JPS63225118A - Hoisting accessory swing angle detector for crane - Google Patents

Abstract

PURPOSE:To obtain a simple and highly accurate hoisting accessory swing angle detector by providing a detecting rope between the trolley and the hoisting accessory of a crane, a clinometer mounted on a sensor base rotatable in two directions and the like. CONSTITUTION:A detector is composed of a clinometer 21 (or accelerometer 22) arranged on the upper surface of a sensor base 17 for detecting the traverse motion of a crane and the inclination theta (or acceleration alpha) of a scanning direction and a detecting rope 10 with one end connected to the lower end of the base 17 and the other end connected to a detecting rope winding reel 15 via a hoisting accessory side sheave 12 and a guide sheave 14 arranged below a trolley. By the deflection of a hoisting accessory 4, the rope 10 deflects, for example, through an angle thetaX (or thetaY) in the transverse direction of a trolley 1 (or the running direction of a garter 6) and the base 17 is also inclined through the angle thetaX (or - or + Y) to be detected by two sets of the clinometers 21. The acceleration alpha applied to the trolley 1 by the deflection of the hoisting accessory 4 is detected by the accelerometer 22 to be inputted to a matching and addition arithmetic circuit 30 together with the angles thetaX and thetaY and the swing angle thetaof the whole hoisting accessory 4 is detected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for detecting the swing angle of a hanging device in a crane.

[Conventional technology]

When a crane transports a suspended load, swinging of the suspended load inevitably occurs when the suspended load is hoisted, or when the crane is traversing or traveling. Especially when transporting suspended loads using automatic cranes,
In order to accurately land a suspended load at a desired position, it is necessary to detect the swing of the suspended load and perform control to suppress the swing.

Conventionally, as a device for detecting this deflection angle, the hoisting rope of the crane moves when the hoisting tool of the crane swings due to the deflection of the suspended load. There was a device that converted the amount of movement and detected the deflection angle based on this amount of movement.

[Problem that the invention seeks to solve]

In the above-mentioned detection device, it is necessary to always guide the hoisting rope, and therefore, there is a problem that an accurate deflection angle cannot be detected for the following reasons.

The amount of movement of the hoisting rope cannot be accurately detected even if it is affected by the stiffness of the zero hoisting rope, surface irregularities, deformation, etc.

■Accurate movement cannot be detected due to wear of guide rollers, etc.

- When the winding part is a direct winding drum type of rope, the rope payout position changes, but it is difficult to detect the amount of change, and therefore accurate detection is not possible.

In order to solve this problem, the present invention aims to provide a simple and highly accurate torsion angle detection device for a lifting device by dividing the swing angle of the lifting device into two directions: traversing and traveling of the crane. That is.

Measures for solving problem c] In a crane that suspends a suspended load using a wire rope or the like and transports it to a destination, a hoist-side sheep installed above the center of the crane hoist and a A sensor base with a gimbal attached vertically to the trolley and rotatable in two directions, an inclinometer installed on the top of the sensor base to detect the angle of inclination in the crane's traverse and travel directions, and an inclinometer attached to the crane's trolley. One end is connected to the lower end of the sensor base, and the other end is connected to the lower end of the sensor base, and the other end detects the rope winding. and a detection rope connected to the reel.

〔Example〕

Embodiments of the present invention will be described below based on the drawings.

FIG. 1 shows an overhead crane as an example of use in the apparatus of the present invention. In the figure, a trolley 1 lifts a suspended load by raising and lowering a hanging device 4 such as a hook block provided at the lower end of a wire rope 3 when a hoisting drum 2 is driven, and a traversing motor 5 is driven. traverses along the girder 6.

Further, the girder 6 travels along a traveling rail 8 together with the trolley 1 by driving a traveling motor 7 shown in the figure.

When a trolley (traversing body) 1 carrying a load suspended by a hanging device 4 using a wire rope 3 travels over a girder (traveling body) 6, the hanging device 4 is transported while swinging from side to side.

FIG. 2 is an explanatory view when the detection device of the present invention is attached to the trolley 1 of the overhead crane shown in FIG. 1.

The hanger plate 9 is pivotally supported on the outer surface of the hanging tool 4 on the shaft 41 of the hanging jL4, and the hanger plate 9 is attached to the sheep bracket 1.
1 is fixed above the hanging tool 4, and the hanging tool side sheep 12 is pivotally supported on the sheep bracket 11 by a shaft or the like (not shown). The hanger side sheep 12 is attached to the upper center of the hanger 4, rotates with the movement of the detection rope 10, and has a degree of freedom with respect to twisting of the hanger 4. A mounting bracket 16 is fixed to the frame of the trolley (not shown) on the upper surface of the trolley 1, and a gimbal 1 that can rotate in two directions is attached to the mounting bracket 16.
8, a counterweight 19 below, and a connecting tool for connecting a detection rope 10 (not shown) at the lower end, the sensor base 17 is vertically supported.

Two sets of torque-balanced inclinometers 21 are provided on the upper surface of the sensor base 17 to detect the inclination angles of the crane in the traverse and traveling directions, respectively.

Furthermore, two sets of accelerometers 22 are provided on the top surface of the mounting bracket 16 to detect accelerations in the traversing and traveling directions of the crane, respectively.

A mounting bracket 13 is fixed to the trolley frame (not shown) of the trolley 1 below the mounting bracket 16 to which the sensor base 17 of the trolley 1 is attached, and a guide sheave 14 for guiding the detection rope 10 is attached to the mounting bracket 13. A detection lobe winding reel 15 is provided for winding the rope 10 and applying appropriate tension to the detection rope 10. The detection lobe take-up reel 15 is provided with a spring, a motor, or the like for winding or applying tension.

One end of the detection rope 10 is connected to the tip of the sensor base 10, and one end is connected to the detection rope take-up reel 15 via the hanger side sheep 12 and guide sheave 14.

A matching addition calculation circuit 30 that performs matching addition calculation on each output of the inclinometer 16 and the accelerometer 17 and detects the deflection angle is housed in a crane control device (not shown) placed on the trolley 1 or the girder 6, or is installed independently. .

Next, the operation of the present invention will be explained.

As shown in FIG. 10(a), when the trolley 1 moves sideways or the girder 6 moves in an acceleration/deceleration pattern showing the relationship between the time t and the speed V at that time, swinging occurs in the hanging tool 4.

As the hanging tool 4 swings, the hanging tool side sheave 12 also swings, and as a result, the detection rope 10 swings by an angle θX in the traverse direction of the trolley 1, as shown in FIG. 2, and the sensor base 17 also tilts by an angle θX. Become. Angle θX at this time
is detected by the torque balance type inclinometer 21, outputs a voltage as shown in FIG. Angle θX, θ
y can be detected by two sets of inclinometers 21, respectively. Similarly, the angle when the girder 6 swings in the traveling direction is θy. The angle obtained by combining the swings of the hanging tool 4 in both directions is expressed as θ.

Further, the acceleration α applied to the trolley 1 due to the swinging of the hanging tool 4 at this time is detected by the accelerometer 12, and is shown in FIG.
Output a voltage according to the acceleration α as shown in b),
It is input to the matching addition calculation circuit 21.

The component of the acceleration in the transverse direction of the trolley 1 is αX, and the component of the acceleration in the running direction of the girder 6 is αy. Acceleration αX.

αy can be detected by two sets of accelerometers 12, respectively.

Now, when we consider detecting the deflection angle of the trolley 1 in the traverse direction, the output of the inclinometer 21 and the output of the accelerometer 22 are input to a matching addition calculation circuit, and the sensitivity m adjustment circuit 31.3 is inputted to the matching addition calculation circuit.
3 to adjust the input voltage to the reference value, and roll pass filter 3
The outputs of the low-pass filters 32 and 34 are input to the adder circuit 35, and noise components caused by acceleration/deceleration and mechanical vibrations caused by the movement of the crane, which are included in the respective signal voltages, are removed. The output θX of the inclination angle and the acceleration αX are added, and the waveform of the swing angle 9x of the hanging tool is the first waveform.
The result is as shown in Figure 0 (d).

The waveform of this deflection angle θX is passed through the A/D conversion circuit 36,
The deflection angle calculation device 37 can detect the deflection angle of the trolley 1 in the traverse direction.

Similarly, the deflection angle of the girder 6 in the running direction is the inclination angle θ
y and acceleration αy, a waveform of deflection angle θy is obtained, and the deflection angle of the girder 6 in the running direction can be detected.

Therefore, since the swing angle of the hanging tool 4 in the transverse direction of the trolley 1 and the swing angle of the girder 6 in the running direction can be detected as described above, the swing angle of the entire hanging tool can be detected.

In this example, a torque balance type inclinometer was used as the inclinometer in order to speed up the response speed and require high resolution, but the inclinometer is not limited to this and a pond inclinometer may also be used depending on the application Of course you can.

-m, when the inclinometer is used in a crane that is subject to acceleration, deceleration, and mechanical vibration, these noise components are mixed into the detected value of the inclinometer as a disturbance. Therefore, in this example,
An accelerometer is installed separately from the inclinometer, and by matching and adding the detected value of the accelerometer to the value detected by the inclinometer, the noise component is removed and the deflection angle can be detected with higher accuracy. It is.

