JP3148168B2 - Swivel swing angle measuring device for club swing type crane lifting gear - 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 measuring a swing angle of a swinging implement used as a feedback signal when performing automatic swing control for suppressing residual swing of a suspended load after a club swing of a club swing type crane. About.

[0002]

2. Description of the Related Art A double-hook type club slewing crane is provided with a traverse rail orthogonal to the travel rail on a garter which can travel along the travel rail, and a trolley movable along the traverse rail. A club revolving body is rotatably mounted by a driving device, and a hoisting drum and a hoisting motor of a wire rope having two ends fixed to the revolving body of the club are fixed.

[0003] The transfer of a long object by a double hook type club revolving crane is performed by positioning the club revolving body at a lifting position by running a garter and traversing a trolley, and then driving a hoist motor to suspend the revolving body on a wire rope. The hanging tool supported by the two hooks is lowered, the ends of the plurality of wires wrapped around the long object are hung on the plurality of hooks of the hanging device, and then the hoist motor is driven to remove the long object. It is wound up to a predetermined height, and if necessary, the club revolving unit is rotated by the club revolving unit driving device to direct the long object in the transportable direction. Thereafter, the long object is transported to the target position by traversing the trolley and running the garter, and the long object is suspended at the target position by rotating the club revolving unit by the club revolving unit driving device.

[0004] In a club-slewing type crane, when the suspended load is conveyed, the suspended load is hoisted, the crane traverses, runs or the club swings, and the suspended load swings. In particular, in the case of an automatically operated crane, in order to transport a suspended load and place the suspended load at a desired position accurately, it is necessary to detect a swing of the suspended load and perform control to suppress the swing. Furthermore, since the driving operation for suppressing the swing of the suspended load after turning the club requires extremely skill, various automatic steadying methods have been proposed.

[0005] When automatically suspending a suspended load, it is important to accurately detect the swing deflection angle. Conventionally, the position at which the swing angle of the crane's suspended load is detected is such that the lifting device of the crane swings due to the swing of the suspended load, thereby moving the hoisting rope of the crane. It was converted into an electric quantity by a tension meter or the like, and the deflection angle was detected in accordance with the amount of movement. This swing load deflection angle detector needs to always guide the hoisting rope, and is affected by the hardness of the hoisting rope, surface irregularities, deformation, etc., so it accurately detects the amount of movement of the hoisting rope. In addition, due to the wear of the guide rollers, in the case of the series-wound drum type, the unreeling position of the rope changes, and it is difficult to detect the amount of the change, and there is a drawback that the deflection angle cannot be detected accurately. .

As a device for detecting the swing angle of a suspended load which solves the above-mentioned drawbacks, a tilt type swing angle sensor is installed in a club, and a sensor rope is connected to a winding device on the club via a sensor sheave. In the swing angle sensor for steadying control of the hanging device that is wound up, the center of the sheave for hanging the sensor rope is aligned with the center of rotation of the hook of the hanging device for hanging the load, and the swing of the sensor rope is controlled. A detecting device (Japanese Patent Laid-Open No. 7-53181), a hanger-side sheave provided above the center of a hanger of a crane, a sensor base having means rotatable in two directions attached to a trolley of the crane, and a sensor Two inclinometers for detecting the inclination angles of the crane arranged in the base in the traverse direction and the traveling direction, and one end connected to the lower end of the sensor base. So as to wind the guide rope end in two winding device for detecting a torsion of the load deflection and load device (JP-A-7-81877) it has been proposed.

Further, as another swing angle detection device for a suspended load, an accelerometer arranged to measure the acceleration in the deflection direction of the suspended load, a rope, a suspended load, And a calculating means for calculating an estimated value of a state quantity relating to the swing of a suspended load by a Kalman filter derived from an observation equation in consideration of the dynamics of the accelerometer and the mounting position of the accelerometer (JP-A-7-101)
No. 673) has been proposed.

Further, as another swing angle detecting apparatus for a suspended load, at least a two-axis rate gyro is provided on a hook portion, and coordinate conversion is performed using an angular velocity signal obtained from the rate gyro to obtain coordinates of a crane building. System for detecting the deflection angle of a hook portion by comparing with a system
No. 143,273).

