JPS5852185A - Travelling type 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 traveling crane that can lift and transport cargo in any direction and accurately stop it at a predetermined position.

Conventionally, as a traveling crane, wheels of a traveling frame to which a traversing rail extending in the left-right direction and a traveling drive device are fixed are mounted on a traveling rail extending in the front-rear direction.
A type of traversing rail is known in which wheels of a traversing frame to which a traversing drive device and a load lifting support device are fixed are mounted.

However, in the case of this type of traveling crane, the traveling frame and the traversing frame cannot be accurately stopped at predetermined positions, and the load swings when the traveling frame and the traversing frame stop, making it difficult to lift the load. It is difficult to transport and lower accurately and quickly into a predetermined location.

The object of the present invention is to provide a traveling crane that advantageously solves the above-mentioned problems.

Next, the present invention will be explained in detail using illustrated examples.

1 to 6 show a traveling crane according to an embodiment of the present invention, in which two traveling rails 1 extending in the front and rear directions are arranged in parallel at the same level. A running rack 8 is fixed to the lower flange of one of the running rails 1 by welding or the like and extends in the longitudinal direction. The wheels 6 placed on the flange are attached, and two traverse rails 2 extending in parallel in the left-right direction at the same level and a travel drive device 4 with a pulse generator 3 for travel stop control are fixed. A traveling pinion 7 driven by the traveling drive device 4 is meshed with the traveling rack 8.

A traversing rack 15 extending in the longitudinal direction is fixed to the lower 7 runs of the traversing rail 2 by welding or the like, and the traversing frame 12 has wheels 16 mounted on the lower flanges of each traversing rail 2. At the same time, a traverse drive device 10 with a cell spherule generator 9 and a double-barrel type hoist 11 are fixed, and a traverse pinion 14 driven by the traverse drive device 10 is meshed with the traverse rack 15, The lobes 16 unwound from each winding drum 19 of the hoisting device 11 are wound around a sliding turret 20 attached near the central portion of the transverse frame 12 in the longitudinal direction, and the hanging ends of each lobe 16 Letter-shaped cargo support member 1
It is connected to the upper part of 7.

- The upper end of one upper link 21 of the centergraph-type telescoping steady rest device 18 is pivotally attached to the transverse frame 12, and the upper guide roller 26 is attached to the upper end of the other upper link 22.

The lower end of one lower link 25 of the steady rest device 18 is pivotally connected to the cargo support member 17, and the lower end of the other lower link 26 is fitted into the horizontal upper guide rail 24 fixed to the transverse frame 12. A lower guide roller 27 attached to the lower end is fitted into a horizontal lower guide rail 28 fixed to the load support member 17.

The traveling drive device 4 includes an electric motor 2 with an electromagnetic brake for traveling.
9 and a reduction gear 6o, and the traverse drive device 10 is composed of an electric motor 31 with an electromagnetic brake for traverse and a reduction gear 32, and the rotor shaft of each electric motor 29. 3.9 is connected to the rotating shaft via a coupling (not shown).

FIG. 4 shows the electric motor operation control circuit of the travel drive device and the traverse drive device, in which the travel stop control/4' traverse energator 6 and the traverse stop control pulse energizer 9 are connected to the travel calculation circuit 33 and the traverse The coordinate setting switch S is connected to the control circuit 35 via the arithmetic circuit 34, and is connected to the traveling arithmetic circuit 36 and the traverse arithmetic circuit 34. Furthermore, the control circuit 55 includes a start switch S2 consisting of a pusher inch. Further, the power supply section of the electric motor 29 of the traveling drive device 4 and the power supply section of the electric motor 31 of the traverse drive device 1o are connected to the control circuit 65 via the motor control circuit 36.

Each i? Lusgiene 11/-ta 6.9 is electric motor 29
゜Na 610 Generates pulses according to the rotation of the rotor shaft. In addition, the number of pulses generated when the rotor shaft rotates once is determined in advance. For example, when the rotor shaft rotates once, the energizer generates ioo pulse and 1cln pulse.
The distance traveled is calculated based on the Norse number.

As shown in FIG. 5, in plane coordinates with the traveling direction as the X axis and the traversing direction as the Y axis, the Δ lux generator 3 for traversing stop control generates 5oA lus, and the /e las no energator 9 for traversing stop control generates a 5oA lus. 70・e When looseness occurs, the cargo 37 moves 5 times in the X direction from the origin 0 (Xo, Yo).
It is placed at point A, which has been moved seven degrees in the Y direction by m+n, and point A is stored in the control circuit 35.

