KR100920585B1 - Automatic control apparatus of crane for adjusting zero point of height - Google Patents

Abstract

The present invention is to determine the occurrence of the height measurement error of the ceiling crane working on the lifting, unloading, transfer, loading, unloading of the steel sheet products by automatically performing zero adjustment immediately, the zero of the height to prevent accidents due to the height error in advance It is related with the automatic control apparatus of the overhead crane which can be adjusted.

The present invention checks the landing state of the magnet during the hoisting, unloading, transfer, loading and unloading of the steel sheet product through the overhead crane, and checks the difference between the current detection height and the indication height at each landing of the magnet, the deviation is tolerance If it is out of range, the product attached to the magnet is recommended, and then the magnet is moved to the zero adjustment position (any ground), and the magnet is recommended until the magnet lands on the ground at the zero adjustment position, and the magnet is landed. When it is set, it is configured to reset the zero by setting the height detection value to zero, and then perform the normal operation of the ceiling crane.

Ceiling crane, magnet, zero point, load cell, hoist motor

Description

AUTOMATIC CONTROL APPARATUS OF CRANE FOR ADJUSTING ZERO POINT OF HEIGHT}

1 is a perspective view showing a schematic structure of a ceiling crane.

2 is a cross-sectional view showing the detailed internal structure of the ceiling crane.

3 is a block diagram showing an automatic control apparatus for a conventional overhead crane.

4 is a block diagram showing an automatic control device for a ceiling crane according to the present invention.

FIG. 5 is a detailed configuration diagram of a portion for processing height adjustment of a height in the automatic control device for a ceiling crane according to the present invention. FIG.

6 is a flowchart showing the control procedure of the overhead crane according to the present invention.

Fig. 7 is a flowchart showing a procedure for determining a landing state of a magnet in the automatic control device for a ceiling crane according to the present invention.

* Description of the symbols for the main parts of the drawings *

22: driving motor 44: traverse motor

45: hoist motor 47: counter

228: height error determination 229: landing state determination

230: Zero adjustment condition determination unit 231: Zero adjustment contact output unit                 

233: Zeroing completed 239: RS flip flop

The present invention relates to a ceiling crane used for transporting, loading and unloading a thick plate product, and more specifically, the ceiling crane determines the height value error, and automatically performs zero adjustment of the height of the ceiling crane, thereby always providing optimum The present invention relates to a height error determination and automatic zero point control device of a ceiling crane capable of height control.

In general, the heavy plate product produced in the steel plate manufacturing process of the steelmaking facility is transferred to the product warehouse, transferred to the post-treatment process from the product warehouse, processed, then transferred to the warehouse again, and then shipped through the vehicle. At this time, the transfer and transfer of the product, the loading and unloading operation to the shipping vehicle is made by the ceiling crane.

1 is a perspective view showing a schematic structure of a ceiling crane, in which a ceiling crane travels on a pair of rails 1 which are largely installed at a predetermined height, and at the top of the traveling means 2; It comprises a transverse means (3) transverse in the running direction and the vertical direction, and a magnet (5) supported by the transverse means (3) and vertically moved and adsorbs the steel plate by a magnetic force generated by the supply of electricity.

2 is a detailed structural diagram of a ceiling crane, wherein the driving means 2 includes a wheel 21 coupled to the pair of rails 21 and a driving motor 22 for rotating the wheel 21. The traverse means 4 traverses the trolley 41 in a direction perpendicular to the traveling direction by rotating the wheel 41 of the trolley 41 and the wheel of the trolley 41 transversely above the traveling means 2. It is implemented with a traverse motor (44). At this time, the position of the traveling means 2 is detected by the laser odometer 26, and the position of the transverse means 4 is detected by the laser odometer 27.

In addition, the magnet 5 is connected to the hoist motor 45 installed in the trolley 41, and is moved up and down by the rotation of the hoist motor 45. In addition, a magnetic force is generated by the current supplied by the current injection unit 24 to adsorb the steel sheet. At this time, the magnetic force generation of the magnet 5 can be determined by detecting the amount of current transferred from the current input unit 24 to the magnet 5 by the current detection sensor 25.

