JPH0743151A - Hoisting state detector for magnet type crane - Google Patents

Abstract

PURPOSE:To provide a hoisting state detector for a magnet type crane used at a steel plate piling yard or the like. CONSTITUTION:A steel plate 2 carried on a transport device 1 is hoisted up or down with a magnet type crane 3. For undertaking this hoisting work, a plurality of steel plate hoisting height detectors 7 formed out of the combination of a projector 8, a polygonal mirror 9 for irradiating an optical beam therefrom to the steel plate 2, while scanning the beam, and a photo sensor 10 are mounted along the lengthwise direction of the hoisting beam 4 of the crane 3. Furthermore, a judgement and processing unit 11 arithmetically computes the hoisting height of the steel plate 2 over the device 1, by the use of the rotation angle signal of the polygonal mirror 9 corresponding to the peak intensity signal of an optical beam detected with the photo sensor 10, thereby making judgement about whether hoisting state is acceptable or not. A piling work with the crane 3 can be thus automated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hanging state detecting device for a magnetic crane.

[0002]

2. Description of the Related Art The operation control function of a piler crane for handling steel plates provided in a plate factory has been rapidly advanced due to the progress and development of computer and motor control technology in recent years, and an attempt to fully automate it has been made. (See, for example, JP-A-60-132861). In general,
A magnet type is often used as a piler crane. In order to fully automate such a magnet type crane, an operation control function and a technique for detecting the suspended state of steel plates are indispensable.

By the way, a mechanical detector using a weight, a magnetic switch for detecting a Gaussian amount, and the like have been tried as means for detecting the suspended state of a steel sheet by a conventional magnet type crane. It was necessary to install it on the hanging beam or near the lifting magnet.

[0004]

However, in the case of the above-mentioned conventional hanging state detecting means, since the mounting position thereof is in a very bad environment such as on the crane, on the beam or in the vicinity of the lifting magnet, the detection stability is There is a problem with the reliability and maintainability of the device itself,
It was not a trial area. Therefore, there is a problem that it is difficult to realize unmanned operation by complete automation because the detection of the suspended state of the steel sheet is insufficient while having an advanced operation control function.

An object of the present invention is to provide a hanging state detecting device for a magnet type crane, which solves the problems of the prior art as described above.

[0006]

SUMMARY OF THE INVENTION The present invention is a device for detecting a suspended state when a steel plate transported by a transport device is transferred using a magnetic crane, and one side end of the transport device is provided. A projector disposed at a predetermined height of the section, and a polygonal mirror disposed above the steel plate so as to irradiate a light beam from the projector to a substantially central portion of the steel plate suspended by the magnetic crane, A steel plate suspension height detection device comprising a light receiver arranged so as to be orthogonal to the suspension beam of the crane at a predetermined height at the other side end of the transport device facing the polygonal mirror. A plurality of sets are attached in the length direction of the suspension beam of the crane, and the signal of the light beam at the light receiver of the steel plate suspension height detection device and the rotation angle signal of the polygonal mirror are input to the determination processing device, and Carrying A suspension state detecting device of magnetic crane, characterized by determining the height position quality state suspended by calculating the hanging of the steel sheet on the device.

[0007]

[Operation] According to the present invention, the projector and the rotatable polygonal mirror are provided at one side end of the transport device, and the light receiver is provided at the other side end of the transport device to suspend the steel plate. Since the height is detected, the quality of the suspended state can be reliably determined without being affected by the vibration of the magnetic crane.

[0008]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a perspective view showing a hanging state detecting device of the present invention, and FIG. 2 is a system diagram showing its configuration. In the figure, reference numeral 1 is a conveying device including a plurality of rollers for conveying the steel plate 2. 3 is a magnet type crane, and a plurality of lifting magnets 5 are attached to the suspension beam 4.
Is installed. Reference numeral 6 is a post for moving the suspension beam 4 up and down by the crane body.

Reference numeral 7 is a steel plate suspension height detecting device, which comprises a projector 8 for irradiating a light beam such as a laser, a polygonal mirror 9 and a light receiver 10. The polygonal mirror 9 has, for example, a hexagonal surface, is rotatable by a motor 12 at a constant speed, and a rotation angle signal thereof is detected by a rotation angle transmitter 13. The light projector 8 and the polygonal mirror 9 are installed at a predetermined height at one side end of the carrier device 1, and the light beam LB emitted from the light projector 8 is reflected by the polygonal mirror 9 rotating at a constant speed and scanned. While being projected, it is projected in the plate width direction of the steel plate 2. The light receiver 10 is installed at a predetermined height at the other side end of the carrier device 1 at a position facing the polygonal mirror 9, and the light reflected from the surface of the steel plate 2 lifted from the carrier device 1 by the lifting magnet 5. Receive beam LB.

Plural sets of the steel plate suspension height detection devices 7 are attached at predetermined intervals in the length direction of the suspension beam 4 of the magnet type crane 3, for example, every odd number and even number of the lifting magnets 5. Then, the light beam reception signals of the respective light receivers 10 and the angle signals from the respective rotation angle transmitters 13 in the steel plate suspension height detection device 7 are input to and processed by the determination processing device 11, and the suspension state failure is caused. The signal is output to the output device 14.

When the peak intensity of the light beam LB received by the light receiver 10 is obtained in a normal state of the steel plate 2 lifted by the magnet type crane 3, the rotation angle of the polygonal mirror 9 is transmitted. If it can be detected by the device 13, the lifting height h _x of the steel plate 2 can be calculated geometrically. The rotation speed of the polygonal mirror 8 at this time needs to have a sufficient resolution as compared with the hoisting speed of the magnet type crane 3.

That is, as shown in FIG. 3, the installation heights of the polygonal mirror 8 and the light receiver 10 from the carrier device 1 are the same h _0, and the installation interval between the polygonal mirror 8 and the light receiver 10 is L _0. And the rotation angle of the polygonal mirror 9 detected by the rotation angle transmitter 13 when the peak intensity of the light beam LB received by the light receiver 10 is obtained is θ, the polygonal mirror 8 or the light reception The vertical height h _i from the container 10 to the steel plate 2 is obtained by the following equation (1).

H _i = (1/2) L ₀ tan θ (1) Therefore, the hoisting height h _x of the steel plate 2 from the conveyor 1 at that time is obtained by the following equation (2). . h _x = h ₀ −h _i = h ₀ − (1/2) L ₀ tan θ (2) Then, as shown in FIG. 4, when two steel plates 2a and 2b are lifted up, Assuming that the lower steel plate 2b is in a state of partial adsorption, a light receiver arranged at a position corresponding to that position.
The light beam LB received by 10 within a certain time is
As shown in FIG. 5, the light beam LB _{1 at} the rotation angle θ ₁ of the polygonal mirror 8 and the light beam LB _{2 at the} rotation angle θ ₂ are shown.
Since two peak intensities will be obtained with,
According to the formula (2), the height h ₁ of the steel plate 2a and the height h ₁ of the steel plate 2b
You can ask for ₂ .

Therefore, in the judgment processing device 11, when the height values of the two steel plates in one of the steel plate suspension height detection devices 7 are different, that is, when h ₁ ≠ h ₂ , the partial suction state is detected. If it is determined that the suspension condition is present, the suspension state failure signal is output to the output device 14 to notify the operator. In this way, the state of partial suction can be reliably determined.

If a function for comparing and checking the crane hoisting position signal 15, the crane state signal 16, the steel plate signal 17 and the like obtained from the crane operation control unit (not shown) is added, a more accurate hanging state can be obtained. A defective signal can be output. Further, although the above-mentioned embodiment has explained the partial suction failure of the second steel plate when the two steel plates are suspended, the present invention is not limited to this, and when the second steel plate cannot be sucked at all or when the steel plates are suspended. It goes without saying that the present invention can also be applied to defective release operation at the time of release of suction.

[0016]

As described above, according to the present invention,
Since the quality of the suspended state of the magnetic crane is automatically and easily determined, the piling process can be unmanned, which contributes to labor saving. In addition, the projector, polygonal mirror, and receiver used to detect the steel plate suspension height are installed separately from the crane, so that the reliability and reliability of the equipment can be improved without being affected by vibration, etc. Maintainability can be improved.

[Brief description of drawings]

FIG. 1 is a perspective view showing an outline of a hanging state detection device of the present invention.

FIG. 2 is a system diagram showing a configuration of a hanging state detection device of the present invention.

FIG. 3 is an explanatory diagram of a detection principle of a steel plate suspension height.

FIG. 4 is a side view showing a partial adsorption failure when two steel plates are simultaneously lifted.

5 is an explanatory diagram of an operation of the hanging state detection device in FIG.

[Explanation of symbols]

 1 Transport Device 2 Steel Plate 3 Magnet Crane 4 Suspended Beam 5 Lifting Magnet 7 Steel Plate Suspended Height Detection Device 8 Emitter 9 Polygonal Mirror 10 Light Receiver 11 Judgment Processing Device 13 Rotation Angle Transmitter 14 Output Device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI technical display location B66C 13/22 X

Claims (1)

[Claims] 1. A device for detecting a suspended state when a steel plate transferred by a transfer device is transferred using a magnetic crane, the device being arranged at a predetermined height at one side end of the transfer device. A floodlight provided, a polygonal mirror arranged above the steel plate so as to irradiate a light beam from the floodlight to a substantially central portion of the steel plate lifted by the magnetic crane, and facing the polygonal mirror. A steel plate suspension height detection device comprising a light receiver arranged so as to be orthogonal to the suspension beam of the crane at a predetermined height of the other side end of the transport device is provided with a suspension beam length of the crane. A plurality of sets are mounted in the direction, and the signal of the light beam at the light receiver of the steel plate suspension height detection device and the rotation angle signal of the polygonal mirror are input to the determination processing device to suspend the steel plate on the transport device. height A hanging state detection device for a magnetic crane, which calculates a position to determine whether the hanging state is good or bad.