JPS58139985A - Automatic positioning device for overhead-travelling crane - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic positioning device for an overhead crane that moves a crane traveling on the ceiling of a building to a desired position and stops it.

Conventionally, when a manual crane is used to transport a suspended load to a desired location, the crane operator must operate the crane while monitoring the suspended load and its stopping position, making the work complicated and sometimes resulting in accidents due to failure to operate. There is a risk of inviting

In addition, in automatic cranes, in order to move the crane to a desired position, a street address is measured and memorized to specify the destination, and then the crane is moved, but in order to do so, a large number of detection means such as limit switches are used. Moreover, since it requires a complicated control device, it has the disadvantage that the automatic positioning device becomes expensive.

Furthermore, a method of counting the number of rotations of the crane's wheels during traversing or traveling and detecting the required position to which the crane should be moved by comparing it with a predetermined value. However, there is a drawback that errors in position detection are likely to occur due to the effects of wheel wear, slip, etc.

The present invention has been made to eliminate the above-mentioned drawbacks.
The purpose is to have a relatively simple configuration,
An object of the present invention is to provide an automatic positioning device for an overhead crane that can move the crane to a desired position.

To this end, the present invention provides for a signal generating means to be freely mounted in relation to a required position on the floor surface where the crane is to be moved, and a signal generating means to be emitted from the signal generating means at a position relative to the crane. A signal detection means for detecting a signal is provided, and a control means given a detection signal from the signal detection means moves the crane based on the detection signal to move the suspended load to the position where the signal generation means is placed. It is characterized by being transported to a position related to.

Below, the automatic positioning device for an overhead crane according to the present invention (
An embodiment (hereinafter referred to as "the device of the present invention") will be described with reference to the drawings.

FIG. 181 is an illustrative view for explaining the principle of the apparatus of the present invention; FIG. 181 is a view of the overhead crane seen from the front, and FIG. In FIG. 1, 10 is a running rail, 20 is a gutter that runs on the running rail 10,
I is a club that moves across the gutter, and the club 30 is provided with a crane 35.

On the other hand, the button is placed freely at any position in the floor space, and the button is a signal generating means for emitting a signal toward the ceiling space, for example, a laser beam scanning device, and the laser beam scanning device 4
0 is a directional laser beam LB1 toward the ceiling space
scan. Further, the club 30 is provided with a laser beam detector 50 which is provided in association with the crane 35 and serves as a signal detection means for detecting the laser beam LB1 emitted from the laser beam scanning device 40, and from this laser beam detector 50. A controller (not shown) is provided for moving the crane to a position related to the position where the laser beam scanning device 40 is mounted based on the provided detection signal.

Therefore, one embodiment of the device according to the invention includes at least a laser beam scanning device l[40, a laser beam detector 50 and said controller.

FIG. 2 is an illustrative diagram schematically showing the structure of the laser beam scanning device. In the same figure (A), 410 is a laser beam generator as a light beam generating means that emits a directional laser beam, and 420 is a light beam diffraction means provided at a predetermined distance from the laser beam generator 410. It is an acousto-optic modulator.

This acousto-optic modulator 420 includes a medium 421 that is transparent to the incident laser beam. Such medium 42
As the material 1, for example, tellurium dioxide single crystal or a glass medium is used. A piezoelectric vibrator 422, for example, as a vibrator is attached to one end of the medium 421.

The piezoelectric vibrator 422 provides the medium 421 with ultrasonic waves corresponding to the electric signal input thereto. In addition, the medium 42
A sound absorbing material 423 for absorbing the ultrasonic waves propagated through the medium 421 is attached to the other end of the sound absorbing material 423 . Therefore, the acousto-optic modulator 420 includes the piezoelectric vibrator 422 and the sound absorbing material 42.
Contains 3.

On the other hand, 430 is a sweep oscillator that oscillates by periodically changing the frequency from Fl to F2, and 435 is an amplifier that amplifies the input signal given from the sweep oscillator 430.

Further, 440 is a reflection mirror provided at a predetermined distance from the acousto-optic modulator 420. reflective mirror 4
40, for example, has its side portion fixed to the rotating shaft of a motor 441, so that it is given a predetermined rotation or rotation by the motor 441. However, reflecting mirror 4
The angle that the center of rotation of 40 makes with the incident light is defined in relation to the area to be scanned by the laser beam.

Next, the operation of the laser beam set meal device 40 as described above will be explained.

The frequency emitted from the sweep oscillator 430 is set to Fl or 1'.
”: The sweep signal that is periodically varied up to 2 is sent to the amplifier 43.
5 and is amplified by the piezoelectric vibrator 42 of the acousto-optic modulator 420.
given to 2. The piezoelectric vibrator 422 generates ultrasonic waves according to changes in the frequency of the sweep signal input thereto, and applies the ultrasonic waves to the medium 421 . Then, when the ultrasonic wave propagates through the medium 421, the compression wave of this ultrasonic wave is transmitted through the medium @4
This results in a periodic change in the refractive index of 21. In addition, the medium 42
When the ultrasonic waves propagated through the medium 421 reach one end of the medium 421, they disappear due to the action of the sound absorbing material 423.

When the laser beam LB emitted from the laser beam generator 410 is incident on the acousto-optic modulator 420 in such a state, the change in the refractive index of the medium 421 caused by the compression wave of the ultrasonic wave propagating through the medium 421 as described above is , acts as a diffraction grating for the incident laser beam and diffracts the laser beam. Moreover, since the distance between the line portion and the resistance portion of the ultrasonic waves changes periodically according to changes in the frequency of the sweep signal applied to the piezoelectric vibrator 422, the diffraction angle of the diffracted laser beam LBI changes at the frequency of the sweep signal. It changes according to the change in. That is, the laser beam LB1 is in a state of being scanned so as to be within a narrow optical curve, and is incident on a reflecting mirror 440 that is rotated by a motor 441 at a predetermined angle, for example. Since the reflection mirror 5-440 reflects the laser beam LBI so that the optical axis of the reflected light intersects with the plane, this laser beam B1 is to be scanned toward the ceiling space. B) is an explanatory diagram showing a locus drawn by a laser beam LBI that is scanned based on being reflected by a reflecting mirror 440.

As described above, as a result of the laser beam LBI being scanned from the side chrysanthemum of the laser beam scanning device toward the ceiling space, the laser beam detector 50 provided in connection with the crane as shown in FIG. Receives laser beam LBI.

FIG. 3 is a perspective view schematically showing the laser beam detector 50. FIG. That is, the laser beam detector 50 includes at least a detector 501 provided parallel to the floor surface, and a plurality of detectors 502 to 505 provided at a predetermined angle to the floor surface (however, the detectors 504 and 505 are the third (not shown in the figure). The detectors 501 to 505 are composed of, for example, solar cells.Next, the operation of the laser beam detection device as described above when the laser beam LHI is received will be explained.

FIG. 4 shows a control i[11g provided on the club 30, for example.
1 is a block diagram schematically illustrating the system.

That is, when the laser beam detector 50 receives the scanned laser beam LB1, at least one of the detectors 502 to 505 provided at the bent side outputs a detection signal. Here, for example, if the detectors 502 and 503 receive laser beam B1, this detection output is transmitted to the amplifier 5 of the amplifiers 506 to 510 connected to each detector.
07 and 508, respectively, and provided to the controller 520. Therefore, since the ratio of the magnitudes of the detection outputs of the detectors 502 and 503 is related to the angle of incidence of the laser beam LB1 incident thereon, the controller 70 given the detection outputs adjusts the magnitude of these detection outputs. Based on the comparison of the respective sizes, the direction of the incident laser beam LBI is calculated, and the drive motors installed on the club and the gutter 20 are set in one direction in order to produce a crack illusion.
give an edict. As the club 30 moves in the direction of incidence of the laser beam LB1, the detectors 502 and 503 of the laser beam detector 50 provided thereon
The detection output of the detector 501 decreases, and conversely, the detection output of the detector 501 increases. As a result, when the distance between the laser beam detectors is on the -L side of the laser beam scanning device, the detectors 502 and 5
The detection output of the detector 501 becomes the minimum, and the detection output of the detector 501 becomes the maximum. Therefore, the controller 70 is configured such that the detection outputs of the detectors 502 to 505 provided on the side surfaces of the laser beam detector 50 are minimized, and the detection outputs of the detectors 502 to 505 provided on the side surfaces of the laser beam detector 50 are minimized.
By stopping the drive motor 80 at the position where 01 is maximum, the crane A is moved to a predetermined position.

As is clear from the above description of the embodiments of the device of the present invention,
According to the automatic positioning device for an overhead crane according to the present invention, with a relatively simple configuration, the crane can be moved to a desired position without having to set a Takemitsu address in advance and wait for a while. It is extremely convenient in practical use because it is possible to easily trace a desired position.

In the description of the embodiment, it has been explained that scanning (No. 4) is a laser beam, but it may be a light beam of visible light, infrared light, etc., for example.

In addition, in the embodiment, the detectors 502 to 505 provided on the side surface of the laser beam detector 50 have been described as being provided almost perpendicularly to the floor surface, but this does not mean that the laser beam is directed toward these detectors. It may be provided with an inclination so that the light enters at an angle close to perpendicular. Furthermore, the number of detectors provided on the side surface of the laser beam detector 50 is not limited to four as in the embodiment, but can be determined as appropriate.

Furthermore, in the embodiments, the signal generation means is described as being a light beam scanning device, such as a laser beam scanning device, but the signal generation means is not limited to this, and the signal generation means may direct radio waves of a predetermined frequency toward the ceiling space, for example. It may also be a radio wave emitting device that emits radio waves.

By using a directional antenna as the signal detection means in this case, it is possible to obtain the same effect as in the above-described embodiment.

[Brief explanation of the drawing]

Figure 1 is an illustrative diagram for explaining the principle of the device of the present invention, s
Figure 2 is an illustrative diagram schematically showing the structure of the laser beam scanning device.
FIG. 3 is a perspective view schematically showing the laser beam detector 50, and FIG. 4 is a block diagram schematically showing a controller system provided in the laser beam detector. 30... Club, 35... Crane, 40... Loser beam scanning device, 50... Laser beam detector, 7
0... Controller, 80... Drive motor, 501 to 505
...Detector, 506-510...Amplifier. Patent applicant: Hitachi Kiden Kogyo Co., Ltd. Representative Patent Attorney Koji Onishi

Claims (1)

[Scope of Claims] (1) A signal generating means that is freely placed at any position on the floor surface and emits a signal toward the ceiling space; and a signal generating means that is provided at a position related to the crane; a signal detecting means for detecting a signal emitted from the signal detecting means; and a control means provided in association with the signal detecting means to move the crane to a position where the signal generating means is placed based on the detection output thereof. An automatic positioning device for an overhead crane, which is characterized by: (2) The signal generating means is a light beam scanning device that scans a light beam into a ceiling space, and the signal detecting means is a light beam detector. Automatic positioning device for overhead cranes as described in Section 1. A directional light beam emitted from the acousto-optic modulator is incident on the acousto-optic modulator, and the diffraction angle of the diffracted light beam is continuously adjusted by sweeping the frequency of the signal given to the acousto-optic modulator. Claim 2, characterized in that the diffracted light beam is scanned by reflecting the diffracted light beam on a rotating mirror.
Automatic positioning device for overhead cranes as described in Section 1. (4) The light beam detector includes at least a detector provided parallel to the floor surface and a plurality of detectors provided at a predetermined angle to the floor surface. automatic positioning device for overhead cranes. (5) The automatic overhead crane according to claim 1, wherein the control means moves the crane to a position where the maximum output of the signal detection means can be obtained and stops the crane. Positioning device. (6) The signal generating means is a radio wave of a predetermined frequency. The detecting means is a directional antenna that receives radio waves emitted from the radio wave emitting device. Automatic positioning device for the described overhead crane.