The operation of the ceiling crane is located in the upper portion of the object to be transferred to the magnet 5 by the driving means 2 and the transverse means 3, the magnet 5 is lowered vertically to suck the target steel plate After that, the magnet 5 is raised to a predetermined height and then the target steel sheet is transferred to the destination by driving the driving means 2 and the traverse means 3 again. In addition, such an operation may be performed manually by an operator or may be automatically performed according to an operation schedule.

FIG. 3 shows a conventional overhead crane control device for automatically operating the above-mentioned ceiling crane, and the height control of the ceiling crane by this control device is detected by the pulse generator 49 attached to the hoist motor 45. The pulse signal is integrated by using the counter 47, and the integrated value is controlled by utilizing the measured value calculated as the actual height value.                         

When the work instruction coordinates 201, 205, 209 are transmitted from the host computer 100, the travel position controller 203 and the transverse position controller 207 transmit the work instruction coordinates, that is, the travel position (Dx coordinate). 201 and the transverse position (Dy coordinate) 205, the height position control unit 211 outputs a height control signal to move to the height position (Dz coordinate) 209, the height control condition determination unit 212 When the movement to the traveling position and the transverse position is completed, the hoist motor 45 is driven to control the height.

At this time, the pulse generator 49 attached to the hoist motor 45 detects the rotation of the hoist motor 45 and outputs it as a pulse signal, which is integrated by the counter 47. The output value of the counter 47 is converted into a height value of a predetermined length unit [mm] by the height A / converter 210 and input to the height measurement value 210 of the magnet 5 to the height position control unit 211. The height position control unit 211 compares the height measurement value 210 inputted as described above and the height indication coordinates 209 transmitted from the upper computer 100 so that these two values coincide with each other in the hoist motor 45. Control the drive.

At this time, if the height of the magnet 5 is not properly maintained at the indicated coordinates, the crane moves and the magnet 5 of the overhead crane or a plate attached to the magnet 5 collides with the loaded plate product or facility and the product Damage to the facilities and equipment, and getting on and off the vehicle can cause personal and object accidents. Therefore, the current height of the magnet 5 should be measured at all times so as not to cause an error.

However, in the conventional height control, since the height value is set to zero based on a predetermined position (for example, the ground), the relative height change is determined based on this zero point, and error occurrence is measured. In this case, there is a problem that the determination of whether an error cannot be made normally.

In addition, the zero point control for resetting the conventional measurement error to the initial value, the driver rides in the cab of the overhead crane and compares the difference between the height indication coordinate 209 and the height measurement input value 210, the error is more than the allowable range If it occurs, operate the ceiling crane manually to move to the place where the product is not loaded, drive the hoist motor 45 down until the magnet 5 lands on the ground, and then zero the current measured height. The reset process was done.

Therefore, the conventional zero point control method has a problem in that the economic efficiency is lowered because the manpower has to be put in, and it is made manually and consumes a lot of time.

The present invention has been proposed to solve this problem, the purpose is to determine the occurrence of the height measurement error of the overhead crane lifting, unloading, transfer, loading, unloading of the steel sheet product by performing an automatic zero adjustment immediately, It is to provide an automatic control device for the ceiling crane that can adjust the zero point of the height to prevent accidents caused by the height error in advance.

In order to achieve the above object of the present invention, the present invention provides a traveling direction that is a first direction on an arbitrary plane horizontal to the ground, a transverse direction perpendicular to the first direction on the plane, and a height direction perpendicular to the ground. In the automatic control device of the ceiling crane, which moves the magnet and adjusts the current of the magnet to lift, unload, transfer, unload and unload the steel sheet product.

