JPS5922883A - Compensator for positional displacement of hung load - 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 relates to a correction device.

In recent years, automation and labor saving of transportation machines such as cranes have been progressing to save labor in factories and warehouses.

However, the location of the coil, which is a suspended load, is restricted within strict tolerances. ■Transportation machines such as cranes must be positioned with high precision in the coil storage area. ■The coil is placed exactly in the specified position,
The crane and other transport equipment should have been accurately positioned directly above it, so they tried to deal with the problem by running it blindly. These factors have made it difficult to implement transportation machines such as cranes.

The present invention was made in order to eliminate the drawbacks of such conventionally known techniques, and takes advantage of the fact that the coil, which is a suspended load, is 111 symmetrical, and uses a lifting device such as a lifting magnet to safely lift the load. A coil edge detection rod and a rod rotation angle detection rod are provided on the hanging device to detect misalignment between the hanging device and the coil, and the purpose is to transport the coil securely and place it in a predetermined position. a signal processing device that processes the signal from the rod rotation angle detector and determines the distance and direction of the deviation of the respective center positions of the hoist and the coil; Traveling device - Crane traversing device A device for controlling a crane hoisting and lowering device.

Hereinafter, one embodiment of the present invention will be described based on the drawings.

① is a type of load that is transported as a suspended load using an up-end coil. 2 is a lifting magnet, and fill
Od 3 for coil edge detection (J a
e3b+3c-3d).
Each of the coil edge detection rods 3 is provided so as to be suspended and come into contact with the coil edge when positional deviation is detected, and for safety at other times. 3e is a rod rotation angle detector, and coil edge detection rod 3 (3a, 3b
, 3c, 3d), and in this example, a precision wound potentiometer is used.
The rotation angle of 3c e3d) is taken out as the rotation angle of the shaft of the variable resistor, and the output is obtained as a change in the internal resistance value. 4 is an automatic crane that can move freely over the ceilings of warehouses and warehouses. The automatic crane 4 is equipped with a crane traveling device 5, a crane traversing device 6, and a crane hoisting device R7.

Reference numeral 8 is a crane winding F winding F amount detection position, which detects the distance below the winding of the lifting magnet 2.

Reference numeral 9 denotes a signal processing device, which outputs an output signal detected from the rod rotation angle detector J e (in this example, a voltage obtained by extracting a change in the resistance value of the resistor 1 as a value proportional to the rotation angle using an amplifier or the like). signal) as human power crane 10 fj equipment 5
, sends control signals to the crane traversing device 6 and the crane waiting 1-winding F device i\7. 10 is a device d that detects the position of the coil using an external interface.

In the above J2 configuration, when the position of the coil 1 is notified through the interface 10, the automatic crane 4 automatically moves horizontally to the top of the coil 1, and starts lowering it after reaching the coil 1. In combination with the winding and L winding lower position detector 8, the winding is lowered to a predetermined position on the fill surface and then stopped. The coil edge detection rod 3, which is normally raised, is not lowered (see Figure 4).1 At this position, a signal proportional to each rotation angle is sent from the rod rotation angle detector (variable resistor in this embodiment) 3e. . Here, the rotation angle detectors 3a to 3d are the seventh
It is conceivable that the situations shown in Figures (,) to (C) may occur. Here, if the amounts of eccentricity in the X direction and Y direction are X and Y, then X=-(A-B) Y=-(c-D) AIBICID indicates the output signal from the rod rotation angle detector 3e. , "is a value proportional to the resistance value of the T-transformer.

Based on the output from the signal processing device 9 for the deviation, correction is made so that the state as shown in the seventh (a) is achieved using the travel drive device in the X direction and the traverse drive device in the Y direction.
After this correction brings the deviation within a certain range, the lifting red sea bream is sucked closely against the fill and transported.

In addition, in this case, if the amount of deviation is abnormal in the hanging-L, there is a method of lowering the coil to a predetermined position by reversing the deviation by this amount at the lifting destination without repairing it. It is also effective in reducing cycle time.

Second, according to the present invention, the positional deviation of the center of the phase between the coils, which is a suspended load, is fixed after landing on the suspension device, and when the load F is removed, the deviation is calculated by the amount of eccentricity (deviation). Since the load is unloaded after re-marketing, the loading position becomes 11:1, which prevents the accumulation of misalignment. For this reason, do you need an operator or manual operation? Unmanned and automatic operation of transportation equipment, not only when moving, but also when moving, will become a new capability.

[Brief explanation of drawings]

Fig. 1 is a schematic diagram showing a specific embodiment of the present invention, Figs. 2 to 4 are detailed views of the lifting magnet, and Fig. 5 is a partially enlarged view of the rod rotation angle detector. 6
The figure is a control block diagram of the hanging load position deviation correcting device, and FIGS. 7(a), 7(b), and 7(c) are diagrams showing various aspects of the landing state of the beam and the filling. 1...Upend coil 2...
Lifting magnet 3 (3a, 3b, 3c, 3
d) Coil edge detection rod 4 Automatic crane 5 Crane traveling device 6
... Crane traverse device 7 ... Crane hoisting and lowering device 8 ... Crane hoisting and lowering amount detector 9 ...
Signal processing device 10... External interfaces X, Y...
・・Eccentricity (misalignment)

Claims (1)

[Claims] A coil edge detection rod that is attached to the bottom of the lifting device and detects the positional deviation between the lifting device and the coil, and the rotation angle of the rod, for lifting and moving the coil using a lifting device such as a lifting magnet. a detector, a signal processing device that processes the signal from the rod rotation angle detector to determine the distance and direction of the deviation of the respective center positions of the hoist and the coil, and the crane travels based on these values. 1. A device for correcting misalignment of a suspended load, comprising: a device for controlling a crane traverse device and a crane hoisting/lowering device.