Next, in Figure 5, move the baggage placed at point A to point P (X
p, Yp) will be explained. First, set the coordinate setting switch S to Xp, Yp, and then turn on the start switch S2. The difference between point P and point A is calculated, and the X-axis direction is forward rotation, and the Y-axis direction is rotation. A reverse command is sent to the motor control circuit 3B, and the crane is operated to transport the cargo 67 from point A to point P.

In this case, the control circuit 65 sends a signal (X-+p-50
+, Y=tp-70't) is sent and compared with the number of pulses generated from each pulse generator 6.9. And the difference signal and NoJ? If the comparison with the number of pulses matches, a match signal is sent to the control circuit, and in response to the match signal, a stop signal is sent from the control circuit to the motor control circuit 66, and the operation of each motor 29.31 is stopped. be done.

When carrying out the present invention, the load supporting member 17 may be a flange or any other type other than those shown. Further, as the motor operation control circuit, other circuits may be used in place of the circuit shown in Fig. M4.

According to the present invention, the traveling drive device 4 with a lubrication generator 3 for travel stop control is fixed to the traveling frame 5 that travels along the traveling rail 1, and is driven by the traveling drive device 4. Since the traveling pinion 7 is meshed with the traveling rank 8 fixed to the traveling rail 1, it prevents slippage when the traveling frame 5 starts and stops, and also prevents the traveling frame 5 from being jammed when starting and stopping. It is possible to accurately stop the traveling frame 5 at a predetermined position by using the signal.
and a traverse frame 12 that traverses along the traverse rail 2
A traverse drive device 10 with a pulse generator 9 for traverse stop control is fixed to the traverse drive device 10°.
The traverse pinion 14 driven by the traverse rail 2
Since it is meshed with the traversing rack 15 fixed to the traversing rack 15, it is possible to prevent the traversing frame 12 from slipping when starting and stopping, and also to utilize the pulse signal generated from the traversing stop control pulse generator 9. te, rampant fl
/- The frame 12 can be accurately stopped at a predetermined position, and furthermore, the transverse frame 12 and the load support H'% member 17 are connected via a notagraph type telescoping steady rest device 18. , it is possible to almost eliminate the swing of the load 67 when starting and stopping the traveling frame 5 and the traversing frame 12 with the load 37 being lifted;
Therefore, effects such as being able to stop the cargo accurately and quickly at a predetermined position can be obtained.

[Brief explanation of the drawing]

1 to 6 show a traveling crane according to an embodiment of the present invention, in which FIG. 1 is a side view of the traveling crane, FIG. 2 is a front view thereof, and FIG. 6 is a traveling crane. It is a partial sectional view showing a drive part and a traverse drive part. FIG. 4 is a diagram showing an electric motor operation control circuit, and FIG. 5 is a diagram showing coordinates when moving cargo in a horizontal plane. In the figure, 1 is a traveling rail, 2 is a traversing rail, and 6 is a traveling rail.
1 is a pulse generator for controlling running and stopping, 4 is a running drive device, 5 is a running frame, and 6 is a wheel. 7 is a running pinion, 8 is a running rack, 9 is a pulse generator for traverse stop control, 10 is a traverse drive device, 11
is a hoisting device, 12 is a traversing frame, 13 is a wheel, 14 is a traversing pinion, 15 is a traversing rack, 16 is a rope,
17 is a load support member, 18 is a pantograph type telescoping steady rest device, 19 is a winding drum, 20 is a pulley, 29 is an electric motor with an electromagnetic brake for traveling, 31 is an electric motor with an electromagnetic brake for traverse, SI is a coordinate setting switch, S is a start switch.

Claims (1)

[Claims] A running rail 1 that extends in the front-back direction, a traversing rail 2 that extends in the left-right direction, and a running stop control rail 1! Wheels 6 of a traveling frame 5 on which a traveling drive device 4 with a traction generator 6 is fixed are mounted, and a traveling pinion 7 driven by the traveling drive device 4 is engaged with a traveling rack 8 fixed to a traveling rail 1. and said traverse rail 2
Wheels 16 of a traverse frame 12 to which a traverse drive device 10 with a pulse generator 9 for traverse stop control and a hoisting device 11 are fixed are placed on the traverse drive device 10, and wheels 16 of a traverse frame 12, which is driven by the traverse drive device 10, are mounted. is the traverse rail 2
A cargo support member 17 is connected to the hanging end of the rope 16 that is meshed with the transverse rack 15 fixed to the hoisting device 11 and is let out from the hoisting device 11. A traveling type characterized by being connected via a telegraph type telescoping steady rest device 18.