JPS58152792A - Device for automatically positioning 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 lifting device to a desired position on a floor surface.

Conventionally, when transporting a suspended load to a desired position using a so-called electric crane, the crane operator has to operate while monitoring the suspended load and the stopping position, making the work complicated and sometimes resulting in errors due to incorrect operation. There is a risk of causing an accident.

On the other hand, conventional wireless lifting cranes have the disadvantage that the portable transmitter is complicated and relatively heavy.

In addition, in an automatic crane, in order to move a lifting device to a desired position, a number of addresses are set on the floor to specify the destination, and these are stored in advance in a storage device installed in the automatic crane. Afterwards, the hanging equipment will be transferred.
...This requires a large number of detection means such as limit switches, as well as a complicated control device.
The disadvantage is that the automatic positioning device is expensive.

As for the conventional automatic positioning method for cranes, there is also a method of counting the number of rotations of the wheels during traversing or traveling, and detecting the desired position to which the lifting equipment should be moved by comparing it with a predetermined value. However, it has the disadvantage that position detection tends to vary by one point due to wheel wear, slipping, etc., and this disadvantage is particularly noticeable when the crane is moved over long distances.

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 accurately and easily move a hanging tool to a desired position. .

To this end, the present invention provides a signal emitted from a first signal generating means that is freely placed in relation to a desired position on the floor surface to which the hoist is to be moved, and a predetermined signal of the crane main body. A signal detecting means provided at a predetermined position in the ceiling space detects another signal emitted from a second signal generating means provided at a certain position, and further calculates and calculates this detection output.
The present invention is characterized in that the suspender is moved to a desired position on the floor surface based on the input to the control means.

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

FIG. 1 is an illustrative diagram for explaining the principle of an embodiment of the apparatus of the present invention. In the figure, reference numeral 1 denotes a club that runs along a gutter 2 whose both ends are fixed to a saddle 5, and the club 1 serves as a hanging device, for example, for hoisting a suspended load 4 suspended from a hook 3. A winding device (not shown) or the like is provided for this purpose. Therefore, the crane main body 10 includes the aforementioned club 1, garter 2, hook 3, saddle 5, and other devices (not shown). The crane main body 10 runs along a running rail (not shown) provided on the upper edge of the outer peripheral wall 6 (schematically shown).

On the other hand, 7 is a transmitter that emits a wave with frequency Fl as a first signal generating means, and the transmitter 7 can be freely moved to a desired position on the floor surface 8 to which the hook 4 is to be moved. It will be placed. Further, at a predetermined position of the crane body 10, for example, a predetermined position of the club 1, a transmitter 9 serving as a second signal generating means that emits a radio wave having a frequency of F2, for example, is provided. However, the frequency F1
It is desirable that the eclipse and eclipse be at a high frequency.

For example, the outer peripheral wall 6 is located at a predetermined position in the ceiling space.
At predetermined positions above, there are detectors 11A and IIB as signal detection means for detecting radio waves of frequencies 1 and F2 emitted from the transmitters 7 and 9, for example, in relation to the width of the hook 3. They are provided at a predetermined distance L1, and a detector 11C for detecting radio waves having a frequency F1 is provided, for example, at an intermediate position.

FIG. 2 is a perspective view schematically showing one embodiment of the detector. In the figure, the detectors are a receiver 110 and an angle detector 12.
The receiver 110 includes, for example, a bar antenna 111 for receiving radio waves at a frequency F2 emitted from the transmitter 7 and a bar antenna 112 for receiving radio waves at a frequency F2 emitted from the transmitter 9. It is being

This bar antenna 111 is attached to the upper end of an inner shaft 114 that is rotated by a motor 113, while the bar antenna 112 is independently rotated by a motor 115.
It is attached to the side surface of an outer shaft 116 that is concentric with the inner shaft 114 and provided outside of it. However, the receiver 11
0 includes a known inductor (not shown) that drives the motors 113 and 115 so that the reception sensitivity of the bar antenna is maximized or minimized with respect to input radio waves.

The angle detector 120 is provided in contact with the respective side surfaces of the inner shaft 114 and the outer shaft 116, and includes, for example, potentiometers 117 and 118 for detecting the rotation angle of the bar antenna 111 and ]12. There is.

Therefore, while each bar antenna of the detectors 11A to IIG is rotated in relation to the direction of the input radio wave, the rotation angle is detected by each potentiometer.
A to IIC detect the direction of incidence of radio waves, that is, the direction in which the transmitters 7 and 9 are located.

That is, in FIG. 1, the position on the floor 8 where the transmitter 7 is placed is P, the position on the club I where the transmitter 9 is installed is P, and the positions where the detectors 11A to IIC are installed are respectively. q%R, S, and the position of the floor below the blood supply at position S is T, the detector 11A and the detector 11B
Since each bar antenna is parallel to the floor 8 and installed on a plane containing the transmitter 9, the detector 11A is placed at an angle O.
While detecting QR and angle PQR, detector 11B detects and outputs angle ORQ and angle PRQ. Since the detector 11C is installed so that its bar antenna is perpendicular to the floor surface 8, it detects and outputs the angle O5T.

On the other hand, the device of the present invention includes an arithmetic/control device provided at a fixed position in the ceiling space, for example, in relation to the above-described crane main body 10 and detectors 11A to IIC.
As described later, the controller controls the crane main body 10 based on the detection outputs of the detectors 11A to IIC, and moves the hook 4 to a desired position on the floor surface 8.

Next, the operation of one embodiment of the device of the present invention will be described.

FIG. 3 is a block diagram schematically illustrating the principle of an embodiment of the device of the invention. In Figures 1 to 3,
A transmitter 7 placed on the floor 8 emits radio waves having a frequency Fl. These radio waves are detected by detectors 11A to IIC provided at predetermined positions on the outer peripheral wall 6, for example. That is, the detectors 11A to IIG receive the radio waves using 110 receivers provided in each detector, and the bar antenna 111 included in the receiver 110A receives the input radio waves at the maximum or the smallest value. be guided by. A potentiometer 117 serving as an angle detector included in the detectors 11A to IIC detects the rotation angle of the bar antenna 111, thereby detecting a certain direction of the transmitter 7. That is, the detector 11A detects the angle 0QR (hereinafter referred to as "angle a") shown in FIG.
C detects the angle 08T (hereinafter referred to as "angle C"), and this detection output is sent to the amplifier AMP as shown in Figure 3.
The signal is amplified by , and provided to the arithmetic unit 12A.

But calculation! Based on the detection outputs given from the detectors 11^ to IIG, 112A calculates, for example, the distance L3( (see Figure 1).

That is, the distance L3 is from the floor surface 8 to the detectors 11A~
If the height to the position where IICs are arranged in parallel is H, then Sin (a0μ) Co5t
is given by

On the other hand, the frequency radio waves emitted from the transmitter 9 provided on the club 1 of the crane body 10 are transmitted to the detector 11A.
and IIB. That is, as described above, the radio waves are received by the 11 detectors and the receiver 110B provided in the IIB, and the direction in which the transmitter 9 is located is detected based on the guidance of the par antenna 112. . That is, the detector 11A is l! ! The angle P shown in Figure 1
The detector 11B detects the angle QR (hereinafter referred to as "angle γ") and the angle PiLQ (hereinafter referred to as "angle δ"), and these detection outputs are amplified by the amplifier AMP as shown in FIG. It is given to the arithmetic unit 12B.

Therefore, based on the detection outputs given from the detectors 11A and IIB, the arithmetic unit 12B calculates, for example, a line where these detectors 11A and JIB are arranged in parallel to a certain position of the transmitter 9. A distance L2 (see FIG. 1) is calculated.

That is, the distance L2 is: The calculation results of the distances L2 and L3 obtained in this way are given to the comparator 13 from the computation units 12A and 12B, while the comparator 13 compares these input signals. teL2
- A signal corresponding to L3 is given to the controller 14.

