JPH0357029B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to an indoor crane device having a cantilevered boom, in particular a telescopic boom.

(Prior Art) When a hoisting device such as a crane device is used indoors, various problems occur. That is, because there is a fixed structure or assembly for supporting the boom and various indoor facilities, there is a limit to the ability of the boom to move and extend/contract. Also, depending on the location, there may be a no-jump area set up where suspended loads are not allowed to fly. For example, in a building where a reactor is located at a nuclear power plant, the load suspended by a crane must not be exceeded in sensitive areas such as above the reactor tank. In facilities where loads, i.e. cargo, are often handled or moved indoors,
Usually, a crane or bridge-type crane is permanently installed, which runs on a guide rail suspended along the ceiling. Nuclear power plants are no exception to this, and traveling bridge-type hoists are used to install equipment, especially reactor tanks, during power plant construction. Such a hoist is a heavy piece of equipment that can only move the load slowly and consumes a huge amount of electricity. By the way, no matter what the indoor situation is, if you are handling small or medium-sized loads indoors,
Moreover, the need to install and remove auxiliary equipment will not disappear over time.

(Objective and Structure of the Invention) Therefore, the present invention provides a multi-function device which is suitable for indoor use and which provides optimal and reliable usability, taking into account that the range of movement and expansion/contraction is limited indoors. The purpose of the present invention is to provide a crane device having an automatic safety device.

Another object of the present invention is to use it as an auxiliary crane device at a nuclear power plant, and it can exhibit safety that meets nuclear security regulatory standards, and in particular, the suspended load can be used as an auxiliary crane device. In order to prevent overstepping and thereby potentially damaging equipment in the reactor building, e.g. existing traveling bridge hoists and the crane equipment itself, It is an object of the present invention to provide a crane device having automatic means for detecting and controlling loads.

The present invention provides a crane having a cantilevered telescoping boom that is attached to a fixed structure indoors and moves horizontally and tilts vertically, a power control means for operating the crane, and a power control means for operating the crane. and a safety device for controlling the power control means to prevent the boom from jumping over the boom, which is determined by a predetermined spread angle centered on the swing axis of the boom when viewed in the horizontal direction, and a reach distance of the boom. In an indoor crane device with a defined area, the safety device is configured to: (b) a vertical tilt angle of said boom from a horizontal plane; (c) a boom tilting safety system that automatically prevents the maximum tilting position of the boom from being exceeded; The invention is characterized in that it is configured with a load state control system that prevents

(Embodiments) Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 show a vertical sectional view and a top view, respectively, of a crane apparatus according to the present invention installed in a building containing a nuclear reactor. In FIGS. 1 and 2, 1 indicates a dome-shaped concrete shielding building. 2 is a reactor tank located in this building 1, and the space above this tank 2 is in the no-jumping zone Z (the area surrounded by pm, qm, pu, and qu in Fig. 6). In general, the auxiliary crane equipment must not exceed the load of luggage or cargo. A conventional traveling bridge-type hoist 3 is installed at the top of the building 1, and is designed to run horizontally above the reactor tank 2. This hoist 3 is mainly used to lift and move a device for lifting and unloading the tank cover 4. According to the invention, a crane 7 with a telescoping boom 8 is mounted via a supporting rotating turret 6 on the upper surface of a fixed structure 5 in a building, such as the masonry frame of a steam generator. When the boom 8 is retracted, it has the minimum boom length Lo, and at this time, the boom 8 has a horizontal swing locus circle Po centered on the vertical rotation axis 9 of the crane, which is annular and surrounds the outer periphery of the tank 2 on the horizontal plane. It is located outside the no-jumping area Z, which forms a part of the area and has a spread angle θ centered on the axis 9. On the other hand, when the boom 8 is extended to approximately the middle between the minimum boom length and the maximum boom length, the tip 10 of the boom 8 is connected to the tank 2.
When the boom swings along the trajectory circle Pi passing above and extends to the maximum length, the trajectory circle PM with the maximum radius
This will cover most of the working area within the reactor building. In addition to the no-jumping zone Z corresponding to the horizontal swing range of the boom 8 at the intermediate boom length and the inner and outer reach limits Pm and Pμ, there are also areas where the boom 8 interferes with the components of the hoist 3. In order to prevent
Additional safety limits must be imposed when the boom is tilted vertically to ensure that the maximum lift level is not exceeded.

According to the present invention, the crane device includes three types of safety devices, such as a direction and positioning safety system that automatically prevents the boom 8 from entering the jumping area with a spread angle θ when the reach range of the boom exceeds Pm; (SSO) and the boom 8 is in the horizontal plane λ during normal operation.
The boom tilting safety system (LRF) automatically prevents the boom from extending upwards, the actual length Ll of the boom 8, the tilt angle α of the boom 8 (Figure 3),
and the boom tilting cylinder 11.
(Fig. 3), and by detecting the actual weight of the load suspended from the crane hook H.
Preventing the boom from operating in the event of an overload caused by hoisting a load that exceeds the specified weight, according to a program designed to determine the weight of the load to be hoisted depending on the different possible extensions or reach points of the boom. It has a load condition control system (CEC). Furthermore, the crane device has power for adjusting the crane 7, selectively tilting the boom 8, extending and contracting it, and raising and lowering the load suspended from the hook H. Control means are also provided, and the power control means are conventionally known.

As shown in Figures 4 and 5, the load condition control system (CEC) is generally of the strain gauge type, 0-
Two 600 bar pressure transducers 12,
13, and are provided on the boom tilting cylinder 11, specifically, in a large volume chamber and a small volume chamber of this cylinder 11, respectively. The outputs from these transducers 12 and 13 are
The signal is supplied to an amplifier 14 which provides an output signal proportional to the difference in pressure between the large and small chambers of the cylinder as detected by the transducer. The control system includes continuous detection of the boom tilt angle α, preferably a gravity force connected to a sliding contact potentiometer that generates an electrical output signal with a value proportional to the boom tilt angle α. A detector 15 including a pendulum and a rotary potentiometer for detecting the amount of extension and contraction of the boom, preferably coupled to a rotary potentiometer to generate an electrical output signal proportional to the length Li when the boom is extended and retracted. A detection device 16 consisting of a winding wheel is provided. The computing device 17 centrally controls output signals from various detection devices and transducers to create a crane operation stop command signal, and also activates an alarm device and a display device provided in the control console 20. It's becoming like that. The reach of the boom and the weight of the load suspended on the hook H are determined by measurements stored in the register of the computing device as the profile of the load and the profile of the angle γ between the cylinder 11 and the boom 8. Depending on the parameters, the microprocessor 18 ₁ ,
18 ₂ to create an alarm signal to be displayed on the central control console 20. In the illustrated embodiment, the measured weight of the load suspended from the hook H is shown in the display window 21, and the permissible lifting load (according to the instantaneous state of the boom) is shown in the display window 22.
However, the actual boom lengths are displayed in the display window 23, and these values are directly displayed in units of tons and meters on a liquid crystal display element or a light emitting diode. The output alarm signal obtained by processing the measurement data is
supplied to the alarm and cutoff unit 24;
If the detected condition is hazardous, the crane operator is alerted by a pilot light on the console 20 and preferably by a buzzer (not shown) while boom movement is automatically stopped. There is. The boom length should preferably be measured and displayed with an accuracy of 0.1 m, and the weight of the load should be
It is best to measure and display with an accuracy of 0.1 ton. Additionally, a first indicator warning lamp (yellow lamp 40) is provided on the console to inform the operator that the crane is operating under conditions corresponding to the limit condition of 90% availability. desirable. Additionally, a second alarm lamp (red lamp 40') is activated in conjunction with the cut-off signal when the above-mentioned limit condition is achieved.
It is also good to have a The cut-off signal cuts off the lifting and lowering of the load, and the telescopic and tilting movements of the boom. It is also desirable that the actually measured and calculated operating rates be continuously displayed on the display device 39 on the console.

Under certain conditions, more specifically when performing an overload operational test, the load condition control system may be deactivated by operating an assigned key on the console; All indications given are withheld, but
Only the cutoff signal is prohibited. Furthermore, it is advantageous to provide an additional alarm device indicating a malfunction of the main parts of the load condition control system.

A direction and positioning safety system (SSO) is provided to prevent the load suspended on the tip 10 of the boom 8 from moving above the no-jump zone Z. However, it must be possible to cross the no-jump zone with the boom body, since while the crane 7 is stationary, the movement of the load should also be allowed on the opposite side of the no-jump zone. This function accurately detects the actual position of the tip of the boom in the horizontal plane and causes the load suspended on the tip 10 of the boom 8 to be placed above the no-jump zone Z having a horizontal spread angle θ. It can be achieved to stop the however,
Movements that cause the tip of the boom to escape from the no-jump area are permitted.

The divergence angle .theta. is specified by cam means 25 provided on the frame of the rotating crane support turret 6. The two reach ranges (Pm, Pμ) are stored in the logic of the orientation and positioning system. Practically speaking, in order to select whether the boom can swing or not, and to activate the proximity warning device that indicates that the boom 8 is approaching the no-jump zone, as shown in FIG. It is necessary to set an additional boundary zone around the actual no-jumping zone Z. The detection of this additional boundary zone is carried out in the lateral direction in the horizontal plane by means of three proximity detectors a, b, c, which cooperate with the cam 25. 26, 26' and actuate optical and/or acoustic warning devices. That is, when the boom 8 approaches the approach zones 26, 26, ′, the warning device is activated without interrupting the lateral drive state of the boom 8, and the left and right direction blocking zones 27, 27', the lateral drive of the boom 8 is automatically prevented. In addition, regarding changes in the reachable distance of the tip of the telescopic boom 8, changes in the extendable and retractable direction can be made by using the reach signal representing the actual reachable distance of the boom tip obtained by the above-mentioned load condition control system. Detection of boundary zones can be performed in a similar manner.

The signals from the detectors a, b, c are sent to a logic processing unit 28 which, under the control of a priority encoder 29 in the computing unit 17, generates a signal which activates a warning and direction blocking device 30. do.

The orientation and positioning safety system also includes movement detectors 31, 32 for detecting the upper and lower limit positions of the hook H, respectively. Control and stop in the operation of the crane is carried out by means of servo valves, e.g. servo valve 3 for hoisting loads.
3. Boom direction servo valve 34, boom tilting servo valve 35, and boom telescopic servo valve 3
6, and all these servo valves are connected to a control box 50 to which the output signal from the shutoff actuator 24 and the output signal from the arithmetic unit 17 are supplied.

The majority of crane operations are not monitored by the Direction and Positioning Safety System (SSO). However, on the other hand, in order to handle a load beyond the no-jumping zone Z seen from the rotating turret 6 for supporting the crane, the operator must monitor the display on the control console or turn on the approach indicator warning light. The boom must be driven as directed so that the boom tip passes around the no-jump zone. Regarding the load condition control system, the orientation and positioning safety system can be disabled by inserting the appropriate key into the control console, which will then be activated by a flashing red light (not shown) on the control console. will be notified.

A boom tilting safety system (LRF) included in the crane device is provided to prevent the boom 8 of the crane 7 from colliding with the traveling bridge type hoist 3. Therefore, the maximum tilt position, which typically corresponds to a boom tilt angle α of 6°, is the maximum tilt position of the boom tilt servo valve 35 controlling the cylinder 11.
controlled by a tilt limit detection switch that directly shuts off the This tilting limit detection switch (not shown) is placed on the side of the rotating turret 6 for supporting the crane, so that the stop output signal is sent directly to the servo valve 35 without passing through the control console to ensure operational reliability. It's starting to work.
This tilting limit detection switch is used to enable the use of a crane equipped with a gondola 37 for transporting people at the tip of the boom, or to reach the roof of a building when necessary, as shown in phantom lines in Figure 1. In order to tilt the boom 8 and raise it completely, it may be possible to disable it with a designated key. It is also desirable to provide mechanical stop means to limit downward tilting of the boom 8 below a predetermined lower position, in which case the boom 8 is extended at an angle of 4° to the horizontal plane. Allows gravity losses of oil and other liquid leaks to be recovered.

According to a preferred embodiment of the invention, the operating control and alarm system of the crane installation is provided by a wire remote operated portable control console 2 equipped with two voltage control handles 38, 38' as shown in FIG.
0, each of said handles cooperating with an amplifier and a setting solenoid for controlling the fluid pressure of the crane device and the different drive means via servo valves. Right control handle 3
8' is provided with a small top button 49 for controlling the raising and lowering of the load and the direction of the boom 8, and for selectively suppressing the braking effect when the boom 8 is turned sideways. The left control handle 38 is used to control the raising, lowering and extension of the boom. Thus, a predetermined position of the associated potentiometer corresponds to each angular position of the control handle, and the output voltage of the meter is fed to an oscillator from which an average pilot current representative of the position of the control handle is generated. Now supplied to the servo valve coil. Integrated logic devices that generate a 10% threshold are designed to prevent the generation of parasitic signals due to vibrations. On the control console 20, as shown in the figure, there are the above-mentioned display members 21 and 23, and on the console cover,
Light means 40 for first warning and advance warning are provided around an area Z' having a shape corresponding to the no-jumping zone Z. In addition, the control console 20 is equipped with another console test which simulates the angle, length and pressure transducers by potentiometers, the proximity detector by inverters and the servo valve system by optical means. Preferably, the system allows testing of the entire console.

The illustrated embodiment is particularly suitable for nuclear power plants, in which the crane 7 is mounted on ring-shaped roller bearings and the recovery tank for collecting the effluent liquid is arranged below the crane-supporting rotating turret 6. The boom 8 consists of three joint box-shaped cross-section boom sections, and these boom sections are simultaneously and continuously extended and retracted using hydraulic pressure.
The amount of expansion and contraction can be changed within a range of m. Maximum load capacity is 9000Kg at minimum boom length and 2700Kg at maximum boom length. Of course, all bolts and nuts are treated to prevent them from being lost, and the crane is coated with paint that will not be contaminated by radioactivity. In order to carry out work on the dome of a building or on a traveling bridge hoist, the crane can be operated from a gondola 37, as shown by wire 49 in FIG.
7 preferably has a loading capacity of about 300 kg so that two workers and necessary tools can be loaded.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above embodiments, and various modifications and changes can be made without departing from the scope of the technical idea of the present invention as described in the claims. Needless to say, it can be done.

[Brief explanation of drawings]

1 and 2 are a vertical sectional view and a plan view, respectively, schematically showing the arrangement of an auxiliary crane device according to the present invention in a nuclear reactor facility, and FIG. 3 is a safety detection and control means for the crane device. 4 is a block circuit diagram schematically illustrating the safety detection and control means described above; FIG. Fig. 6 is a plan view showing the geometrical layout of the crane orientation and positioning safety system; Fig. 7 is a centralized control for controlling the crane equipment; and a perspective view of a display console. 1... Building, 2... Tank, 3... Hoist, 4
... Tank cover, 5 ... Fixed structure, 6 ...
Support rotating turret, 7... Crane, 8...
Boom, 9... Axis, 10... Boom tip, 11...
...boom lifting cylinder, 12, 13...transducer, 14...amplifier, 15...detector,
16...Detection device, 17...Arithmetic device, 20...
Central control console, 21, 23...display member,
24... cut-off unit, 25... cam means, 26, 26'... approach zone, 27, 27'...
...Direction blocking zone, 28...Logic processing unit, 29
... Priority encoder, 30 ... Direction blocking device, 3
1, 32...Movement detector, 33...Load hoisting servo valve, 34...Direction servo valve, 35...
...Boom tilting servo valve, 36...Boom telescopic servo valve, 37...Transportation gondola, 38,
38'... Voltage control handle, 40... Optical means,
49...Top button, 50...Control box.

Claims (1)

[Scope of Claims] 1. A crane having a cantilevered telescoping boom that is attached to an indoor fixed structure and swings horizontally and tilts vertically, and a power control means for operating the crane; a safety device that controls the power control means to operate the crane, and has two reachable distances: a predetermined spread angle centered on the swing axis of the boom when viewed in the horizontal direction; In an indoor crane system that has a designated no-jumping area, the safety device is: (b) a direction and positioning system comprising a device for automatically preventing the boom from entering the no-jump zone and for warning that the boom is approaching the no-jump zone; and (b) tilting of the boom from a horizontal plane. (c) activation of the boom in the event of an overload exceeding a specified weight determined by at least the actual length of said boom and the vertical tilt angle; An indoor crane device characterized by comprising a load condition control system that automatically prevents. 2. What is stated in claim 1,
An indoor crane device, wherein the direction and positioning system comprises a proximity detection device that cooperates with a fixed cam member. 3. According to claim 1, the load condition control system includes a boom length detector that detects the length of the boom, and a tilt detector that detects the tilt angle of the boom. An indoor crane device featuring: 4. The load state control system according to claim 3, wherein the load state control system receives respective output signals from both the detectors and the proximity detection device constituting the direction/positioning system, and An indoor crane device, characterized in that a computing device is provided for automatically cutting off the operation of said crane means suspending a load when the occurrence of a condition is detected.