JP3118568B1 - Crane steady rest control device - Google Patents

Abstract

An object of the present invention is to provide a crane steady rest control device that can be mounted at low cost by only partially modifying a conventional traveling crane device. SOLUTION: One end is wound by a hoisting machine 5 of a trolley 4 and the other end is supported on a load 18 by a rope 6 attached to the trolley 4 and folded in parallel, and the other end of the rope 6 is a swing of a physical pendulum 12. Angle detecting device 16 for detecting an angle
The trolley 4 is attached to the trolley 4 via the oscillating angle of the physical pendulum 12 detected by the angle detecting device 1.
Is controlled to control the physical pendulum 12 to perform steady rest.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a steady rest control device for a crane. For example, an angle detecting and control target reference physical pendulum is attached to a fixed end of a rope of an existing hoisting traveling crane, and based on the angle information. The present invention relates to a crane steady rest control device that performs steady rest control of a load by controlling the wave of a physical pendulum.

[0002]

2. Description of the Related Art Conventionally, there is a high demand for automation of steadying a load of a crane or the like at an industrial site, but the introduction of such equipment is not so advanced due to an increase in cost of additional equipment. Conventionally, in order to realize the automatic steadying of the load of the crane, data such as the weight and shape of the load, the speed of the traveling trolley, the hoisting speed, etc. are input, and for example, an optical detection device attached to the traveling trolley Complicated detection devices and control devices are required, such as detecting the state of the load swing and inputting the data, and the cost was increased, making it difficult to put the load into practical use.

In particular, the swing direction of the overhead traveling crane is more complicated in order to simultaneously control not only the running direction of the trolley on the rail but also the swing around the X axis and the Y axis including the running direction of the rail. Configuration.

The present inventor controls the swing of a pendulum by controlling the swing of a pendulum when one rope is attached to a fixed end via a pendulum and a load is suspended on the rope. The control algorithm has already been disclosed as Patent No. 2099156, and presented at a conference (Transactions of the Japan Society of Mechanical Engineers 56-522 (C), p.351 (1995-1), 65-632 (C),
p.1344-1440 (1999-4), Journal of Vibration and Aco
ustics, vol. 120 April, 1998, pp. 524-533. )

[0005]

SUMMARY OF THE INVENTION An object of the present invention is to solve the problems of simplification of crane steadying control, cost reduction and high performance. An object of the present invention is to realize such a steady rest control device for a crane simply by modifying a part.

[0006]

According to the present invention, in order to solve the above-mentioned problems, one end is wound by a trolley hoist, and the other end is attached to the trolley and supported by a rope folded in parallel. A crane load steadying control device, wherein the other end of the rope is a vibration suppression control target base.
A quasi- physical pendulum is attached to the trolley via an angle detection device that detects the deflection angle of the physical pendulum, and controls the wave absorption of the deflection angle of the physical pendulum detected by the angle detection device.
By controlling the acceleration of the trolley to implement Ri by to damping the pendulum, resulting in providing a steadying control device and performing the steadying of the load.

The angle detecting device comprises an upper yoke fixed to the trolley, a lower yoke for attaching the rope arranged orthogonally to the upper yoke, both arms of the upper yoke and both arms of the lower yoke. A cross axis extending in the XY directions in a horizontal plane rotatably mounted on the arm, a physical pendulum fixed to the lower yoke, and a side around the arm of the upper yoke. A configuration including an X-direction angle detector that detects a rotation angle and a Y-direction angle detector that is disposed on the side surface of the arm of the lower yoke and detects a rotation angle around the Y-axis of the cross axis. Is also good.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a crane steady rest control device according to the present invention will be described based on an embodiment with reference to the drawings. FIG. 1 is a diagram illustrating an overall configuration of an embodiment in which a crane steady rest control device according to the present invention is applied to an overhead traveling crane.

In FIG. 1, an overhead traveling crane 2 to which a crane steady rest control device according to the present invention is applied is a traveling crane similar to the conventional one disposed on a structure such as a building, and includes a rail 3 and a rail 3. The trolley 4 includes a trolley 4 running on the trolley 4, a hoist 5 attached to the trolley 4, a rope 6 attached to the trolley 4 and wound by the hoist 5, and a hanger 8 hung on the rope 6 via a pulley. I have.

The trolley 4 moves on the rail 3 in the X direction (FIG. 1).
The rail 3 itself travels in the Y direction (the direction perpendicular to the plane of the paper in FIG. 1) while traveling in the middle and lateral directions, and the trolley 4 moves in the XY directions in the XY horizontal plane as a whole.

