JPS5812195B2 - positioning control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning control device for, for example, an overhead crane.

A general overhead crane is shown and explained in FIG. 1.

In FIG. 1, 1 and 2 are running saddles, 3 is a transverse girder, 4 is a club, 5 is a hanging device, 6 and 7 are running rails as first and second running rails, and the running rail 6 ,7
and the transverse girder 3 are arranged in a direction perpendicular to each other.

In such an automatic positioning control device for a mobile overhead crane, the horizontal coordinates of the lifting equipment position are recognized by independently detecting the position of the traveling saddle on the traveling rail and the position of the club on the traversing girder. It is something.

In the case of a conventional automatic positioning control device, the traveling position is detected by reading a scale mark (not shown) placed along either one of the two traveling rails 6 and 7, or by contacting the rail. It is common to convert the rotation angle of the wheel into a position signal.

In other words, the traveling position is based on one side of the traveling girder, and the traveling saddle on the girder at the other end faithfully follows the movement of the traveling saddle on the side that is the position reference.In other words, the traveling axis It is a necessary condition that the intersecting angle (usually a right angle) between the crane and the transverse axis remains constant whether the crane is moving or stopped.

However, it is difficult to make the crane a completely rigid structure, and due to the gap between the running wheel flange and the side of the rail, this requirement cannot be achieved.

As a result, although the traveling and traversing positions were accurately detected, the actual position of the hanging device 5 was several hundred points in the traveling direction compared to the predicted position.
There were drawbacks such as generation of nanometer errors.

This invention has been made in order to alleviate the above-mentioned drawbacks, and includes detection positions of the first and second traveling position detection devices that detect the position of the traveling saddle and the traverse position detection device that detects the position of the girder. Calculate according to the signal,
The present invention provides a positioning control device that improves positioning accuracy by providing a calculation device that outputs a signal for positioning a hanging tool at a predetermined position.

Embodiments of the present invention will be described below with reference to FIGS. 2 and 3.

In Fig. 2, 11 is a transverse position detection device, 12.13
14 is a running position detecting device as a first and second running position detecting device, and 14 is an arithmetic unit, which are configured to recognize the position.

The running position detection devices 12 and 13 are the left and right running girders 3.
It is provided for the purpose of independently detecting the existing positions of the left and right traveling saddles 1 and 2 above.

The lateral position detection device 11 may detect the position of the club moving on the girder 3 using a conventional method.

The leak calculation device 14 independently calculates the position detection values from the running position detection devices 12, 13 and the traversing position detection device 11.
Moreover, the horizontal plane coordinates of the hanging tool are calculated based on the read values at the same time.

Here, the calculation contents of the calculation device 14 will be explained using FIG. 3.

In FIG. 3, if the coordinates of the target hanging tool 5 are XY, the target position can be determined from the three position detection signals as X=Py sin θ and Y=Py cos θ.

By frequently repeating the above position recognition operation while the crane is moving, the horizontal plane coordinates of the crane hoist can be accurately controlled at all times.If this invention is applied to automatic crane positioning control as an embodiment of the present invention, positioning accuracy can be improved. It can be greatly improved.

As explained above, the present invention calculates according to each detected position signal from the first and second traveling position detecting devices that detect the position of the traveling saddle and the traversing position detecting device that detects the position of the girder, A calculation device is provided to output a signal for positioning the hanger to a predetermined position, and by configuring it in this way, the positioning accuracy can be improved.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a general overhead crane, FIG. 2 is a block diagram for explaining an embodiment of the invention, and FIG. 3 is an explanatory diagram for explaining positioning. In the figure, 1 and 2 are running saddles, 3 is a transverse girder, 4 is a grab, 5 is a hanging tool, 6 and 7 are first and second running rails,
11 is a traverse position detection device, 12 and 13 are first and second travel position detection devices, and 14 is an arithmetic device.

Claims (1)

[Claims] 1. A traveling saddle that moves on first and second traveling rails installed in parallel, a girder that moves integrally with this traveling saddle and is provided in a direction orthogonal to the traveling rail, and a girder that moves along this girder. A club, a hanging device provided on the club, first and second running position detection devices each provided on the first and second running rail sides to detect the position of the running saddle, and detecting the position of the girder. a traversal position detection device for detecting the traversing position, a calculation device that calculates according to the detected position signals from the first and second traversal position detection devices and the traversal position detection device and outputs a signal for positioning the hanging tool at a predetermined position; Positioning control device with