulley. In the middle of the rope between the guide pulley, a rope movement detector for detecting the movement of the rope is provided, and a detection signal from the rope movement detector is input to perform a predetermined calculation. Thus, an arithmetic processing device for obtaining the swing angle of the luggage is provided.

[0008]

In the above arrangement, when the load swings, that is, when the hanging tool swings, the rope spanned between the first guide pulley and the second guide pulley moves. The amount of movement of the cable is detected by a cable movement detector, and the amount of movement of the cable, the horizontal distance between the third guide pulley and the first and second guide pulleys, and the distance between the third guide pulley and the third guide pulley. Based on the vertical distance between the first guide pulley and the rope spanned between the first guide pulley and the second guide pulley, the deflection angle is detected by calculation.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described below with reference to FIGS. In FIG. 1, reference numeral 1 denotes a trolley (also referred to as a trolley) disposed on a girder (girder material) of a girder crane (an example of a crane device), which is made to run on the girder by running wheels (not shown). I have. Also,
Although not shown, a winding drum is arranged on the traversing carriage 1, and a hanging member 2 for holding a load from the winding drum via a hanging wire is hung. Although not shown, a suspending pulley is provided on the upper surface of the suspending tool 2, and a suspending wire is wound around the suspending pulley.

The girder crane is provided with a swing angle detecting device 3 for detecting the swing angle of the suspended load. That is, the deflection angle detecting device 3 includes a pair of first guide pulleys 1 provided at one end of the traversing carriage 1.
1 (11A, 11B) and a pair of second guide pulleys 12 (12A, 12A) also provided on the other end side of the traversing carriage 1.
B), a pair of third guide pulleys 13 (13A, 13B) provided on the upper surface of the hanging tool 2, one end of which is connected to the weight 14, and an intermediate part thereof is a turning pulley 15A, 16A. A first guide pulley 11A, one third guide pulley 13A,
The other first guide pulley 11B and one second guide pulley 12
A, the other third guide pulley 13B, the other second guide pulley 1
2B and a cable 17 connected to the weight 14 via the turning pulleys 15B and 16B, and a cable 17 between the other first guide pulley 11B and one second guide pulley 12A.
And a cable body movement amount detector 18 for detecting the movement amount of the cable body 17.

The pair of guide pulleys 11A, 11
B; 12A, 12B; 13A, 13B and the pair of turning pulleys 15A, 15B; 16A, 16B are supported by a single support shaft 19 so as to be rotatable in free directions.

The rope body movement detector 18 is, for example, as shown in FIG.
As shown in the figure, a triangulation type displacement meter is used. That is, while being connected in the middle of the cable body 17,
The detection object 21 provided with 1a, and the protruding piece 21a of the detection object 21 provided on the side of the trolley 1 at a position corresponding to the protruding piece 21a are irradiated with, for example, laser light,
A laser distance meter 22 receives the reflected light and detects the amount of movement of the protruding piece 21a.

The deflection angle detector 3 further includes:
An arithmetic processing unit (not shown) for inputting the detection distance from the laser distance meter 22 and performing an arithmetic operation based on a predetermined arithmetic expression to obtain the swing angle of the hanging device 2, that is, the swing angle of the load. I have.

The arithmetic processing unit is provided, for example, in a crane operation room or a control room. The weight 14 always applies a constant tension to the rope 17 to prevent the rope 17 from being loosened.

Next, a description will be given of an arithmetic expression for detecting the swing angle of the load from the movement amount detected by the laser distance meter 22. First, assuming that the load, that is, the hanging device 2 moves horizontally by a predetermined distance, the swing angle of the hanging device 2 (corresponding to the swing angle of the load) can be obtained by the following arithmetic expression.

Here, when the hanging member 2 moves horizontally by a predetermined distance, the first guide pulley 11B and the second guide pulley 12A are provided.
The reason why the cable body 17 moves between and will be described.
Now, in a state where the hanging tool 2 is stationary, the distance between the first guide pulley 11B and the third guide pulley 13A and the second
It is assumed that the distance between the guide pulley 12A and the third guide pulley 13B is the same distance L.

In this state, as shown by a broken line in FIG.
When the suspension 2 swings to the left, the left and right first guide pulleys 11
The distance between the second guide pulley 13 and the third guide pulley 13 and the distance between the second guide pulley 12 and the third guide pulley 13 change, so that the length of the cable body 17 changes.

For example, the distance between the first guide pulley 11 and the third guide pulley 13 becomes longer as L → L ₁ , and the distance between the second guide pulley 12 and the third guide pulley 13 is increased. The distance becomes shorter as L → L ₂ . This (L
−L ₂ ) is an increase of (L ₁ −L), and the increased distance is the horizontal movement amount of the hanging device 2.

Here, the horizontal movement amount of the hanging member 2 is S, the swing angle of the hanging member 2 based on this horizontal movement amount θ is θ, and the third guide pulley 13 and the first and second guide pulleys before swinging. The horizontal distance between the guide pulleys 11 and 12 is a, and each of the guide pulleys 11 and 12 and the third guide pulley 1 in a state before swinging.
3, the length of the rope body 17 between the first and second guide pulleys 11, 1 in the state after swinging.
The lengths of the ropes 17 between the second guide pulley 13 and the third guide pulley 13 are L ₁ and L ₂ , respectively.
The change in the length of the cable body 17 detected by
Cable body 17 between guide pulley 11B and second guide pulley 12A
Assuming that the vertical distance from to the third guide pulley 13 is h, the following equations (1) to (4) hold.

