JPH07117978A - Travel stop control device for tired crane - Google Patents

Abstract

PURPOSE:To accurately stop a crane at the center of the work point perpendicularly to the travel lane. CONSTITUTION:A crane 1 is traveled according to the prescribed pattern when the right and left motors 4a, 4b are driven. When the speed of the crane 1 becomes the prescribed speed or below and one of magnetic plates 11a, 11b on the ground is detected, the motor 4 on the detection side is stopped. The other magnetic plate is detected at a leg on the other side, both motors are stopped at the position where the magnetic plates are detected at both legs, and no drift occurs on the stop position for the right and left legs.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a travel stop control device for a tire type crane, such as a tire type transfer crane used for storing a container at a container terminal, having a plurality of stopping points on a predetermined straight traveling path. It is about.

[0002]

2. Description of the Related Art Conventionally, for example, a method as shown in FIG. 10 has been adopted for moving a tire type crane to move it to a cargo handling point. Referring to FIG. 10, the cab 3 of the crane 1 is moved closer to one of the crane legs, and the crane 1 is linearly traveled while looking at the linear guide rod 20 provided on the crane leg based on the paint mark 22 provided along the traveling path. ing. Then, when stopping the traveling of the crane 1, the stop position guide bar 21 and the stop position paint mark 2
Refer to 3 and stop. Then, hoist the hoisting gear to grab the load under the crane 1, and move the trolley 2 to the pile side indicated by the symbol 2'to lower the load to a predetermined section, or vice versa, grab the pile side load. And put it on the truck.

[0003]

However, since the positioning is performed by visual inspection by the driver, the stop position is slightly deviated from the traveling direction. Also, since the vehicle travels with tires, the crane does not stop completely parallel to the traveling lane,
A phenomenon in which the center of the crane tilts with respect to the reference line often occurs as indicated by a symbol α in FIG. For this reason, when the trolley is traversed for loading and unloading at the same stop point, the center of the hanger and the center of the baggage are misaligned, and even if the hanger is unwound, the baggage cannot be grasped or Since it was not possible to load the crane and it was necessary to move the crane to the traveling position again, it was extremely inefficient work. In addition, the driver performs straight running control so that the track does not deviate during traveling, and also pays attention to the stop position, which results in high fatigue.

The present invention has been made in view of such circumstances, and an object thereof is to accurately stop the crane at the center of the working point at a right angle to the traveling lane and to eliminate the need for re-adjusting the traveling position. .

[0005]

In order to solve such a problem, the present invention detects a magnetic plate on the ground by magnetic sensors provided on the left and right legs, and when the traveling speed becomes a predetermined value or less, The motor of the leg on the side where the magnetic plate is detected is stopped.

[0006]

The left and right motors are driven and the crane travels according to a predetermined pattern. When the speed of the crane falls below a predetermined speed and a magnetic plate on the ground is detected, the motor on the side where it is detected is stopped. After that, since the magnetic plate on the ground is also detected by the legs on the other side, both legs stop at the point where the magnetic plate is detected, and the stop positions of the left and right legs do not shift.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a plan view showing an embodiment of the present invention, showing the layout of the plane portion of a container terminal for loading and unloading containers using a tire type crane. In such a terminal, container storage areas are divided into rectangular cells, and a paint mark 12 is usually provided as a mark. The crane 1 runs in the longitudinal direction over this, stops at the center of a storage place called a bay, and unloads the containers 10 from the truck 9 or loads the truck 9 by using the hanging tool 5. It is like this.

In the crane 1, the tires 6 are driven to rotate by motors 4a and 4b provided at the bottoms of the respective legs to travel on the traveling lanes 13a and 13b, and the intended bay number written on the ground as indicated by symbol 14 is given. Going up, the magnetic sensors 8a and 8b attached to the brackets 7a and 7b are connected to the magnetic plates 11a and 11 provided on the ground.
By detecting b, the vehicle stops at a specified stop position.

FIG. 2 is a side view seen from the lower side to the upper side of the paper surface of FIG. 1, and FIG. 3 is a view taken in the direction of arrows III-III of FIG. 1, near the center of the end of the crane 1 where the tire 6 is provided. Is provided with a bracket 7a extending to the vicinity of the magnetic plate 11 provided on the ground, and the magnetic sensor 8a is provided on the bracket 7a.
Is attached.

FIG. 4 and FIG. 5 are views showing the mounting state, in which a plurality of magnetic sensors 8a are provided and the intervals between them are set to be narrower than the width of the magnetic plate 11a. Then, the magnetic sensor 8a generates an electric signal when it approaches the magnetic plate 11a. 3 to 5 show only one leg, the bracket 7 can be attached to the other leg as well.
b, a magnetic sensor 8b is provided.

The magnetic sensors 7a and 7b and the motors 4a and 4b are connected to the control unit 15 as shown in FIG. 7, and the starting switch 16 and the motor speed detector 17 of the control unit 15 provided in the operator's cab. Is also connected to the control device 15. In order to stop at the target position using the device configured as described above, first, the switch 16 is turned on and the automatic stop operation function of the control device 15 is enabled. Then, as shown in the traveling pattern of FIG. 9, the vehicle travels toward the target position and is decelerated near the target position. When the speed due to deceleration becomes equal to or lower than the preset speed Vc, the stop preparation is completed. For example, when the magnetic plate 11a is detected, the motor 4a on the side detecting the magnetic plate is stopped. The traveling pattern at this time is the portion indicated by the solid line 18a. Next, when the magnetic plate 11b is detected, the motor 4b on the detected side is stopped. The traveling pattern at this time is a portion indicated by a dotted line 18b. In the process of increasing the traveling speed of the crane 1, the predetermined speed Vc is reached, but the stop condition is satisfied only when a value near the predetermined speed Vc is maintained for a certain time, or the stop condition is set only during deceleration. If so, the crane 1 will not stop during acceleration.

In the example of FIG. 6, if the right leg of the crane 1 is traveling in the direction of arrow 9 with a delay, the magnetic sensor 8a of the left leg is turned on first, and the left leg's magnetic sensor 8a is turned on. The motor 4a stops at that point. The motor of the right leg is still rotating at that time, and will stop at the position where the magnetic sensor 8b is turned on, that is, substantially at the center of the stop point. In this way, both legs stop almost at the target point.

FIG. 8 is a flow chart for explaining the above-described operation. In step 100, acceleration is performed to follow the traveling pattern shown in FIG.
After the constant speed traveling of 1 and the deceleration of step 102, the low speed traveling of step 103 is performed. In step 104, the processing of whether or not the switch 16 of FIG. 7 is ON is performed. If determined, it is determined in step 105 whether or not the traveling speed is equal to or lower than the predetermined speed.

If it is determined that the speed is not lower than the predetermined speed Vc in FIG. 9, the process returns to step 102, and the loop of steps 102 to 105 is circulated until the speed becomes lower than the predetermined speed Vc. When the speed becomes lower than the predetermined speed, step 107
When the magnetic sensor 8a of the left leg is turned on as shown in FIG.
a stops and maintains its state. At this time, the motor of the right leg is still rotating, but eventually the magnetic sensor 8b of the right leg is turned on as shown in step 109, so that the traveling motor 4b is stopped as shown in step 110 and the state is maintained. To do. In step 104, switch 1
When it is judged that 6 is not turned on, step 1
11 Normal operation is performed. If it is detected in step 105 that the speed is equal to or lower than the predetermined speed, step 112
The stop preparation completion display shown in is displayed.

[0015]

As described above, according to the present invention, when the magnetic sensor on the crane detects a magnetic plate provided on the ground, the traveling motor provided on the leg on the detected side is stopped. Therefore, there is an effect that the crane can be accurately stopped at the traveling point.

[Brief description of drawings]

FIG. 1 is a plan view showing a container yard.

FIG. 2 is a side view showing a relationship between a crane and a container.

3 is a view taken along the line III-III in FIG.

FIG. 4 is a diagram showing a relationship between a magnetic sensor on the crane side and a magnetic plate on the ground.

FIG. 5 is a diagram showing a relationship between a magnetic sensor on the crane side and a magnetic plate on the ground.

FIG. 6 is a diagram showing a traveling state of the crane.

FIG. 7 is a block diagram showing a control system.

FIG. 8 is a flowchart showing a traveling operation.

FIG. 9 is a graph showing a traveling pattern.

FIG. 10 is a diagram for explaining a conventional problem.

[Explanation of symbols]

 1 Crane 2 Trolley 3 Driver's Cab 4 Motor 5 Lifting Tool 6 Tire 7 Bracket 8 Magnetic Sensor 9 Track 10 Container 11 Magnetic Plate 12 Paint Mark 13 Travel Lane 15 Control Device 16 Switch 17 Motor Speed Detector 19 Travel Direction 20 Crane Side Guide Bar 21 Stop position guide bar 22 Paint mark 23 Stop position paint mark

Claims (1)

[Claims] 1. A traveling stop control device for a tire-type crane that travels by driving traveling motors provided on left and right legs across a container, and a magnetic plate provided at predetermined intervals along a traveling lane on the ground. , A magnetic sensor provided on the lower left and right legs of the crane at a position where the magnetic plate can be detected, and the magnetic plate is detected on condition that the traveling speed is below a predetermined value when the magnetic sensor detects the magnetic plate. And a control device that controls to stop the traveling motor on the driven side.