JP2955450B2 - Deflection angle detection device of hanging tool in crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swing angle of a hanging tool in a crane, which can detect the swing angle of a hanging tool in a crane with high accuracy by eliminating zero point fluctuation of a swing angle sensor. The present invention relates to a detection device.

[0002]

2. Description of the Related Art In a crane, when a suspended load is suspended and transported, the suspended load is shaken when the suspended load is hoisted or lowered and when the crane is running or traversing. In particular, in order to suspend and carry a suspended load by an automatic driving crane and to accurately and accurately land the suspended load, it is necessary to detect the swing of the suspended load, suppress the swing, and perform control. . Conventionally, as a position for detecting the swing angle of the suspended load, the lifting rope of the crane moves by swinging the lifting device of the crane due to the swing of the suspended load. It is converted into an electric quantity by a tension meter or the like, and the deflection angle is detected in accordance with the amount of movement.

[0003]

In the swing angle detection device for a hoist, it is necessary to always guide the hoisting rope.
Moreover, the movement of the hoisting rope cannot be accurately detected due to the influence of the hardness of the hoisting rope, unevenness of the surface, deformation, and the like. However, there are drawbacks in that the rope feeding position changes, it is difficult to detect the amount of change, and it is not possible to accurately detect the deflection angle.

[0004] The present invention can solve the above-mentioned drawbacks of the conventional swing angle detection device, and furthermore, a hysteresis phenomenon in which the hook of the hanger stops while being tilted due to the friction of the bearing at the center of rotation. It is another object of the present invention to provide an apparatus for detecting a swing angle of a hoist in a crane, which is capable of detecting a swing angle with high accuracy without causing a zero point fluctuation of a sensor.

[0005]

SUMMARY OF THE INVENTION In order to achieve the above object, a swing angle detecting apparatus for a hoist in a crane according to the present invention is provided with an inclined swing angle sensor mounted on a club of a crane, and a sensor sheave is provided from the sensor. In a swing angle detecting device for controlling the steadying of a hanging tool, the sensor rope is wound around a winding device on a club, and a sheave for hanging the sensor rope on a rotation center of a hook of a hanging tool for hanging a suspended load. Characterized in that they are arranged with their rotation centers aligned.

[0006]

The swing angle detecting device of the lifting tool in this crane is provided with an inclined swing angle sensor installed in the crane club, and the sensor rope is wound on the winding device on the club via the sensor sheave by the sensor. In the swing angle detecting device for controlling the steadying of the hanging tool, the hook of the hanging tool is arranged by aligning the rotation center of the hook of the hanging tool for hanging the load with the rotation center of the sheave for hanging the sensor rope. Hysteresis phenomena, which stops while tilted due to friction of the bearing at the center of rotation,
No zero point fluctuation of the sensor occurs.

[0007]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a crane of the present invention.

First, FIGS. 1 to 3 show a reference example of a swing angle detecting device of a crane, which is a premise of the swing angle detecting device of the crane of the present invention. In the figure, reference numeral 1 denotes a crane gutter, and a rail R provided on a ceiling or the like
Traveling along the crane girder 1, a traversing club 2 is arranged, and
A hoisting machine 4 that suspends and supports a hook 5F, and a hook 5F provided with a hook 5F via a hoisting wire W wound up by the hoisting machine 4.
And the hoisting wire G is lifted or lowered by the hoisting machine 4 to raise or lower the suspended load G suspended on the hook 5F of the hoisting tool 5.

On the club 2, an inclination type deflection angle sensor 3 is provided.
And a sensor rope 9 is attached to the lower end of the deflection angle sensor 3.
The sensor rope 9 is connected to a sheave 7 for the sensor rope supported on the upper part of the bracket 6 of the hanging tool 5 and the other end is provided on the club 2 as shown in FIG. The tension is always applied to the sensor rope 9 by being taken up by the take-up device 8.

As shown in FIG. 2, the hook 5F of the hanging tool 5 has its upper end inserted into the shaft block 10 to be integrated therewith, and the shaft of the shaft block 10 is supported on the bracket 6 via the bolt 13 and The wheel 1 is mounted on the shaft of the shaft block 10 via a bearing 11.
2 and 12 are rotatably supported.
, And a sheave 7 for a sensor rope is rotatably supported above the bracket 6.

