JPS5889585A - Controller for crane with stacking height detector - 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 control device 6111 for detecting the height of stacks such as slabs and plate thicknesses.

Generally a plate-shaped slab, plate J#! In order to huff these transported items in yards where they are stocked, the first
As shown in the figure, the angle 1/- is used, and these are the second
As shown in the figure (stacked in multiple stages, production management, logistics 'IrtJll+')
t +, l+ +Wi soil yard nursing-r Z+ i
t H machine [memorized.

Figure 1 is an overall view of the crane. 1 & 2 are girders, 2 is a trolley, 3 is a hoisting device, 4 is a traversing device, 5 is a traveling device, and 6 is a lifting device. In this case, a lift magnet is used. )Y is shown. Reference numeral I indicates an object to be transported, 7a indicates an object to be transported in a suspended state, and 7b indicates an object to be transported in a multi-tiered state. Now, the traveling device 15 moves in the X direction, the traversing device 4 moves in the Y direction, and the hoisting device 3 moves in the 2 direction.

FIG. 2 shows a state in which the plate-shaped objects 7 are stacked in multiple stages by the crane shown in FIG.
It has a height of "Zl").

By the way, in such stockyards, as mentioned above, it has become important to understand the height of piles at each location from the viewpoint of production and logistics management. It is managed by the total thickness of each board loaded using a management computer.

However, due to errors in plate thickness, warpage, etc., the actual height t (low cut, 5) cannot be measured using an actual high cut detection device, suspended load detection device, etc.

FIG. 21 is a block diagram showing one embodiment of this invention.
a, 71st item'L Same as in Fig. 1, transported object 7
, +:+, I'l Sari, Y 1. 'i%, the object 7b to be transported is 111 carried on the ground in 4 stages, each with t, +t2pL, ..., the total height is 1
1. Deru, ro. Here the nominal thickness OII L,
+1. , +L, . 10 is directly connected to the winding -1-, Sζ position and detects the height 2 of the hanging tool 6 8-1 ni! 111 hundred 1'L place 4 moxibustion hesitation,
11 is a transverse axis position detector, 12 i;t, traveling 11+
This is a position detector. Each position detector 10. i i, i
2 can be realized using a cycloresolver, shaft encoder, proximity switch, etc. 1:H:r, previous Hi, i rif
Jt G or the lower surface of the hanging tool 6 and the transported object 7a is 11
A load n1 or the like is used in the ground cutting detection device a that detects the ground cutting from the upper surface of the multi-stage pile 7b on jl. 1
Reference numeral 4 denotes a shipping detection device for detecting a load suspended by the lifting tool 6. In this example, a limit switch is provided on the lifting tool 6 for detection, but it cannot be realized even if the load is suspended by the lifting tool 6. It is possible.

FIG. 4 is a configuration diagram of the control device constituting this invention, and the fifth
The figure is an explanatory diagram of the state of pile height detection, and FIG. 6 is a flowchart showing the movement of the pile in FIG. 4.

In FIG. 4, 15 is a hoisting signal switch, which is turned on when the crane hoists. Reference numeral 16 denotes a plate thickness signal having a value of the plate thickness t of the transported object 7a, which is known in advance, and can be obtained by being given from a yard management computer or by setting with a digital switch from an operation panel or the like. 17 is an error correction amount signal expressed by error correction ite, which is held as a constant of the control device. Reference numeral 18 denotes a rotary axis position detection device which converts the electric quantity obtained by each of the position detectors 10.11.12 into a digital quantity;
．． If 12 is directly obtained as a digital quantity, it can be omitted. '1: 19 is a position-corresponding pile height storage device that stores pile heights for each correspondence between horizontal plane positions tX and Y.

Figures 5 (a) to (d) show the state of pile height corresponding to the work of the crane. = t.

10t, +t, -lt, and a plate of thickness t is about to be lifted. Figure 5 (1)) shows the state at the moment the crane picks it up, and the height is II, = t,
+t2+1. Then, ko is equal to the value of the winding axis position IW detection value 2 minus the thickness tl. FIG. 5(c) shows that the crane is on plate 1r1. I was hanging the LmO board and went to take it down (in the previous state Il, = t, 1 L2-1- L,
Figure 5(d) shows the crane loading the load. Indicates the state at the moment when the VC is wound after I.Height II, = L
, -1-Lt-1-t, -1-t, which are equal to the hoisting shaft position detection h'i Z K. In Fig. 5, the error Δ11 due to the state of the plate, etc. is omitted, but the same is explained above.

Including middle traps 11. ing.

