JP3843487B2 - Method for correcting attracting position of lifting electromagnet - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an operation / control method for maintaining the safety of lifting electromagnets used when steel materials are transported in steelworks, etc., and particularly suitable for balancing the amount of load suspended by each lifting electromagnet. Do lifting loads for heavy Canes out suction position compensation method for lifting electromagnet using the results of the electromagnet.
[0002]
[Prior art]
In order to transport steel materials in steelworks, etc., a lifting electromagnet device is used that suspends a lifting electromagnet operated by a crane from a suspension beam, and turns on and off the current to the lifting electromagnet to attract the steel to be transported. .
In such a lifting electromagnet apparatus, when hanging steels, one electromagnet may be used for one crane. However, when carrying a large steel plate or steel material formed as a product, In many cases, a single steel plate or a steel material and a processed product are transported by a plurality of lifting electromagnets arranged.
[0003]
[Problems to be solved by the invention]
By the way, in the case of the lifting electromagnet apparatus as described above, the operator determines the adsorption position by making the arrangement of the plurality of lifting electromagnets and the shape of the steel material correspond to each other visually corresponding to the shape of the steel material to be transported. . Therefore, when adsorbing irregular shaped steel materials, the position of the center of gravity is not clear, so even if the adsorption position is inappropriate, the transport posture becomes unstable unless the operator notices the improperness. A dangerous case occurs.
In other words, it is necessary to carry the transport work so that the amount of deviation between the central part of the plurality of lifting electromagnets and the center of gravity of the steel material is within the reference value allowed for each lifting electromagnet. In the case of an irregular steel material, it is difficult for the operator to adjust the center of gravity so that the center of gravity is appropriate.
When such an operation is necessary, conventionally, since it relied on the experience and skill of the operator, there was a tendency that the transportation work time was prolonged and the transportation was not performed accurately.
The present invention solves the above problems (problems) of the conventional ones,
(1) Even those with little experience in crane operation can reliably align the center of gravity,
(2) The center of gravity can be easily and reliably aligned even with irregular shaped steel.
It is an object of the present invention to provide a method for correcting an attracting position of a lifting electromagnet using a load weight detection result of the lifting electromagnet .
[0004]
[Means for Solving the Problems]
In order to solve the above problems, the suction position correction method of lifting electromagnet according to a first aspect of the invention, the electromagnetic device lifting with a plurality of lifting electromagnets carrying adsorbed suspended steel, each lifting electromagnet steel Width Suspended through one or several or one or several pairs of load cells with respect to the direction, the load amount adsorbed by the lifting electromagnet coupled to the load cell is read from the measurement value of each load cell. The lifting electromagnet is characterized in that the loading position of the lifting electromagnet with respect to the steel material is changed and reading of the load amount is repeated until the lifting electromagnet becomes equal to or less than a set allowable value corresponding to the characteristic indicating the limit of the adsorption capacity .
According to a second aspect of the present invention, there is provided a lifting electromagnet attracting position correcting method according to a second aspect of the present invention, wherein the lifting electromagnet apparatus includes a plurality of lifting electromagnets for attracting and transporting steel. It is suspended through one or several pairs of load cells, and the amount of load adsorbed on the lifting electromagnet coupled to the load cell is read from the measurement value of each load cell, and this load amount is the limit of the adsorption capacity for each lifting electromagnet. Just repeat the reading of the load changes the suction position of the lifting electromagnet with respect to the steel until the allowable value or less that is set in correspondence with the characteristics shown a burden load weight any lifting electromagnet exceeds the allowable value when adsorbed is characterized in that so as to transmit a predetermined alarm.
According to a third aspect of the present invention, there is provided a lifting electromagnet attracting position correcting method according to a third aspect of the present invention, wherein the lifting electromagnet apparatus includes a plurality of lifting electromagnets for attracting and transporting steel. The load weight is distributed within the current position of the center of gravity of the load attracted to each lifting electromagnet and the allowable value of each lifting electromagnet using the measurement values of each load cell suspended from one or several pairs of load cells. The amount of deviation and direction of the load center of gravity relative to each lifting electromagnet to be calculated is automatically calculated, and each lifting is automatically performed by moving the lifting electromagnet in the direction to correct the deviation and re-adsorbing the load. It is characterized by correcting the attracting position of the electromagnet.
As described above, the load weight of the lifting electromagnet is detected, and the detection result is used to correct the lifting position of the lifting electromagnet. Can be adsorbed.
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described in detail with reference to the drawings.
First embodiment:
The first embodiment shows the basic function of the present invention.
A lifting electromagnet apparatus that attracts and transports one steel material by two lifting electromagnets will be described with reference to FIGS.
In FIG. 1, 1A is a suspension beam connected to a crane (not shown). A first lifting electromagnet 2a and a second lifting electromagnet 2b are suspended from the suspension beam 1A at a predetermined interval. The steel material 3A is adsorbed by the lifting electromagnets 2a and 2b.
Reference numerals 4a and 4b denote first and second load cells, respectively. The first load cell 4a is between the suspension beam 1A and the first lifting electromagnet 2a, and the second load cell 4b is the suspension beam 1A and the second lifting electromagnet. 2b, the first load cell 4a and the second load cell 4b measure the weight of the steel material to which the load is distributed to the lifting electromagnets 2a and 2b to which the first load cell 4a and the second load cell 4b are respectively coupled.
[0006]
Figure 2 shows the suction position correcting method of lifting electromagnet by the operator using the detection result of the load Weight using a load cell in accordance with the present invention.
In FIG. 2, 4a and 4b indicate first and second load cells, and 5a and 5b indicate first and second measurement value display functions, respectively.
The measurement output of the first load cell 4a is input to the first measurement value display function 5a, and the measurement output of the second load cell 4b is input to the second measurement value display function 5b.
The operator moves the suspension beam 1A in FIG. 1 with a crane, operates the first lifting electromagnet 2a and the second lifting electromagnet 2b to adsorb the steel material 3A to be transported, and then lifts the suspension beam 1A slightly. Let The operator determines whether each display value is within the reference value from the display value of the first measurement value display function 5a and the display value of the second measurement value display function 5b, and displays one of the measurement value display functions. If the value is larger than the reference value set corresponding to the characteristics of the lifting electromagnet, the position between the center of gravity G of the load steel material and the middle of the first lifting electromagnet 2a and the second lifting electromagnet 2b. After calculating the approximate value of the distance δ, and depending on the conditions, the distance of the suspended beam 1A is lowered by a distance that is lowered, and then the attracting force of the lifting electromagnet is once released and the suspended beam 1A is slightly raised, then the distance Re-adsorption is performed at the adsorption position moved by δ.
The display value of the first measurement value display function 5a and the display value of the second measurement value display function 5b are read again, confirming that both are within the reference value, and carrying work is executed.
However, the display value of the first measurement value display function 5a and the display value of the second measurement value display function 5b are read again, and if the display value of one of the measurement value display functions is outside the reference value, the above operation is performed. repeat.
[0007]
Second embodiment:
A system in which the correction work by the above-described operator is automated, that is, a configuration having an automatic calculation function for correcting the attracting position of the lifting electromagnet using the detection result of the load weight detection method using the load cell will be described with reference to FIG.
In FIG. 3, the measurement output of the first load cell 4a and the measurement output of the second load cell 4b are input to the calculation function 6A, and the output of the calculation function 6A is input to the alarm / display function 5c.
The calculation function 6A has a function of automatically executing an operation performed by the operator based on the display values of the measurement value display functions 5a and 5b shown in the first embodiment. The alarm / display function 5c A function for displaying the calculation result is provided.
That is, the arithmetic function 6A determines whether any measured value is within the reference value from the measured value of the first load cell 4a and the measured value of the second load cell 4b, and the measured value of any measured value display function is If the value is larger than the reference value set corresponding to the characteristics of the lifting electromagnet, the distance between the first lifting electromagnet 2a and the second lifting electromagnet 2b and the current measured value ratio of each load cell From this, the distance δ to be moved between the first lifting electromagnet 2a and the second lifting electromagnet 2b is calculated, and the predetermined alarm and the distance δ to be moved are displayed on the alarm / display function 5c.
