JPH01226694A - Noncontact type automatic positioning suspending tool - Google Patents

Abstract

PURPOSE:To effectively utilize the space for storage, custody, etc., by forming the outer shape of an automatic positioning and suspending tool smaller than the outer dimension of a suspended object and detecting the position of the suspended object in noncontact from the upper part. CONSTITUTION:A suspending tool is positioned at a prescribed position directly over a container 24 from a crane body. After the temporary positioning, a position correcting control board 14 detects each deviation in the X, Y, and thetadirections between the suspending tool and the container 24 in noncontact from over the container 24 by the inspection sensors 13c-13e. Since, at this time, the upper surface or the edge surface of the container 24 is searched and detected in the noncontact from the upper part, even if the container is arranged in an extremely close state, position is detected free from obstruction. After position is detected, the above-discribed deviation is corrected by the drive means 10-12 on the basis of the result, and a twist lock pin 8 is installed onto the container 24, which is transported to a desired place. In this case, the outer shape of the suspending tool is smaller than that of the container, close arrangement is permitted.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a lifting device particularly suitable for cranes handling racks and containers containing radioactive drum waste. It has external dimensions that can include the external shape of the lifting tool, and by detecting the position of the object to be lifted from above in a non-contact manner, the position can be detected without any problem even if the distance between the objects to be lifted is narrow. , relates to a non-contact automatic positioning sling that makes it possible to closely arrange and store objects to be lifted.

[Prior Art] Conventionally, as an automatic positioning type lifting tool that detects the position of the object to be lifted and positions the holding means to hold the object to be lifted, for example, "Automation Technology J (1983) Vol. 15, A spreader, which is a hanging device exclusively for containers, is known, as published in No. This sensor is positioned on the side of the container to detect the side surface of the container.Then, based on this detection result, the holding means is positioned by a predetermined drive mechanism, and the twist lock bin of the holding means is attached to the container. It is attached to hold the container.

[Problems to be Solved by the Invention] However, according to such a conventional lifting device, a space is required to position the sensor on the side of the object to be lifted. The objects must be placed a certain distance apart,
There was a problem with not being able to effectively utilize storage space such as containers.

SUMMARY OF THE INVENTION In view of the problems of the prior art, it is an object of the present invention to provide an automatic positioning hoist that allows adjacent objects to be lifted to be closely arranged and stacked.

[Means for Solving the Problems] In order to achieve the above object, the non-contact type automatic positioning hanger of the present invention includes a base and an X and Y position in a substantially horizontal plane with respect to the base.
and a movable part attached to be movable in the θ direction, and a driving means for moving the movable part in the X, Y, and θ directions.
A holding means provided on the movable part to hold the object to be lifted; a position detection means for detecting the horizontal position of the object to be lifted from above the object without contact; and the driving means, holding means and position detection means. control means for detecting the position of the object to be lifted, positioning the movable part with respect to the object to be lifted, and holding the object to be lifted; The outer shape is such that a hanging true shape can be included in the outer shape.

Here, the base is usually a sheave stand provided with a sheave, and is lifted, lowered, and transported by the crane main body via the sheave. The object to be hoisted can be a rack or a container containing drum waste, and is usually rectangular in shape, and for example, the edge of the upper surface is detected by the position detecting means as a zero position detecting means. can be equipped with a reflective sensor such as an ultrasonic proximity switch and suitable drive means for scanning the lifted object from above, and is usually attached to a movable part.

[Operation] In this configuration, in order to lift the object to be lifted, the lifting tool is first positioned at a predetermined position above the object to be lifted by the crane body. At this time, since the external size of the lifting tool is included in the external dimensions of the object to be lifted, even if the objects to be lifted are stacked and arranged in close proximity, the lifting tool can be lifted without any problem and placed above the object. can be placed in position.

After this temporary positioning, the control means first uses the position detection means to detect the position of the object to be lifted, that is, the deviation in the X, Y, and θ directions between the lifting tool and the object to be lifted, from above the object to be lifted in a non-contact manner. At this time, since the upper surface or the edge of the lifted object is searched and detected from above without contact, the position can be detected without any problem even if the lifted objects are arranged extremely close together. Based on the detection result, the drive means corrects the deviation to correctly position the object holding means, and then the object holding means holds the object to be lifted.

Thereafter, the held object to be lifted is lifted by the crane body via a lifting tool and transported to a desired point.

[Example] Hereinafter, the present invention will be explained in detail using the drawings. FIG. 1 is a schematic diagram showing the configuration of a hanging device according to an embodiment of the present invention.

