JPH07215668A - Sensor for detecting swing angle of hoisting accessory of crane - Google Patents
Sensor for detecting swing angle of hoisting accessory of craneInfo
- Publication number
- JPH07215668A JPH07215668A JP3087494A JP3087494A JPH07215668A JP H07215668 A JPH07215668 A JP H07215668A JP 3087494 A JP3087494 A JP 3087494A JP 3087494 A JP3087494 A JP 3087494A JP H07215668 A JPH07215668 A JP H07215668A
- Authority
- JP
- Japan
- Prior art keywords
- vibration
- sensor
- swing angle
- rope
- crane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- A Measuring Device Byusing Mechanical Method (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明はクレーンにおける吊具の
振れ角を振動減衰効果を有する振動減衰器（ダンピング
装置）を設けることにより、簡易にして高精度に検出す
るようになした振れ角センサに関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swing angle sensor for detecting the swing angle of a hoisting tool in a crane with high precision by providing a vibration damper (damping device) having a vibration damping effect. Regarding
【０００２】[0002]
【従来の技術】クレーンにて吊荷を吊垂運搬する場合、
吊荷の巻き上げ、クレーンの横行、走行時に吊荷に振れ
が生じる。特に自動クレーンにて吊荷を運搬し、所定位
置に吊荷を着床するさせるにはこの吊荷の振れを検出
し、振れを抑制する制御を行う必要がある。従来吊荷の
振れを検出する方法としては吊荷を吊るワイヤーロープ
の振れ角を検出している。この種の検出装置としては実
開昭５７−７７８１号、実開昭５８−１２３８８０号の
公報に開示されたものがある。しかるにこの方式におい
ては吊具が吊荷の振れによって振れることによりクレー
ンの巻き上げロープも移動することになり、ロープの剛
さ、表面の凹凸、変形さらにはガイドローラの磨耗、ロ
ープ巻上下時のロープ繰出位置の変化等により正確な振
れ角を検出できない欠点がある。2. Description of the Related Art When a suspended load is carried by a crane,
Swinging of the suspended load occurs when hoisting the suspended load, traversing the crane, and traveling. In particular, in order to carry a suspended load by an automatic crane and land the suspended load at a predetermined position, it is necessary to detect the swing of the suspended load and perform control to suppress the swing. Conventionally, the deflection angle of the wire rope that suspends the suspended load is detected as a method for detecting the swing of the suspended load. Examples of this type of detecting device include those disclosed in Japanese Utility Model Publication Nos. 57-7781 and 58-123880. However, in this method, the hoisting rope of the crane also moves due to the swinging of the hoisting load, which causes the rigidity of the crane, unevenness of the surface, deformation, wear of the guide roller, and the rope when the rope is wound up and down. There is a drawback that an accurate shake angle cannot be detected due to changes in the feeding position and the like.
【０００３】[0003]
【発明が解決しようとする課題】このような吊荷を吊る
ワイヤーロープの振れ角検出方法では正確な吊荷の振れ
角を検出できないので、このような欠点を除去するた
め、吊荷用ロープと別に振れ角検出用のワイヤーを用い
た検出装置が特開昭６３−２２５１１８号公報に開示さ
れている。しかし、センサを取り付けたジンバル自身に
生じた振動が、振れ角センサの高精度化を阻害する難点
があった。With such a method for detecting the deflection angle of a wire rope for suspending a suspended load, an accurate deflection angle of the suspended load cannot be detected. Separately, a detecting device using a wire for detecting the deflection angle is disclosed in Japanese Patent Laid-Open No. 225118/1988. However, there is a problem that the vibration generated in the gimbal itself to which the sensor is attached impedes the high accuracy of the deflection angle sensor.
【０００４】本発明は振れ角センサのジンバルの振動を
振動減衰器（ダンピング装置）にて減衰させ、振れ角検
出の高精度化を図ることを目的とする。It is an object of the present invention to reduce vibration of a gimbal of a shake angle sensor with a vibration attenuator (damping device) to improve accuracy of shake angle detection.
【０００５】[0005]
【課題を解決するための手段】本発明は上記目的を達成
するためになしたもので、振れ角センサを構成するセン
サ本体を設置した２方向自由回転可能なジンバルの近傍
のセンサベースに、検出ロープの一端を係止すると共に
ジンバルの振動を減衰させる振動減衰器を設けたことを
要旨とする。SUMMARY OF THE INVENTION The present invention has been made to achieve the above-mentioned object, and a detection is performed on a sensor base near a gimbal capable of freely rotating in two directions, in which a sensor body constituting a deflection angle sensor is installed. The gist of the present invention is to provide a vibration damper that locks one end of the rope and damps vibration of the gimbal.
【０００６】[0006]
【作用】吊荷吊垂用のワイヤーロープと別に設けた検出
ロープ１０は振れ角を検出するための傾斜計１９を取り
付けたセンサベース１７に接続され、他端は吊具側シー
ブ１２、ガイドシーブ１４を介して巻取リール１５にて
一定張力にて引張られている。そして吊具４の振れ量は
検出ロープ１０の動きとなり、２方向回転可能なジンバ
ル１８に取り付けられているセンサベース１７が傾斜
し、この傾斜角は傾斜計１９にて振れ角として検出され
る。しかし、検出ロープ１０は細いワイヤであるため、
クレーンの移動時の振動によりワイヤ自身が振動して、
この振動によりジンバル１８は回転自在のため、この振
動はそのまま傾斜計１９に伝わる。このため、フックブ
ロック４の本来の微小な振れ角の検出信号に、この検出
ロープ自身の振動分が重なってしまい、正確な振れ角の
検出ができない。本発明の構成はセンサベース１７にダ
ンパプレート２３を取付、このダンパプレート２３の下
方は中空円筒状のオイルパン２１の中のダンピングオイ
ル２２に浸されている振動減衰器（ダンピング装置）２
０を取り付ける。従って、検出ロープ１０の振れ角の振
動よりも高い振動周波数を持つ余分な振動は、上記ダン
ピング装置により充分に減衰され、検出ロープ１０の本
来の振れ角のみが傾斜計１９にて検出されることにな
り、検出ロープの余分な振動を排除でき、振れ角センサ
の検出精度を高めることができる。The detecting rope 10 provided separately from the wire rope for hanging the suspended load is connected to the sensor base 17 to which the inclinometer 19 for detecting the deflection angle is attached, and the other end is the sheave 12 on the lifting tool side and the guide sheave. It is pulled by a take-up reel 15 via 14 at a constant tension. Then, the amount of shake of the hanging tool 4 causes the detection rope 10 to move, and the sensor base 17 attached to the gimbal 18 that can rotate in two directions tilts. This tilt angle is detected by the inclinometer 19 as a shake angle. However, since the detection rope 10 is a thin wire,
The wire itself vibrates due to vibration when the crane moves,
Because of this vibration, the gimbal 18 is rotatable, so this vibration is transmitted to the inclinometer 19 as it is. For this reason, the vibration signal of the detection rope itself overlaps the original detection signal of the small deflection angle of the hook block 4, and the deflection angle cannot be accurately detected. According to the configuration of the present invention, the damper plate 23 is attached to the sensor base 17, and the vibration damper (damping device) 2 below the damper plate 23 is immersed in the damping oil 22 in the hollow oil pan 21.
Attach 0. Therefore, extra vibration having a vibration frequency higher than the vibration of the deflection angle of the detection rope 10 is sufficiently damped by the damping device, and only the original deflection angle of the detection rope 10 is detected by the inclinometer 19. Therefore, the extra vibration of the detection rope can be eliminated, and the detection accuracy of the deflection angle sensor can be improved.
【０００７】[0007]
【実施例】以下本発明クレーンにおける吊具の振れ角セ
ンサを図示の実施例に基づいて説明する。図において１
はトロリで、このトロリ１は巻上ドラム２が駆動される
ことにより、ワイヤロープ３の下端に設けられたフック
ブロックなどの吊具４を昇降させることにより、吊荷を
吊り上げ、横行モータ５が駆動されることによりガーダ
６に沿って横行する。またこのガーダ６は走行モータ７
が駆動されることによりトロリ１と共に走行レール８に
沿って走行する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A deflection angle sensor for a lifting device in a crane of the present invention will be described below with reference to the illustrated embodiment. 1 in the figure
Is a trolley, and the trolley 1 is driven by a hoisting drum 2 to elevate and lower a suspending tool 4 such as a hook block provided at the lower end of the wire rope 3 to lift a suspended load, and a traverse motor 5 When it is driven, it traverses along the girder 6. Also, this girder 6 is a traveling motor 7
Is driven to travel along the traveling rail 8 together with the trolley 1.
【０００８】ワイヤロープ３によって吊具４により吊荷
を吊ったトロリ１がガーダ６上を横行するとき、吊具４
は左右に振れながら運搬されることになる。この吊具４
の振れを検出するため、本発明では図示の如く、吊具４
に振れ角検出用のロープを配設する。When the trolley 1 in which a load is hung by the wire rope 3 by the hanger 4 traverses on the girder 6, the hanger 4
Will be transported while swinging from side to side. This hanging tool 4
In order to detect the runout of the hanger, the present invention, as shown in the drawing,
A rope for detecting the deflection angle is installed at.
【０００９】検出ロープ１０は、ガーダ６に設けた検出
ロープ巻取リール１５に基端側が巻取られ、ガーターに
設けたガイドシーブ１４を介して吊具４に突設した吊具
側シーブ１２に張架し、先端を振れ角を検出するための
傾斜計１９を取り付けたセンサベース１７に接続され
る。そして他端は吊り具側シーブ１２，ガイドシーブ１
４を介して巻取りリール１５にて一定張力にて引っ張ら
れている。The detection rope 10 is wound around the detection rope take-up reel 15 provided on the girder 6 at the base end side thereof, and is attached to the sheave 12 on the hoisting tool side provided on the hoisting tool 4 through the guide sheave 14 provided on the garter. It is stretched and its tip is connected to a sensor base 17 to which an inclinometer 19 for detecting the deflection angle is attached. The other end is a sheave 12 on the hanger side, and a guide sheave 1
It is pulled by a take-up reel 15 via 4 at a constant tension.
【００１０】センサベース１７はトロリ１上に設けた取
付金具１６に設けられる。そして吊具（フックブロッ
ク）４の振れ量は、検出ロープ１０の動きとなり、２方
向回転可能なジンバル１８に取り付けられているセンサ
ベース１７が傾斜し、この傾斜角は傾斜計１９にて振れ
角として検出されるように構成されている。The sensor base 17 is provided on the mounting member 16 provided on the trolley 1. The swing amount of the hanging tool (hook block) 4 becomes the movement of the detection rope 10, and the sensor base 17 attached to the gimbal 18 that can rotate in two directions tilts. Is configured to be detected as.
【００１１】さらにこの検出ロープ１０は細いワイヤで
あるため、クレーンの移動時の振動によりワイヤ自身が
振動して、この振動によりジンバル１８は回転自在とな
っているので、この振動はそのまま傾斜計１９に伝わ
る。このため吊具（フックブロック）４の本来の微小な
振れ角の検出信号に、この検出ロープ自身の振動分が重
なり、正確な振れ角の検出ができない。Further, since the detection rope 10 is a thin wire, the wire itself vibrates due to the vibration during the movement of the crane, and the gimbal 18 can be freely rotated by this vibration. Be transmitted to. Therefore, the vibration signal of the detection rope itself overlaps the original detection signal of the small swing angle of the hanging tool (hook block) 4, and the swing angle cannot be accurately detected.
【００１２】この対策として、図１のジンバル１８部分
を拡大した図２に詳示する如く、センサベース１７に、
ダンパプレート２３を取り付け、このダンパプレート２
３の下方は、中空円筒状のオイルパン２１の中のダンピ
ングオイル２２に浸されている振動減衰器（ダンピング
装置）２０を設ける。As a countermeasure against this, as shown in detail in FIG. 2 which is an enlarged view of the gimbal 18 portion of FIG.
The damper plate 23 is attached to the damper plate 2
A vibration damper (damping device) 20 immersed in a damping oil 22 in a hollow cylindrical oil pan 21 is provided below 3.
【００１３】このため、検出ロープ１０の振れ角の振動
よりも高い振動周波数を持つ余分な振動は、上記振動減
衰器２０（ダンピング装置）により十分に減衰され、検
出ロープ１０の本来の振れ角のみが傾斜計１９にて検出
されることになり、高精度の検出が可能となる。Therefore, the extra vibration having a higher vibration frequency than the vibration of the deflection angle of the detection rope 10 is sufficiently attenuated by the vibration attenuator 20 (damping device), and only the original deflection angle of the detection rope 10 is detected. Is detected by the inclinometer 19, which enables highly accurate detection.
【００１４】[0014]
【発明の効果】検出ロープの余分な振動を排除でき、振
れ角センサの検出精度を高めることができる。The extra vibration of the detection rope can be eliminated, and the detection accuracy of the deflection angle sensor can be improved.
【図１】本発明クレーンにおける吊具の振れ角センサの
一実施例を示す正面図である。FIG. 1 is a front view showing an embodiment of a deflection angle sensor of a lifting tool in a crane of the present invention.
【図２】要部の拡大図である。FIG. 2 is an enlarged view of a main part.
【図３】クレーンの概観説明図である。FIG. 3 is a schematic explanatory view of a crane.
１ トロリ ２ 巻上ドラム ３ ワイヤロープ ４ 吊具 ５ 横行モータ ６ ガーダ ７ 走行モータ ８ 走行レール １０ 検出ロープ １２ 吊り具側シーブ １４ ガイドシーブ １６ 取付金具 １７ センサベース １８ ジンバル １９ 傾斜計 ２０ 振動減衰器 ２１ 中空円筒状のオイルパン ２２ ダンピングオイル ２３ ダンパプレート 1 Trolley 2 Hoisting Drum 3 Wire Rope 4 Lifting Tool 5 Traverse Motor 6 Girder 7 Traveling Motor 8 Traveling Rail 10 Detecting Rope 12 Lifting Equipment Sheave 14 Guide Sheave 16 Mounting Bracket 17 Sensor Base 18 Gimbal 19 Inclinometer 20 Vibration Damper 21 Hollow cylindrical oil pan 22 Damping oil 23 Damper plate
Claims (1)
置した２方向自由回転可能なジンバルの近傍のセンサベ
ースに、検出ロープの一端を係止すると共にジンバルの
振動を減衰させる振動減衰器を設けたことを特徴とする
クレーンにおける吊具の振れ角センサ。1. A vibration attenuator, which locks one end of a detection rope and damps vibration of a gimbal, is provided to a sensor base near a gimbal capable of freely rotating in two directions, in which a sensor body constituting a deflection angle sensor is installed. A deflection angle sensor for a lifting device in a crane, which is characterized in that
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03087494A JP3215766B2 (en) | 1994-02-01 | 1994-02-01 | Deflection angle sensor of hanging tool in crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP03087494A JP3215766B2 (en) | 1994-02-01 | 1994-02-01 | Deflection angle sensor of hanging tool in crane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH07215668A true JPH07215668A (en) | 1995-08-15 |
| JP3215766B2 JP3215766B2 (en) | 2001-10-09 |
Family
ID=12315882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP03087494A Expired - Fee Related JP3215766B2 (en) | 1994-02-01 | 1994-02-01 | Deflection angle sensor of hanging tool in crane |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3215766B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161855A (en) * | 2017-07-04 | 2017-09-15 | 惠安县惠祥科技有限公司 | A kind of materials allocating Overhead travelling crane system |
| CN113896111A (en) * | 2021-09-28 | 2022-01-07 | 中国人民解放军火箭军工程大学 | Control system and method for under-actuated hoisting equipment |
-
1994
- 1994-02-01 JP JP03087494A patent/JP3215766B2/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161855A (en) * | 2017-07-04 | 2017-09-15 | 惠安县惠祥科技有限公司 | A kind of materials allocating Overhead travelling crane system |
| CN113896111A (en) * | 2021-09-28 | 2022-01-07 | 中国人民解放军火箭军工程大学 | Control system and method for under-actuated hoisting equipment |
| CN113896111B (en) * | 2021-09-28 | 2022-07-29 | 中国人民解放军火箭军工程大学 | Control system and method for under-actuated hoisting equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3215766B2 (en) | 2001-10-09 |
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