JP3253777B2 - Scrap mountain height distribution calculation device for automatic crane for scrap - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic scrap crane and, more particularly, to an apparatus for calculating the height distribution of scrap mountains required for automatic operation of a crane using a lifting magnet.

[0002]

2. Description of the Related Art Lifting, which has been frequently used to transport scrap (scrap iron) deposited in a scrap yard, has been used.
A crane with a swing magnet will be described with reference to the drawings.

FIG. 4 is a front view of a main part of an overhead crane for scrap. In the figure, 10 is the accumulated scrap.
A large number of scrap mountains A, B, C,... Are formed over the entire moving range of the crane. Reference numeral 20 denotes a lift mag, reference numeral 30 denotes an overhead crane, girder 31, club 32, hoisting device 3.
3, a wire rope 34, a hanging hook 35, a club traversing device and a girder running device (not shown) are included.

The rif mag 20 is suspended from the club 32 via a suspension hook 35, a wire rope 34, and a hoisting device 33. The overhead crane 30 is operated by a manual operation of an operator, and the operator visually controls the height of the scrap mountains A, B, C,... And transports the scrap from a high portion of the mountain.

[0005]

However, in order to automate the overhead crane 30, the scrap hills A,
It is necessary to accurately detect the height distribution of B, C, ...
There was no reliable device to detect the height distribution of the scrap hills, and it was difficult to automate the overhead crane.

That is, it is conceivable to attach a sensor 36 for measuring the height of the scrap mountain to the lifting magnet 20. However, the lifting magnet 20 itself to generate a strong electromagnetic noise, and lifting
Since the magnet 20 repeats high-frequency landing and leaving,
Large mechanical shock. Therefore, it is very difficult to attach the high-accuracy sensor 36 to the lifting magnet 20 itself without receiving a shock.

On the other hand, it is conceivable to provide a sensor 37 for hanging position above the club 32 of the lifting magnet 20, is below the case, the sensor 37 Rifutin
Since the magnet 20 is located, the sensor 37 using light or ultrasonic waves cannot detect the height of the peak of the scrap 10.

The present invention has been made in view of the above circumstances, and the height of a scrap mountain in a scrap automatic crane which can be operated automatically by calculating and creating the height distribution of the scrap mountain with high accuracy. It is an object of the present invention to provide a distribution calculation device.

[0009]

According to the present invention, a scrap mountain height distribution calculating apparatus for an automatic scrap crane according to the present invention automatically uses a lifting magnet to collect scraps accumulated at a large number of preset addresses. In a scrap automatic crane to be transported, a first sensor provided in a club for measuring a distance to a landing position of a lifting magnet that has landed on a scrap mountain, and a position on the club that is a predetermined distance from a hanging position of the lifting magnet. a second sensor for measuring a distance to the scrap mountain adjacent distributed downwardly provided, the Rifutin
And the magnet does not stick when it scraps scrap
Lifting magnet based on state and output change
A load sensor for measuring the load of scrap adsorbed,
A calculating unit that calculates the height of the scrap mountain at the address based on the measurement result of the first and second sensors and creates these in correspondence with the address, and the calculating unit includes Of the lifting magnet at any address
In front of the height of scrap pile reduced by scrap adsorption
The calculation is performed based on the measurement result of the load sensor, and the first
The second sensor, which has reached the address due to the movement of the club, replaces the stored value measured and calculated by the sensor with the new calculated value calculated by measuring the height of the scrap mountain, and The feature is that the height distribution table is updated each time.

The first sensor and the second sensor are rangefinders, and each of the transmitter and the transmitter transmits light or ultrasonic waves toward a scrap mountain, and the receiver receives reflected light or a reflected wave reflected from the scrap. The reception results of the unit and the receiving unit are input to the calculating unit, where the distance to the reflection point is calculated.

[0011]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of a main part illustrating an automatic overhead traveling crane with a lifting magnet , and FIG.
Main part front view explaining the state where the magnet is lifted,
FIG. 3 is a front view of an essential part for explaining a state where the club has moved to an adjacent address in FIG. The same parts as those in the related art will be described using the same reference numerals.

In general, the following points are required for an automatic overhead traveling crane (hereinafter referred to as a crane) 40 with a lifting magnet . In other words, lifting mug scrap 10
Te is at when the lift on the net 20, lifting Ma
The gnet 20 is lowered at a high speed as close as possible to the height of the mountain of the scrap 10, and then decelerated to reduce the lifting man.
It is necessary that the gnet 20 be landed on the scrap 10 without shock.

Then, after landing, the lifting magnet 2
Exciting the 0 adsorption after lifting mug scrap 11
It is necessary to run the overhead crane 20 at a position where the height of the net 20 is slightly higher than the height of the mountain of the scrap 10.

For this purpose, the crane 40 is required to measure the distribution of the mountain heights of the scraps 10 distributed below the crane as accurately as possible.

The crane 40 according to the present invention includes a first sensor 41, a second sensor 42, a load sensor 43, and a calculation unit 44 as shown in FIG.

In the scrap yard, addresses are set in advance at predetermined intervals over the entire moving range of the crane 40, that is, the entire area in the transverse direction Y and the running direction X orthogonal thereto.

The crane 40 is moved by the position detecting means such as a rotary encoder.
The position of 0 can be detected by the calculation unit 44.
Further, the scrap 10 piled up in the scrap yard is divided into scrap piles A, B, C,... For convenience, and these are set to codes corresponding to the respective addresses. The traveling direction X
Is not shown in the figure.

[0018] The first sensor 41 is a laser rangefinder for example, disposed in a predetermined position of the club 32, Rifutin
When the magnet 20 is landed on the scrap mountain B, the distance L from the landing position of the lifting magnet 20 is L.
It is arranged so that it can measure.

An unillustrated light projecting unit for irradiating a laser beam toward the lower scrap mountain B and an unillustrated light receiving unit for receiving the reflected light of the irradiated laser beam reflected on the scrap 10 are provided. I have. The calculation result of the light receiving unit
4 is input.

[0020] The second sensor 42 similar to the first sensor 41, for example, a laser rangefinder, lifting Mug
The club 32 which is a predetermined distance Z away from the hanging position of the net 20
It is provided at an upper position and can measure a distance M to a scrap mountain A distributed at a lower adjacent address.

A light projecting unit and a light receiving unit (not shown) are provided, and the light receiving result of the light receiving unit is input to the arithmetic unit 44. The distance Z is a lifting magnet.
The shape of Tsu DOO 20 is appropriately set in relation to the setting of the size and address.

The load sensor 43 is, for example, a metal resistance strain sensor, and is provided at a predetermined position of the club 32, and its output is input to the calculation unit 44.

The calculation unit 44 includes a microcomputer (not shown), and performs a predetermined calculation based on each input of the first sensor 41 and the input of the second sensor 42 and stores the result.

The load sensor 42 is a lifting magnet.
The calculation unit 44 calculates the load of the scrap 11 sucked based on the output change between when the cut 20 sucks the scrap 11 and when the scrap 11 does not suck the scrap 11, and estimates and calculates the reduction amount of the scrap mountain. Has become.

Next, the operation of the method of the present invention will be described with reference to FIGS. Lifting as shown in Figure 1
The gmagnet 20 is a scrap mountain (hereinafter simply referred to as a mountain).
The first sensor 41 is lifted while landing on B
The distance L to the landing position of the magnet 20 is measured, and the calculating unit 44 calculates the height H1 of the mountain B, and calculates the height H1 as the mountain B.
That is, it is stored in correspondence with the address B. Then, the stored contents are provided to scrap mountain height distribution table creation data.

At the same time, the second sensor 42 measures the distance M to the mountain A, and the arithmetic unit 44 calculates the height H2 of the mountain A, and the height H2 is stored in correspondence with the mountain A, that is, the address A. You. The stored contents are provided to the scrap mountain height distribution table creation data.

As shown in FIG. 2, lifting magne
When the cut 20 adsorbs a portion 11 of the scrap of the mountain B and moves up, the load sensor 4
The output of No. 3 changes. This output change causes the operation unit 44
Calculates the load of the scrap 11 and calculates the height decrease amount Δ of the mountain B
H1 is calculated and estimated.

Then, instead of the height H1 of the address B, which is a stored value calculated and calculated by the first sensor 41,
The operation estimation value (H1- △ H1) is taken into the address B of the operation unit 44 memory. As a result, the height data of the address B is updated to (H1-１H1).

When the scrap 11 shown in FIG. 2 is unwound, the lifting magnet 20 moves to the mountain C adjacent to the mountain B as shown in FIG. Is calculated, and the calculation unit 44 calculates the height H21 of the current mountain B, and takes it into the memory as a new calculation value H21.