By the way, in FIG. 5, the timing of detecting the pile-up sieve is "1. Also in the case of , this is when the ground breaking detector [13 is activated during hoisting, and the suspended load detecting device 1
4 is operating, it is winding after gripping, and the product at this time is t1. + height It, = Z - t.

Also, if shipping detector +114 is not operating, 1iiY
= L, the second volume in the second volume, the height of the pile at this time,
= z.

As a result of the above, it may be possible to obtain an appropriate pile height at the end of each work, but in reality, the height of the pile may be somewhat larger due to the delay in the operation of the ground cutting detection device 13 and the control delay in the axis position detection device IIA. , so there will be an error from the actual situation.

Therefore, from the detected value, the error correction constant 1
If we subtract the value h1' from the pile height of c, then what is the correct value? 4) Can. FIG. 6 is a summary of the above-mentioned content flowchart.

Next, FIG. 7 is a diagram showing the structure of the pile-up sieve storage device and the stored values, which are arranged in a matrix corresponding to the positions of the traveling axis Xi and the transverse axis YJO valleys, and each ft(X+).

I remember the delicious taste of Sekiyama for each Yj). In addition, Z
, j is the above-mentioned hole, '.

In the above embodiment, a lift magnet is used as the hanging tool 6, but a hanging tool such as tongs may also be used.

As explained in detail above, the present invention detects the height of the hoisting tool of the hoisting shaft as the ground cutting timing during hoisting 11 (-
1 Lifting 11, t is the plate thickness tijl subtracted from the height,
In addition, when descending, the sieve of each pile is detected from the height of the lifting device on the hoisting shaft. 4:((= ′
j[Be able to control. Nata i! ! When using a value minus one difference constant, the advantage is that the control is more positive +1llt.

[Brief explanation of drawings]

Fig. 1 is a configuration diagram of the crane main body, Fig. 2 shows a state in which objects to be transported are stacked in multiple stages, Fig. 3 is a 417I diagram showing one embodiment of the present invention, and Fig. Control device u in the diagram
Fig. 5 is an explanatory diagram of the state of G'L 111 height detection, Fig. 6 i: r, explains the operation of extracting the 1λ mountain height)
FIG. In the diagram, 1 is the crane body, 2 &: r, l/1 lee,
3 is a hoisting device, 4 is a traversing device, 5 is a traveling device, 6 is a hanging device, 7 is a transported object, 10, 11.12i1 position detector,
13 is JILI cut detection! 14c++, No. 14, "hanging load detection device, 15i:r, hoisting signal switch, 16 is plate thickness signal, 17 is error correction amount signal, 18 is shaft position detection device,
Reference numeral 19 is a position-based pile height storage device. Note that the same reference numerals in the figures indicate the same or corresponding parts. Agent Makoto Kuzuno (1 other person) Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Commissioner of the Japan Patent Office 1. Indication of the case! 1' blasphemy (illt; 56
-188016 No. 2, Title of the invention Crane control device with pile height detection device 3, Person making the correction Representative Daikata Yuhito Department Mitsubishi Electric Corporation Name ((i6 Riri) (Contact information 03 (21 Cori: +42n Niji; 1'1 part) 5
, OY details of the invention of specification 1 to be amended / x illt column Jd and drawing 6, contents of amendment (+) Akira 11 No. 3 ct line 3, No. 7 L'l
I (i~1 7 row IC each [Lift magnets I-
．． 1) is corrected as [lifting magnet]. (2) Correct 111 in FIG. 6 as shown in the attached sheet. Figure 6 above

Claims (2)

[Claims] (1) In a control device for a crane that handles piles of plate-shaped objects stacked in multiple stages, a transverse axis position detector and a traveling axis position detector are used to detect 1g of the crane's position on a plane. a hoisting device, a device for adjusting the hoisting axis position of the lifting device, a ground breaking detection device for detecting that the lifted object has broken off from the top surface of the multi-tiered pile, and a lifting load of the lifted object. a hanging load detection device that detects the
and a position-corresponding Akiyama height storage device that stores the distance between the upper surfaces of the multi-stage piles corresponding to the position on the plane, and when the ground break detection device operates during the hoisting operation. When the suspended load detection device is operating, the value obtained by subtracting the thickness of the lifted object from the detection value of the hoisting shaft position detection device is the height of the multi-tiered pile, and the suspended load detection device When the hoisting shaft position detecting device is not operating, the detected value of the hoisting shaft position detecting device is set as the height of the multi-stage stack + 1 + corresponding result + 1 + HI; stored in the height storage device W. 111
Crane control device M for height detection. (2) The height of the pile stored in the corresponding product 111 of the place 1a, the height of the pile ゛L, and the error constant are subtracted.
: Pile height detection device 1/-1 control-II device d.