[0009]

SUMMARY OF THE INVENTION The above-mentioned Japanese Patent Application Laid-Open No. 7-531 is disclosed.
No. 81, Japanese Patent Application Laid-Open No. 7-81877 disclose the problem that the sensor is installed on a trolley, so that when the inertia of the hanger needs to be considered, the swing angle is not accurate. There is. Further, Japanese Patent Application Laid-Open No. 7-101573
Although the accelerometer is installed on the hanger, the accelerometer has a problem in that the accelerometer lacks accuracy as described above. Further, in the apparatus disclosed in Japanese Patent Application Laid-Open No. 8-143273, a rate gyro is installed on a hanging tool, but the vertical sway is detected, and it is difficult to detect the sway angle at the time of turning.

SUMMARY OF THE INVENTION An object of the present invention is to provide a swing swing angle measuring apparatus for a club swing type crane hanging tool capable of solving the above-mentioned disadvantages of the prior art and accurately measuring the swing angle of the swing tool during club swing in a short time. It is in.

[0011]

According to the first aspect of the present invention, there is provided a swing swing angle measuring apparatus for a club swing type crane hanging tool, wherein the swing swing angle measuring apparatus is hung by a wire rope from a club swing body of a double hook type club swing type crane. A swing deflection angle measuring device for a long object transfer hanging tool connected to a base hook, the swing angle detection sensor for detecting a swing angle of a club swing body as an absolute angle, and a swing deflection angle of the hanging tool. A swing swing angle detection sensor to be detected, and a swing swing angle of the sling tool is obtained by subtracting an absolute angle of the club swing body detected by the swing angle detection sensor from a maximum swing swing angle of the sling tool detected by the swing swing angle detection sensor. With the provision of the obtained swing swing angle calculation device, the net swing swing angle of the hanging tool not including the swing angle of the club swing body can be accurately measured in 1/4 of the swing swing cycle of the hanging tool. Can you It may correspond to the case where a high speed of the turning steadying control is required.

Further, according to a second aspect of the present invention, a swing swing angle measuring device for a swing swing type crane hanging tool uses an optical fiber gyroscope as a swing swing angle detection sensor, so that an arbitrary position on the upper surface of the swing swing tool is provided. The installation work is easy and the maintenance is easy.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In general, a rigid hanger such as a hanger for transporting a long object is hung on both ends with a wire rope having a length of L (m), and a rotational force is applied around a vertical center of the hanger. When stopped, the period T (sec) of the rotational movement of the hanging tool is expressed by the following equation. T = 2π√ (L / 3g) Here, g: gravitational acceleration (m / s ² ) The period T (sec) of the rotational movement is about 3 seconds when the length of the wire rope suspending the suspender is 7 m. .

In a so-called pattern control system in which the club revolving body is accelerated from 0 ° for the above-mentioned period of time and is rotated at a constant speed, and then decelerated to a stop for the above-mentioned period of time, the actual swing angle of the hanger is not detected. It is difficult to suppress the swing of the hanging tool in a short time due to the influence of disturbance due to the load amount, wind, and the like. In the present invention, the swing angle of the club swing body and the swing swing angle of the hanging tool are measured, and the swing swing angle of the club swing body is subtracted from the maximum swing swing angle of the swing tool to obtain the actual swing swing angle of the swing tool. Therefore, it is possible to suppress the swing of the hanging tool in a short time without being affected by disturbance such as a hanging load amount and wind.

As the rotation angle detection sensor of the club revolving body used in the present invention, the number of revolutions of the club revolving body driving device is obtained in advance by using a pulse generator, a tachometer, an eddy current type tachometer, etc. installed in the club revolving body driving device. The swing angle of the club swing body can be obtained from the relationship between the determined swing angle of the club swing body and the rotation speed of the club swing body drive device. The relationship between the rotation angle of the club revolving unit and the number of revolutions of the club revolving unit driving device varies depending on the individual club revolving crane, and may be determined in advance by experiments. The rotation angle of the revolving club can also be known by installing an optical fiber gyroscope to be described later in an empty space of the revolving club.