Upper control means for indicating a current value applied to the traveling coordinates, the transverse coordinates, the height coordinates and the magnets of the magnet according to a work schedule, and designating the traveling, the transverse and height coordinates for zero adjustment; Traveling control means for moving the magnet from the higher-level control means to the traveling travel coordinates by comparing the traveling travel coordinates for work or zero with the traveling distance detection values of the magnets; Transverse control means for moving the magnet from the higher control means to the indicated transverse coordinates by comparing the transverse direction coordinate for work or the traverse direction coordinate for zero adjustment with the actual traverse distance detection value; A current for controlling the current value applied to the magnet to compare the current value indicated by the upper control means and the current detection value of the magnet, determine the number of products attached from the load applied to the magnet, and attach the indicated amount. Control means; The height of the magnet is compared with the height indication coordinates indicated by the upper control means, and the height of the magnet is adjusted so as to reach the indicated height, the magnets are hoisted according to the zero adjustment request signal, and driving and traversing for zero adjustment are performed. Height control means for lowering when landing of the magnet is detected when the coordinates are reached; Landing state determination means for checking whether the magnet is landing by checking the load applied to the magnet; Error determination means for checking an error between the indication height and the detection height from the height control means when detecting the magnet landing from the landing state determining means, and applying a zero adjustment request signal to each means when the error is outside the allowable range; And when the zero adjustment request signal is applied from the error judging means, the driving, traversing, height control means and landing state judging means are checked to reach the driving and transverse coordinates for zero adjustment and the height value of the ceiling crane when the magnet is in a landing state. Means for adjusting the zero to zero.

In the automatic automatic crane crane according to the present invention, the landing state determining means includes a comparator for comparing the load detection value applied to the magnet with a basic load value at no load, wherein the load detection value is smaller than the basic load value. The case of losing is characterized in that it is determined as the landing state of the magnet.

In the automatic overhead crane automatic control device of the present invention, in the height error judging means, the landing state judging signal is input from the land state judging means, and the error between the indication value and the detected value for the height from the height control means is within the allowable range. An end circuit for outputting an on signal when a signal indicating that the signal is released is input; And receiving the ON signal of the AND circuit as a set signal, outputting a zero adjustment request signal to the traveling position control unit, the transverse position control unit, the height position control unit, and the zero adjustment unit, and resetting the zero adjustment completion signal of the zero adjustment unit. And an RS flip-flop which stops the output of the zero adjustment request signal to the traveling position control unit, the transverse position control unit, the height position control unit, and the zero adjustment unit.

In the overhead crane automatic control device of the present invention, in the zero point adjustment means, a zero point adjustment request signal is applied from the error determination means, and a zero point travel signal and a reach signal for the zero point adjustment are applied to the zero point adjustment means. A zero adjustment condition determining unit which checks whether or not the magnet landing signal is applied from the landing state determining unit; A zero adjustment contact output unit for outputting a zero adjustment signal for setting the height detection value of the height detection means of the ceiling crane to 0 when all conditions are determined by the zero condition determination unit; And a zero adjustment completion signal output unit which checks the height detection value of the ceiling crane and outputs a zero adjustment completion signal when the height detection value becomes 0 after the zero adjustment signal is output from the zero adjustment contact output unit. It is done.

Hereinafter, with reference to the accompanying drawings will be described in detail the configuration and operation of the automatic control system for ceiling crane according to the present invention.

FIG. 3 is a block diagram showing an automatic control apparatus for a ceiling crane according to the present invention. As an automatic control apparatus for a ceiling crane configured as shown in FIG. 2, the structure of the ceiling crane has been described in the related art. , Repeated description is omitted.

Referring to FIG. 3, among the automatic control apparatus for the ceiling crane according to the present invention, the upper calculating means indicates a current value applied to the traveling coordinates, the transverse coordinates, the height coordinates and the magnets of the magnet according to the work schedule, and the zero point. The host computer 100 designates driving, traversal, and height coordinates for adjustment.

The driving control means includes a driving A / D converter 202 which receives the sensing signal of the odometer laser 26 installed in the ceiling crane and converts it into a traveling distance measurement value, and the driving instruction coordinates of the host computer 100. 20 or the traveling position controller 203 for comparing the traveling coordinates 236 for zero adjustment with the traveling distance measured values output from the traveling A / D converter 202 and outputting a motor control signal for moving to the indicated coordinates. And a driving motor driving output unit 204 for outputting the motor control signal output from the driving position control unit 203 to the driving motor 22.