[0008]
Third embodiment:
In the electromagnetic device lifting shown in FIG. 1 described above, lifting the suction position correcting device that automates the correction work of the suction position of the electromagnet, i.e., adsorption of applying the suction position automatic correction method using the load weight detection results using the load cell An embodiment of the position correction apparatus will be described with reference to FIGS.
In FIG. 4, the measurement output of the first load cell 4 a and the measurement output of the second load cell 4 b are input to the signal processing function 6 B, and the output of the signal processing function 6 B is input to the crane control function 7. The crane control function 7 includes an operation function for each lifting electromagnet, each arm of the crane, an operation function for booms, a manual operation function, and the like, and is provided with a signal line 7a for outputting each operation signal to each operation device.
Depending on the lifting electromagnet device, a predetermined signal is input to the signal processing function 6B and the crane control function 7 from the upper control function (not shown), and the predetermined signal is output to the upper control function (not shown). An input / output function (not shown) is provided.
[0009]
The operation of the above-described suction position correction apparatus will be described with reference to FIGS. 1 and 4 and a flowchart shown in FIG.
In FIG. 5, when the operator starts the carrying work (S0), the operator visually confirms the shape and position of the steel material 3A to be carried. When the signal processing function 6B and / or the crane control function 7 is provided with a signal input function from the host control function (not shown), the steel material information from the host control function is the signal processing function 6B and / or crane control function. 7 (S1).
While driving the crane, the lifting electromagnets 2a and 2b are excited to apply the electromagnets 2a and 2b to the steel material 3A to attract the steel material 3A (S2).
The crane is operated to slightly lift the suspension beam 1A, and hence the electromagnets 2a and 2b, so that the load cell 4a and the load cell 4b share the total weight of the steel material 3A. First, the measured value G1 of the first load cell 4a The set limit value WC is compared with the signal processing function 6B (S3). If the measured value G1 of the first load cell 4a is equal to or smaller than the limit value WC, the measured value G2 of the second load cell 4b is further reduced. And the preset limit value WC are compared by the signal processing function 6B (S4). If the measured value G2 of the second load cell 4b is equal to or smaller than the limit value WC, the crane is raised to a predetermined height. Then, the process proceeds to the next step of moving the steel 3A to a predetermined position by moving in the lateral direction.
[0010]
As a result of comparing the measured value G1 of the first load cell 4a with the preset limit value WC by the signal processing function 6B, if the measured value G1 of the first load cell 4a is larger than the limit value WC (No part of S3) ), A deviation value between the measured value G1 of the first load cell 4a and the limit value WC, that is, an excess load is calculated (S6). In this case, data not shown is also received, and the weight of the steel 3A calculated by the sum of the measured value G1 of the first load cell 4a and the measured value G2 of the second load cell 4b, and the electromagnet coupled to the hanging beam 1A The lifting electromagnet 2a coupled to the position of the center of gravity G of the steel material 3A from the interval 2a or 2b, the load weight ratio between the measurement value G1 of the first load cell 4a and the measurement value G2 of the second load cell 4b, and the suspension beam 1A. From the current center-of-gravity eccentricity position calculated from the interval between 2b and 2b, the eccentric amount of the center-of-gravity for correcting the attracting position of the steel material 3A between the lifting electromagnets 2a and 2b, that is, the electromagnets 2a and 2b should be moved The distance δ and the direction are calculated (S7).
In this case, the suspension beam 1A is lowered to the original position to release the attracting force of each of the electromagnets 2a and 2b (S8), and the crane is lifted slightly to determine the eccentric amount, that is, the electromagnet moving distance δ. The electromagnets 2a and 2b are moved in the direction (S9), and the process returns to step S2.
As a result, since step S3 and step S4 should be satisfied, it moves to step S5 and performs the conveyance work of steel materials.
[0011]
As a result of comparing the measured value G1 of the first load cell 4a with the preset limit value WC by the signal processing function 6B, the measured value G1 of the first load cell 4a is equal to or smaller than the limit value WC (S3). When the measured value G2 of the second load cell 4b is larger than the limit value WC (in the case of No in S4), a deviation value between the measured value G2 of the second load cell 4b and the limit value WC, that is, an overload is set. Calculation is calculated (S10). In this case as well, data not shown in the figure is received and calculation is performed in the same manner as described above to calculate the amount of eccentricity δ and the direction in which the adsorption position of the steel material 3A by the electromagnets 2a and 2b is to be corrected (S7).
As a result, the suspension beam is lowered by the crane to release the attracting force of the electromagnets 2a and 2b (S8), and then the crane is slightly lifted and moved in the predetermined direction by the eccentric amount δ (S9). Return.
As a result, since step S3 and step S4 should be satisfied, it moves to step S5 and performs the conveyance work of steel materials 3A.
[0012]
The correction of the adsorption position by the lifting electromagnet described above malfunctions, and the steel material load of the first lifting electromagnet 2a or the second lifting electromagnet 2b is larger than the set value, that is, the measured value G1 of the first load cell 4a or the first When the measured value G2 of the second load cell 4b is larger than the limit value WC, the above steps are repeated.
The crane operation described above is executed completely on the basis of the management of the host controller by providing the NC function in the crane control function 7 even if the operator manually displays the processing result on the signal processing function 6B. It may be configured automatically.
[0013]
Fourth embodiment:
The form of the lifting electromagnet apparatus using a plurality of load cells for the lifting electromagnet is shown in FIG.
In FIG. 6, 1B is a suspension hook connected to the crane, 2 is a lifting electromagnet, 4c and 4d are load cells, and 3B is a steel material adsorbed by the lifting electromagnet 2. This embodiment may be regarded as the same as that obtained by bringing two lifting electromagnets close together in the first embodiment shown in FIG.
Therefore, since it is only necessary to operate according to the first embodiment or the second embodiment described above, a detailed description of the operation is omitted.
[0014]
Fifth embodiment:
Next, a large lifting electromagnet device for transporting a large steel material will be described with reference to FIGS.
In FIG. 7A, reference numeral 1C denotes a suspended beam connected to a crane, and 2e _{1 to} 2en _denote lifting electromagnets that attract the steel material 3C. Reference numerals 4e _{1 to} 4en _denote load cells for measuring the load amount shared by each lifting electromagnet.
FIG (B) shows a situation as seen from the side in FIG (A), 2e ₁ represents one left of the lifting electromagnet 2e ₁ ~2e _n described above, 4e _1a, 4e _1b is both load cells 4e ₁ ~4e _n described above, it indicates that the two load cells are formed become respectively a pair, only the load cell that is coupled to the electromagnet 2e ₁ lifting of the load cell 4e ₁ ~4e _n Is shown as a representative.
[0015]
The functional configuration and operation in the present embodiment will be described with reference to FIGS.
8 showing a schematic configuration of a control function, the load cell 4e _1a, 4e _1b ~4e _na, the output of 4e _nb is inputted to the measurement signal processing functions 4A, the result of the measurement signal processing functions 4A executes the processing described below The output is input to the operation / control function 10 of the lifting electromagnet device, the output of the operation / control function 10 of the lifting electromagnet device is input to the crane operation / control function 11, and the output of the crane operation / control function 11 is A mechanism driving function 12 that comprehensively shows each mechanism driving function of the crane and an excitation function 13 that comprehensively shows a driving function for supplying a predetermined current to the electromagnetic coil of the lifting electromagnet.
An operation / control function 10 of the lifting electromagnet apparatus is connected to an interpersonal interface function 10a having an operation / command signal input function and a display function for an operator to operate.
In response to the conditions of the lifting electromagnet apparatus, the operation / control function 10 of the lifting electromagnet apparatus measures the command signal input line to the measurement signal processing function 4A, the position of each beam of the crane and the lifting electromagnet, and is instructed. An NC function for automatically moving to a destination address is provided.
[0016]
The operation of the above configuration will be described with reference to the outline flow shown in FIG.
When the operator starts work (S0), the operator visually confirms the shape and position of the steel material 3C to be transported. Operation by the interpersonal interface function 10a or input of an automatic control signal, or steel material information from a host control function (not shown) is input to the operation / control function 10 of the lifting electromagnet device (S1).
