JPS5889584A - Device for positioning winding shaft 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 This invention is a stockyard Fv device for stacking slabs in multiple stages, N'A rolls, etc.
G': Crane volume: relates to the shaft positioning device.

In general, a crane like the one shown in Figure 1 is used once a month in a yard where plate-shaped slabs, plates, etc. are loaded, and the materials are stacked in multiple stages as shown in Figure 2.

Figure 1: Beam! In the overall diagram of the crane, 1 is the crane main body (girder), 2-keet 1-lead, 3-keel hoisting device, 4 is the traversing device, 5 is the traveling device, and 6 is the hoisting device. In this example, the lift A magnet is shown. 7 is a plate-shaped object to be transported, 7a is a lifted object, and 7b is a multi-tiered object to be transported. Now, the traveling device 5 is in the direction of X in the drawing. , the traversing device 4 moves in the Y direction, and the hoisting device 3 moves in the Z direction.

FIG. 2 shows a state in which the objects 7 to be transported are stacked in multiple stages by the crane shown in FIG. 1, and these piles are X.

The position is (xt, y, ) in the Y direction and (xt, y, ) in the Z direction.
It has a height of Zlj).

In such stockyards, in order to properly manage production and logistics, the thickness of the objects 7 to be transported at the yard (X, , Yj) is determined by Width, length, 2 weight.

A subtraction machine for yard management is provided for management information such as specifications and the height of the loaded items (Zll), etc., and in addition to the above management, when moving the transported objects 7, the above management information is used. In accordance with the information, command data as shown in Table 1 is given to the control device of the automatic crane in the yard to perform the work, and upon completion of the work, the above-mentioned management data is updated.

Contents of Command Values Table 1 Next, the crane has the configuration shown in FIGS. 3 and 4 in order to perform automatic operation according to the 011 command.

FIG. 3 shows an example of the equipment configuration of the self 11tl + volatile transfer 1/-n, in which 1 to 6 are the same as in FIG. 1. The thickness of each of the objects to be transported 7 h lj stacked in multiple stages on the ground is 1. ,
1. .

t3. ..., and the total height is 111. Here, each sum t, -l-12+13 #... is 11.
As shown in the figure, the amount of movement in each of the x, y, and z directions is actually detected using the hanger. These can be realized with synchronized resolvers, shaft enhancers, and proximity switches. Reference numeral 13 denotes a device for detecting the presence or absence of a suspended load, and in this example, a limit switch is provided on the hanging tool 6, but a load meter may also be used.

Figure 4 is a block diagram of the control device for this crane.
5, 10 to 12 are the same as those explained in FIGS. 1 and 3. Reference numeral 14 denotes a yard management computer, which has the functions described above and provides command data 15 to the crane control device 19. When the crane control device 19 receives this with the command receiving device 16, it gives it to the positioning control device 18 for each axis.

17 is a position detection device, and a hoisting shaft detector 10. Transverse axis detector 11. The electric signal obtained by the traveling axis detector 12 is converted into a digital signal to obtain a position signal. In addition, the winding axis, the transverse axis,
This can be omitted if the respective detectors 10 to 12 of the running axis are obtained directly in digital quantities. The positioning control device 18 compares and calculates the command value obtained by the command receiving device 16 and the position signal obtained by the position detecting device 17, and outputs a direction signal and a speed signal to the drive control device H20. This pressure: The drive control device 2° is the hoisting device 3. Traversal device 4. When the traveling device 5 is operated, the position IW changes, so the position I1. (No. 6 is constantly monitored and when the command value and position signal match, a work completion signal is output to the yard management Fil° calculator 14.

FIG. 5 is a flowchart showing the operation of the crane control device 19.

That is, first, when the command data 15 shown in Table 1 is given from the yard management machine 14 to the crane control device 119, the crane is positioned at the grasping position and lowered. At this time, the Z-axis deceleration height is calculated based on the stacking pile j1 height command value, and the lifting height is calculated.1. When G is hoisted down to an appropriate position, it decelerates and enters low-speed operation, and when the hoist 6 lands on the pile, it stops hoisting and performs a gripping operation by attracting the lift magnet. After this, it is wound up to the upper limit and the gripping work is completed.

Next, after positioning to the lowering position, lowering is performed. At this time, the deceleration height is calculated based on the pile height command value, and when the hanging tool 6 is lowered to an appropriate position, it decelerates and enters low speed.
When the hanging tool 6 lands on Jillll, the lowering is stopped, the lift magnet is released, and the lowering operation is performed. After this,
Complete the unloading work by hoisting to the upper limit.

In calculating the deceleration point during lowering, the deceleration distance Hl is determined so that the hanging tool 6 can land on the floor when the lowering speed is sufficiently reduced to a low speed.

In addition, detection of landing is realized by changes in the load on the hoisting shaft, limit switches, etc.

Therefore, cranes working in such stockyards are required to have accurate positioning, high-speed positioning, and high safety.

In particular, when positioning the hoisting shaft, as mentioned above, the deceleration position of the hoist 6 is determined by the pile height command value, so if this value is different from the actual value, a collision between the hoist 6 and the pile may occur, causing the hoist to be damaged. This will cause damage to the tool 6 and the transported object 7, which is a product. The reason for this difference is that the height stored in the yard management calculator 14 is a simple addition of the thickness of the stacked boards, and in reality, variations in board thickness, warping of the boards, and variations in the height of the ground surface are taken into account. There may be cases where the data in the storage device 1t of the yard management ff1PF machine 14 is not updated when the crane is working independently when the yard management computer 14 is down.

This invention attempts to eliminate the "-mandatory condition" by providing a crane control device with a mountain height storage device and selecting whichever value is 1 WL higher as the command value for the hoisting axis. be. This invention will be explained below.

FIG. 6 is a diagram showing an embodiment of the present invention.

In this figure, 21 is a storage device for the pile height Z corresponding to the position in the X and Y directions of the yard, and 22 is a command value selection device 1. Other symbols are the same as those in FIGS. 0'11 to 5. Command value selection 11 (device 1.22 is command receiving device 1
This is a device that selects the higher value of the height 11o received by 6, the height Zll obtained by the pile height storage device [21, and the comparison liquid η as the 117th value of the hoisting dll.

FIG. 7(a), (1+) shows the above detailed 111 action fluchard.

FIG. 7(a) shows the case of grasping work, and FIG. 7(1)) shows the case of lowering work, the command values are the values in Table 1, and Zl is the height obtained by the pile height storage device 21. , ■ is the pile height selected at the time of positioning, I (ゎ is the deceleration height, which is the sum of the pile height 1■ and the deceleration distance Hl.

Next, even if the height of the pile is the same, it is necessary to determine the deceleration point of the hoisting shaft during the grasping and unloading operations, taking into consideration the 11-minute thickness of the board that can be lifted.

Figures 8(a) and 8(b) show the above state.
FIG. 8(a) shows the relationship between the pile height hl and the lowering speed curve during the grasping operation and FIG. 8(b) during the lowering operation.

Here, +7°, +7. is the velocity, vo”)v
, and I(IIL a Hdu is the deceleration point. In this case, the selection of grasping and lowering is performed by the hanging load presence/absence detection device 13, and when it is not operating, it is grasping work, and when it is operating, it is The work begins with lowering, and positioning is performed using either Fig. 8 (a) or (b).

As explained in detail above, the present invention sets the larger of the pile height obtained by the pile height storage device and the pile height obtained by the command receiving device that receives commands from the yard management computer system as a command value. Since J:5 is used, safe positioning during lowering can always be performed. Also,
This invention includes a hanging load detection device, which detects +lI+PI
Inside, the thickness of the conveyed object is added to the command value; the positioning during lowering is performed based on the - value, so there is an advantage that the deceleration point for lowering can be appropriately set.

[Brief explanation of drawings]

Figure 1 is a configuration diagram showing the entire crane, Figure 2 is a diagram showing the state of multi-stage stacking of objects to be transported, Figure 3 is a configuration diagram of an automatic operation crane, and Figure 4 is the same as in Figure 3. FIG. 7 is a block diagram of the control device 111r of the automatic crane, and is an explanatory diagram showing the operating status of FIG. 5 and FIG. 7. In the figure, 3 is a hoisting device, 4 is a traversing device, 5 is a traveling device, 1
0.11.12 is a position detector, 13 is a suspended load detection device, 14 is a yard management P-t, 15 J'fl
command data, 16 is a command receiving device, 17 is a position detection device,
18 is a positioning control device, 19 is a crane control device,
20 is a drive control device, 21 is an Akiyama height storage device, and 22 is a command selection device. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Makoto Kuzuno (1 other person) 0υ Fig. 1 Fig. 2 Fig. 3 Fig. 4 Fig. 5 Fig. JP-A-11i;58-89584 (5) Fig. 6 Fig. 7 (a) (b) Fig. 8 Illustration procedure amendment (voluntary) 1. Indication of incident tll, Nishō 56-1880
15 No. 2, Title of the invention: Crane hoisting shaft positioning device 3, Representative Hitoshi Katayama of the person making the amendment, Department 4, Agent 5, Column for detailed description of the invention of the subject matter of oil stopper - 9 and Drawing 6, contents of amendment (1) Specification publication line 3112, t; tT + 4
~15 lines. And in the 7th L'' line 11, there is "Lifting Magnet", both of which are corrected to [Lifting Magnet J]. (2) Similarly, Table 1 of 4th Cf is corrected as shown in ML below. [Table 1 (, 4) Figure 5 is amended as shown in the attached sheet. I"2

Claims (2)

[Claims] (1) In a crane installed in a yard that stocks plate-shaped transported objects stacked in multiple stages, a stack height memory corresponding to a position stores a stack height corresponding to the position of the stocked transported objects. a command receiving device that receives data from the yard management computer system, and a pile height obtained by the pile height storage device and a pile height obtained by the command receiving device, whichever is larger. 1. A hoisting shaft positioning device for a crane, comprising: a command selection device for selecting a hoisting shaft of a crane; the hoisting shaft positioning device for a crane is characterized in that positioning is performed during lowering using a value obtained by the command selection device as a command value. (2) In a crane installed in a yard for stocking plate-shaped transported objects stacked in multiple stages, a stack height memory corresponding to a position stores the stack height corresponding to the position of the stocked transported objects. Equipment and yard management! What is the command receiving device that receives data from the IN system, and the pile height and the illll command receiving device? a command selection I+< device m for comparing the pile heights determined by [1] and selecting the larger value; and a hanging f detection device for detecting the hanging load of the transported object; When the detection device is operating, the output of command selection I + < 4u li & is used as the command value, and when the detection device is working, the thickness of the object to be transported is set to the above command value. A hoisting shaft positioning device for a crane, characterized in that it performs lowering 1 (1?) positioning based on a value added to a command value.