JPH06211494A - Carry-in and out position judgement device for crane - Google Patents

Abstract

PURPOSE:To discard a supervisor for signaling and to improve working performance in transportation work in which values of a slewing angle and a depression elevation angle are always constant. CONSTITUTION:An inclination sensor 21 to detect a depression elevation angle of the jib 7 of a jib crane 1, a slewing angle sensor 22 to detect a slewing angle of the jib 7 and a judgement mechanism 25 to memorize the depression elevation angle and the slewing angle of a set carry-in and out position and to output an arrival signal at the time when the set value and detected values of the sensors 21, 22 are compared with each other and at least they match with each other are furnished. Additionally, an attention calling unit 26 for announcing notice to a crane driver by means of dispatching arrival signal is provided in the judgement mechanism.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane loading / unloading position determination device for assisting crane operation by determining the position of a load such as earth and sand carried in and out by a jib crane or the like.

[0002]

2. Description of the Related Art A jib crane 1 as shown in FIG. 8 is used for a steel tower construction work for laying a transmission line. The jib crane 1 includes a base portion 3 installed on a ground such as a sloping ground by a support leg 2, and a crane body 5 rotatably supported on the base portion 3 via a rotary table 4 about a vertical axis.
And the base end is pivotally supported by the crane body 5 and the lifting rope 6
And a jib 7 that is lifted up by the crane. The bucket 8 suspended from the tip of the jib 7 is lifted up and down by the hoisting rope 9 and the jib 7, and the crane main body 5
By rotating and rotating, the excavated earth and sand in the excavated holes 10 and 11 for the steel tower leg foundation work (deep foundation) is transported to the earth and sand storage place 12. Drill hole 10,
11 has a diameter of about 3 to 5 m, a depth of about 20 m, and a maximum size of 30 m or more, but it is necessary for digging work to lower the bucket 8 to its center.

[0003]

In carrying the excavated earth and sand as described above, the carry-out positions A and B (excavation hole 1
The position of 0, 11) and the carry-in position C (position of the earth and sand storage place 12) are immovable, but the observer who sends a signal to the operator of the jib crane 1,
It was necessary to always be placed in 1. This is bucket 8
However, it is difficult to aim down the center of the excavation holes 10 and 11 just by looking at it from the driver's seat of the main body, because it swings back and forth and left and right with the turning movement and the elevation of the jib. For this reason, it has been difficult to meet the issue of reducing construction workers, which is a recent issue. In addition, there is a problem in that the operation according to the signal is inefficient because the operator cannot grasp the sense of distance to the target point and the operation depends on the can.

In view of the above circumstances, the present invention was devised to newly provide a device that can eliminate the need for a watchman for signaling and improve work efficiency.

[0005]

SUMMARY OF THE INVENTION The present invention is directed to a tilt angle sensor for detecting the elevation angle of an arm of a jib crane, a rotation angle sensor for detecting the swing angle of the arm, and an arm elevation angle at a set loading / unloading position. It is provided with a determination mechanism that stores the turning angle, compares the set value with the detection value of the sensor, and outputs an arrival signal when at least these values match.

[0006] The above-mentioned determination mechanism may be configured to have a wake-up unit which operates according to the arrival signal and notifies the crane operator or the like. Further, it is preferable that the determination mechanism is formed so as to output an approach signal and operate the arousing unit when the detected value approaches the set value. The determination mechanism is preferably formed so that the proportional voltage from the tilt angle sensor and the waveform output from the turning angle sensor are input as the detection values.

Further, the arousing unit can be configured to include at least one of a lamp that is turned on by a signal input, a meter that indicates a pointer, and a buzzer that sounds an alarm.

[0008]

With the above-described structure, the determination mechanism allows the carry-out position and the carry-in position to be set and input with the values of the elevation angle and the turning angle of the arm, and then when the arm is operated, the stored set value and the sensor are sequentially read from the sensor. It compares the detected values sent and outputs an arrival signal when they match to support crane operation.

By the structure in which the judging mechanism has the evoking section,
The alerting unit informs the driver when the arrival signal is received from the determination mechanism and contributes to proper driving. Further, with the configuration of outputting the approach signal, the driver can easily drive by recognizing that the driver approaches the target point during transportation. The configuration of the determination mechanism can be simplified by the configuration of inputting the proportional voltage and the waveform output.

Further, the driver can surely recognize the carry-in / carry-out position or the approaching position by the structure in which the calling portion includes the lamp or the like.

[0011]

Embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 and FIG. 2 show an embodiment of a crane loading / unloading position determining apparatus according to the present invention as applied to a jib crane 1 for carrying excavated earth and sand to a steel tower foundation work. This loading / unloading position determination device includes a tilt angle sensor 21 that detects the elevation angle of the jib 7 that is the arm of the jib crane 1, and a turning angle sensor 2 that detects the turning angle.
2 and an operation indicator 24 connected to these sensors 21 and 22 by a cable 23. The operation indicator 24 is configured to have a determination mechanism 25 that outputs a reaching signal based on the detection values of the sensors 21 and 22, and is provided with an arousing unit 26 that operates according to the reaching signal.

The tilt angle sensor 21 is attached to the lower surface of the jib 7 on the base end side by a permanent magnet, and inputs the elevation angle θ of the jib 7 with respect to the horizontal plane to the judgment mechanism 25 of the operation display 24 in the form of a proportional voltage. It is designed to let you. This attachment may of course be performed with screws or the like. Further, the turning angle sensor 22 is a control panel 27 that appropriately converts the sensor output.
Is supported so as to be in contact with the rotary table 4, and the rotation angle R of the crane main body 5 is input to the determination mechanism 25 in the form of the waveform output of the rotary encoder from the position C of the earth and sand storage place 12 as a starting point (digital counter). It has become. The control board 27 is for accommodating a converter (not shown) for taking in the sensor output, but the judgment mechanism side 25
It is possible to omit this depending on the configuration or the like.

The operation display 24 has a built-in judgment mechanism 25 formed of a microcomputer or the like, and stores the jib depression angle θ and the turning angle R corresponding to the carry-in / out positions A, B, and C. It has a storage function, a comparison function for comparing the stored set value with the detection values of the sensors 21, 22, and an output function for outputting a reaching signal when these values match. As shown in FIG. 3, on the panel surface of the operation display unit 24, push buttons 28 and 29 for inputting the turning angle and elevation angle setting values related to the memory function, and the setting value input are visually confirmed and judged. Mechanism 2
A plurality of lamps 30, 31, 32, 33, 34, 35 and meters 36, 37 for operating the electric signal 5 to display the comparison result are provided. Of these, push button 2
Reference numerals 8 and 29 are divided into a first excavation hole (A and a buttons), a second excavation hole (B and b buttons), and a earth and sand storage site (C and c buttons).

The determination mechanism 25 of this embodiment outputs a signal when the detected value matches the set value or when the detected value approaches, and the lamps 30 ... 35 and the meter 3 are output.
6 and 37 are operated. That is, FIG.
As shown in FIG.
, When viewed from the crane body 5 are arranged in this order counterclockwise, the center position (the target position) A _2, B _2, the turning direction near both sides of the C _2, respectively pivot approach position (A _1, A ₃₎
It was set as (B ₁ , B ₃ ) (C ₁ , C ₃ ). The lamps 30 ... 32 corresponding to this are arranged at the positions of the corresponding A to C buttons 28 (LA to C).
_1,2,3 ). As shown in FIG. 5, when the loading / unloading positions A, B, and C are viewed in the turning radius direction from the position of the crane body 5, the earth and sand storage place 12 (C) is closest to the crane body 5, and then the first The excavation hole 10 (A) and the second excavation hole 11 (B) are located at the farthest position, and therefore the elevation angle θ gradually decreases in this order (θ _c >).
θ _a > θ _b ), and the height of the tip of the jib 7 gradually decreases. Then, the inclination angles (c ₃ , c ₁ ) (a ₃ , a ₁ ) (b ₃ , b ₁ ) on both sides (up and down) in the elevation direction of the jib 7 corresponding to the respective center positions (c ₂ , a ₂ , b ₂ ) are approached. ), And the corresponding lamps 33 ...
They are arranged at the position of the c button 29 (La ~
c _1,2,3 ). That is, three lamps 30 ... 35 are provided for each of the six push buttons 28 and 29, and a total of 18 lamps are provided so that the lamps 30 ...

