JPS6137684A - Controller for attitude of hanger for 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] [Field of Application of the Invention] The present invention relates to a device for controlling the attitude of a hanging device suspended from a crane with four ropes, and more particularly to a device for controlling the attitude in two directions. .

[Background of the invention]

The posture control of the hanging tool is generally performed by tilting the hanging tool in the horizontal direction (hereinafter referred to as "lateral tilting"), vertically tilting the hanging tool (hereinafter referred to as "vertical tilting"), and rotating the hanging tool (hereinafter referred to as "swivel"). There is a three-position control system.

Generally, two of the above are selected depending on the purpose and necessity of the hanging tool. For example, horizontal tilting and vertical tilting, and vertical tilting and turning. The present invention relates to a device capable of controlling such two postures.

As this kind of posture control fold,
There is something shown in the publication. This one has a 4-wooden rope fixed to each end of a 2-wooden lever, and has a first cylinder that rotates the 2-wooden lever, and a second cylinder that moves the entire 2-wooden lever in a straight line. has been established. 1 1st
A cylinder is used to perform rotation, and a second cylinder is used to perform vertical tilting. In this case, by moving the first cylinder and the second cylinder at the same time, turning and vertical tilting can be performed at the same time.

Further, there is a method disclosed in Japanese Patent Application Laid-Open No. 57-81086. This device has two feed mechanisms and a rope is fixed to the end of each screw shaft.

Rotate the nut to move the screw shaft. There is only one motor that rotates the two nuts. Therefore, a chain, a gear, and two clutches are provided between the motor and the nuts, and the two screw shafts are rotated in the same direction by operating the two clutches. move or move in opposite directions. If the two wooden screw shafts are moved in the same direction, the hanger will tilt vertically, and if they are moved in the opposite direction, the hanger will pivot.

This requires a drive device with a slot between the two screw shafts, resulting in a larger device.

Furthermore, it is not possible to perform vertical tilting and turning operations at the same time.

[Purpose of the invention]

An object of the present invention is to provide a device that can perform posture control in two directions simultaneously.

[Summary of the Invention] The present invention provides a movable table movably using nine first feed screws, and a second feed screw. The 2nd and 3rd screw shafts of the third feed screw mechanism are arranged parallel to the moving direction of the moving table and installed on the moving table, and the 2nd and 3rd nuts are moved in opposite directions by the prime mover installed on the moving table. The rope was fixed to the second and third nuts.

, [Embodiment of the Invention] The present invention will be described below with reference to an embodiment shown in FIGS. 1 to 6.

In FIG. 6, ] is a trolley running on a girder, on which a hoisting device 2 and an attitude control device 10 of the present invention are installed. 11 is a hanging tool for a container.

The 4-wooden ropes I2a, 12b, 12c, and 12d wound around the hoisting drums 3a and 3b of the hoisting gear W2 are the sheaves 13a, 13'b, 13c, and 13 of the hoisting tool 1.
d. Trolley sheave 14 a.

14b, ljc, 14d, trolley sheave 15a, 15
b.

15c and 15d are fixed to the attitude control device 10 through respective hooks. Sheave 15a, 15b, 1
5 c.

15d and ropes 12a, 12b, 12c,
12d and the fixed end 16a of the attitude control device 1110, 1
6b, 16c, and 16-'d are installed in the same horizontal plane. Rope 12 at one end of the hanging tool 11 in the longitudinal direction
A and 12b are fixed to one end side of the posture control device 10, and a rope 12c is fixed to the other end side of the hanging tool 11.

12d is fixed to the other end side of the attitude control device 120.

The second attitude control device will be explained with reference to FIGS. 1 to 5.

The attitude control device 10 includes a moving table I and a base 3 that supports it.
1 and guide rails 32a and 32b.

The base 31 and guide rails 32a, 32b are installed on the trolley 1 via seats. Guide rail 32a.

32b uses an H-shaped member.

The front frame 30 of the moving body 30 is arranged so that it has a rectangular shape when viewed from above.
a, a rear frame 30b, a right frame 30C, and a left frame 30d. Three screw shafts 3 are installed between the front frame 30a and the rear frame 30b.
3.34 a and 34b are respectively bearings 35a and 35b
It is installed so that it can rotate freely. Screw shaft 33.34 a,
31b does not move in the axial direction. The threaded shaft 34a has a reverse thread compared to the threaded shaft. screw shaft 33.34a,
The front end of 34b protrudes forward from the front frame 70a, and is provided with sprockets 36a, 36'b, 36c, and 36d.

The electric motor for vertical tilting is installed in the center of the front frame 30a. The electric motor 37 rotates the screw shaft through a sprocket, a chain 39, and a sprocket 36a.

The tochi is an electric motor that rotates and is installed on a bracket provided at the end of the front frame 30a. The electric motor 4o has a sprocket 42. Threaded shaft 34b via chinos 43 and 44.

Rotate 34a. Therefore, the screw shafts 34a and 34b rotate in the same direction.

As shown in FIG. 2, a nut group is fixed to the base 31, and this nut 50 has a screw shaft drilled through it.

As shown in Fig. 3, screw shafts 34a', '34, b
51a and 51b are connected to each other. Nut 51a'.

51b is fixed to lobe fixing seats 52a and 52b.

Two lobe grips 47 are provided on the upper surfaces of the rope fixing seats 52a and 52b, respectively, and the rope 12a.

12b, 12c, and 12d are fixed. Ropes 12a and 12C, ropes 2b and 12d are each one.

A slack is provided between the two rope grips 47 to 47 in a known manner. In addition, as is well known, the rope grip 47
The rope can be let out when the force applied to the rope 12 is greater than a predetermined value. This rope clip 47 constitutes an overload protection device.

A guide girder 5 is provided on the lower surface of the lobe fixing seats 52a and 52b.
3a and 53b are installed horizontally. Digit 53a.

53b is disposed below the screw shafts 34a and 34b.

The beams 53a, 53b have a rectangular cross section, and seat plates 54a, 54b are provided on the upper and lower surfaces of the front and rear ends.

The front frame 30a is provided with guide rollers 61 and 62 that contact the seat plates 54a and 54b. Are the kite rollers 61 and 62 front frames with brackets 61a and 62a, respectively? Supported by Qa. Similarly, a guide roller B64 is installed on the rear frame 30b.
is carried by brackets 63a and 64a.

The lengths of the beams 53a and 53b are longer than the length of the front frame 30a and rear frame 30b plus the degree movement of the rope fixing seats 52a and 52b. As a result, the upper and lower surfaces of the front and rear of the girders 53a, 53b are formed by the guide rollers 61, 62. Supported by j3.64.

The CC cross section of FIG. 1 is basically the same as that of FIG. 3.

There are three guide rollers 70 on the front, rear, left and right sides of the movable platform.
are provided and supported by guide rails 32a and 32b. It is supported vertically by guide rollers 70a and 70b, and laterally supported by guide roller 70c.

The guide roller 70 is attached to the left and right ends of the front frame 30a and the rear frame 30b using brackets.

In this configuration, when the electric drive root 37 for vertical tilting is rotated in the normal direction, the screw shaft is rotated in the normal direction and the movable white chrysanthemum is moved forward.

For this reason, the rope fixing seat 52 installed on the moving platform 30
a and 52b move forward. Therefore, the ropes 12C, 12d
is let out, the ropes 12a and 12b are pulled, and as shown in FIG. 6, the hanger 11 is vertically tilted so that the front side thereof is lifted. When the electric motor 37 is reversed, the moving platform I moves backward and the front side of the hanging tool 11 is lowered.

When moving the moving platform, the moving platform (equipment) is supported by guide rollers 70 and guide rails 32a and 32b on the front, rear, left and right sides, so there is only one screw shaft and only one base 31 to support it. Even in this case, the movable table I can move in the W line without rotating or tilting.

Further, the screw shaft does not bend.

When the electric motor 11140 for embezzlement diversion is rotated in the normal direction, the screw shaft 34
a134b rotates normally. Nut 5 provided on screw shaft 34b
1b, that is, the rope fixing seat 52b moves forward. on the other hand.

Since the threaded shaft 34a has a reverse thread, its nut 51a, that is, the rope fixing seat 52a, moves backward. FIG. 4 shows this state. Therefore, the ropes 12b and 12c are pulled, and the ropes 12d and 12a are let out, and as shown in FIG.
The left side of 1 is lifted in the horizontal direction.

When the electric motor 41 is rotated in the normal direction, the rope fixing seat 20b moves backward, and the rope fixing seat 20a moves forward, thereby performing a sideways rotation in the opposite direction.

In moving the rope fixing seats 52a, 52b, girders 53a, 53b are provided on the rope fixing seats 52a, 52b, and the upper and lower surfaces of the front and rear ends of the girders 53a, 53b are guided by guide rollers 61, 62, 63, 64.
Since it is supported by the front frame 30a and rear frame 30b, it can move linearly without rotating the rope fixing seats 52a, 52b or bending the screw shafts 34a, 34b. Rope fixing seats 52a, 52b and girders 8a, 54
Since b is arranged symmetrically with respect to the screw shafts 34a and 34b, bending of the screw shafts can be prevented.

When the electric $37.40 operation is stopped, the screw shaft 33°3
The posture of the hanger 11 is maintained in that state by the self-locking action of 4a, 34b.

By operating the electric fi 40 while operating the electric motor 37, vertical and horizontal rotations can be performed simultaneously. however.

In order to perform this simultaneously, the control circuit etc. must also be configured to enable this. Even if the control circuits are not configured to be able to operate simultaneously, the attitude control device can be configured to operate simultaneously.
) was not present, Loaf J2
When a force exceeding a predetermined value is applied to the rope, the rope is let out from the lobe grip 47 and absorbs the overload.

In this case, the hoisting operation is stopped by detecting an overcurrent of a morph of the hoisting device or a rope movement detecting device provided on the rope fixing seats 52a and 52b to detect the feeding of the rope.

Other overload prevention devices may be used for the rope fixing seats 52a and 52b.

Nuts 52a, 52b of screw shafts 34a, 34b
Since the rope is fixed to the side surface of the attitude control system r, a large overload prevention device that is insufficient to be simply fixed can be incorporated into the attitude control system r. A large overload prevention device can be installed by selecting a position that does not come into contact with the front frame 30a and rear frame 30b of the movable table 30.

In the above, each of the threaded shafts 33, 34a, 34b for driving the moved body parts 52a, 52b is one piece, but two may be provided. However, by providing a guide rail as described above, it can be reduced to one.

An electric motor 37 for moving the moving platform (9) can be installed directly on the trolley 1. For example, the shaft end of the nut 50 is made to protrude from the base 31 and a sprocket is provided. This sprocket is rotated by an electric motor provided on the trolley 1. The screw shaft 33 is not rotated.

As another example, a screw shaft is rotatably installed on a trolley, and a moving table is placed on a nut.

The posture control device FNO's crotch w position? If it is a fixed position of the rope, it may be a girder on which trolley 1 runs, for example.

Posture control in other directions can be performed depending on how the rope is attached to the hanging tool.

〔Effect of the invention〕

As described above (in the present invention, the movable base is provided movably by the first feed screw mechanism, and the second.
A third screw shaft is arranged parallel to the moving direction of the movable base and is provided on the movable base, and a second screw shaft is installed on the movable base. By rotating the third screw shaft, the second. The third nut is moved in opposite directions to the second nut. Since the rope is fixed to the third nut, attitude control in two directions can be performed simultaneously.

[Brief explanation of the drawing]

FIG. 1 is a front view of an attitude control device according to an embodiment of the present invention, FIG. 2 is a sectional view taken along line A-A of FIG.
Cross-sectional view, Figure 4 is a plan view of Figure 1 5 Figure 5 is D of Figure 4
-D sectional view and FIG. 6 are perspective views showing the arrangement of ropes for hoisting the crane. 1...Trolley, 2...Hoisting device, 10
...Attitude control device, jl...Hanging tool, 1
2a, 12b, 12c, 12d...=...Hoisting rope, 30...Moving platform, 30a...
...Front frame, 30b...Rear frame, 30c...
...Right frame, 3Qd...Left frame. 31...Foundation stand, 32a, 32b...
Guide rail, 33...... Helical shaft for feeding and tilting rotation, 34
a, 34b...# Screw shaft for shaft conversion, please...
・Electric motor for diversion of Hinoki, 40...Electric motor for diversion of embezzlement,
47... Lobe grip, 50.51 a,
51 b...Natsuto. 52a, l>b/bend/rope fixing seat 554a. 54b...digit, 61, 62, 63, 64
, 70...Guide roller '1=2 Figure

Claims (1)

[Claims] 1. Three sets of feed screw mechanisms each consisting of a screw shaft and a nut are provided, the movable table is provided movably by the first set of feed screw mechanisms, and The screw shafts are arranged parallel to the moving direction of the moving table and rotatably provided on the moving table, and the second and third screw shafts are rotated by a prime mover installed on the moving table to tighten the second and third nuts. 1. A posture control device for a crane hoist, characterized in that ropes are moved in opposite directions and fixed to second and third nuts.