After the steel 3C to be conveyed by operating the electromagnet 2e ₁ ~2e _n lifting and moving the hanging beam 1C crane was adsorbed by an operator manipulation or preset program (S2), slightly, lifting beam 1C To raise.
Lifting beam 1C each load cells 4e _1a raises the, 4e _1b ~4e _na, (hereinafter referred to 4e ₁ ~4e _n) 4e _nb in to load the total weight of the steel 3C, data is predetermined in the lifting electromagnet device and with reference to the position signal of each portion obtained by the measurement sensor (not shown) during operation, the current centroid position corresponding to the lifting electromagnet of the steel 3C, each load cell 4e corresponds to the shape of the steel _{1 ~4e n} Is calculated as a normal center of gravity position (S3, S4).
An eccentricity δ indicating the calculated distance between the center of gravity positions, that is, a deviation value and a deviation direction are calculated (S5).
It is determined whether or not the calculated eccentricity δ is within the reference value (S6). If the calculated eccentricity δ is within the reference value, the crane lifting operation is continued and the moving operation is executed (S7), and the steel material 3C is transported to a predetermined position. Proceed to the next step.
It is determined whether or not the calculated eccentricity δ is within the reference value (S6), and if it is other than the reference value, the lifting beam 1C is lowered by the increased distance corresponding to the condition, and each lifting electromagnet 2e _1- 2e _n is released (S8), the lifting beam 1C is slightly lifted as necessary to move in the direction of correcting the eccentricity δ, and if necessary, a pair of load cells of each lifting electromagnet, For example, in the case of the lifting electromagnet 4e ₁ , the load cells 4e _1a and 4e _1b are turned so that the measured values are equal (S9) and the process returns to step S2.
As a result, since step S6 should be satisfied, the process moves to step S7 to carry out the steel material transport operation.
In order to detect the eccentric state of the center of gravity position described above, the description has been made so that the eccentricity δ is compared with the reference value. However, as in the third embodiment, the measured value of each load cell is compared with the reference value. However, if it exceeds, the calculation and control processing for the eccentricity correction described above may be executed.
[0017]
If the correction of the attracting position by the lifting electromagnet described above malfunctions and the result of the calculation of the center of gravity again and the determination result indicate that the eccentricity δ is larger than the reference value, the above steps are repeated.
The above-described crane operation can be performed by displaying the processing result of the measurement signal processing function 4A on the interpersonal interface function 10a so that the operator manually operates the NC function on the crane operation / control function 11 and the mechanism drive function 12. It may be configured to be fully automatic including the automatic operation function of the excitation function 13 for the coil of the lifting electromagnet.
Further, the third embodiment described above can be regarded as a special state of the fifth embodiment.
[0018]
What is shown in FIG. 10 is an irregular shaped steel material that can be applied to the above-described embodiments of the present invention, and may be applied to the case where a steel material having an uncertain center of gravity position is visually conveyed. That is, the steel materials attracted by the lifting electromagnets are those shown in FIG.
10, (A), (B) and (C) are plan views of the steel material to be transported, and (D), (E) and (F) are respectively (A) and (A) in FIG. (B) And the side view of the steel material corresponding to (C), G has shown the gravity center position, respectively.
[0019]
The above description shows a basic configuration for realizing the technical idea of the present invention and an embodiment for explaining the function thereof. For example, in the configuration block diagram of the main function shown in FIG. 3 and FIG. The calculation function based on the measurement signal of the load cell and the operation / control function of the lifting electromagnet device have been described so as to be distinguished for convenience of explanation. However, an appropriate interface is provided between each measurement function and drive function. What is necessary is just to comprise each function appropriately according to the scale and required function of this lifting electromagnet apparatus, such as comprising so that it can perform by a software process on the same computer.
[0020]
【The invention's effect】
According to the present invention, the load weight distribution of the lifting electromagnet is detected by the method as described above, and further, the adsorption position of the lifting electromagnet is corrected using the detection result. Have.
(1) Even an inexperienced operator can safely and reliably lift the electromagnet and apply it to the center of gravity of the steel material to be loaded.
(2) This can be similarly applied to an irregularly shaped steel material.