The controller 14 operates a drive motor 15 (not shown in FIG. 1) provided in the crane body 10 in accordance with the signal given from the comparator 13, and operates the drive motor 15 (not shown in FIG. 1).
Move the crane body 1° so that the value of L3 becomes zero. Therefore, the arithmetic/control unit includes the arithmetic unit 12B, the comparator 13, and the controller 14.

An embodiment of the apparatus of the present invention has been described above by taking the traveling of the crane main body 10 as an example, but it is clear that the same procedure can be applied to the traveling of the club 1. That is, along the longitudinal direction of the outer peripheral wall 6, the above-mentioned detectors 11A to
A detector similar to the IIC may be installed, and based on the detection output, calculations and controls similar to those described above may be performed to cause the club 1 to move sideways.

However, in general, the traverse distance of overhead cranes is short compared to the traveling distance, so
It is also possible to control the traverse with a simple configuration as described below.

FIG. 4 is an illustrative diagram for explaining the principle of the device of the present invention as an example of controlling the lateral movement of the club 1. In this figure, the same parts as in FIG. 1 are indicated by the same reference numerals, and 16 is a detector installed, for example, on the inner surface of the saddle 5 of the crane main body 10, and this detector 16 is, for example, shown in FIG. 2. It has the same configuration as the above detector, and detects radio waves of frequency F1 emitted from the transmitter 7 placed on the floor surface 8. Then, if this time and the obtained angle are , and the height from the detector 16 to the floor surface 8 is H, then the distance L4 from the detector 16 to the transmitter 7 is given by L4 = HCotθ0.

Therefore, the amount of change in HCotO (where θ is a variable angle) is given in advance to the arithmetic/controller provided in connection with the detector 16, and the distance L5 from the detector 16 to the club I trench is calculated by, for example, the wheel This distance 1IIIL5 and L4 are compared as described above, and the club's traverse control is performed so that they are equal.

As a result of the running and traversing control as in the embodiment described above, the hook 3 provided on the club 1 is moved to a desired position relative to the transmitter 7 placed on the floor surface 8.

In the embodiment of the device of the present invention for the traveling direction described above, the arithmetic/controller changes the position of the transmitter 7 from the position related to the detectors 11A to 11C based on the detection outputs from the detectors 11A to IIC. It has been explained that the hook 3 is moved to a desired position on the floor based on calculating the respective distances to a certain position of the transmitter 9 and comparing and controlling the two distances. However, the invention is not limited to this, and for example, when the hook 3 is at a desired position on the floor surface 8, the distance from a predetermined position on the crane body 10 to the position of the transmitter 7 is calculated in advance as a reference distance.・While supplying it to the controller, the detector 11A~
Based on the detection output from the IIC, the crane main body 1
The distance from the predetermined position of 0 to the position of the transmitter 7 is calculated, and comparison control is performed so that this distance and the reference distance are equal, and the hook 3 is moved to a desired position on the floor surface 8. It may be something.

Further, in the embodiment, the transmitters 7 and 9 which emit radio waves of different frequencies are used as the signal generating means 111 and the second signal generating means, but these may be replaced by other signal generating means emitting laser beams, ultrasonic waves, etc. It may be. Therefore, either the first signal generating means or the second signal generating means is a transmitter that emits radio waves of a predetermined frequency,
The other may be a light beam scanning means that scans and emits a light beam.

Furthermore, the detector used as the signal detection means is not limited to that described in the embodiments, but can be selected as appropriate in relation to the signal generation means, so the detector in the above embodiments may be, for example, a lunip antenna or It may also include means such as a parabolic antenna. Therefore, in the case where the detectors 11A and IIB in the embodiment detect vertical angles as well as horizontal angles, the detector 11C provided at the midpoint between the detectors 11A and IIB is not required. It is something. Further, in the case where a light beam scanning means is used as the signal generating means, the signal detecting means uses, for example, a solar cell as a means for detecting the light beam, and rotates the solar cell so that the solar cell detects the light beam. Any device may be used as long as it detects the direction that produces the maximum output when the light beam is incident, using an angle detector such as a rotary encoder.

As is clear from the above description of the embodiments of the device of the present invention,
The automatic positioning device for an overhead crane according to the present invention uses a signal emitted from a first signal generating means that is freely placed in relation to a required position on a floor surface to which a lifting device is to be moved, and a crane main body. Another signal emitted from a second signal generating means provided at a predetermined position in the ceiling space is detected by a signal detection means provided at a predetermined position in the ceiling space, and this detection output is further provided to the calculation/control means. Based on this, the hanging tool can be moved to a desired position on the floor surface, so the hanging tool can be accurately moved to the desired position on the floor surface with a relatively simple configuration.

Furthermore, since the first signal generating means included in the device of the present invention can be constructed in a relatively small size, it can be placed freely on the floor, and therefore, the hanging device can be easily moved. It also has the practical convenience of being able to do so.

[Brief explanation of the drawing]

Fig. 1 is an illustrative diagram for explaining an embodiment of the device of the present invention, Fig. 2 is a schematic perspective view of an embodiment of the detector, and Fig. 3 is a diagram illustrating the principle of an embodiment of the device of the present invention. The simplified block diagram in FIG. 4 is an illustrative diagram for explaining the principle of the device of the present invention as an example of controlling the lateral movement of a club. 1... Club, 3... Hook, 7.9... Transmitter, 8... Floor surface, 10... Crane body, IIA-I
IC...Detector, 12A, 12B...Arithmetic unit, 1
3...Comparator, 14...Controller. Patent applicant: Hitachi Kiden Kogyo Co., Ltd. Representative Patent Attorney Koji Onishi Figure 2 Figure 4

Claims (8)

[Claims] (1) A first signal generating means that is freely placed in relation to a desired position on the floor surface to which the hoist is to be moved; and a first signal generating means that is provided at a predetermined position on the crane body; a second signal generating means that emits a signal different from the signal generating means; and a signal generating means that is provided at a predetermined position in the ceiling space and detects the signals emitted from the signal generating means 1181 and the second signal generating means. and a calculation/control means for moving the lifting device to a desired position on the floor surface based on the detection output from the signal detection means. Automatic positioning device. (2) The first signal generating means and the second signal generating means are transmitters that emit radio waves of different frequencies, and the signal detecting means each transmits radio waves emitted from the fishing report transmitter. 2. The automatic positioning device for an overhead crane according to claim 1, further comprising a receiving antenna. (3) One of the first signal generating means and the second signal generating means is a transmitter that emits radio waves of a predetermined frequency, and the other is a light beam scanning means that scans and emits a light beam. An automatic positioning device for an overhead crane according to claim 1, characterized in that: (4) The signal detection means includes a first signal generation means and a second signal generation means.
A positioning device for an overhead crane according to Patent M, characterized in that it is equipped with angle detection means for detecting the respective directions of the signals emitted from the signal generation means and the signal generation means. (5) The automatic overhead crane according to claims 1, 2, and 4, wherein a plurality of the signal detection means are provided at different predetermined positions in the ceiling space. Positioning device. (6) The signal detection means is provided at a predetermined position on the crane body, and the signal detection means is configured to detect i
An automatic positioning device for an overhead crane according to claim 5, characterized in that the device includes signal detection means for detecting the = sign. (7) The arithmetic/control means determines, based on the detection output from the signal detection means, a position related to the signal detection means, a position where the first signal generation means is located, and a position where the second signal generation means is located. Calculate each distance to
2. The automatic positioning device for an overhead crane according to claim 1, wherein the lifting device is moved to a desired position on a floor surface based on comparative control of two distances. (8) The calculation/control means sets the distance from the predetermined position of the crane body to the position of the first signal generation means as a reference distance when the hoist is located directly above the desired position on the floor surface. On the other hand, the distance from the predetermined position of the crane body to the position of the 11 signal generating means is calculated based on the detection output from the signal detecting means, and this distance is compared with the reference distance for control. 2. The automatic positioning device for an overhead crane according to claim 1, wherein the device moves the hanging device to a desired position on the floor surface based on the movement of the device.