The meters 36 and 37 are for the elevation angle (M
₁ ) and for the turning angle (M ₂ ), when the jib 7 reaches the target positions (A ₂ , B ₂ , C ₂ ), (c ₂ , a ₂ , b ₂ ), the respective needles are In addition to pointing to the center ("50"), it also shakes appropriately when approaching.
That is, as shown in FIG. 6, when moving from the position C of the earth and sand storage site 12 to the positions A and B of the respective excavation holes 10 and 11 (see FIG. 4).
Clockwise), approach position of the front (B _3, A ₃₎
The maximum shake (indicates “100”), and the shake gradually becomes smaller, and becomes “0” at the approach position (B ₁ , A ₁ ) beyond the target position (B ₂ , A ₂ ). . As shown in FIG. 7, when the elevation angle goes from the position c of the earth and sand storage site 12 to the positions a and b of the excavation holes 10 and 11 (downward direction in FIG. 5), the approach position (a ₃ ,
b ₃₎ refers to the maximum deflection ( "100" in), but deflection gradually becomes "0" at the target position is smaller (a _2, b ₂₎ beyond the access position (a _1, b ₁₎ is there. Note that this meter is not limited to an analog type, but may be a digital type.

In addition to this, the operation display 24 is provided with a buzzer (not shown) so that it receives a signal from the judging mechanism 25 and sounds an alarm in cooperation with the lamps 30 ... 35 and the meters 36, 37. . Therefore, these lamps 30 ... 3
5, by the meters 36, 37 and the buzzer, the arousal unit 26
Will be configured. In addition, as the configuration of the alerting unit 26, it is not necessary to provide all of them, and at least one may be included. Alternatively, the contents may be notified by voice.

Next, the operation of this embodiment will be described.

Drilling holes 10, 11 by the jib crane 1
When transporting the excavated earth and sand of the above, to the earth and sand storage place 12, first, the jib 7 is swung and raised to raise the bucket 8 to the first excavation hole 1
It is moved to the center of 0 (A ₂ , a ₂ ). When the turning angle R and the elevation angle θ at this time are determined, the corresponding push buttons 28 and 29, that is, the A button and the a button, are pressed to input settings. At this time, the pointers of the meters 36 and 37 point to the center, and the corresponding L-A ₂ lamp 30 and L-a ₂ lamp 33 are turned on to confirm the storage in the determination mechanism 25. By the same operation, the center positions (B ₂ , b ₂ ) (C ₂ , c ₂ ) of the second excavation hole 11 and the earth and sand storage place 12 are sequentially set and input and stored in the determination mechanism 25.

After this memorizing work, the excavated soil is transported from the first excavation hole 10 to the sediment storage site 12 and from the second excavation hole 11 to the sediment storage site 12 by the crane operation. For example, when carrying out earth and sand from the 2nd excavation hole 11, it carries out as follows. When the bucket 8 is at the center position (C ₂ , c ₂ ) of the earth and sand yard 12, both meters 36, 37 guide the center, and the corresponding lamp 32,
Reference numeral 35 indicates that the central ones (LC ₂ , L-c ₂ ) are lit. If the angle of elevation of the jib 7 is kept as it is and it is turned clockwise, the pointer of the M ₁ meter 36 gradually swings toward zero, the L-C ₂ lamp goes out, and the L-C ₁ lamp lights up.
Sound buzzer. In this process, the pointer of the M ₂ meter 37 is still pointing to the center in principle, but if the crane body 5 is tilted, it slightly swings to the left or right as the crane turns.

