JPH02300091A - Lifting position control device for movable crane - Google Patents

Abstract

PURPOSE:To carry an article safely by detecting deviation between the center position of the carried article and that of a tong, and adjusting a stop position of a travel device so that the deviation becomes zero. CONSTITUTION:Individual nipping motors 7a and 7b are rotated by a direction of a nipping control device 8, nipping of a coil member 3 is started with nipping members 4a and 4b, and the nipping is stopped when sensors 9a and 9b touch the coil material 3. A pulse signal proportioned to a number of revolutions of the nipping motors 7a and 7b is outputted with both pulse oscillators 15a and 15b, and deviation between center positions Po' and Po of the coil material 3 and a tong 1 can be determined by counting a number of a pulse signal at a nipping position detection part 16. A direction and a distance for making coincidence between the center positions Po and Po' can be determined based on the deviation at a nipping position correction part 17, are inputted to a travel control device 13, and also simultaneously inputted to the nipping control device 8. Consequently, the coil material 3 is nipped at the center position of the tong 1, and can be safely carried.

Description

[Detailed description of the invention] [Objective of the invention] χIndustrial application field) The present invention is directed to a lifting position system 6II for a mobile crane that transports objects to a destination using a traveling device equipped with tongs.
Regarding equipment.

(Prior Art) For example, in the manufacturing process of steel, paper, film, etc., mobile cranes are often used for the purpose of transporting produced coil materials.

FIG. 3 is a schematic diagram showing a conventional example of such a mobile crane and its control device. As shown in the figure, the tongs 1 are composed of a main body 2, left and right clamping members 4a and 4b that clamp the coil material 3, and a connecting shaft 6 that connects the tongs 1 and the traveling device 5. There is.

Both pinching members 4a and 4b are connected to pinching motors 7a and 7b that are driven independently, respectively, and a pinching control device 8
It is designed to move left and right according to the operation command. Also, both sandwiching members 4a.

Sensors 9a and 9b for detecting contact with the coil material 3 are attached to the center sides of the coil members 4b, respectively, and the sensors 9a and 9b inform the sensor detection unit 10 that the clamping of the coil material 3 by the clamping members 4a and 4b has been completed. Notifying you.

When the sensor detection unit 10 receives the detection signals from the sensors 9a and 9b, it outputs a stop command to the clamp control device 8, and controls the motors 7a and 7b to stop.

The traveling device 5 also includes a moving motor 11. and a lifting motor 12 are attached, respectively, and a traveling control device 13. and is controlled by a lift control device 14.

In the figure, Po indicates the center position of the tongue 1, and Po - indicates the center position of the coil material 3.

Now, when the traveling device 5 stops at a point where the center position Po of the tongs 1 and the center position Po' of the coil material 3 coincide (see FIG. 4(A)), the coil material 3 is located at the center position Po.
(Pa −) is the sandwiching member 4a.

4b (see Figure 4(B)). after that,
The tongs 1 are lifted by the lifting motor 12 controlled by the lifting control device 14, and the coil material 3 is transported to the destination point by the moving motor controlled by the traveling control device 13 (see FIG. 4(C)). 〉.

At this time, since both center positions Po and PO- match, the coil material 3 is lifted in a well-balanced manner and is stably and safely transported to the destination.

(Problem to be Solved by the Invention) However, when the center position [Po of the tongs 1 and the center position Po − of the coil material 3 do not match] (see FIG.
(See Figure 5 (B)), and the balance becomes poor when the coil material 3 is lifted (See Figure 5 (C)). ).

For this reason, unreasonable force acts on the tongs 1 and the traveling device 5,
This could cause damage or malfunction. Furthermore, since the coil material 3 cannot be transported safely, it may cause a fall or a collision, resulting in a loss of safety.

In order to solve such problems, it is easy to think of a method of detecting the standby position of the coil material 3 and controlling the stop position of the traveling device 5 to match this position, but in reality the configuration is complicated. The problem was that it became expensive.

This invention was made in order to solve such conventional problems, and it is a lifting crane that can lift an object in a well-balanced manner even when the center position of the tongs and the center position of the object are different. The purpose is to provide a position control device with a simple configuration and at low cost.

[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention lifts an object to be conveyed using an eight-wheel drive system to which tongs are attached.

In a mobile crane for moving, a deviation detection means for detecting a deviation between a center position of the object to be transported and a center position of the tongs, and a position control means for adjusting a stop position of the traveling device so that this deviation becomes zero. It is characterized by the following.

(Function) In the mobile crane lifting position control device according to the present invention,
The deviation detection means detects the deviation between the center position of the tongs and the center position of the transported object, and so that this deviation becomes zero,
Moving the traveling gear. Therefore, it becomes possible to always lift the conveyed object at the center position, and it becomes possible to lift the object in a well-balanced manner.

(Minoura Example) FIG. 1 is a block diagram showing an embodiment of the present invention. In addition,
In this figure, the same parts as those in FIG. 3 showing the conventional example are given the same numbers, and the explanation thereof will be omitted.

As shown in the figure, pulse generators 15a and 15b are attached to the 8-pinching motors 7a and 7b, which generate pulse signals proportional to their respective rotational speeds, and these pulse signals are transmitted to the clamping position detector. 16.

The pinching position detection unit 16 calculates the deviation between the center position of the tongs 1 and the center position of the coil material 3 based on the difference in the number of pulses of the pulse signals given from both the generators 15a and 15b, and uses this deviation signal. is output to the sandwiching position complement +E section 17.

The pinching position correction section 17 uses the pinching control device 8. and outputs a signal to the traveling control device 13 to make the two center positions @Po and Po' coincide.

Next, the operation of this embodiment will be explained based on the operation diagram shown in FIG.

When the traveling device stops above the coil material 3 for the purpose of conveying the coil material 3, the tongs 1 are lowered to the clamping position by a command from the lift control device (see FIG. 2(A)). Then, the eight clamping motors 7a and 7b are rotated by the command from the clamping control device 8, and clamping of the coil material 3 by the clamping members 4a and 4b is started. This pinching operation is
Sensor 9a.

9b detects contact with the coil material 3 and detects the sensor detection part 1o.
It will stop when a stop command signal is output from.

At this time, if the center position N P o of the tongs 1 and the center position Po - of the coil material 3 match, the coil material 3 will be pinched at a biased position (see Fig. 2 (B)). ).

On the other hand, both pulse oscillators 15a and 15b output pulse signals proportional to the number of rotations of the 8-pinching motors 7a and 7b, and the clamping position detector 16 counts the number of pulse signals to detect the coil material. 3 center position fiffPo
- and the center position PO of the tongs 1 is calculated.

Next, the pinching position correction unit 17 determines the direction and distance in which the traveling device 5 is moved in order to make the center position Po coincide with the center position @Po' based on this position aal difference.

Then, after this movement command signal is detected by the sensor detection unit 10 and a detection signal is given, the travel control device! 713
Output to.

Similarly, the pinching position correction section 17
The moving direction and the moving distance are determined, and this movement command signal is output to the pinching control device 8 after receiving the pinching detection signal from the sensor detection section 10.

Thereby, the traveling control device 13 moves the traveling device 5 by the determined distance in the determined moving direction. Similarly, the clamping control device 8 moves the clamping members 4a and 4b by the determined distance in the determined moving direction at the same speed as the traveling device 5 (see FIG. 2(C)).

As a result, the center position Po of the tongs 1 and the center position Pa'' of the coil material 3 coincide, so the coil material 3 is lifted up in a well-balanced manner and transported to the destination point (Fig. 2(D)
) @ Teru).

In this way, in this embodiment, the center position P of the tongs 1
a and the center position 1ftPo - of the coil material 3 do not match, the traveling gear M5. and a sandwiching member 4a.

4b is moved to correct the center position Pa of the tongue 1 so that it coincides with the center position Po - of the coil material 3.

Therefore, the coil material 3 can be always clamped at the center position of the tongs 1, and can be lifted in a well-balanced manner. In addition, stable and safe transportation becomes possible.

[Effects of the Invention] As explained above, in the present invention, the stop position of the traveling device is adjusted so that the center position of the tongs and the lifting position of the transported object coincide, so that the transported object is always lifted at the center position of the tongs. be able to lift. Therefore, well-balanced lifting is possible, so that no excessive force is applied to the tongs or the traveling device, and problems such as breakdowns and breakage are eliminated.

In addition, since it becomes possible to transport the object stably, it becomes possible to prevent dangers such as falling and collision, and the effect of dramatically improving safety can be obtained.

[Brief explanation of drawings]

Fig. 1 is a block diagram showing an embodiment of the present invention, Fig. 2 is an explanatory diagram of the operation of the embodiment, Fig. 3 is a block diagram showing a conventional example, and Fig. 4 is a block diagram showing an embodiment of the present invention.
The figure is an explanatory diagram of the operation when the center position of the tongue and the center position of the coil material coincide in the conventional example, and FIG. 5 is an explanatory diagram of the operation when the two center positions do not coincide in the conventional example. 1... Tongs 3... Coil materials 4a, 4b... Sandwiching members 5... Traveling device 8...
Clamping control device 9a, 9b...Sensor 10...Sensor detection unit 13...Travel control device 15a, 15b.
... Pulse oscillator 16... pinching position detection section 17... pinching position correction section agent Patent attorney Hidekazu Miyoshi Figure 1 (A) (B) Figure 2 (C) (D) Figure 3 Q

Claims (1)

[Claims] A traveling device to which tongs are attached is used to lift an object to be transported,
In a mobile crane to be moved, a deviation detection means for detecting a deviation between a center position of the object to be transported and a center position of the tongs, and a position control means for adjusting a stop position of the traveling device so that this deviation becomes zero. A lifting position control device for a mobile crane, comprising: