JPS6019691A - Method of automatically operating crane and detector for deviation 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 The present invention relates to an automatic operation method for a crane that suspends and supports a suspended load using a lift magnet type hanging tool, and a suspended load deviation detection device used in the implementation. An automatic crane operation method capable of safely and accurately transporting a suspended load by eliminating the deviation of the plane position of the center of gravity of a suspended load with respect to the plane position of the center of gravity of a hanging tool during suspension, and its use in its implementation. This paper proposes a hanging load deflection detection device.

In recent years, lifting loads have been magnetically attached using lift magnetic suspension equipment.
Development of an automatic operation method for a crane that automatically transports items to their destination is underway.

This type of automatic operation method moves the traveling part of the crane based on the position information of the suspended loads that are arranged and fixed on the floor in accordance with the movement range of the crane and the position information of the transfer destination, and magnetically moves the suspended loads. There is a known method that transports the vehicle to a destination.

By the way, in the conventional method as described above, since the crane is automatically operated based only on the fixed position information of the suspended load and the position information of its transfer destination, for example, when lowering the hanging equipment from the crane, it may be When the hanging tool swings, the planar position of the center of gravity of the hanging load is deviated from the planar position of the center of gravity of the hanging tool, and the load is magnetically attached. In this case, there is a risk that the suspended load will fall during the transfer, and this deviation will not be corrected and will manifest itself as a shift in the unloading position of the suspended load at the transfer destination, which is inconvenient and cannot be put to practical use. .

As a way to eliminate the above-mentioned risks or inconveniences,
Conventionally, there have been devices in which a guide member for sheathing the suspended load when the suspended load is magnetically attached is attached to the hanging tool, and the deviation is resolved by the guidance of the guide member.

However, when using this method, there is a risk that the guide member and the surface of the suspended load may come into contact and damage the surface of the suspended load, and there is a restriction that this method cannot be applied to a suspended load that requires maintaining a high surface quality.

The present invention was made in view of the above circumstances, and uses a load sensor to detect the load distribution of each wire when supporting a suspended load.
Based on the detection results, the deviation of the planar position of the center of gravity of the suspended load with respect to the planar position of the center of gravity of the lifting tool is calculated, and the crane is driven and controlled to eliminate the deviation, thereby safely lifting the suspended load. Another object of the present invention is to provide a crane automatic operation method capable of accurately transporting a crane to a destination, and a hanging load deviation detection device used for carrying out the method.

The crane automatic operation method according to the present invention is a crane that suspends a suspended load using a lift magnet type hanging device supported by three wires, a load sensor is attached to each of the wires, and a load sensor is attached to each of the wires. Detects the load distribution of each wire based on the output value, calculates the deviation of the planar position of the center of gravity of the suspended load with respect to the planar position of the center of gravity of the lifting device based on the detection result, and performs operation to eliminate the deviation. It is characterized by tightening.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the drawings showing an apparatus used for carrying out the invention. Fig. 1 is a schematic plan view showing the implementation state of the method of the present invention, and Fig. 2 is a partially cutaway view of Fig. 1.
FIG. 3 is an enlarged sectional view taken along line -■ and is a block diagram of the control system of the present invention.

The main components of the crane 1 include a main girder 3 that runs on a runway 2, a trolley 4 attached to the main girder 3 so that it can traverse the main girder 3, and the like. Cold-rolled coils serving as hanging loads are arranged and fixed on the floor below the moving area of the main girder 3 or trolley 4 of the crane 1, and each position is aligned with the traveling direction of the main girder 3 (hereinafter referred to as the Y-axis direction) and the trolley 4. 4 transverse direction (hereinafter referred to as the X-axis direction)
(c) is managed by the control system as a position in the x-y orthogonal coordinate system associated with

A forward/reverse rotation motor 31 is attached to one end of the main girder 3 for moving the main girder 3 in the Y-axis direction. A rotary encoder 32 and the like is attached, which emits a number of pulses corresponding to the amount of movement of the main spar 3 and inputs them to the arithmetic and control unit 11, which will be described later. Further, a forward/reverse rotation motor 41 for moving the trolley 4 in the X-axis direction is attached to the trolley 4, and a rotary encoder 42 and the like for detecting the position of the trolley I74 in the X-axis direction is attached to this motor 41. , the arithmetic and control unit 11 which will be described later emits a number of pulses according to the amount of movement of the trolley 4.
Enter.

A winding drum 43 driven by a motor 43a is provided at a position of the trolley 4 that does not interfere with the motor 41,
At a predetermined position on the vertically disposed end side of the wire 5 wound around this, there are sub-fires 51, 52, which are branched into three.
53 are connected. The tips of each of the sub wires 51, 52, 53 are moored at three equally spaced positions on the upper surface of the thick inner disc-shaped lift magnet type hanger 6. In addition, each sub wire 51
．． 52. In the middle of 53, each sub wire 5 is attached when the coil 7 is suspended.
1.52.53 tensile force pHP2. P3 is detected and the load detection signal corresponding to each tensile force is sent to the arithmetic and control unit 1.
Tension type load cells 51a and 5 input to 1
2a and 53a are attached.

Next, the control system of the present invention will be explained. The input unit 10 is for an operator to input operation information, and inputs the position of the coil 7 to be lifted and the x-y coordinate position of its transfer destination.

The arithmetic unit 11 includes a main spar drive motor 31. It controls the drive of the trolley drive motor 41 and the drum drive motor 43a, magnetizes and demagnetizes the hanging tool 6, reads the load detection signals of the load cells 51a, 52a, and 53a, and controls the lifting tool 6. Coil 7 relative to the plane position of the center of gravity
This is to calculate the deviation of the plane position of the center of gravity.

The computing device 11 issues predetermined drive control signals to the main spar drive motor drive control circuit 13 and the trolley drive motor drive control circuit 14, respectively, based on the position information of the coil 7 reported from the input unit 10. Then, the trolley 4 is moved by the required distance in the Y-axis direction and the X-axis direction to position the lifting tool 6 directly above the coil 7 to be lifted, and then the motor 43
A predetermined drive signal is issued to a to lower the hanging tool 6, and magnetize the hanging tool 6 to magnetically attach the coil 7. After that,
The motor 43a is reversed to suspend the coil 7.

Next, each load cell 51a, 52a, 53a
The load detection signal of the coil 7 should be read, the deviation of the coil 7 with respect to the center of gravity position of the hanging tool 6 should be calculated, and if the deviation is larger than the allowable value, the coil 7 should be lowered once and the deviation should be eliminated. The main girder 3 and the trolley 4 are made to travel in the respective directions, and the coil 7 is again magnetically attached and suspended. As a result, when the deviation is less than the allowable value, the deviation at that time is given as a correction value to the positional information of the transfer destination of the coil 7, and the coil 7 is transferred to the correct transfer destination.

Next, the contents of calculations performed by the calculation and control device 11 that performs the above-described control will be explained. FIG. 4 is a flow chart thereof.

When the arithmetic and control unit 11 receives the positional information of the coil 7 to be lifted and the positional information of the transfer destination from the input unit 10,
First, in order to convey the coil 7, the motor drive control circuit 1
3. Issue a required drive control signal to 14 to position the hanging tool 6 directly above the coil 7. Next, the motor 43a
A predetermined signal is issued to lower the hanging tool 7, and
The hanging tool 6 is magnetized to attach the coil 7, and then the motor 43a is reversed to suspend the coil 7.

Next, each load cell 51a, 52a, 53a
The tensile forces PI, P2, generated in each sub-wire 51, 52, 53, respectively detected by PI, P2. Reading of the load detection signal corresponding to P3 is started, and the deviations x and y of the coil 7 with respect to the center of gravity position of the hanging tool 6 are calculated.

Next, the principle of detecting deviation based on the load detection signal of each load cell 51a, 52a, 53a will be explained. FIGS. 5(a) and 5(b) are explanatory diagrams thereof. In addition, the gravity center position of the hanging tool 6 was made into the origin of the X-Y coordinate.

Combined center of gravity position G of the hanging tool 6 and hanging load 7 when the coil 7 is magnetized (
X', Y') is expressed by the following formula (11).

However, 5. Ml: Weight of hanging tool 6 (kg) M2: Weight of coil 7 (kg) X: Center of gravity position of hanging tool 6 and coil 7 at the time of magnetization
Deviation in the X-axis direction (dragon) with respect to the center of gravity position: Similarly, deviation in the Y-axis direction (dragon) Next, the X of the emphasis of each tensile force PI + P2 + p3.

The Y-axis coordinate position G'(X",Y") is expressed by the following equation (2).

However, χn (n-L2,3): X-axis coordinates of the mooring points of each sub-wire 51, 52, 53 as shown in FIG. 51.
Y-axis pressure mark θn (n-1, 2, 3) of the mooring point of 52° 53: Cosine angle of each sub wire 51.52° 53 with respect to the main wire 5 at the time of magnetic attachment. Note that the above θn is the When the centers of gravity of both the coil 7 and the coil 7 are aligned and magnetized, each of the sub wires 51, 52, 53
When detecting the tensile force Po that occurs evenly in
It is determined by comparing 3 and 3 respectively.

Then, the above composite center of gravity position G (X', Y') and emphasis G
'(X'',Y'') are aligned in the vertical axis direction, so G (X', Y') - G'(X'').

Y”).

Therefore, the deviations X and Y are expressed by the following equation (3).

Next, the arithmetic and control unit 11 calculates the deviation X determined by equation (3).

Compare Y with the set allowable deviations Xa and Ya, and if at least one of X and Y is greater than or equal to the allowable deviation, the motor 43a
The motor drive control circuits 13 and 14 are made to rotate in the normal direction, demagnetize the hanger 6, lower the coil 7 once to its original position, and position the hanger 6 at a position that eliminates the deviation. A required drive control signal is issued, the main girder 3 and the trolley 4 are caused to travel by distances Y and X, respectively, the lifting tool 6 and the coil 7 are aligned, and the lifting is performed again.

On the other hand, both the deviations X and Y are the allowable deviations Xa.

If it is less than Ya, the X and Y coordinates of the transfer destination are added or llW as correction values for the deviation, and accurate transfer is performed based on the corrected position information.

In addition, although the above-mentioned embodiment described the case where the present invention is applied to an overhead crane, it goes without saying that it can also be applied to a swing type crane or the like.

Further, the shape of the suspended load is not limited to a disk-like shape such as a cold-rolled coil, and it goes without saying that the present invention can also be applied to other shapes.

As detailed above, according to the present invention, the deviation of the planar position of the center of gravity of the hanging load with respect to the planar position of the center of gravity of the hanging device is calculated accurately by the operation of the arithmetic and control device, and the deviation is automatically canceled. Therefore, the present invention has excellent effects such as there is no risk of the suspended load falling during transport, the suspended load can be accurately transported to the destination, and furthermore, efficient transport can be performed. play.

[Brief explanation of the drawing]

The drawings show examples of the present invention, and FIG. 1 is a schematic plan view showing the implementation state of the method of the present invention, and FIG. 2 is a partially cutaway view of IT-1' in FIG. 1. FIG. 3 is a block diagram of the control system, FIG. 4 is a flowchart 1-1 showing the calculation contents, and FIG. 5 is an explanatory diagram. 1-Crane 3-Main girder 4-Trolley 5-Main wire 51.52.53-Subwire 6-Lift magnet type hanging device 7-Cold rolled coil 11-Arithmetic and control unit 51a
, 52a, 53a - Load Cell Patent Applicant
Sumitomo Metal Industries Co., Ltd. Representative Patent Attorney Norio Kono 2

Claims (1)

[Claims] 1. In a crane that suspends a suspended load using a lift magnetic suspension device supported by three wires, a load sensor is attached to each of the wires, and the load of each wire is calculated based on the output values of these load sensors. An automatic crane characterized in that it detects the distribution, calculates the deviation of the planar position of the center of gravity of a suspended load with respect to the planar position of the center of gravity of a lifting device based on the detection result, and performs an operation to eliminate the deviation. how to drive. 26. In a crane that suspends a suspended load using a lift magnetic suspension device supported by three wires, load sensors are attached to each of the wires, and each wire is adjusted based on the output values of these load sensors. and an arithmetic and control device that detects the load distribution of the hanging load and further calculates the deviation of the planar position of the center of gravity of the suspended load with respect to the planar position of the center of gravity of the hanging device based on the detection result. Detection device.