One end of the rope 6 is wound around the hoist 5 and the other end is folded back in parallel so as to be attached to the trolley 4 through the angle detecting device 1 of the crane steady rest control device according to the present invention. Have been. The steady rest control device for a crane according to the present invention operates the trolley 4 (running speed, direction, etc.) and the operation of the rail 3 (running speed, direction, etc.) in accordance with the deflection angle detected by the angle detection device 1.
Is controlled by a trolley drive motor and a rail drive motor.

FIGS. 2 and 3 show the structure of the angle detecting device 1. FIG.
This will be described below. FIG. 2 is a diagram illustrating the concept of the structure and function of the angle detection device 1. 2, the angle detection device 1 has an upper yoke 9 and a lower yoke 10.

The upper yoke 9 and the lower yoke 10 are disposed orthogonally to each other in the X and Y directions, and are relatively rotatable around the X and Y axes via a cross shaft 11. Typically, it has a cross-shaped universal joint structure. The upper yoke 9 has an upper end fixed to the trolley 4, and the lower yoke 10 has a physical pendulum 12 fixedly attached to the lower center thereof. The physical pendulum 12 has the rope 6
The other end is attached.

FIG. 3 is an enlarged view of a main part of FIG. 1 and specifically illustrates the structure of the angle detecting device 1. In FIG. 3, both ends of the X-direction shaft 13 of the cross shaft 11 are rotatably mounted between the arms of the upper yoke 9 by bearings 14, 14. On the other hand, between the arms of the lower yoke 10,
Both ends of the Y-axis of the cross shaft 11 are rotatably mounted by bearings 15 and 15.

An angle detector 16 around the X axis, such as an encoder or a potentiometer, is attached to the side surface of both arms of the upper yoke 9.
The rotation angle of the rotation plate 17 fixed to the end of the direction shaft 13 around the X axis is detected. Similarly, although not shown, an angle detector around the Y-axis is also attached to the side surface of the arm of the lower yoke 10, and the Y-axis of the rotating plate at the end of the Y-axis of the cross shaft 11 is provided.
Detect the rotation angle around the axis.

With these detectors around the X and Y axes,
With respect to the swing of the physical pendulum 12, the swing angles around the X axis and the Y axis are detected, and the detected angles become shake data, and according to the shake data, the rotation speed and the rotation direction of the trolley drive motor and the rail drive motor. Is controlled by the motor control means to control the operation of the trolley and the rail. As a result, the deflection of the load is suppressed.

The operation of the crane steady rest control device according to the present invention will now be described. Trolley 4 is load 1
8 is lifted by the rope 6 and the hanging fixture 8, and the rail 3
It travels in the X direction on the top, and the rail 3
The trolley 4 moves the load 18 in the X and Y directions.
It is appropriately conveyed in the direction. The load 18 moves in the XY directions as the trolley 4 moves.

As described above, when the trolley 4 travels and moves, the load 18 swings together with the rope 6 and the physical pendulum. The state of the swing of the physical pendulum 12 is detected as angle information by the angle detector 16 around the X axis and the angle detector around the Y axis.

Based on the angle information of the swing of the physical pendulum obtained in this manner, the speed of the trolley and the rail for the steady rest control,
The acceleration, the rotation direction, and the like are calculated. According to the calculation result, the rotation speed, acceleration, rotation direction and the like of the trolley drive motor and the rail drive motor are controlled by the motor control means to control the operation of the trolley and the rail. Through the vibration control of the physical pendulum, as a result, the vibration energy of the load 18 is absorbed via the rope 6, thereby controlling the vibration of the load 18.

As described above, the steady rest control device for a crane according to the present invention obtains the angle information of the swing of the physical pendulum, and based on the angle information, uses the method of Japanese Patent No. 2099156 to adjust the physical pendulum 12. Calculate the trolley acceleration for damping and control the trolley's traverse and running. The vibration of the load 18 is realized by the vibration of the physical pendulum 12 for the following reason.

Since the load 18 is hung by the two ropes 6, half of the load is applied to the physical pendulum 12. Since the run-up of the rope is not controlled on the winding machine 5 side, it can be virtually handled as if the load was suspended on one rope as the vibration suppression control. As seen from the rope 6 connected to the physical pendulum 12, the position of the mechanically equivalent center of gravity of the system consisting of the hanger 8, the pulley 7, and the load 18 changes every moment depending on the shape and the motion state of the load. Since the method of damping the physical pendulum using the method of 2099156 does not depend on the shape of the suspended body below the physical pendulum, the damping function is exhibited without using such information.

The control acceleration of the trolley 4 is calculated based on the mechanical parameters of the physical pendulum 12 (mass moment of inertia around the rotation axis, the position of the center of gravity, and the length), the pendulum angle, and the total mass (load) of the mass suspended from the pendulum. 1/2) of the load and the parameters of the virtual vibration system that can be set freely. The dynamic parameters of the load are not required for vibration suppression control. By controlling the acceleration of the trolley 4 and the rail 3 to control the physical pendulum 12, the vibration energy of the load 18 is reduced.
And by the movement of the rail 3.