As the swing deflection angle detection sensor of the hanging tool used in the present invention, for example, a deflection state detection device using an optical fiber gyroscope can be used. As shown in FIG. 4, the principle of the optical fiber gyroscope is as follows. After being incident, these lights propagate through the optical fiber coil 44 and are combined again by the half mirror 42 to form interference fringes on the light receiver 45. Optical fiber coil 4
4 rotates at an angular velocity w, the light P traveling in the same direction as the rotation
₁ travels a longer distance than at rest, and light traveling in the opposite direction travels a shorter distance. Therefore, the interference fringes move from the stationary position. When the rotation direction is opposite, the moving direction of the interference fringes is opposite. This is the Sagnac effect, in which the amount of movement of the interference fringes is proportional to the angular velocity. Therefore, the angular velocity of the object can be known by measuring the amount of movement of the interference fringes.
If the angular velocity is integrated over time, the rotation angle can be accurately obtained. Movement amount ΔZ of this interference fringe from the stationary position
Means laser wavelength: λ, single mode optical fiber length: L,
Assuming that the rotation speed of the optical fiber coil is w, the radius of the optical fiber coil is R, and the light speed is c, it can be obtained by the following equation (1). ΔZ = (2 · L · R) / (λ · c) × w (1)

Therefore, since the moving amount ΔZ of the interference fringe is proportional to the angular velocity w, if the moving amount ΔZ of the interference fringe is measured,
The angular velocity of the hanger can be obtained by the following equation (2). w = (ΔZ · λ · c) / (2 · L · R) Formula (2) A commercially available optical fiber gyroscope has various built-in functions and can output angles and angular velocities in analog and digital form.

In the present invention, the object crane is limited to the club-slewing type crane because the hanging tool for a long object is hung by a wire rope, so that the inertia is large and the anti-sway control is difficult. This is because when the long object is hung depending on the condition of the hanging load storage space, it is necessary to turn the object at 90 ° or an arbitrary angle.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The details of an apparatus for measuring the swing angle of a hanging tool of a club swing type crane according to the present invention are shown in FIGS.
This will be described with reference to FIG. FIG. 1 is a perspective view of a main part of a double hook type club swivel type crane, FIG. 2 is a block diagram of a swing swing angle measuring device of the hanging tool, and FIG. 3 is a graph showing the relationship between the swing angle of the club swing body and the swing swing angle of the swing tool. It is a graph which shows a relationship.

In FIG. 1 and FIG. 2, reference numeral 1 denotes a double hook type club revolving crane, on which a gutter 4 is mounted on a pair of traveling rails 2 via wheels 3 by a traveling motor (not shown) so as to be freely movable. On the gutter 4, the running rail 2
The trolley 6 is mounted along the traversing rail 5 so as to be able to traverse freely by a traversing motor (not shown). On the trolley 6, a club revolving body 10 is installed so as to be revolvable by a revolving motor 9 in combination with a circular rack 7 and a pinion 8, and a wire rope 12 hanging two hooks 11 is wound around the revolving club body 10. The hoist drum 13 and the hoist motor 14 are installed. 2
The hooks 11 for long objects are connected to the hooks 11,
A plurality of hooks 16 are provided on the lower surface of the hanger
Both ends of the plurality of wires 18 wound around 7 are slung.

Reference numeral 21 denotes an angle detector for detecting the turning angle of the club revolving unit 10, an encoder and a pulse generator for detecting the number of revolutions of the revolving motor 9 of the club revolving unit 10 and detecting the absolute revolving angle of the club revolving unit 10. And the like. Reference numeral 22 denotes an optical fiber gyroscope for detecting a swing angle and an angular velocity of the hanger 15 installed at an arbitrary position of the hanger 15. Numeral 23 denotes a swing angle calculation device for the hanging tool 15, which subtracts the swing angle of the club swing body 10 inputted from the angle detector 21 from the maximum swing angle of the hanging tool 15 inputted from the optical fiber gyroscope 22, and the hanging tool. Fifteen
Find the actual deflection angle of. Reference numeral 24 denotes a drive control panel of the club revolving unit 10 installed on the gutter 4, and reference numeral 25 denotes a travel traverse control panel for controlling the travel of the garter 4 and the trolley 6, and controls the travel of the garter 4 and the trolley 6. It is configured as follows.

