JPH0612245B2 - Laser beam position correction device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser beam position correcting device that corrects a deviation between a swinging hull and a hanger provided on the hull.

[Conventional technology]

The present invention corrects the deviation between the swinging hull and the hanger provided on the hull so that the hanger is always located at a fixed position with respect to the load placed on the hull. Controlled by the device. Such a fix would be
This is especially necessary when lifting delicate machine parts.

[Problems to be solved by the invention]

Conventionally, a differential transformer type stroke sensor or the like is used to detect the deviation between the hull and the hanger and correct the deviation. However, when there is a three-dimensional displacement due to the relative motion between the swinging hull and the hanger provided on the hull, the displacement in one direction (the hull due to continuous and dynamic swinging of the hull back and forth) Front-back direction deviation only)
It was difficult to fix.

That is, conventionally, when only a one-dimensional direction deviation occurs, it is detected and corrected, and when there is a deviation in the other two directions, it is difficult to detect and correct. .

Further, it is necessary to correct only the displacement in the front-rear direction of the hull due to the rocking of the hull in the front-rear direction with a small amount of power and high responsiveness, and to perform accurate positioning easily.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a laser beam type position correcting device capable of correcting only the displacement in the ship front-rear direction due to continuous and dynamic rocking of the ship hull.

Moreover, it is also an object of the present invention to provide a laser beam type position correction device that enables this correction with a small amount of power and high responsiveness, and that enables accurate positioning easily.

[Means for solving problems]

The present invention for solving such a problem provides a derrick provided on a deck of a hull and swinging only in the front-back direction of the hull, a hanging tool extending from the derrick toward the deck below the derrick, and a derrick on the derrick. A trolley that runs in the front-back direction of the hull and corrects the inclination of the derrick with respect to the deck due to the front-back inclination of the hull due to pitching; A laser beam receiver having silicon diodes of the same area and shape arranged side by side in the hull direction, and the laser beam having a width extending over the two silicon diodes provided on the other of the suspension and the deck. And the output voltages VL and VR of the two silicon diodes caused by the tilt of the derrick. A laser beam position including an arithmetic unit for performing the arithmetic processing for determining the inclination of the derrick, and a trolley drive unit for driving the trolley by an output signal from the arithmetic unit to correct the inclination of the derrick. It is a correction device.

[Action]

A laser beam receiver having two silicon diodes of the same area and shape arranged in the hull direction on one of the hanger and the deck, and two provided on the other of the hanger and the deck It is equipped with a light emitting device that emits a laser beam with a width that spans the silicon diode of the above, to the tilt of the derrick due to the tilt of the front and rear of the hull by the output voltage VL and VR of these two silicon diodes. Judgment is made by performing the arithmetic processing of. That is, if there is no inclination, the calculated value becomes zero, and if there is inclination, it becomes a positive value or a negative value. At this time, the direction of the inclination can be known by positive and negative,
The magnitude of the value indicates the degree of inclination. Therefore,
It is possible to correct only the displacement between the deck and the hanger in the longitudinal direction of the hull due to the continuous and dynamic rocking of the hull.

Also, a derrick provided on the deck of the hull and swinging only in the front-back direction of the hull, a hanging tool extending from the derrick toward the deck below the derrick, and traveling on the derrick in the front-back direction of the hull. Since it has a trolley for correcting the inclination of the derrick with respect to the deck due to the front and rear inclination of the hull due to pitching, and a trolley drive device for driving the trolley by the output signal from the arithmetic unit to correct the inclination of the derrick, Since the displacement of the deck and the hanger in the front-back direction of the hull due to the back-and-forth swing of the hull detected by the computing device as described above can be corrected only by moving the trolley, it can be corrected by correcting the attitude of the entire hull. By comparison, you can do it with less power and high responsiveness,
In addition, accurate positioning can be easily performed.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. Referring to FIG. 1, reference numeral 1 is a swinging hull deck, and 3 is a suspending tool extending from a derrick 2 provided on the deck 1 toward the lower deck 1. The derrick 2 is hinged to the support structure 4 and is swingably supported only in the longitudinal direction of the hull. The suspending tool 3 is provided on the pedestal 5 provided on the derrick 2 so as to be able to travel in the front-rear direction of the hull by the trolley 6. Therefore, the displacement between the hull deck 1 and the hanger 3 caused by the motion of the hull is mainly the displacement in the longitudinal direction of the hull due to the pitching of the hull and the displacement in the vertical direction of the hull. However, hanging equipment 3
There is looseness in the trolley 6 that supports the ship, and some deviation occurs in the width direction of the hull. Therefore, as a whole, a shift occurs in the three-dimensional direction. When the hull is pitched by the pitching angle 2θ, the amount of deviation in the longitudinal direction of the hull is l sin θ. However, l is the distance between the hull deck and the hanger.

Next, as shown in FIG. 2, the laser beam emitted from the laser beam emitter 11 provided in the deck 1 is received by the light receiver 12 provided in the center of the suspension 3.

More specifically, as shown in FIG.
In FIG. 1, the laser beam emitted from the laser tube 13 passes through the chopper 14 for distinguishing it from the sun rays, and the angle is changed by the prism 15 so that the beam expander 1
After passing through 6, the laser beam 17 is emitted with its diameter (or beam diameter) adjusted. Light receiver 12 provided on the hanging device 3
Is provided with two silicon diodes 18.

The function of the silicon diode 18 will be described with reference to FIGS. As shown in FIG. 4, when there is no deviation and the laser beam 17 is received at the center of the two silicon diodes 18, there is no difference in the output voltages VL and LR of the two silicon diodes. Therefore the amplified signal Is 0 and it is detected that there is no horizontal shift in the figure. Next, as shown in FIG. 5, when the laser beam is shifted to the right side in the figure, the light receiving area of the silicon diode on the left side is reduced, and the amplification processing signal shows a negative value, which means the horizontal direction in the figure. The deviation ε of will be detected. Note that the amplification processing signal becomes positive with respect to the deviation in the direction opposite to that in FIG. 5, and the deviation direction is distinguished. Next is the sixth
As shown in the figure, when the vertical shift b occurs in the figure, the light-receiving area of the silicon diode decreases, but since the reduction rates of the left and right silicon diodes are the same, the value of the amplification processed signal does not change. It is detected that there is no lateral shift in the figure. Further, the deviation in the direction perpendicular to the paper surface of the figure has no influence on the amplification processing signal.

The horizontal direction in the above figures is the longitudinal direction of the hull, the vertical direction in the figure is the width direction of the hull, and the direction perpendicular to the plane of the drawing is the vertical direction of the hull. Therefore, it can be seen that only the deviation in one direction is detected among the deviations in the three-dimensional directions. Then, as shown in FIG. 7, the output value of the amplification processed signal changes with respect to the lateral shift ε.

As shown in FIG. 2, this amplification processing is performed by the arithmetic unit 19, and the processed signal moves the servo valve 20, and the hydraulic pressure sent by the servo motor 21 causes the trolley 6 to travel on the pedestal 5 via the piston 22. Let

Since the position of the hanger 3 is corrected in this way, the hanger 3 is always positioned right above the luggage 23 in the front-back direction of the hull. Therefore, the worker can adjust the vertical position of the lifting tool 3 and engage the load 23 with the lifting tool 3.

〔The invention's effect〕

According to the laser beam position correcting apparatus of the present invention described above, it is possible to correct only the displacement between the deck and the hanger in the longitudinal direction of the ship due to the continuous and dynamic rocking of the ship as described above.

Further, as described above, compared with the correction of the deviation between the deck and the hanger by correcting the attitude of the entire hull, it can be performed with less power and high responsiveness, and accurate positioning can be easily performed.

[Brief description of drawings]

FIG. 1 is a side view of a ship to which an embodiment of the present invention is applied, FIG. 2 is an enlarged view of an essential part of FIG. 1, FIG. 3 is an enlarged view of an essential part of FIG. 2, and FIGS. FIG. 6 is an enlarged view of the silicon diode portion of FIG. 3, and FIG. 7 is a graph showing the function of the silicon diode of FIGS. 4 to 6. 1 ... Hull deck, 2 ... Derrick, 3 ... Lifting equipment, 4 ... Support structure, 5 ... Pedestal, 6 ... Trolley, 11 ... Light emitter, 12 ... Photoreceiver, 13 ... Laser Tube, 14 ... Chopper, 15 ... Prism, 16 ... Beam expander, 17 ... Laser beam, 18 ... Silicon diode, 19 ... Computing device, 20 ... Servo valve, 21 ... Servo motor, 22 …… Piston, 23 …… Luggage.

Claims (1)

[Claims] 1. A derrick which is provided on a deck of a hull and swings only in the front-back direction of the hull, a hanger extending from the derrick toward the deck below the derrick, and a derrick on the derrick in the front-back direction of the hull. A trolley that runs on the ground and corrects the inclination of the derrick with respect to the deck due to the front-back inclination of the hull, and two silicons of the same area and shape provided on one of the hanger and the deck. A laser beam receiver having diodes arranged side by side in the hull direction, and a light emitter which is provided on the other of the suspension and the deck and which emits a laser beam having a width across the two silicon diodes to the receiver. , By the output voltages VL and VR of the two silicon diodes caused by the slope of the derrick A laser beam position including an arithmetic unit for performing the arithmetic processing for determining the inclination of the derrick, and a trolley drive unit for driving the trolley by an output signal from the arithmetic unit to correct the inclination of the derrick. Correction device.