JPS594267B2 - jib crane - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention improves the accuracy of positioning the tip of a hoisting wire rope during cargo transportation by separately controlling vertical load support and horizontal movement positioning of the tip of the hoisting wire rope. Regarding the jib crane.

2. Description of the Related Art Conventionally, jib cranes have been generally used as cranes for transporting heavy cargo such as luggage and workpieces to predetermined locations.

This jib crane lifts the cargo using the tip of the hoisting wire rope and transports it to a predetermined position, but this predetermined positioning is done solely by the operator's visual estimation, and unlike the conventional jib crane described above, did not have the function of automating cargo transportation. Another disadvantage of jib cranes is that the wire rope swings due to the inertia that occurs when transporting cargo, making it difficult to quickly transport the cargo to a designated transport position, which also contributes to the delay in automation. Ta. The present invention has been made in view of the above points, and by separately controlling the vertical load support and horizontal movement positioning of a jib crane, the position of the tip of the rope when transporting cargo with a wire rope is improved. This paper proposes a new type of jib crane that improves alignment accuracy and can automate cargo transportation. To achieve the above object, the present invention provides a conventional jib crane in which the tip of a hoisting wire rope moves within a certain two-dimensional or three-dimensional range, with a position control device consisting of a guide device and a drive control device. The jib crane body is configured to work in conjunction with each other, and the vertical load of the cargo is shared by the jib crane body to control the vertical position, and the position control device controls the horizontal movement of the tip of the wire rope to accurately align the tip. It provides a floating jib crane.

Hereinafter, the present invention will be explained based on embodiments shown in the drawings.

FIG. 1 is a perspective view showing a jib crane of the present invention, and as shown in this figure, the present invention is constructed by combining a jib crane main body 10 with a position control device 1.

The position control device 1 includes a guide device 2 and a drive control device 3. The guide device 2 combines a guide rail 4y in the y-axis direction and a guide rail 4x in the
0. The above 5 drive control device 3
is composed of a 1-drive truck 6x that is mounted with a guide rail 4y and runs on the guide rail 4x, and a 1-drive truck 6y that runs on the guide rail 4y.

The first drive truck 6x has a drive source 6a connected to the guide rail 4.
It is provided at the end of the cable 6b and is made to travel by winding up the cable 6b.

As another method, a drive source may be provided within the one drive carriage 6x, and the pinion may be engaged with a rack provided on the guide rail 4x to cause the carriage to travel. Similarly, y
The drive truck 6y on the shaft is also driven by a driving source (not shown) provided on the drive truck 6x, or the truck itself is provided with a drive source. The y-axis drive cart 6y is formed with a linking part consisting of a through hole 7 that fits the hoisting wire rope 11 of the jib crane main body 10, and the wire rope 11 passes through the hole 7 so as to be able to rise and fall and is directly linked. It is mandatory. The through hole 7 is opened by opening the openable and closable divided portion 7a, and when the rope 11 is engaged with the opened through hole 7 and the divided portion 7a is closed, the rope 11 and the driving force are connected. A connection is made with the trolley 6y. The above-mentioned position control device 1 is configured as a frame or the like in an arbitrary shape so as to transport the cargo to a predetermined range corresponding to the target work range of the jib crane.

In addition, in its configuration, gravity is applied to the jib crane main body 10.
Therefore, it is sufficient to adopt a structure having enough strength to absorb the driving inertia of the driving truck 6x, etc. In addition, as shown in FIG. 1, a drive device 13 for rotating and driving an arm 12 is provided on the upper part of the jib crane main body 10, and a slider 14 that can freely travel by a drive source (not shown) is attached to the arm 12. The wire lobe 11 is suspended from the slider 14 via a winding tool 14a so as to be able to rise and fall freely, and the tip end 15 of the rope 11 moves within a certain three-dimensional range.