When the position C of the earth and sand storage place 12 is removed, M
The pointer of ₁ meter 36 gradually swings to the left in the figure to zero, and the L-C ₁ lamp is turned off. When turning continuously in the clockwise direction and approaching the position B of the second excavation hole 11, the detected value of the turning angle sensor 22 is compared with the set value stored in the judgment mechanism 25, and the position B ₃ before this is approached. Output a signal. By receiving this signal, the M ₁ meter 36 swings to the maximum and L-
The B ₃ lamp 31 lights up and the buzzer sounds. Then, the operator recognizes that the second excavation hole 11 is approaching and slows down the turning speed. Subsequently, when the jig 7 is gradually turned in the same direction, the pointer of the M ₁ meter 36 swings from “100” to the left. Then, when turning by a predetermined turning angle R _2, the electric signal from the judging mechanism 25 becomes an arrival signal and the M ₁ meter 36 shows "50", and at the same time, the L-B ₂ lamp 31 lights up and the buzzer sounds. Ring. The operator can now know that the jig 7 has reached the target turning position B ₂ and stop the jig. If the target turning position B ₂ is exceeded,
The M ₁ meter 36 goes out of the center and progresses toward zero, and L-B ₁
Since the lamp 31 lights up and the buzzer sounds, it is easy for the operator to fix the jig 7 at the target turning position B ₂ .

Next, when the height of the bucket 8 and the distance in the turning radius direction are adjusted, when the jib 7 having the elevation angle θ _c corresponding to the earth and sand storage place 12 is started to descend and tilt,
The M ₂ meter 37 swings from the center toward zero, the L-c ₁ lamp 35 lights up, and the buzzer sounds. When it is further lowered,
The M ₂ meter 37 becomes “0”, the L-c ₁ lamp 35 goes out, and the buzzer stops. At the time when H ₁ descends,
The M ₂ meter 37 points to the center, the L-a ₂ lamp 33 lights up, and the buzzer sounds to indicate that the position a of the first drill hole 10 has been passed. If you continue lowering it,
The M ₂ meter 37 once returns to zero and then swings to the maximum again, the L-b ₃ lamp 34 lights up, and the buzzer sounds to inform the operator that the depression angle θ _b of the second drilled hole 11 is approaching. . Then, when it is lowered at a slight speed and then lowered by a predetermined height H ₂ , the electric signal from the determination mechanism 25 becomes an arrival signal and the M ₂ meter 37 points to the center and L-b ₃
The lamp 34 lights up and the buzzer sounds. With this, the operator can stop the jig 7 at the center (B ₂ , b ₂ ) of the second excavation hole 11, lower the bucket 8 and load the excavated earth and sand, and perform the procedure reverse to the above to carry out the earth and sand storage 12 Carry to and carry out. Thereafter, when carrying out the earth and sand from the first excavation hole 10, the same operation is performed, and excavation is advanced by repeating this operation.

As described above, in the transportation work in which the turning angle R and the elevation angle θ of the jib crane 1 always have the same values, such as a steel tower foundation excavator, the inclination angle sensor 21 and the turning angle sensor 22 detect the attitude of the jib 7. Then, the determination mechanism 25 that stores the target posture is configured to display the meter, turn on the lamp, and issue a buzzer so that the operator can understand the relationship with the jib position. Therefore, the jib 7 can be quickly moved to the target position. It can be fixed and work efficiency can be greatly improved. Even if there is a monitor in the process of setting and storing the target position, no monitor is required to send a signal in the process of excavating earth and sand. That is, it is possible to reduce the number of construction workers.

Further, in this embodiment, the operator can recognize the approach / arrival to the target position by the swinging condition of the meters 36, 37 of the operation display 24, the types of the lamps 30 ... 35 that are turned on, and the buzzer sound. As a result, accurate operation that does not rely on a signal from a third party (observer) or cans can be made extremely easy. In addition, push the setting input button 28, 2
Since it is performed in step 9, it can be easily stored in the determination mechanism 25, and the setting value can be changed very easily.

Since the detection values of the sensors 21 and 22 are input to the determination mechanism 25 in the form of proportional voltage and waveform output, it is not necessary to provide a large-scale controller or the like, and the operation display 24 is inexpensive. The structure can be compact.

In the present embodiment, the operation indicator 24 provided with the alerting portion 26 as the judgment mechanism 25 is shown, but an electric signal of the judgment mechanism 25 is taken out and connected to the driving device of the jib crane 1 to automatically It is also possible to drive.
The number of loading / unloading positions is not limited to this example, and any working pattern can be accommodated by configuring the determination mechanism (push button or the like) according to the number. Further, it goes without saying that the content of the transportation work is not limited to the jib crane or the transportation of earth and sand in this embodiment.

[0027]

In summary, according to the present invention, the following excellent effects are exhibited.

(1) According to the structure described in claim 1, the arm can be moved to the target position quickly and accurately, and the work efficiency can be greatly improved and the supervisor can be abolished for the signal.

(2) According to the second aspect of the invention, the crane operator can quickly and accurately perform the arm operation by following the operation of the activating section.

(3) According to the third aspect of the invention, the crane operator can easily grasp the relationship between the arm position and the target position, and can contribute to quick and accurate arm operation.

(4) According to the structure described in claim 4, the judgment mechanism can be made small and simple.

(5) According to the configuration of the fifth aspect, the crane operator can surely and easily recognize the arm position and the target position.

[Brief description of drawings]

FIG. 1 is a plan view showing an embodiment of a loading / unloading position determination device for a crane according to the present invention.

FIG. 2 is a side view of FIG.

FIG. 3 is a plan view showing the operation indicator of FIG.

FIG. 4 is a plan view for explaining the operation of the present invention.

FIG. 5 is a side view for explaining the operation of the present invention.

FIG. 6 is a relationship diagram between a turning angle and a meter pointer corresponding to FIG.

FIG. 7 is a relationship diagram between the elevation angle and the meter pointer corresponding to FIG.

FIG. 8 is a perspective view showing a general view of the work of a jib crane for explaining a conventional technique.

[Explanation of symbols]

 1 Jib crane 7 Jib (arm) 21 Tilt angle sensor 22 Turning angle sensor 24 Operation indicator 25 Judgment mechanism 26 Evoking part 28,29 Push button 30,31,32,33,34,35 Lamp 36,37 Meter A, B Excavation Hole position (carry-out position) C Sediment storage position (carry-in position) R Turning angle θ Depression angle

Claims (5)

[Claims] 1. A tilt angle sensor for detecting a depression / elevation angle of an arm of a jib crane, a rotation angle sensor for detecting a rotation angle of the arm, an arm depression / promotion angle and a rotation angle of a set loading / unloading position are stored and stored. A loading / unloading position determination device for a crane, comprising: a determination mechanism that compares a set value with a detection value of the sensor and outputs an arrival signal when at least these values match. 2. The crane loading / unloading position determination device according to claim 1, wherein the determination mechanism has an alerting unit that operates according to the arrival signal to notify a crane operator or the like. 3. The crane according to claim 2, wherein the determination mechanism is configured to output an approach signal to operate the arousing unit when the detected value approaches the set value. Loading / unloading position determination device. 4. The crane according to claim 1, wherein the determination mechanism is formed so that a proportional voltage from a tilt angle sensor and a waveform output from a turning angle sensor are input as detection values. Loading / unloading position determination device. 5. The method according to claim 2, wherein the evoking unit includes at least one of a lamp that lights up by a signal input, a meter that guides by a signal input, and a buzzer that sounds an alarm by a signal input. Crane loading / unloading position determination device.