JPH0336193A - Anti-swing device for suspension wire - Google Patents

Abstract

PURPOSE:To cope with swinging in any direction by calculating the rate and direction of pressure-fed fluid injection based on detection signals from swing angle detecting means, wire length detecting means, and load detecting means, and controlling the injection rate adjustment based on the calculated result. CONSTITUTION:Signals from a tachometer 15, a rotary encoder 16 (wire length detecting means), a load setting means 17 (load detecting means), accelerometers 18, 19 (swing angle detecting means), and crane operation 20 are inputted to a CPU 21. The CPU calculates the force caused by injection, controls respective solenoid valves 12 based on the calculated result so that swinging of a suspension wire 4 is prevented with the injection reaction forces of injection units 8 attached in respective directions of an anti-swing device 6. As a result, effect of wind is overcome.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a suspension wire steadying device for steadying a wire caused by movement of a crane.

<Prior Art> As a device for stopping wire swinging caused by horizontal or vertical movement of a crane, there are known systems that control the rotation of an electric motor and systems that use movement of a wire guide sheave.

Figure 1 shows an example of a steady rest for a crane using this method when swinging.

The steady rest device includes a rotation detection section 3, a comparison calculation circuit section 32, and a rotation control section 33.

The comparison calculation circuit section 32 compares a setting signal 34 indicating the amount of rotation of the swing motor sent from the operator with a rotation signal 36 of the swing motor 35 from the rotation detection section 31 . The rotation control section 33 receives the control signal 37 sent from the comparison calculation circuit section 32 and performs driving control of the swing motor 35.

As shown in Figures 12a and 1.2b, when a crane swings, the cargo suspended from the wire is
After swinging backwards, when it enters constant speed motion, it swings back forward and vibrates. Therefore, the vibration is predicted in advance and the acceleration change is calculated as o<t<tx+t2 in Fig. 12b.
By once loosening it at the center portion 38 where <t<t3, the runout vibration that occurs at constant speed or at a stop is aimed at convergence.

Currently, these operations are performed by operators relying on their experience and intuition unless they are controlled by a computer.

An example of the tree method is shown in FIGS. 13 to 15. The movable suspension system 41 is attached to a crane boom 45 so that the wire guide sheave 44 can be moved laterally, rotated, swung, and moved.For example, as shown in FIG. 43 swings rearward, but the swing angle Oo remains at 0□ due to the lateral movement cl(P-)P') of the wire guide sheave 44, and the swing angle can be reduced.

Similarly, when the gift is moved in other directions, the swing angle can be reduced by the movement of the wire guide sheave 44.

<Problem to be solved by the invention> However, in the conventional electric motor rotation control system, a transportation pattern is set in advance along the transportation course of the crane.
It was necessary to incorporate acceleration adjustment based on the amount of wire deflection into the program in advance. Therefore, it has not been put to practical use because it cannot cope with so-called external disturbances such as changes in the transportation course, changes in load, or wind.

Additionally, the method of moving the wire guide sheave is insufficient for dealing with radial vibrations when the crane turns.
There were problems such as no effect on the rotation of luggage.

The present invention has been devised to solve the above-mentioned problems, and its purpose is to be able to respond to vibrations in all directions, and to be able to respond to vibrations in all directions in a short period of time without being affected by the above-mentioned disturbances. The object of the present invention is to provide a device for preventing the swinging of a hanging wire, which can stop the swinging of the wire.

<Means for Solving the Problems> The present invention has been made in view of the above objects, and the gist thereof is to provide a deflection angle detection means for detecting the deflection angle and the direction of the suspension wire, and a deflection angle detection means for detecting the deflection angle and the direction of the suspension wire. A wire length detection means for detecting the length, a load detection means for setting the load applied to the suspension wire, and based on detection signals from these deflection angle detection means, wire length detection means and load detection means, a calculation unit that calculates the injection amount and direction of the fluid, a control unit that controls the adjustment of the injection amount based on the calculation result of the calculation unit, and an injection unit that injects the pressure-fed fluid according to the control of the control unit. There is a steady rest device of a hanging wire consisting of.

<Operation> Prior to working examples, the basic principle of the present invention will be explained using the simple harmonic motion of a pendulum as an example.

As shown in FIG. 1, a weight m having a mass M [kg] is connected to the end of a wire having a length L [m], and is performing simple harmonic motion in the same plane. At this time, when fluid is injected from the weight m in a direction that suppresses the simple harmonic motion, the force due to this injection is F [N], and the deflection angle 0 [rad] in the vertical downward direction becomes the rope length L [m]. Assuming that it is sufficiently small in comparison, the equation of motion of weight m is expressed by the following equation.

However, θ; Wire deflection angle [rad ]L;
Length of wire [m] M; Mass of weight [kg] g; Gravitational acceleration [9.8m/5ee2] F; Force due to injection
[Ncodx' Here, Xl-θl

From this, the optimal hole crab MLF that stops the swing of the weight m is expressed as. However, q1+q'zr r is a parameter. Therefore, from equation (3), the force F due to injection
[N] can be determined by measuring the mass M [kg] of the weight, the length L [m] of the wire, and the deflection angle θ [rad 3] of the wire. However, the deflection angle is 0
[rad] can be measured directly, but the first
Measure the acceleration α applied in the horizontal direction as shown by the arrow in the figure, integrate this value over time to find 0 [rad/sec], and further integrate this value over time to indirectly calculate 0
It is also possible to obtain [rad].

In order to apply this basic principle to a steady rest device for crane suspension wires, as shown in Figure 2, the acceleration component αX in the X direction and the acceleration component αy in the y direction are measured, and the A fluid injection port is provided in a direction corresponding to the direction, and F [N] is calculated for each component 7 using the above equation (3).

Based on this calculation result, fluid is injected in the X direction and the y direction, and steady rest control is performed using the reaction force of the ejection.

<Example> Next, an example of the steady rest device for a hanging wire according to the present invention will be described based on the accompanying drawings.

FIG. 3 shows a jib crane equipped with a steady rest device for a hanging wire according to the present invention. Driver cab 2 of jib crane 1
A winch 3 driven by a λ11-pressure motor is installed nearby to wind up or lower the hanging wire 4. A wire steady rest device 6 according to the present invention is connected to an end of the hanging wire 4, and the steady rest device 6 is further fixed to a packet 55.

The wire steady rest device 6 is shown in FIGS. 4a and 4b. On the side surface of this steady rest device 6, injection parts 8 for ejecting compressed air are arranged in four directions. The injection part 8 includes an injection port 7x facing toward the radial direction of the steady rest device 6,
7y is provided, and the suspension wire 4 is stopped from swinging by the reaction force of the compressed air to be jetted, and an injection port 10.11 is provided toward the tangential direction of the circumference, and the packet 5 is prevented from swinging against the suspension wire 4 by the jet reaction force. Perform rotation correction.

A gear-shaped wheel 14 is integrally attached to the suspension wire 4 on the upper part of the steady rest device 6.
The packet 5 relative to the hanging wire 4 is determined from the direction and amount of rotation of the metering wheel 15 that meshes with the wheel 14.
The rotation amount is detected and functions as a 1-revolution counter 15.

Inside the steady rest device 6, there is a pressure vessel sealed with compressed air for controlling the steady rest, and an accelerometer (not shown) as a swing angle detection means for detecting the swing angle and direction of the hanging wire 4. and a central processing unit 21 that performs calculations based on each input information to be described later and controls the operation of the plurality of three-way magnetic valves 12.

Two accelerometers are installed, as shown in Figure 4b.
On the horizontal plane, with the connecting portion with the suspension wire 4 as the origin, an acceleration α8 in the X direction and an acceleration αa in the y direction are fit 21111, respectively. Further, although the pressure vessel is installed so as to be replaceable by one type of attachment, compressed air may be supplied from outside using a hose or the like.

FIG. 5 shows the injection section 8. The injection unit 8 is composed of a three-way electromagnetic valve 12 and an injection port 7X, 11 or 7y+10. The compressed air force-fed to the injection part 8 through the air supply pipe 13 is supplied to the injection port 7 by the three-way electromagnetic valve 12.
It is controlled in the x direction, the injection port 10 direction, or fully closed. Note that the other injection parts have the same mechanism except that the injection direction is different, so a description thereof will be omitted.

FIG. 6 explains the configuration of the present invention for controlling the steady rest device 6 for the hanging wire. The rotary encoder 16 as a wire length detection means is connected to the winch 3.
The number of rotations is measured.

The amount of feed of the hanging wire 4 corresponding to the length L [m] of the wire in equation (3) is detected. The load setting device 17 as a load detection means is used to set the load applied to the hanging wire 4, such as the weight of the main body as a fixture of the steady rest device 6, the weight of the bucket, and the weight of the suspended load.
For example, when the amount of hanging load fluctuates rapidly, it is preferable to install a tension meter or a load cell as a load detection means to detect the load applied to the hanging wire 4. The accelerometers 18 and 19 measure the acceleration α8 in the X direction and the y direction.
．． Measure α2. The crane operation signal 20 is an input symbol for not performing single steady rest control while the boom of the jib crane 1 is moving, but starting steady rest control immediately after the boom has finished moving.

The above tachometer 15. The signals from the rotary encoder 16° load setter 17, accelerometer 18, 19, and crane operation signal 20 are input to the central processing unit 21, and the calculation unit performs calculations according to equation (3) above, and based on the results. , the control section controls each corresponding electromagnetic valve 12, and the suspension wire 4 is stopped from swinging by the injection reaction force of the injection section 8 attached in each direction. Note that details such as specific injection pressure will be shown in the simulation results described later.

11- FIG. 7 shows another example of control of the steady rest device 6.

A CCD camera 23 is installed at the tip of the boom 22 of the crane.
is fixed vertically downward, and as a result, as shown in FIG. 8a, along the circumference of the steady rest device 6,
Light emitting pres h 24 a , 24 arranged at 0° intervals
b, 24c are measured to detect the deflection direction, deflection angle, rotation angle, and length of the hanging wire 4. All of these are performed by image analysis, and the direction of deflection,
The swing angle is determined between the origin O on the image and the center part 4 of the steady rest device 6.
The rotation angle is as shown in FIG. 8b of the light emitting plate 24a.

It is determined by measuring the positional relationship of each light emitting plate at the time of measurement using the arrangement of 24b and 24c as a reference.

Further, the length of the hanging wire 4 can be detected by measuring the distance between adjacent light emitting plates (for example, 24a and 240) as shown in FIG. If the measurement image taken by the CCD camera 23 is f, then if the wire length is □, then A is on f.

A', and in the case of wire length Q2, B and B'2 on f. This is because it is measured as .

The central processing unit 21 shows these image analysis results in FIG.
After inputting and performing calculations, each corresponding solenoid valve 12
It is also possible to control the wire 4 to prevent it from swinging.

In this embodiment, the compressed air for steady rest control is sealed in a pressure vessel (tank) and installed in the steady rest device 6 so that it can be replaced by an attachment method. However, the present invention is not limited to this. Alternatively, it is also possible to install an air compressor and supply air from the air compressor into the steady rest device 6 via an air hose.

Moreover, although air is illustrated as an example of the fluid used for steady rest control, for example, if water with a large specific gravity is used, steady rest control can be performed efficiently.

Furthermore, in the present invention, image analysis using an accelerometer and a CCD camera is exemplified as means for detecting the deflection angle of the hanging wire, but the present invention is not limited to this. There is no problem as long as it can be detected.

The results of a numerical simulation using the suspension wire steady rest device N5 according to the present invention are shown below.

Match value/Wire length L=100 [m]/Load
M=13500 [kgf]・Initial state θo
= 0, 01 [rad]・parameter q□”
' Or 92 = 10 rr = 30 Face 224 By substituting each of the above numerical values into equation (3), the simulation results shown in FIG. 10 were obtained. From Fig. 10, if the force F due to the injection is F = 0.005 [1/5ec21 L, the swinging of the hanging wire can be stopped in about 10 seconds.

-LF max=0.005 [1/5ee2] L 13500 , °, Fmax=0. 005・9.8
・ 100 [k + rm / 5ee2 = 689 690 [N] ... (4) (4)
From the formula, it is sufficient that the maximum force of F[N] due to injection can be 690[N].

Next, based on the result of equation (4), the injection reaction force P [kgfl.

Find the air flow rate Q [rrr/see].

P=1. 5 ・ d2 ・ pox □ ≧ 6
90 [Nko ・ ・ ・ (5) 9.8= However, Po: Injection pressure [kg-f/Ci cod: Nozzle diameter [0] However, γ: Specific gravity of air 1 kg/rn'= 9, 8kgf
/rr? Specific gravity of water 1000kg/rrl'=9800
kgf/rn' (5) P. Table 1 shows the results of calculating the flow rate Q [rn'/see from equation (6), assuming that the flow rate is 50 [kgf/-, 100 [kgf/, ffl].

15- Table 1 From table 1, when water is used as the fluid, the wire can be stabilized with a volume of about 1730 mm compared to when air is used.

<effect> A steady rest device for a hanging wire according to the present invention.

The vibration state of the hanging wire can be continuously detected by the deflection angle detection means, the wire length detection means, and the load setting means. Furthermore, a calculation unit performs calculations based on these detection results, and according to the control of the control unit based on the calculation results of the calculation unit, the fluid is injected from the injection unit in a direction that suppresses the vibration of the hanging wire. The suspension wire can be stabilized in a short time. Therefore, the influence of wind, etc., which was a drawback of conventional steady rest devices, can be overcome.

16 Many effects can be expected, including the ability to reduce the burden on crane operators.

[Brief explanation of drawings]

Figures 1 and 2 are explanatory diagrams showing the basic principle of the present invention, Figure 3 is a side view showing a jib crane equipped with a steady rest device according to the present invention, and Figure 4a is a diagram showing a steady rest device attached to a packet. Fig. 4b is a plan view thereof;
FIG. 5 is an explanatory diagram showing an outline of the internal mechanism of the injection part 8, and FIG.
The figure is a block diagram showing the configuration of the control device that controls the steady rest device, Figure 7 is a side view of the main part showing a jib crane equipped with a CCD camera, and Figures 8a to 9 are CCD cameras.
An explanatory diagram showing a detection method using a camera, Fig. 10 is a chart showing simulation results, Fig. 11 is a schematic explanatory diagram showing a steady rest mechanism using a conventional electric motor rotation control system, and Figs. 12a and 12b are a diagram of a crane boom. A chart showing the transition of the swing angle of the hanging wire as it moves. Fig. 13 is an explanatory diagram showing another steady rest mechanism based on the movement of the wire guide sheave as a conventional example. Fig. 14 is an enlargement of the sheave part in Fig. 13. FIG. 15 is an explanatory diagram of the operation of FIGS. 13 and 14. 1. Jib crane, 4. Hanging wire 6. Steady rest device, 8. Injection section, 16. Rotary encoder (wire length detection means), 17. Load setting device (load detection means), 18.19・Accelerometer (deflection angle detection means),
21...Central processing unit (calculation unit/control unit).

Claims (1)

[Scope of Claims] A device for stopping swinging of a hanging wire caused by movement of a crane, comprising: swing angle detection means for detecting swing angle and direction of the hanging wire; and a length of the sent-out hanging wire. a wire length detection means for detecting the load applied to the suspension wire; a load detection means for setting the load applied to the suspension wire; a calculation unit that calculates the injection amount and direction of the calculation unit; a control unit that controls injection amount adjustment based on the calculation result of the calculation unit; and an injection unit that injects the pumped fluid according to the control of the control unit. Steady rest device for hanging wire.