(3) Therefore, there is no risk of an accident during crane operation, and the steel material can be transported efficiently and safely.
[Brief description of the drawings]
FIG. 1 is a front view showing a configuration of a lifting electromagnet device for explaining first to third embodiments according to the present invention.
FIG. 2 is a block diagram showing a processing circuit using a load cell for explaining the first embodiment according to the present invention;
FIG. 3 is a block diagram showing a measurement signal processing circuit by a load cell for explaining a second embodiment according to the present invention;
FIG. 4 is a block diagram showing a processing circuit by a load cell for explaining a third embodiment according to the present invention.
FIG. 5 is a flowchart for explaining the operation of the third embodiment according to the present invention.
FIG. 6 is a front view showing a configuration of a lifting electromagnet apparatus for explaining a fourth embodiment according to the present invention.
FIGS. 7A and 7B are diagrams showing a configuration of a lifting electromagnet device for explaining a fifth embodiment according to the present invention, wherein FIG. 7A is a front view and FIG. 7B is a side view.
FIG. 8 is a block diagram showing a processing circuit using a load cell for explaining a fifth embodiment according to the present invention;
FIG. 9 is a flowchart for explaining the operation of the fifth embodiment according to the present invention.
FIG. 10 is an outline view showing an example of the shape of a steel material to be transported to which the embodiment of the present invention is applied, and each of FIGS. (A), (B) and (C) is a plan view. The drawings, FIGS. (D), (E), and (F) are side views of FIGS. (A), (B), and (C), respectively.
[Explanation of symbols]
1A, 1C: hanging beam 1B: hanging hooks _{2,2a, 2d, 2e 1 ~2 n} ,: lifting electromagnets 3A, 3B, 3C: steel _{4a~4d, 4e 1 ~4e n, 4e} 1a, 4e 1b: load cells 4A : Measurement signal processing function 5a, 5b: Measurement value display function 5c: Alarm / display function 6A: Arithmetic function 6B: Signal processing function 7: Crane control function 10: Lifting electromagnet device operation / control function 10a: Interpersonal interface function 11 : Crane operation / control function 12: Mechanism drive function 13: Excitation function

Claims (3)

In a lifting electromagnet device comprising a plurality of lifting electromagnets that suspend and carry steel material,
Each lifting electromagnet is suspended through one to several or one to several pairs of load cells in the width direction of the steel material, and the amount of load adsorbed to the lifting electromagnet coupled to the load cell is determined from the measured value by each load cell. The reading of the load amount was repeated while changing the adsorption position of the lifting electromagnet with respect to the steel material until the load amount was below the allowable value set corresponding to the characteristic indicating the limit of the adsorption capacity for each lifting electromagnet . A method for correcting the attracting position of a lifting electromagnet. In a lifting electromagnet device comprising a plurality of lifting electromagnets that suspend and carry steel material,
Each lifting electromagnet is suspended through one to several or one to several pairs of load cells in the width direction of the steel material, and the amount of load adsorbed to the lifting electromagnet coupled to the load cell is determined from the measured value by each load cell. read, to repeat the reading of the load changes the suction position of the electromagnet lifting with respect to the steel until the load becomes less than the allowable value is set corresponding to the characteristic indicating the limits of the adsorption capacity for each lifting electromagnet,
A lifting electromagnet attracting position correction method, wherein a predetermined alarm is issued when an arbitrary lifting electromagnet bears and attracts a load weight exceeding an allowable value. In a lifting electromagnet device comprising a plurality of lifting electromagnets that suspend and carry steel material,
Each lifting electromagnet is suspended through one or several or one or several pairs of load cells in the width direction of the steel material, and the current position of the center of gravity of the load attracted to each lifting electromagnet is measured using the measured value of each load cell. Automatically calculate the deviation amount and direction of the load center of gravity relative to each lifting electromagnet to which the load weight should be distributed within the allowable value of each lifting electromagnet,
A method for correcting the attracting position of a lifting electromagnet, which automatically corrects the attracting position of each lifting electromagnet by moving the lifting electromagnet in a direction to correct the deviation and re-sucking the load .

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