With the above configuration, the both ends of the plurality of wires 18 slung on the long hanging load 17 are hooked on the hooks 16 of the hanging tool 15, and the hoist motor 14 is driven to wind up to a predetermined height. When the swing motor 9 is driven via the drive control panel 24 to measure the swing angle of the hanging member 15 when the club swing body 10 is rotated at an arbitrary angle, for example, 90 ° and stopped, the drive control is performed. The revolving motor 9 is driven via the board 24 to revolve the club revolving body 10 by 90 ° and stop. In this case, the swing angle of the club swing body 10 is input from the angle detector 21 to the swing angle calculation device 23, and the swinging tool 1 is transmitted from the optical fiber gyroscope 22.
5 is input. The deflection angle calculation device 23
Suspension 1 input from optical fiber gyroscope 22
5 is subtracted from the swing angle of the club revolving unit 10 input from the angle detector 21 from the maximum swing angle of 5 to obtain the actual swing angle of the hanger 15 and output it to the drive control panel 24.
5 is suppressed.

In this case, as shown in FIG. 3, the actual swing angle of the hanger 15 is 1 / the cycle of the swing angle of the hanger 15.
It can be obtained in a time period of 4, and it is possible to cope with the high-speed control of the residual steadying of the hanging tool 15. An optical fiber gyroscope 2 as a rotation deflection angle detection sensor of the hanger 15
When 2 is used, it can be installed at an arbitrary position on the upper surface of the hanger 15, so that the installation work can be easily performed and subsequent maintenance can be facilitated.

[0024]

According to the first aspect of the present invention, there is provided a swing swing angle measuring device for a hanging tool of a club swing type crane, which comprises a device for detecting a swing angle of a club swing body and a swing swing angle detecting device for a swing tool. The swing angle of the sling is measured by measuring the swing angle of the body and the swing angle of the sling, and the swing angle of the sling is obtained by subtracting the swing angle of the revolving club from the maximum swing angle of the sling. Accurate measurement can be performed in a quarter of the swinging and swinging cycle of the hoisting device 15, and it is possible to cope with high-speed control of residual shaking of the hanging tool.

Further, according to a second aspect of the present invention, there is provided an apparatus for measuring the swing angle of a hanging tool of a club swiveling type crane, wherein an optical fiber gyroscope is used as a swing swing angle detecting apparatus of the hanging tool. Can be installed at any desired location, installation work can be performed easily, and subsequent maintenance becomes easy.

[Brief description of the drawings]

FIG. 1 is a perspective view of a main part of a double hook type club revolving crane.

FIG. 2 is a block diagram of a swinging and swinging angle measuring device of the hanging tool.

FIG. 3 is a graph showing a relationship between a swing angle of a club swing body and a swing swing angle of a hanging tool.

FIG. 4 is an explanatory diagram of the principle of an optical fiber gyroscope.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Club revolving crane 2 Running rail 3 Wheel 4 Gutter 5 Traversing rail 6 Trolley 7 Round rack 8 Pinion 9 Revolving motor 10 Club revolving body 11, 16 Hook 12 Wire rope 13 Hoisting drum 14 Hoisting motor 15 Hoisting device 17 Suspension DESCRIPTION OF SYMBOLS 18 Wire 21 Angle detector 22 Optical fiber gyroscope 23 Deflection angle calculating device 24 Drive control panel 25 Traveling traverse control panel 41 Laser light emitter 42 Half mirror 43 Single mode optical fiber 44 Optical fiber coil 45 Light receiver

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-8-127489 (JP, A) JP-A-6-247681 (JP, A) JP-A 9-156878 (JP, A) JP-A-8-127 113466 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) B66C 13/22

Claims (2)

(57) [Claims] 1. A swivel swing angle measuring device for a long object transporting hanger connected to two hooks suspended from a club revolving body of a double hook type club revolving crane by a wire rope. A swing angle detection sensor that detects the swing angle of the swing body as an absolute angle, a swing swing angle detection sensor that detects the swing swing angle of the hanging implement, and a maximum swing swing angle of the hanging implement detected by the swing swing angle detection sensor. And a calculating device for calculating the actual swing angle of the hanging tool by subtracting the absolute swing angle of the club swing body detected by the swing angle sensor from the swing swing angle of the club swing type crane hanging tool. measuring device. 2. The swing swing angle measuring device for a club swing type crane hanging fixture according to claim 1, wherein the swing swing angle detection sensor for detecting the swing swing angle of the hanging tool is an optical fiber gyroscope.