[0020] ^{L 2 = a 2 + h 2} ···· (1) L 1 2 = (a + S) 2 + h 2 ···· (2) L 2 2 = (a-S) 2 + h 2 ···· (3) x = (L ₁ −L ₂ ) / 2 (4) By transforming the above equation (4), the following equation (5) is obtained.

[0021] _{x = (L 1 -L 2)} / 2 = (L 1 2 -L 2 2) / [2 (L 1 + L 2)] = 4aS / [2 (L 2 + L 1)] = 4aS / ( 2 × 2L) = aS / L (5) By the way, the following equation (6) holds for the deflection angle θ.

Θ ≒ S / h (6) By substituting equation (5) into equation (6), the following equation (7) is obtained. θ ≒ Lx / (ha) (7) In the above equation (7), h and L are values that can be easily obtained from the extension amount of the hanging wire.

Accordingly, the swing angle of the hanging member 2, that is, the swing angle θ of the luggage can be easily detected by calculating the equation (7) by the arithmetic processing unit. As described above, according to the configuration of the first embodiment, the movement distance of the cable spanned between the guide pulleys is detected by the laser distance meter, and the swing angle of the hanging device is obtained. Even with a simple configuration, it is possible to accurately detect the swing angle of the load without being affected by the weather.

Further, since the laser rangefinder is arranged on the side of the traversing carriage, the structure is simplified and the maintenance and inspection are simplified as compared with, for example, the case where a detector for detecting the amount of movement of the rope is arranged on the side of the hanging member. Can also be easily performed.

Further, a laser distance meter was used to detect the amount of movement of the cord, but the present invention is not limited to this, and other distance meters such as a linear scale and a magnescale may be used. Is also good.

Next, a load deflection angle detecting device according to a second embodiment of the present invention will be described with reference to FIG. In the above-described first embodiment, the first guide pulley 11, the second guide pulley 12, and the third guide pulley 13 are provided in pairs (two each). As shown in FIG. 3, three first guide pulleys 11 (11A, 11B, 11
C) Three second guide pulleys 12 (11A, 12B, 12)
C) and four third guide pulleys 13 (13A, 13A).
B, 13C, 13D), and the ropes thereof are laid out by a first guide pulley 11A, a third guide pulley 13A, a first guide pulley 11B, a third guide pulley 13B, a first guide pulley 11C, and a first guide pulley 11C. The second guide pulley 12A, the third guide pulley 13C, the second guide pulley 12B, the third guide pulley 13D, and the second guide pulley 12C are wound in this order.

That is, as compared with the cable pulling in the first embodiment, the hanging members 2 are suspended by twice (8) ropes. Since the horizontal movement amount of the cable body 17 between the first guide pulley 11B and the second guide pulley 12A is doubled, the swing amount of the hanging member 2 can be detected in an enlarged manner. Can be better.

Further, in the above-mentioned second embodiment, the description has been made in such a manner that the hanging member is hung by eight ropes. However, the present invention is not limited to the number, and, for example, the number of guiding pulleys is increased, and It can also be hung with double, that is, 16 cables.

[0029]

As described above, according to the structure of the present invention, the amount of horizontal movement of the hanger is detected as the amount of movement of the cable body between the first guide pulley and the second guide pulley provided on the bogie. However, since the swing angle of the hanging device is obtained by calculation based on the detected movement amount, it is possible to accurately detect the swing angle of the luggage without being affected by the weather while having a simple configuration. it can.

Further, since the rope body movement amount detector is arranged on the bogie side, the structure can be simplified as compared with the case where a detector for detecting the movement amount of the rope body is arranged on the hanging member side, for example. Maintenance and inspection can be performed easily.

[Brief description of the drawings]

FIG. 1 is a side view showing a schematic configuration of a load swing angle detecting device in a girder crane according to a first embodiment of the present invention.

FIG. 2 is an enlarged plan view of the luggage deflection angle detecting device according to the first embodiment.

FIG. 3 is a side view showing a schematic configuration of a load swing angle detecting device in a girder crane according to a second embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Traversing trolley 2 Hanging tool 3 Deflection angle detection device 11 1st guide pulley 12 2nd guide pulley 13 3rd guide pulley 14 Weight 17 Cable body 18 Cable body movement detector 21 Detected object 21a Projection piece 22 Laser rangefinder

Claims (1)

(57) [Claims] An apparatus for detecting a swing angle of a load suspended via a suspending tool on a trolley capable of traveling on a girder member of a crane apparatus, wherein a pair of a first guide pulley and a first guide pulley are provided on the trolley side. A pair of second guide pulleys is provided, and a pair of third
A guide pulley is provided, and the other end of the rope body having one end connected to the weight is connected to one of the first guide pulley, the one third guide pulley, the other first guide pulley, the one second guide pulley, and the other. Is connected to the weight via the third guide pulley and the other second guide pulley, and is located in the middle of the cable between the other first guide pulley and the one second guide pulley. A rope body movement detector for detecting the body movement amount is provided, and a calculation processing device for inputting a detection signal from the rope body movement detector and performing a predetermined calculation to obtain a swing angle of the luggage is provided. A load swing angle detection device for a crane device, characterized in that: