JPS58139986A - Controller for position of stoppage of 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 a crane stop position control device for stopping an overhead crane from traveling or traversing at a predetermined position.

Conventionally, the stop position control of a crane, such as when unloading a suspended load to a predetermined position using an overhead crane, was performed manually by the operator while monitoring the suspended load and the predetermined position, but this operation itself requires skill. Another problem was that it required a driver. A method of controlling the stop position of a crane that overcomes these difficulties involves measuring and memorizing an address in order to specify the destination, and then using a large number of limit switches, etc. in the traversing and traveling area of the crane in order to move the crane later. A detection means is arranged to control the stop position of the crane based on the detection information from a predetermined speed switch, and for example, one pulse is sent to a wheel related to the traveling or traversing of the crane every time the wheel rotates once. The pulse generator that is designed to emit is linked and counted, and the number of pulses emitted from the pulse generator is counted, and when the counted value matches a preset value that should stop the crane at a predetermined position. There are some that are designed to stop the crane from moving or traversing.

In the former case, it is necessary to install a large number of switches, etc. in the detection means, which makes the device itself complicated and increases the equipment cost. Due to wear of the single wheel due to prolonged use, an error occurs in the stopping position of the crane, and not only does it take a long time to correct this error, but the correction operation itself is troublesome.

The present invention has been made in view of the above circumstances, and uses optical technology using a light beam such as a laser beam to automatically move a garter or a club to a predetermined stopping position with a relatively simple configuration. DESCRIPTION OF THE PREFERRED EMBODIMENTS An object of the present invention is to provide a crane stop position control device that can easily and accurately unload a suspended load to a predetermined position by stopping the crane at a specific time.

FIGS. 1 and 2 are a perspective view and a side view schematically showing the structure of an overhead crane to which a crane stop position control device according to the present invention (hereinafter referred to as the "U present invention device") is attached. In the figure, a club 1 is mounted so as to straddle a parallel bridge-shaped garter 2 so as to be able to travel in the longitudinal direction of the garter 2, that is, to freely move horizontally, and a winding device t11 is disposed in the center of the garter 2. A rope 12 that is raised and lowered by its operation is suspended from the hoist 9#i position 11, and a hook block 13 as a hanging device is attached to the lower end of the rope 12. This club 1 is made to travel horizontally by rotational driving of a traveling motor 14 disposed at a proper position on its upper side. Further, the gutter 2 is disposed at both ends in the longitudinal direction on rails 3, 3 which are arranged in parallel to each other so as to be freely movable in the longitudinal direction. It travels in the longitudinal direction of the rail 3.3 by rotational drive of a travel motor 21 provided.

Thus, the light beam generating and scanning section 4 and the light beam detecting section 5 are about to be attached to the lower side of the longitudinal center of the gutter 2.

The light beam generation and scanning section 4 generates a laser beam as a light beam generator as shown in the schematic diagram of FIG. ! 141, an acousto-optic modulator 42 as a light beam scanning means for scanning the laser beam by diffraction; It consists of a dynamic scanner 43 and the like.

The laser beam generator 41 may be, for example, a 1e-Ne laser beam generator, and the acousto-optic modulator 42 may include an acousto-optic medium 421 formed into a rectangular bar shape made of tellurium dioxide single crystal (Te02), glass, or the like. It consists of an ultrasonic vibrator 422 and the like attached to one end surface in the longitudinal direction in order to propagate ultrasonic vibrations as mechanical vibrations within the sonic threat optical medium 421.
2 generates an ultrasonic wave whose frequency changes small and large in response to an ultrasonic signal whose frequency changes small and large periodically, which is generated by a sweep oscillator 423, amplified by an amplifier 424, and applied. is propagated from one end surface in the longitudinal direction of the optical medium 421 to the other end surface. Further, an appropriate back absorbing material 425 is attached to the other longitudinal end surface of the acoustic optical medium 421 to scatter the ultrasonic waves. As a result, the laser beam generated from the laser beam generator 41! While passing through the sound optical member 42, it is diffracted by the effect of the ultrasonic wave as a phase grating, and as mentioned above, the frequency changes slightly - the diffraction angle is changed from 0 to a small degree by the sound wave, and scanning The laser beam L2 is irradiated onto the mirror surface of an oscillating mirror 431 of the oscillating scanner, which will be described later. The swinging scanner center consists of a swinging mirror 431, an angle detector and a motor 433, as shown in FIG.
By the operation of the motor 433, the swinging mirror 431 is swung in a manner that repeats forward and reverse rotation at a predetermined period, and the swinging angle of the swinging mirror 431 is determined by an angle detector 02 consisting of a rotary encoder. It is now possible to detect it. The swinging mirror 431 is arranged to swing and scan the scanning laser beam L2 in a direction perpendicular to the scanning direction of the scanning laser beam L2. Then, the scanning laser beam L2 reflected by the swinging mirror 431 is transmitted through the acousto-optic transformation 11ii! 42 to scan the floor surface 1 in the longitudinal direction of the gutter 2, that is, in the span direction.
The irradiation is applied to the entire width of the hook on the surface of the gutter 2 (see Fig. 2), and due to the oscillating movement of the oscillating mirror 431, the gutter 2
is irradiated over the entire surface of the floor 10 in the running direction (
(see Figure 4), the scanning laser beam L2 is
1f as shown in Figures 1 and 15 on the surface of 0! I want to have a set meal according to the rules.

Reflection mirrors 6 made of two-corner cubes or the like are arranged as reflection means at required locations on the floor surface 10.
As shown in FIG. 6, this reflecting mirror 6 is configured to reflect the scanning laser beam L2 in the same direction as the direction in which it is incident as a reflected laser beam L3.

Further, between the audio writing optical medium 421 and the swinging mirror 431, there is a half mirror 62 which reflects only the reflected laser beam L3 reflected by the reflecting mirror 6 to the laser beam detector 61 disposed in the vicinity thereof. is arranged (
(See Figure 3). As shown in FIG. 7, the output terminal of the laser beam detector 61 is connected to one input terminal of a discrimination circuit 63 consisting of a NAND circuit, etc., and the other input terminal of the discrimination circuit 63 is connected to the output terminal of the angle detector 432. The output terminal of the discrimination circuit 0 is connected to the input terminal of the control circuit diagram of the traveling motor 21.Thereby, the reflected laser beam L3 is detected by the laser beam detector 61. 4, the angle information from the angle detector 432 or the light emitting scanning unit 4 and optical sensor 5 as shown in FIG.
When the angle θ0 with the perpendicular line at the installation site reaches a preset value 1, for example 0, the control circuit M stops the rotation of the travel motor 21, and the travel of the gutter 2, that is, the travel of the crane is stopped. It will be suspended. Note that the angle θO is a dimension in which the gutter 2 travels due to its inertia until the rotation of the travel motor 21 is stopped and the gutter 2 stops at a predetermined position, for example, a position directly above the position where the reflective mirror 5 is disposed. This is determined in consideration of d.

In addition, in the above-mentioned embodiment, the case where the device of the present invention is used to stop the traveling of the gutter at a predetermined position in the traveling direction of the overhead crane, but the present invention is not limited to this, and the case where the device is used to stop the traveling of the gutter at a predetermined position in the traveling direction of the overhead crane is described. It can be implemented in the same way when stopping. Note that the above-mentioned modulator may be omitted if necessary.

As described in detail above, the crane stop position control device according to the present invention includes a light beam generation and scanning section that is disposed in relation to the garter or the club and emits a light beam that is oscillated and scanned; Light beam~j Wakusei Hikan c'4LL
a reflecting means for reflecting the light beam as a reflected light beam in the same direction as the direction of incidence of the light beam;
and a light beam detection unit arranged on the garter or club to detect the reflected light beam, and the garter or club is stopped at a predetermined position by adjusting the direction of incidence of the reflected light beam detected by the angle detector. The garter is caused to run or the club is moved horizontally in order to match the preset incident direction of the reflected light beam, and when the incident angle of the reflected light beam matches the preset incident direction, the garter runs. Or, since it is designed to stop the horizontal movement of the club, it has a relatively simple configuration, and the gutter or club can be automatically stopped at a predetermined stopping position without having to set and memorize the destination address in advance. The present invention has excellent effects, such as being able to easily and accurately unload a suspended load to a predetermined position, and also being able to easily change a desired position.

In the above embodiment, an acousto-optic technique is used as a light beam scanning means in which a fundamental light beam is diffracted by an ultrasonic wave that acts as a phase grating. However, the present invention is not limited to this. Of course, it is also possible to use a structure that performs oscillating scanning by repeating rotation and reversal. Furthermore, the light beam generator is not limited to the laser beam generator described above, and it goes without saying that any suitable device capable of emitting visible light or infrared rays in the form of a beam may be used.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention, and FIGS. 1 and 2 are a perspective view and a side view schematically showing the configuration of an overhead crane to which the device of the present invention is attached, and FIG. 3 is a diagram showing the structure of the device of the present invention. FIG. 4 is a schematic block diagram schematically showing the configuration of the main parts, FIG. 4 is an external view schematically showing the structure of the swing scanner, FIGS. 5 and 6 are explanatory diagrams of the operation of the device of the present invention, and FIG. FIG. 8 is a perspective view schematically showing the appearance of a reflecting mirror constituting the apparatus of the present invention, and FIG. 8 is a schematic block diagram schematically showing the configuration of the light beam detection section of the apparatus of the present invention. 1...Club, 14...Traverse motor, 2...Gutter, 21...Travel motor, 3...Rail, 4...
Light beam generation scanning unit, 41... laser beam generator,
42...Sound optical modulator, 421...Acousto-optic medium, 422...Ultrasonic transducer, 423...Sweep oscillator, 424...Amplifier, 425...Sound absorbing material, a...・
Swinging scanner, 431... Swinging mirror, 432... Angle detector, 433... Motor, 5... Light beam detection section, 6... Reflection mirror, 61... Laser beam detection Device, 62...Half mirror-163...Discrimination circuit, 1
0... Floor surface, Ll... Laser beam, L2... Scanning laser beam, L3... Reflected laser beam. Patent applicant: Hitachi Kiden Kogyo Co., Ltd. Representative Patent Attorney Koji Onishi

Claims (4)

[Claims] (1) In a crane stop position control device that stops the traveling or traversing of an overhead crane at a predetermined position, a light beam generating and scanning unit that is disposed in relation to a gutter or a club and emits a swinging and scanned light beam; a reflecting means disposed in an area to which the light beam is irradiated by swing scanning and reflecting the light beam as a reflected light beam in the same direction as the direction of incidence; and a reflecting means for detecting the reflected light beam on the garter or club. The incident direction of the reflected light beam detected by the angle detector base is set in advance to stop the gutter or the club at a predetermined position. The running of the garter or the lateral movement of the club is made to match the angle of incidence of the reflected light beam, and the running of the garter or the lateral movement of the club is stopped when the incident angle of the reflected light beam matches the preset incident direction. Crane stop control device. (2) The light beam generation scanning section includes a light beam generator;
a light beam scanning means for scanning the light beam emitted from the light beam generator; and an angle at which the scanning light beam scanned by the light beam scanning means is oscillated and scanned to irradiate the entire predetermined area. 12. The crane stop position control device according to claim 11, comprising a light beam swinging means equipped with a detector. (3) The crane stop position control device according to claim 2, wherein the light beam generator is a laser beam generator. (4) The crane stop position control device according to claim 2, wherein the light beam scanning means applies a nursery school optical technology that diffracts a light beam based on the action of an ultrasonic phase grating.