As shown in the figure, the lifting device of this embodiment includes a sheave stand 2 on which a sheave 1 is provided, an X-axis table 4 rotatably attached to the sheave stand 2 via a swing bearing 3, and an
A Y-axis table 6 is attached to the glaze table 4 so as to be movable in the X-axis direction via a slide rail 5, and a twist lock pin 8 is used to hold and release containers and racks.
A lock bin table 9 is attached to the Y-axis table 6 via a slide rail 7 so as to be movable in the Y-axis direction.
, an X-axis drive motor to move the lock bin table 9 in the X, Y and θ (swivel) directions, a Y-axis drive motor 11 and a swing drive power cylinder 12, and a swing drive power cylinder 12 for detecting the position of a rack or container. Exploration sensor 1
Based on the outputs of 3a to 13e1 and exploration sensors 13a to 13e, the X and Y$4 drive motors 10, 11 and power cylinder 12 are driven and controlled to position the twist lock bin 8 relative to the object to be lifted, such as a container or rack. A position correction control panel 14 is provided. The outer shape of the entire hanging wing device when viewed from above is configured to be included in the outer shape of the object to be lifted.

In this figure, only the lock bin table 9 is shown in a plan view, and the other parts are shown in a side view.

The sheave stand 2 is suspended from the crane body 31 via the sheave 1 so as to be movable in two directions (height direction).
It is moved in two directions by a drive means (not shown) under the control of the on-board crane control panel 15 of the crane body 31. This causes the entire sling to be moved in two directions. The sheave table 2 also has a tilt sensor 25, which detects whether the rack is riding on the rack.

A turning drive power cylinder 12 is attached between the sheave stand 2 and the bearing 3 so that the X-axis table 4 can be turned relative to the sheave stand 2. The turning angle is ±5° here.
It is said that The telescopic tube 32 is provided so that the sheave table does not rotate together when turning. >1ki
The i-shift motor 10 is fixed to the X-axis table 4, and moves the Y-axis table 6 in the X direction along the slide rail 5 via a predetermined transmission mechanism. The Y-axis drive motor 11 is fixed to the lock bin table 9 and similarly moves the lock bin table 9 in the X direction along the slide rail 7. The stroke amount in the X and X directions is ±150 for both.
It is set at 1-. Further, the drive origins of the X-axis table 4, Y-axis table 6, and lock bin table 9 are detected by the origin return photoelectric switches 16, 17, and 18, respectively.

The twist lock pin 8 is driven by a lock bin drive motor 19 provided on the lock bin table 9 to be attached to and detached from the upper surface of the object to be lifted. This attachment/detachment state is monitored by a lock bin opening/closing detector 20, and an overload state of the twist lock pin 8 can be detected by a lock bin overload detector 21.

Two systems of exploration sensors 13a and 13b, one on each side in the X direction on the lock bin table 9,
Three systems of exploration sensors 13c to 13e, two on one side of the lock bin table 9 in the X direction and one on the other side, are for directional position exploration.

FIG. 2 is a schematic diagram showing the operation of such an exploration sensor. In the figure, 22 is a movable block that collectively represents the X-axis table 4, Y-axis table 6, and lock bin table 9. As shown in the figure, an exploration sensor 13d.

13e are each attached to the movable block 22 (lock bin table 9) via a power cylinder 23, and are movable in the X direction with a stroke amount of 2001 times by the power cylinder 23. When detecting the position of the rack 24, the rack 24 within this stroke range is
4 The edge of the top surface is detected. A reflective ultrasonic proximity switch is used as the exploration sensor.
While monitoring the stroke amount using the potentiometer built into the power cylinder 23, the position of the rack 24 is determined by capturing the value when the ultrasonic proximity switch detects the top end of the rack 24 and turns on (or off). The location can be detected. Other exploration sensor 13a
The same applies to ~13c.

Returning to FIG. 1, the position correction control panel 14 has a built-in power panel for each driving means of the sequencer and the lifting equipment, and transmits signals such as those shown in FIG. 3 between it and the onboard crane control panel 15. The arrows in the figure indicate the direction in which the signals shown corresponding to the left side are sent. These signals are sent and received in the first
Electric power is supplied to the power panel of the zero position correction control panel 14 via the control cable 26 shown in the figure, and is supplied from the onboard crane control panel 14 via the power cable 27.

These cables 26, 27 are connected between the control panels 14, 15 via a cable reel 28, and the length of the cable reel 28 is wound up and unwound in accordance with the lifting and lowering of the hanging device.

FIG. 4 is a schematic diagram showing how the lifting device shown in FIG. 1 is positioned with respect to the rack (or container) 24 that is the object to be lifted, and FIG. 5 is a diagram showing FIG. 4 viewed from above. , the procedure for positioning and lifting the lock pin table 9 with respect to the rack 24 is shown in FIGS.

Next, the operation of the hanging device shown in FIG. 1 will be explained using FIG. 5.

In order to lift the rack 24, the crane body positions the hoisting device almost directly above the rack 24, and then the hoisting device is lowered until the lock bin table 9 reaches a position 100 mm above the rack 24 (not shown). When detected by the detection means, the lowering is stopped and a position correction start signal is sent from the on-board crane control panel 15 to the position correction control panel 14. At this time, the horizontal positional relationship of the lock bin table 9 with respect to the rack 24 is normally shifted in the X, Y, and θ directions within the search range of the exploration sensors 13a to 13e, as shown in FIG. 5(a). .