Ru. In addition, when attaching the wire rope 11, one end of the rope 11 is fixed to the tip of the arm 12, and the other end is connected to a drive source (not shown) provided at the base of the arm 12, and the middle part is attached to the slider. It may be wound around a hanging pulley (not shown) provided at 14 and made to hang down, and this hanging part may be connected to the through hole 7 so that it can be moved up and down. The rotation of the arm 12, the running of the slider 14, and the lifting and lowering operations of the tip end 15 of the wire rope 11 are performed by the jib crane main body 10.
This is done by means of a control device 16 located on the side.

This control device 16 is adapted to operate in accordance with the same program as the drive control device 3 of the position control device 1. That is, the jib crane main body 1
The rotation of the arm 12 and the movement of the slider 14 are controlled so that the slider 14 is always positioned above the through hole 7 of the drive carriage 6y. Further, the jib crane main body 10 can also directly receive the operation signal from the drive control device 3. As an example of the following mechanism for the jib crane main body 10, a mechanism as shown in FIG. 4 may be provided. In this example, the sensor 17 is protruded upward on the drive control device 3 side (the drive truck 6 in FIG. 4),
The sensor 17 is linked to the receiver 18 provided on the jib crane main body 10 side (slider 14 in FIG. 4), and as the drive control device 3 moves, the sensor 17 moves in the direction X, ±y direction provided on the receiver 18. By contacting the contact point of the slider 14, the slider 14 moves in the same direction by an equal distance following the drive control device 3. As the receiver 18, it is possible to use not only a gyro type or an 0N/0FF contact type, but also a potentiometer to perform follow-up movement proportional to the speed. Furthermore, a holding tool such as a gripping tool is attached to the tip end 15 of the wire rope 11. Next, the operation of the jib crane of the present invention in accordance with the above embodiment will be explained.

The horizontal movement of the tip 15 of the wire rope 11 is as follows:
This is done by supplying programmed position data to the drive control device 3 and causing the drive carts 6x, 6y to run on the guide rails 4x, 4y, respectively.

That is, when the driving carts 6x and 6y are moved in the X-Y direction shown in the figure, the tip 15 of the wire rope 11 linked to the fifth driving cart 6y also moves in the same direction. At this time, arm 1 of the jib crane main body 10
2 and the slider 14 running on this arm 12 turns or runs following the horizontal position of the drive carriage 6y.
The lifting and lowering operation of the tip portion 15 is performed by the control device 16 of the jib crane main body 10 at the same time as or after the horizontal movement.
Based on the command from the slider 14, the drive device (
(not shown), thereby controlling the position in the vertical direction. In this way, the jib crane main body 10
The connecting portion between the wire rope 11 and the drive control device 3 of the position control device 1 is placed directly below the tip portion 1 of the wire rope 11.
By controlling the movement of 5 in a hanging state,
The rope tip 15 is moved in the same direction by the same distance to accurately control the position of the crane load section. The action of the above jib crane is as follows: jib crane body 1
0 control device 16 and the drive control device 3 of the position control device 1
Even if the linked operation is not performed, it can be performed as follows.

That is, first, the input of the first driving device 13 for swinging is turned off so that the arm 12 of the jib crane main body 10 can freely swing by pushing and pulling the arm 12, and the slider 14 is also turned off. The wire rope 11 is made to be able to run freely on the arm 12, and at the same time, the wire rope 11 is locked in the through hole 7 of the slider 14 and the driving cart 6y so that the wire rope 11 is not raised or lowered.

Next, move the driving carts 6x and 6y to the guide rails 4x and 4x, respectively.
, 4y, the tip 15 of the wire rope 11 connected and locked to the drive truck 6y moves with the truck 6y, and the arm 12 of the jib crane main body 10 and the slider on this arm 12 move. 14 turns or runs following the horizontal position of the drive carriage 6y. Thereafter, the wire rope 11 is released from the lock and the rope 11 is moved up and down to perform vertical positioning. FIG. 2 is a diagram showing another embodiment of the jib crane of the present invention, and is a perspective view of a modified example of the position control device.