In the swing angle detecting device for a hanging tool, when the suspended load G is suspended and conveyed, the suspended load G swings when the suspended load G is hoisted or lowered and when the crane travels or traverses. The swing angle θ of the suspended load G tilts the swing angle sensor 3 through the sheave 7 and the sensor rope 9, and this angle θ is converted into an electric signal by the tilt type swing angle sensor 3, and the swing angle θ is changed. Used as a stop control signal.

If the swing of the suspended load G is attenuated, the swing angle θ becomes zero.

However, as shown in FIG.
When a hysteresis phenomenon occurs in which the bracket 6 stops at an angle due to the friction of the bearing 11 at the center of rotation of the shaft block 10 supporting the hook 5F, the bracket 6 stops at an angle Δθ.

The angle .DELTA..theta.
, And becomes an error signal. That is, the suspended load G
Is stationary, the swing angle sensor 3 recognizes that the suspended load G swings by the angle Δθ, so that the angle Δθ is set to 0 according to a command from the steadying control device (not shown). The suspended load G which is controlled and stationary is to be shaken.

An apparatus for detecting the deflection angle of a hanging tool in a crane according to the present invention is designed to cope with this, and one embodiment thereof is shown in FIG. In this embodiment, the sheave 7 for the sensor rope 9 is provided on the extension piece 6a of the bracket 6 of the hanging tool 5.
To the rotation center of the hook 5F, that is, the rotation center L1 of the shaft portion of the shaft block 10 supporting the hook 5F,
The rotation center L2 of the sheave 7 for the sensor rope 9 is arranged so as to match. Other configurations are shown in FIG.
3 to 3 are the same as those of the reference example of the swing angle detection device of the hoist in the crane described in FIG.

As a result, a hysteresis phenomenon occurs in which the bearing 6 is stopped while being inclined due to friction of the bearing 11 at the center of rotation of the shaft block 10 that supports the hook 5F of the hanging tool 5, and even if the bracket 6 is stationary while being inclined at the angle Δθ. , Shaft block 1 supporting hook 5F
Since the rotation center L2 of the sheave 7 for the sensor rope 9 is arranged so as to be aligned with the rotation center L1 of the 0 axis portion, the position of the sheave 7 for the sensor rope 9 is not displaced. Since the vibration is not transmitted to the swing angle sensor 3, the steady rest control device does not swing the suspended load G.

[0017]

According to the swing angle detecting apparatus for a hoist in a crane according to the present invention, an inclined swing angle sensor is installed in a crane club, and the sensor is used by a sensor sheave to wind up the club. In a deflection angle detection device for steadying control of a hanging tool that winds a sensor rope,
Hysteresis in which the hook of the hanging device stops while tilting due to the friction of the bearing at the center of rotation by arranging the rotation center of the sheave that hangs the sensor rope on the rotation center of the hook of the hanging device that suspends the suspended load. Even for the phenomenon, the zero point fluctuation of the sensor does not occur, so that the swing angle of the hanging tool can be detected with high accuracy.

[Brief description of the drawings]

FIG. 1 is an overall front view of a swing angle detection device of a hanging tool in a conventional crane.

FIG. 2 is a side sectional view of the hanging part.

FIG. 3 is an explanatory diagram of swing angle detection of the hanging tool.

FIG. 4 is a side cross-sectional view of a hanger part showing an embodiment of a hanger swing angle detection device in the crane of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Crane gutter 2 Club 3 Deflection angle sensor 4 Hoisting machine 5 Hanging tool 5F Hook 6 Bracket 7 Sheave 8 Winding device 9 Sensor rope 10 Shaft block 11 Bearing 12 Wheel 13 Bolt G Suspended load W Hoisting wire

Claims (1)

(57) [Claims] An inclination type deflection angle sensor is installed in a club of a crane, and the sensor is used to control a steadying of a hanging tool so that a sensor rope is wound on a winding device on the club via a sensor sheave. A swing angle detection device for a crane, wherein a rotation center of a sheave on which a sensor rope is hung is aligned with a rotation center of a hook of a hanging device for hanging a suspended load.