Upon receiving the position correction start signal, the control panel 14 first detects the rack 2 using three systems of Y-direction exploration sensors 13c to 13e.
4, the longitudinal edge of the upper surface is detected, and the distance Ya from the longitudinal center line of the lock bin table 9 to the edge detection point by each sensor 13c to 13e, as shown in FIG.
Yb and Yc are obtained and taken into the sequencer, and based on these values, a drive signal is output to the power cylinder 12 in FIG. 1, and the lock bin table 9 is rotated to correct the deviation in the θ direction. As a result, the lock bin table 9 becomes parallel to the rack 24 as shown in FIG. 0. Align the longitudinal center lines of the bin table 9 to the state shown in FIG. 5(C).
Next, the X-direction edge of the top surface of the rack 24 is detected in the same manner using the two systems of X-direction exploration sensors 13a and 13b, and Xa and Yb are obtained to drive the X-axis drive motor 10, thereby correcting the X-direction deviation. do. This completes the positioning, and the lock bin table 9
is accurately positioned (W center) with respect to the rack 24. However, the sheave table 2 maintains its original position relative to the origin positions 29 and 30 in the X and Y directions for rack stacking.

Further, at the same time as the positioning is completed, the position correction control panel 14 outputs a positioning completion signal to the on-board crane control panel 15.

When the on-board crane control panel 15 receives the positioning completion signal, it slowly lowers the hoist device to a predetermined position, outputs a lock pin opening/closing signal, drives the lock pin drive motor 19 shown in FIG. 1, and twists the lock pin. 8 is mounted on the rack 24. At this time, if the lock pin overload detector 21 detects push-up, the lifting device is raised once and the above-mentioned positioning operation is restarted. When the lock pin opening/closing detector 20 confirms that the twist lock pin 8 is attached, The rack 24 is lifted by raising the lifting device. After that, until the rack 24 is transported to the desired point, the lock bin table 9, which was moved from the origin for rack stacking in the above positioning operation, is returned to the origin position, and the rack is placed in the state shown in FIG. 5(e). Prepare for stacking.

As described above, according to the hanging device of this embodiment, the position of the rack can be detected from above in a non-contact manner during positioning, so there is no need to place a sensor on the side of the rack as in the conventional example. The dimensions are such that the external dimensions of the ingredients are included in the external dimensions of the rack, so that the racks and the like can be closely arranged and stored in close proximity.

[Effects of the Invention] As explained above, according to the present invention, the external dimensions of the automatic positioning lifting tool can be set to be equal to or smaller than the external dimensions of the object to be lifted, and the position of the object to be lifted can be detected from above in a non-contact manner. Therefore, the objects to be lifted can be stacked close to each other without any problem, and therefore the objects to be lifted can be arranged closely and the space for storage, storage, etc. can be effectively utilized.

[Brief explanation of the drawing]

1 is a schematic diagram showing the configuration of a hanging device according to an embodiment of the present invention; FIG. 2 is a schematic diagram showing the operation of an exploration sensor used in the hanging device of FIG. 1; Figure 3 is a schematic diagram showing the types and directions of signals exchanged between the position correction control panel of the lifting equipment shown in Figure 1 and the on-board crane control panel, and Figure 4 is a schematic diagram showing the types and directions of signals sent and received between the lifting equipment shown in Figure 1. FIGS. 5(δ) to 5(e), which schematically show how the apparatus is positioned with respect to a rack or a container, are explanations showing the positioning and procedure by the apparatus of FIG. 1. 1: Sheave, 2: Sheave stand, 3: Bearing, 4: X-axis table, 5.7: Slide rail, 6: Y-axis table, 8: Twist lock pin, 9: Lock pin table, 10: X-axis drive motor , 11: Y-axis drive motor, 12: Power cylinder for swing drive, 13a to 13e: Exploration sensor, 14: Position correction control panel, 15: Onboard crane control panel, 16.1f, 18: Charging for return to origin Switch, 19: Lock bin drive motor, 20: Lock bin opening/closing detector, 21: Lock bin passing load detector, 22: Movable block, 23: Power cylinder with built-in potentiometer, 24 Nirakku (container), 25: Tilt sensor, 26: Control cable, 27: Moving cable, 28 Two cable reels, 29: X direction origin, 3
0: Y direction origin, 31: Crane body, 32: Telescovic tube.

Claims (1)

[Claims] 1. A base; a movable part attached to the base so as to be movable in the X, Y, and θ directions within a substantially horizontal plane; a driving means for moving; a holding means provided in the movable part for holding the object to be lifted; a position detection means for detecting the horizontal position of the object to be lifted from above the object in a non-contact manner;
control means for controlling the holding means and the position detection means to detect the position of the object to be lifted, position the movable part with respect to the object to be lifted, and hold the object to be lifted; 1. A non-contact automatic positioning sling, characterized in that it has external dimensions that can include the sling external shape. 2. The object to be lifted is in the shape of a rectangular parallelepiped, and the position detection means is of a reflective type, and detects the horizontal position of the object to be lifted by scanning the vicinity of the edge of the upper surface of the object to be lifted from above and detecting the edge. 2. The non-contact automatic positioning sling according to claim 1, which detects.