The calculating section 44 calculates the calculated estimated value (H1- △ H).
1) is compared with the new operation value H21, the height of the hill at address B is replaced with the new operation value H21, and the operation estimation formula is modified so that H21 and (H1- △ H1) approach each other. .

[0031] Li the first sensor 41 has been implanted in mountain C
The distance to the landing position of the footing magnet 20 is measured, and the calculation unit 44 calculates the height H3 of the mountain C and stores the height H3 of the address C. And it is used for the data of the height distribution table of the scrap mountain.

The height of the scrap mountain reduced by the transport of the scrap by the lifting magnet 20 is updated to a new calculated value by the second sensor 42 each time by repeating the above procedure and sequentially executing the scrap magnet .

The new operation value is used as the latest information by the operation unit 4.
4, the scrap mountain height distribution table can be quickly obtained based on the latest information.
The movement of the crane 40 is automatically controlled by a control device (not shown) via a calculation unit 44 based on the distribution table.

[0034]

In the present embodiment, the second sensor 42 is moved from the suspended position of the lifting magnet 20 to Y in the illustrated example.
Although it is provided at a position on the club separated by a predetermined distance Z in the direction, it is also provided at a position on the club separated by a predetermined distance in the X direction, and operates in the same manner in the X direction.

[0036]

As described above, the method of the present invention can be applied to a lifting mug provided on a club and landing on a scrap pile.
A first sensor that measures the distance to the landing position of the net , a second sensor provided at a position on the club that is a predetermined distance away from the hanging position of the lifting magnet , and a sensor based on the outputs of these sensors. Calculate the height of the lower scrap mountain, and create a scrap mountain height distribution table based on the position of the scrap mountain and the height.
Of the lifting magnet at any address
The height of the scrap pile reduced by the lap
And a calculation unit for calculating from the measurement result of the sensor, and the distribution table is updated each time the height of the scrap mountain changes by the calculation unit.

Further, a combination of sensors having high accuracy and high reliability is used. Therefore, the height distribution of the scrap hills can be accurately and promptly responded to every change, so that highly reliable automation of the scrap crane using this distribution map can be realized.

[Brief description of the drawings]

FIG. 1 is a drawing according to the present invention, wherein a lifting mug is provided.
It is a principal part front view of a ceiling crane with a net .

FIG. 2 is a main part front view illustrating a state where the lifting magnet is lifted in FIG. 1;

FIG. 3 is a main part front view showing a state where the club has moved to an adjacent address in FIG. 1;

[4] A figure illustrating the prior art, the lifting Ma
It is a principal part front view of an overhead crane with a gnet .

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 10 Scrap 20 Lifting magnet 32 Club 40 Automatic overhead crane with lifting magnet 41 First sensor 42 Second sensor 43 Load sensor 44 Operation part

──────────────────────────────────────────────────の Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) B66C 13/48

Claims (2)

(57) [Claims] 1. An automatic scrap crane for automatically transporting scrap deposited at a number of addresses set in advance by using a lifting magnet, wherein the lifting magnet provided on the club is mounted on a scrap pile. A first sensor for measuring the distance to the floor position, a second sensor provided at a position on the club that is a predetermined distance from the hanging position of the lifting magnet, and for measuring a distance to an adjacent scrap mountain distributed below. Before
When lifting magnet attracts scrap
Lifting based on the output change between
Load that measures the load of scraps that the magnets
A heavy sensor, and a calculating unit that calculates the height of the scrap mountain at the address based on the measurement results of the first and second sensors and creates these corresponding to the address,
And the arithmetic unit performs lifting at an arbitrary address.
Scrap reduced by magnet adsorption
When calculating the height of the mountain based on the measurement result of the load sensor
In both cases, the stored value measured and calculated by the first sensor is
The second sensor that arrives at the address due to the movement of the club measures the height of the scrap mountain and replaces it with a new calculated value, and updates the scrap mountain height distribution table each time. An apparatus for calculating the height distribution of scrap mountains in an automatic crane for scrap. 2. The distance sensor according to claim 1, wherein the first sensor and the second sensor are rangefinders that transmit light or ultrasonic waves toward a scrap mountain and receive reflected light or reflected waves reflected from the scrap. 2. The apparatus according to claim 1, wherein a receiving unit and a reception result of the receiving unit are input to a calculating unit, and a distance to a reflection point is calculated here.