Referring to the figure, the guide device 2 of the position control device 1 is such that a guide rail 4y in the Y-axis direction is freely movable laterally in the X-axis direction via a drive cart 6x with respect to two guide rails 4x in the X-axis direction. At the same time, a slit 8 is formed in the longitudinal direction of the guide rail 4y, and a support rod 11a hanging from the wire rope 11 is inserted through the slit 8. It moves horizontally on a guide rail 4y together with the support rod 11a, and the guide rail 4x is supported by a support section 5 consisting of four columns. The support rod 11a is constituted by a circular or square vertical rod, which is passed through the through hole 7 which is the linking part of the drive truck 6y and through the slit 8 of the guide rail 4y.
It is inserted into the through hole and moves up and down while being regulated within the through hole, and a holding tool such as a gripping tool is attached to the lower end tip 15.

As described above, when the support rod 11a is provided hanging from the wire rope 11, the transport positioning of the jib crane of the present invention can be carried out more reliably than in the embodiment shown in FIG. FIG. 3 shows an embodiment in which the jib crane main body 10 and the position control device 1 are connected and attached to the ceiling.
The jib crane of the present invention is controlled from the ground and the wire rope 11 is moved up and down and moved horizontally to perform various types of work.

FIG. 4 shows a driving cart 6 connected to a wire rope 11.
FIG. 3 is a partial side view of a case where a telescopic parallel link arm 19 is suspended.

As shown in the figure, the lower end of the parallel link arm 19 is pivotally connected to the tip 15 of the wire rope 11. In this way, when the parallel link arm 19 is attached, the wire rope 11 located below the drive carriage 6 will move up and down only in the vertical direction, so the positioning control of the tip 15 of the wire rope 11 is controlled. This can be done more reliably. The embodiments shown in FIGS. 1 to 3 are for the case where the tip end 15 of the wire rope 11 moves within a certain three-dimensional range, but in the Y-axis direction in FIG. The present invention can also be applied to movement within a certain two-dimensional range, including only horizontal movement and vertical movement.

The present invention is constructed as described above, and is configured so that the functions of the jib crane are divided and shared in two to perform lifting and lowering and horizontal positioning work, and these two works are carried out by a mechanism. By combining these methods, it is possible to accurately transport cargo to a predetermined position, making it possible to automate the transport of jib cranes.

[Brief explanation of drawings]

Fig. 1 is a perspective view showing an embodiment of the jib crane of the present invention, Fig. 2 is a perspective view showing another embodiment of the invention, Fig. 3 is a side view of an embodiment for ceiling mounting, and Fig. 4 is a wire FIG. 3 is a partial side view of the invention with parallel link arms attached to the lower part of the rope; DESCRIPTION OF SYMBOLS 1... Position control device, 2... Guide device, 3... Drive control device, 4 (4x, 4y)... Guide rail, 5
... Support part, 6 (6x, 6y) ... Drive truck, 7.
... Through hole, 8... Slit, 10... Jib crane body, 11... Wire rope, 11a... Support rod,
DESCRIPTION OF SYMBOLS 12... Arm, 13... Drive device, 14... Slider, 15... Tip part, 16... Control device, 17
...Sensor 18...Receiver, 19...Parallel link arm.

Claims (1)

[Claims] 1. In a jib crane of the type in which the tip of a hoisting wire rope moves within a two-dimensional or three-dimensional range, a position control device consisting of a guide device and a drive control device is provided corresponding to the jib crane body, and the above-mentioned guide The device consists of a horizontal guide rail and a supporting part that fixedly supports the horizontal guide rail in the vertical direction, and the drive control device is built into the horizontal guide rail, and the drive control device is connected to the wire of the jib crane body. The jib crane main body shares the gravity for lifting cargo and controls the position in the vertical direction. A jib crane, characterized in that the position control device controls the horizontal movement of the wire rope by a drive control device to align the tip of the rope.