〔Effect of the invention〕

According to the present invention, a retractable detection lobe is provided between a crane trolley and a lifting device, an inclinometer is mounted on a sensor base rotatable in two directions, an accelerometer is mounted on the trolley, and an inclinometer is mounted on a sensor base rotatable in two directions. With a simple configuration consisting only of a circuit that performs matching and addition operations on the outputs of the respective detectors of the accelerometer, it is possible to detect the deflection angle of the hanging tool with high accuracy and a fast response speed.

[Brief explanation of drawings]

Fig. 1 is an explanatory diagram of an overhead crane as an example used in the device of the present invention, Fig. 2 is an explanatory diagram of the detection device of the present invention installed on the trolley of the overhead crane, and Fig. 3 is the main part of Fig. 2. Enlarged view, Fig. 4 is a drawing showing the A side of Fig. 3, Fig. 5 is a detailed view of the sheave part on the hanging tool side, Fig. 6 is a detailed view showing the 0 side of Fig. 5, and Fig. 7 is a drawing of the sensor. A detailed view of the base part, FIG. 8 is a detailed view showing the B side of FIG. 7, FIG. 9 is a block diagram of the matching addition calculation circuit, and FIG. 10 is the output of the inclinometer/accelerometer and the detection device of the present invention. FIG. 2 is an explanatory diagram showing a waveform diagram of the output. 1 is a trolley, 4 is a crane hoist, 10 is a detection lobe, 1
2 is a hanging sheave, 14 is a guide sheave, 15 is a detection rope take-up reel, 17 is a sensor base, 18 is a gimbal,
21 is an inclinometer, and 22 is an accelerometer. j Procedural amendment (sealed) April 17, 1988 Patent application No. 62-60569 2. Name of the invention: Crane hoist swing angle detection device 3. Relationship with the person making the amendment case: Patent applicant: Amagasaki City, Hyogo Prefecture Hitachi Kiden Kogyo Co., Ltd. 3-11-1 Shimosakabe 4, Agent 6 Contents of amendment (1) The scope of the claims is amended as shown in the attached sheet. 2. Scope of Claims (1) A crane that suspends a suspended load using wire robes or the like and transports it to a destination, comprising: a lifting device side sheave provided above the center of the crane lifting device; and a trolley of the crane. A sensor base that is attached in the vertical direction and equipped with means that can rotate in two directions, an inclinometer that detects the inclination angle of the crane in the traversing and traveling directions, and is attached to the crane's trolley, which is placed on the top of the sensor base. One end is connected to the lower end of the sensor base, and the other end is connected to the lower end of the lifting equipment side sheave and trolley, and the other end is connected to the lobe winding. A crane hanging tool deflection angle detection device comprising a detection lobe connected to a reel. Figure 7 Figure 3 Figure 4 Procedural amendment (self-initiated, April 24, 1986, Commissioner of the Patent Office, Black 1), Mr. Yu Akira, 2. Title of invention: Crane hoist swing angle detection device 3. Person making the amendment Relationship to the case Patent applicant Hitachi Kiden Kogyo Co., Ltd. 4, 3-11-1 Shimosakabe, Amagasaki City, Hyogo Prefecture, Agent 5, Subject of amendment (1) Lines 7 to 17 on page 10 of the specification are as follows: Correct as follows. 4. Brief explanation of the drawings Figure 1 is an explanatory diagram of an overhead crane as an example used in the device of the present invention, Figure 2 is an explanatory diagram of the detection device of the present invention installed on the trolley of an overhead crane, and Figure 3 The figure is an enlarged view of the main part of Fig. 2, Fig. 4 is a drawing showing the A side of Fig. 3, Fig. 5 is a detailed view of the hanging device side sheave part, and Fig. 6 is a drawing showing the 0 side of Fig. 5. Detailed view, Figure 7 is a detailed view of the sensor pace section, Figure 8 (A) is a detailed view showing the B side of Figure 7, Figure 8 (B) is a detailed view of the gimbal, and Figure 9 is a detailed view of the alignment addition. Block diagram of arithmetic circuit, 1st
FIG. 0 is an explanatory diagram showing a waveform diagram of the output of the inclinometer/accelerometer and the output of the detection device of the present invention. (2) No. 7 of the drawing
Figure 8 is corrected as shown in the attached sheet.

Claims (1)

[Claims] (1) In a crane that suspends a load from a wire rope or the like and transports it to its destination, the sheave on the lifting equipment side provided above the center of the crane lifting equipment and the crane's trolley are attached vertically. a sensor base equipped with a gimbal that can rotate in two directions; an inclinometer that detects the inclination angle of the crane in the traversing and traveling directions;
An accelerometer is attached to the crane's trolley to detect the acceleration in the lateral and traveling directions of the crane, and one end is connected to the lower end of the sensor base, and the other end is connected to the lower end of the sensor base via the hoist side sheave and the guide sheave arranged below the trolley. and a detection rope connected to a detection rope take-up reel.