When the swing angle of the physical pendulum 12 is very small, the movement in the X direction (traversing direction of the trolley 4) and the movement in the Y direction (running direction of the rail 3) are independent. Can be shaken. Practically, even a deflection angle of about 30 degrees can be handled independently and damped.

In the method of damping a load according to the method disclosed in Japanese Patent No. 2099156, it is necessary that the vertical position is a stable rest position, and the load on the physical pendulum is always constant (one of the load of the load).
/ 2) is desirable. For this reason, the distance between the center of the physical pendulum and the fulcrum-side rope fulcrum and the pulley diameter are the same so that the rope interval is constant when the hoist is lowered.

In the method of Japanese Patent No. 2099156, the vibration control performance does not decrease so much even if there is some error in the load data, so that the load is always constant (1 of the load of the load).
Are not absolutely necessary for realizing the present method. That is, even if the load acting on the rope 6 fluctuates due to the movement of the load 18, the vibration damping property is not significantly affected.

As described above, if the vibration control can be actually applied to the overhead traveling crane apparatus by the method of Japanese Patent No. 2099156, the entire load 18 can be controlled only by the vibration state of the physical pendulum 12. Moreover, the vibration can be suppressed without depending on the length of the rope 6, the shape of the load 18, and the degree of freedom of movement of the load 18. Although the weight of the load 18 is necessary for control, the vibration can be controlled without knowing exactly. It is practical to control the vibration by the motion of the existing crane traveling system. However, by equipping the rope 6 fixed end with a new XY-direction motion control system, it is necessary to configure a vibration control system independent of the traveling system. Can also.

Further, since the shape and the like of the load 18 are not used for control, it is not necessary to change control parameters or estimate the shape of the load 18 even when a different kind of object is transported.
The steady rest can be realized very simply and with good performance.

Although the embodiments of the present invention have been described based on the embodiments, the present invention is not particularly limited to the above-described embodiments, and the technical matters described in the claims are not limited thereto. It goes without saying that there are various embodiments within the scope.

[0029]

As described above, the steady rest control device for a crane according to the present invention has an extremely simple structure, and can be mounted at a low cost only by partially modifying a conventional traveling crane device. be able to. In addition, angle information on the fixed end, which is important for wave control, can be accurately detected. As a result, by applying the above-described wave control technology to a traveling crane device, it is possible to realize an anti-vibration control device for an overhead traveling crane having a function with an extremely high damping effect, a relatively simple structure, and a low cost. it can.

In particular, even when a different kind of object is conveyed without estimating the shape of the load or the like and using the data for automatic control of the steady rest, the steady rest can be easily and efficiently performed. realizable.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall outline of an overhead traveling crane to which an angle detecting device for a crane steadying device according to the present invention is applied.

FIG. 2 is a view for explaining the concept of the structure of the angle detecting device for the crane steady rest device according to the present invention.

FIG. 3 is a diagram illustrating a specific structure of an angle detection device for a crane steady rest device according to the present invention.

[Description of Signs] 1 Angle detecting device for crane steady rest device 2 Overhead traveling crane 3 Rail 4 Trolley 5 Hoist 6 Rope 7 Pulley 9 Upper yoke 10 Lower yoke 11 Cross axis 12 Physical pendulum 16 Angle detector 18 Load

Claims (2)

(57) [Claims] An apparatus for controlling the movement of a crane, one end of which is wound by a hoist of a trolley and the other end of which is mounted on the trolley and supports the load by a rope folded in parallel, wherein The end is attached to the trolley via a vibration suppression control target reference physical pendulum and an angle detection device for detecting a deflection angle of the physical pendulum, and a wave absorption of the deflection angle of the physical pendulum detected by the angle detection device is provided.
By controlling the acceleration of the trolley so as to realize the revenue control Ri by to damping the pendulum, resulting in deflection and performing steadying the load stop control device. 2. An angle detecting device comprising: an upper yoke fixed to the trolley; a lower yoke for attaching the rope arranged orthogonally to the upper yoke; and both arms of the upper yoke and a lower yoke. A cross axis extending in the XY directions in a horizontal plane rotatably attached to both arms; a physical pendulum fixed to the lower yoke; and an axis of the X axis of the cross axis disposed on the side of the arm of the upper yoke. An X-direction angle detector for detecting the rotation angle of the periphery and a Y-direction angle detector disposed on the side of the arm of the lower yoke and detecting the rotation angle around the Y-axis of the cross axis are provided. The crane steady rest control device according to claim 1, wherein: