JPH0572883U - Deflection angle detector for suspended load - Google Patents

Abstract

(57) [Summary] [Purpose] The deflection angle of the suspended load when the rope-hanging crane travels and traverses at the same time.
Axial (axis) direction is detected optically and accurately without contact, and the positioning accuracy in slinging of hanging equipment, hoisting or hoisting of hoisting load is improved, and the crane work efficiency is improved and the suspended load is safely transferred. [Structure] A shake detection exclusive rope is provided in the vertical direction between the club and the hanging device, and two sets of a projector and an image sensor for detecting the shake amount on the vertical line of the shake fulcrum of the detection exclusive rope and in the traveling direction and the transverse direction Using the shake detection position where X intersects as the origin, find the distance on the Y-axis (travel direction) and the distance on the X-axis (transverse direction) corresponding to the shake position of the detection-only rope. From this distance and the origin of the image sensor A device that calculates the coordinate value at the sway position of the detection-only rope from the distance of the above, and calculates and outputs the deflection angle of the suspended load in the traveling direction and the transverse direction from the distance from the sway fulcrum of the detection-only rope to the sway detection position of the image sensor .

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to a device for detecting the deflection angle of a suspended load in a rope-suspended crane, etc., and particularly in an overhead traveling crane, the deflection angle in the traveling direction and the transverse direction of the suspended load suspended on a rope is optically eliminated. The present invention relates to a swing angle detection device for a suspended load that can be accurately detected momentarily by contact.

[0002]

[Prior Art]

 In various types of cranes, such as overhead traveling cranes, a rope transmission system is provided for a traverse club that can move on the traveling girder at right angles to the traveling direction. Lifting and transferring a heavy load, which is a heavy load slung on a sheave block with tools, the load often shakes during this transfer, especially inertial force due to braking to stop at a predetermined position. The vibration of the suspended load is promoted by it, and it takes a wasteful time until the vibration stops, and even if the known vibration control is executed, the actual condition of the vibration is not sufficiently grasped. Or, the positioning accuracy of the hoisting was greatly affected, and there was a problem that the luggage could not be placed in the proper position or the hanger did not fit in the hanger hole. For example, as shown in Japanese Utility Model Laid-Open No. 61-132387, strip coils and the like, which are enormous quantities of huge heavy items of various kinds, are neatly divided in coil yards and the like of steelworks. However, in an environment where strict address management, highly rationalized and labor-saving are performed in an intensive storage area where the loading and unloading are extensive over a wide area of the coil yard, accurate hanging of loads or positioning of hoisting can be performed by conventional methods. As described above, since there is no correction of crane operation visually by the crane operator, it is possible to appropriately and accurately hang and lift the suspended load under unmanned coil handling in accordance with the address management directive specified by the host computer. It is essential to perform the positioning of the crane, and the actual condition of the swing of the suspended load transferred by the crane can be grasped precisely and accurately. It was necessary to Me determined. In order to solve this problem, many proposals have been made in the prior art as means for accurately positioning the suspended load. For example, a traveling positioning method for a crane that stops the crane at a predetermined target position (Japanese Patent Laid-Open No. 61-23395), and a crane stop posture for accurately positioning the crane by setting the deviation between both legs when the crane is stopped to zero. Correction device (Japanese Unexamined Patent Publication No. 54-153464), a method for detecting the actual position of the lifting device (Japanese Unexamined Patent Publication No. 59-53389), and automatic swinging of the suspended load due to inertial force based on braking of the crane. Device (Japanese Patent Application Laid-Open No. 52-115058, Japanese Patent Application Laid-Open No. 60-262790), a method of damping the inertial force generated in the suspended load to absorb energy and prevent the suspended load from swinging (actually, (Japanese Patent Laid-Open No. 63-166587), a method of preventing the rotation of a suspended load in a horizontal plane due to a twist of a hoisting rope and the like, and maintaining an accurate right angle between the suspended load and a suspending device (JP-A-61-61). 3 7693 JP), or crane control device (JP 60-262791 discloses to eliminate the positional error due to the pendulum motion of the suspended load) and the like. In this way, positioning for suspending and hoisting a suspended load in automatic operation control of a crane requires extremely precise positioning without allowing a slight error.

As described above, in the handling of a suspended load in the automatic operation control of a crane, particularly during deceleration of the crane, optimum traveling control is performed to reduce the swing of the suspended load to suspend or suspend the suspended load. Efforts are being made to control the crane with accurate positioning and work efficiency, but in order to perform such control more accurately, the swing angle of the suspended load during the steady-state control of the crane suspended load should be adjusted. It is necessary to accurately detect every moment. As a conventional swing angle detection device for a suspended load, a swing detection rope is provided in the vertical direction along a line passing through the center of gravity of the suspended load of a crane, as proposed in Japanese Utility Model Laid-Open No. 57-56679, for example. There is a method of fixing the shake detection lever near the middle of the shake detection rope or by contacting it with the rope and converting the movement of the detection lever into an electric signal with a potentiometer, sercine or magnetic scale. There was a problem as shown. (1) The shake detection lever and the attached mechanical device that drives the shake detection lever are complicated, and handling and maintenance inspection are troublesome. (2) In order to move the shake detection lever with the detection rope, the reaction force of the detection lever is applied to the detection rope and the detection rope bends, so it is not possible to accurately detect the amount of shake, and the deflection of the detection rope due to the above reaction force There is a problem that it is necessary to apply a large amount of tension to the detection rope in order to reduce

(3) A lashing device for the shake detection rope and the detection lever is required, and the shake fulcrum (fixed point) of the detection rope is vertically moved to match the fulcrum height of the hoisting wire rope. There was a problem that the lashing device had to be attached and detached when adjusting. On the other hand, in Japanese Utility Model Application Laid-Open No. 56-128510, a pair of photoelectric detectors consisting of a light source and a photoelectric element array are arranged on different planes with a hoisting rope sandwiched between them, and the crane travels in the Y-axis direction and traverses. A deflection angle detection device has been proposed in which the amount of imaging movement of the hoisting rope in the (X-axis) direction on the photoelectric element array is detected and the deflection angle of the hoisting rope is calculated from this. However, with this shake angle detection device, the shake detection position when the hoisting rope shakes in the traveling direction and the transverse direction at the same time, the shake detection position is the Y-axis corresponding to the image formation movement (shake amount) on the photoelectric element array. It does not indicate the coordinate at the shake detection position of the hoisting rope, that is, the coordinate component orthogonal to the Y-axis or the X-axis, but the distance on the upper or X-axis. That is, as shown in FIG. 4, although the actual position of the swayed rope is point A ′, the sway position of the rope on the photoelectric element array shows point A ″. Therefore, the position is not shown by the coordinate components of the X-axis and the Y-axis, so the deflection angle detection device for a suspended load consisting of the photoelectric element array described above has a true X-axis (transverse) direction or a Y-axis (traveling) direction. It is not possible to accurately determine the runout amount of the suspended load (point A '), and the runout angle of the suspended load is estimated from the apparent runout amount in the X-axis direction and the Y-axis direction (point A "). However, there is a problem that a large error occurs. Furthermore, in the above-mentioned conventional technique, a photoelectric detector is provided for the hoisting rope that directly lifts and lowers the suspended load, and the thickness of the hoisting rope changes due to changes in the condition, such as dirt on the rope and broken wires. Change and the tension of the hoisting rope due to the magnitude of the load, the rope is deformed and the like. In addition, for example, see FIGS. 8 (a) and 8 (b) [refer to FIG. 1 of Japanese Utility Model Publication No. 56-128510]. As shown in the front view (a) and side view (b)], the position of the rope changes in both the transverse direction and the traveling direction depending on the height of the suspended load, regardless of which rope is to be detected. There is a problem that it is not possible to accurately detect the deflection angle of a suspended load. Further, as shown in the above-mentioned Japanese Utility Model Laid-Open No. 61-132387, strict address management in a coil yard of a steel mill, etc., and accurate suspension of a suspended load under a highly rationalized and labor-saving environment, Also, it is not possible to apply it to the positioning of hoisting, and there was a problem that unmanned operation of the crane could not reliably grip or land the hoisted load.

[0005]

[Problems to be solved by the device]

 As described above, in the conventional technique, it is difficult to detect the accurate deflection angle in the traveling (Y-axis) direction and the traverse (X-axis) direction of the suspended load of the crane, and therefore, for example, a strict address in the strip coil yard. In the case of controlled coil handling, it is not possible to provide sufficient assurance of the positioning accuracy for hoisting or hoisting required loads in the coil storage area, and automation cannot be performed by unmanned crane operation. was there.

The object of the present invention is to solve the above problems in the prior art, and to use the rope for detecting the shake of crane suspended load and the optical means in a non-contact manner to run the crane and to determine the swing angle of the suspended load in the transverse direction. This is to propose a swing angle detection device for a suspended load, which first detects the amount of shake in the apparent traveling (Y-axis) direction and in the transverse (X-axis) direction, and Using the set calculation method from the shake amount, calculate the shake amount at the position orthogonal to the X-axis and Y-axis directions from the shake detection position of the shake detection dedicated rope, and use this as a reference to determine the X-axis of the crane load and It is an object of the present invention to provide a swing angle detection device for a suspended load that can accurately calculate and determine the swing angle in the Y-axis direction.

[0007]

[Means for Solving the Problems]

 In order to achieve the above object of the present invention, in a swing angle detection device for a suspended load when a rope-suspended crane travels and traverses at the same time, a vertical swing is caused between the club of the crane and the hanger. The detection rope is attached to a structure that allows winding and rewinding, and the detection rope is sandwiched between the first projector and the first image sensor, and the second projector and the second image sensor, two sets each. They are arranged on two non-parallel axes in the space between the club and the hanger, and the distance corresponding to the maximum output of the first image sensor from one point on the vertical line of the swing fulcrum of the detection rope is set. , The slope of the straight line showing the characteristics of the first and second image sensors is obtained from the distance corresponding to the maximum output of the second image sensor from one point on the vertical line of the swing fulcrum of the detection rope. , The above straight line A means for obtaining the distance on the Y-axis and the X-axis that intersect at the origin that is one point on the vertical line of the swing fulcrum of the detection rope corresponding to the swing position of the detection rope based on The coordinate value at the deflection position of the detection rope is obtained from the distance above and the distance on the X-axis, and the distance between the origin and the first and second image sensors, and the coordinate value and the detection rope This is a device for detecting the deflection angle of a crane load, which is provided with at least means for calculating and outputting the deflection angle from the distance from the deflection fulcrum to the origin. According to the crane hanging load deflection angle detecting device of the present invention, it is possible to accurately determine the deflection angle of the hanging load in the traveling and traversing directions even when the rope hanging crane travels and traverses at the same time. When handling a suspended load such as a strip coil under strict address management, the positioning accuracy for lowering or hoisting the suspended load in the coil storage area is further improved, allowing unmanned automatic crane operation.

[0008]

【Example】

Next, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a front view when the present invention is applied to an overhead traveling crane, and FIG. 2 is a view taken along the line AA of FIG. As is clear from the figure, the crane girder 1 travels on the traveling rail 24 via the traveling wheels 23. The club 3 traverses on a traverse rail 2 provided on the crane girder 1 via traverse wheels 4. An upper sheave 5 and a hoisting drum 6 are provided on the club 3. By rotating a hoisting drive device (not shown) on the hoisting drum 6, the hoisting tool 22 causes the wire rope 9 to move. , Raises and lowers via the hoisting sheave 21. The upper end of the shake detecting rope 18 is attached to a bolt 8 which is vertically adjustable on a support base 7 fixed to the club 3 on a vertical line passing through the center of gravity of the lifting gear 22 when the crane is stationary. The other end of the shake detection rope 18 that is engaged is given a constant tension by the rope take-up reel 20 via the rotatable rope guide sheave 19 attached to the hanger 22, and is wound up. It is installed so that it can be returned. 1 and 2, the case where the rope take-up reel 20 is attached to the hanger 22 is shown, but the rope take-up reel 20 can be attached to the club 3. FIG. 3 is an explanatory diagram showing the positional relationship among the shake detection rope 18, the projectors 13 and 17, and the image sensors 10 and 16 when the suspended load is shaken. As is clear from the figure, the travel image sensor 10 that detects the amount of shake of the shake detection rope 18 in the traveling direction (hereinafter referred to as the Y axis), and the shake of the shake detection rope 18 in the transverse direction (hereinafter referred to as the X axis). The image sensor for traverse 16 that detects the amount is installed on two axes, that is, the X axis and the Y axis that are orthogonal to each other with one point on the vertical line of the swing fulcrum of the shake detection rope 18 as the origin A, and is used for traveling. The projector 13 is arranged on the X axis facing the traveling image sensor 10 around the origin A, and the traverse projector 17 is arranged on the Y axis facing the traverse image sensor 16 around the origin A. The traveling image sensor 10 and the traveling floodlight 13, and the traverse image sensor 16 and the traverse floodlight 17 are the traveling image sensor mount 12 and the traveling floodlight mount 11, which are fixed to the club 3, respectively. It is fixed to a traverse image sensor mount 14 and a traverse projector mount 15. Next, the deflection angle detection function of the suspended load when the crane travels and traverses will be described. Figure 3 shows the shake detection rope shaken in the X-axis and Y-axis directions. Point B is the center of shake, L is the distance from point B to the origin A, and θ _x is the shake of the X-axis component. The angle, X indicates the shake amount of the X axis component, θ _y indicates the shake angle of the Y axis component, and Y indicates the shake amount of the Y axis component. FIG. 4 shows the positional relationship between the traveling image sensor 10 and the transverse image sensor 16 and the shake detection rope 18 on the X-axis and Y-axis planes in FIG. As shown in the figure, if the shake position of the shake detecting rope 18 is point A '(X, Y), the outputs of the image sensor 16 for traveling and the image sensor 10 for traveling are v _x and V _y. The X-axis and Y-axis components corresponding to are x'and y '. That is, the shake position of the shake detection rope 18 is at the point A '(X, Y), but the position of the detection rope 18 detected by the traveling image sensor 10 and the traverse image sensor 16 is as if it were. The shake position of the shake detecting rope 18 is observed as if it were at the A ″ point (x ′, y ′). Then, m and l are from the origin A to the traverse image sensor 16 and the traveling image sensor 10. Here, v _max is the maximum output of the transverse image sensor 16 and corresponds to the maximum position x _max on the X axis, and represents the visual field of the transverse image sensor 16. V _max is the traveling distance. corresponding to the maximum position y _max on Y-axis at the maximum output of the use the image sensor 10, representing the field of view of the traveling Ime Jisensa 10. FIG. 5 is a transverse for images corresponding to the position of the X-axis 6 shows the output relationship of the running image sensor 10 corresponding to the position of the Y-axis, and Fig. 7 shows the output angle of the shake detecting rope 18 based on the output of the image sensor. FIG. 3 is a block diagram for calculating the output signal 25 of the image sensor for traverse 16 and the image sensor for traveling 10 and known constants 26: x _max , v _max , y _max , V _max , 1, m, x ′, Y ′, L are input to the arithmetic circuit 27, and the shake angle θ _x 28 and the shake angle θ _y 29 are calculated and output.

Next, the basis for calculating the shake angle of the shake detecting rope according to the above-described embodiment will be described. As the traverse image sensor 16 and the traveling image sensor 10, those whose characteristics change linearly as shown in FIGS. 5 and 6 are used, and as shown in FIG. because it is located, to measure the maximum output v _max and the distance on the X axis corresponding to the maximum output V _max of the traveling image sensor 10 x _max and the distance y _max on the Y-axis of the transverse for image sensors 16 From this, the slopes of the straight lines showing the characteristics of the traverse and traveling image sensors, x _max / v _max and y _max / V _max, are known. When the shake detecting rope 18 shakes and is located at the point A ′, the outputs of the traverse image sensor 16 and the traveling image sensor 10 are v _x and V _y , respectively, as shown in FIG. The corresponding distances are (x _max / v _max ) v _x and (y _max / V _max ) V _y . Since the coordinates at the point A'are X and Y, if x '= (x _max / v _max ) v _x , y' = (y _max / V _max ) V _y , then X = [lx '(m -Y ')] / [ml-x'y'], Y = [my '(l-x')] / [ml-x'y ']. Then, in order to obtain the shake angle of the shake detection rope 18, as shown in FIG. 3, the distance L from the shake fulcrum B to the shake detection position A on the vertical line is known, and the shake of the X-axis component is known. The angle θ _x and the deflection angle θ _y of the Y-axis component are calculated by θ _x = tan to ¹ (X / L) and θ _y = tan to ¹ (Y / L). By incorporating the above into the arithmetic circuit 27 shown in FIG. 7 and connecting it to the traverse image sensor 16 and the traveling image sensor 10, the angle or distance due to the shake of the shake detecting rope 18 can be extracted as a signal. This signal can be used to control the steady-state load of the crane, and by inputting it to a measuring instrument, the run-out state of the load can be quantitatively grasped moment by moment. Enables steady rest and positioning control. The present invention is a non-contact shake amount detection device using an image sensor, and is controlled so that a predetermined tension is applied by the rope guide sheave 19 and the rope take-up reel so that the shake detection rope does not sag. Therefore, a more accurate detection signal can be taken out. In the above-described embodiment, the traveling image sensor 10, the traveling projector 13, the traverse image sensor 16, and the traverse projector 17 are arranged on two plane orthogonal axes with the origin A on the vertical line of the shake detection rope 18. However, even when the shake detection rope is attached at an arbitrary position away from this origin with the intersection of the two axes connecting the traveling and traverse image sensors and the respective projectors as the respective origins, By giving the distance from the intersection of the above-mentioned two axes of the shake detecting rope as an input of the arithmetic circuit to perform the calculation, it is possible to easily detect the swing angle of the suspended load at the shake detecting rope mounting position. Furthermore, in the above-described embodiment, in order to simplify the shake angle detection calculation and facilitate the explanation, the shake detection rope is set on the vertical line passing through the center of gravity of the hanger, and the projector and the image sensor are arranged. An example of the case where two sets of attachment positions are arranged on two horizontal axes that are orthogonal to each other has been described. However, this condition is not always necessary, and the attachment position of the shake detection rope or the image of the projector and It is needless to say that an arbitrary deflection angle may be obtained as long as the arrangement of the sensors is not parallel, and each known correction value is input to the arithmetic circuit and converted.

[0010]

[Effect of the device]

 As described in detail above, according to the swing angle detecting device for a crane suspended load of the present invention, even when the rope-suspended crane travels and traverses at the same time, the traveling direction (Y-axis component) and the traverse direction (X Since the deflection angle of the suspended load in the axial component) can be detected with extremely high accuracy, the coil of the suspended load can be handled when handling the suspended load of a coil such as a strip coil yard under strict address management. There is an effect that the unsteadiness of the crane is realized by improving the steadying for positioning and hoisting for hoisting and hoisting at the yard, improving the work efficiency and safely transferring the suspended load.

[Brief description of drawings]

FIG. 1 is a schematic view showing a mounting configuration of a swing angle detection device for a suspended load on an overhead traveling crane exemplified in an embodiment of the present invention.

FIG. 2 is a view on arrow AA of FIG.

FIG. 3 is an explanatory diagram showing a positional relationship among a shake detection rope, a light projector, and an image sensor in a state where the suspended load illustrated in the embodiment of the present invention is shaken.

4 is an explanatory diagram showing a positional relationship on an X-axis Y-axis plane in FIG.

FIG. 5 is an explanatory diagram showing an output relationship of the transverse image sensor corresponding to the position of the X axis in the embodiment of the present invention.

FIG. 6 is an explanatory diagram showing an output relationship of the traveling image sensor corresponding to the position of the Y axis in the embodiment of the present invention.

FIG. 7 is a block diagram for calculating a swing angle of a suspended load in the embodiment of the present invention.

FIG. 8 is a schematic diagram showing that the position of a hoisting rope changes depending on the height of a suspended load in a conventional crane.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Crane girder 2 ... Traverse rail 3 ... Club 4 ... Traverse wheel 5 ... Upper sheave 6 ... Hoisting drum 7 ... Support stand 8 ... Bolt 9 ... Wire rope 10 ... Traveling image sensor 11 ... Traveling floodlight mount 12 … Running image sensor mount 13… Running light projector 14… Transverse image sensor mount 15… Transverse light emitter mount 16… Transverse image sensor 17… Transverse light projector 18… Sway detection rope 19… Rope guide sheave 20 ... Rope take-up reel 21 ... Lifting tool sheave 22 ... Lifting tool 23 ... Traveling wheel 24 ... Traveling rail 25 ... Image sensor output signal 26 ... Known constant 27 ... Arithmetic circuit 28 ... Deflection angle θ _x output signal 29 ... Output signal with deflection angle θ _y

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor, Mamoru Tabuchi, Kawashima-dori, Mizushima, Kurashiki, Okayama Prefecture, Kawashima Steel Co., Ltd. (Mizushima Steel Works, Ltd.) Inside the Mizushima Steel Works (72) Inventor, Akimune Sato, Mizushima Kawasaki-dori, 1-chome, Kurashiki City, Okayama Prefecture Kawasaki Steel Co., Ltd. Denki Co., Ltd. Nagoya Works

Claims (1)

[Scope of utility model registration request] 1. A swing angle detection device for a suspended load when a rope-suspended crane travels and traverses at the same time. A swing detection rope is vertically wound between a club and a lifting tool of the crane. It is attached to a structure that allows it to be returned freely, and the detection rope is sandwiched between the first projector and the first image sensor, and the second projector and the second image sensor, two sets each, between the club and the hanger. Are arranged on two axes that are not parallel to each other, and the distance corresponding to the maximum output of the first image sensor from one point on the vertical line of the swing fulcrum of the detection rope and the swing fulcrum of the detection rope. The gradient of the straight line showing the characteristics of the first and second image sensors is obtained from the distance corresponding to the maximum output of the second image sensor from one point on the vertical line of, and the gradient of the straight line is used as a reference. Low for detection Means for obtaining the distances on the Y-axis and the X-axis that intersect at the origin, which is one point on the vertical line of the swing fulcrum of the detection rope, which corresponds to the swing position of the detection rope, and the distance on the Y-axis and the distance on the X-axis. , And the coordinate value at the swing position of the detection rope from the distance between the origin and the first and second image sensors, and from the coordinate value and the distance from the swing fulcrum of the detection rope to the origin. A swing angle detection device for a suspended load, comprising at least means for calculating and outputting a swing angle.