The transverse control means includes a transverse A / D converter 206 which receives the sensing signal of the transverse distance meter laser 27 of the ceiling crane and converts it into a traverse distance measurement value, and the transverse direction coordinate of the host computer 100 ( 205 or the transverse position control unit 207 for comparing the traverse coordinates 242 for zero adjustment with the traverse distance measurement values output from the traverse A / D converter 206 and outputting a motor control signal for moving to the indicated coordinates; In addition, the traverse motor drive output unit 208 outputs the motor control signal output from the traverse position control unit 207 to the traverse motor 45.

The height control means receives the output of the counter 47 which counts the output pulses of the pulse generator 45 connected to the hoist motor 45 of the overhead crane, and converts the height A / into digital data representing the height detection value. The deviation is calculated by comparing the height detection value output from the D converter 210 and the height A / D converter 210 with the height indication value of the upper computer 100, and the calculated deviation is out of the tolerance range. The height position control unit 211 'which outputs the motor control signal to move by the calculated deviation until the zero adjustment signal is applied, and the output signals of the traveling and traversing position control units 203 and 207. Height control condition determination unit for outputting the control signal of the height position control unit 211 'when the driving and the transverse movement of the furnace is completed, and stopping the output of the control signal in the landing state of the magnet 5 ( 212 '), a hoist motor drive output unit 213 for outputting a motor control signal applied from the height control condition determining unit 212' to the hoist motor 45, and a height from the height position control unit 211 '. When a signal indicating that the deviation between the detected value and the indicated value is out of the tolerance range is input, and a signal indicating that the deviation from the driving and traverse position control unit 203, 207 is moved to the indicated coordinates is input, and the magnet 5 is in the landing state. The lifting / rolling processing unit 237 for winding up the attached product and lifting the magnet 5, and the lifting / rolling processing unit 238 informing the upper calculator 100 of the results of the lifting / lowering processing unit 237. Is implemented.

In addition, the landing state determining unit receives the weight value measured by the driver terminal 240 and the load cell 51 for setting the reference load value at no load as the land state setting value to determine the landing state. When the landing state is lower than the set state, the magnet 5 is determined to be landed and implemented by the landing state determination unit 229 informing it of this.

In addition, the error judging means determines that the magnet 5 has landed on the ground in the landing state determining unit 229. At this time, the error between the measured height and the indicated height compared by the height position control unit 211 'is within the allowable range. If it is out of the height adjustment unit 228 for outputting the zero adjustment request signal as a set signal to the RS flip-flop 239, and set by the zero adjustment request signal outputs a zero adjustment signal (logical '1') and zero The RS flip-flop 239 is reset by the adjustment completion signal and releases the output of the zero adjustment signal (logical '0').

The zero adjustment means includes a zero adjustment condition determination unit 230 for determining the zero adjustment condition of whether the magnet 5 is moved to the zero adjustment position according to the zero adjustment request, and landed on the ground, and the zero adjustment condition determination unit. If all the conditions for zero adjustment are satisfied at 230, the zero adjustment signal output unit 231 for resetting the integrated value of the counter 43 to zero for zero adjustment, and at the zero adjustment signal output unit 231 A zero adjustment completion unit 233 which outputs a zero adjustment signal and determines the zero adjustment completion from the height measurement value output from the height A / D converter 210 to set the RS flip-flop 239. Is implemented as

FIG. 4 is a detailed block diagram showing an embodiment of the automatic automatic control device for ceiling crane according to the present invention shown in FIG. 3, and FIGS. 5 and 6 are flowcharts showing the processing procedure of the automatic control device for zero adjustment of height. Hereinafter, the operation of the automatic automatic control apparatus for ceiling crane according to the present invention shown in FIG. 3 will be described with reference to FIGS. 4 to 6.

Basically, in the automatic control apparatus shown in FIG. 3, the host computer 100 instructs the running position, the transverse position, the height and the current value for generating the magnetic force of the ceiling crane according to the work schedule.

Then, according to the instruction, the travel position control unit 203 is detected from the driving generator coordinates and the pulse generator 23 provided on the axis of the travel motor 22 and the driving measurement distance input through the travel A / D converter 202. The motor is rotated forward / reverse so as to be moved to the coordinates indicated by the comparison, and the transverse position control unit 207 is detected by the pulse generator 48 installed on the transverse direction coordinate and the axis of the transverse motor 44. By comparing the transverse measurement distance input through the transverse A / D converter 206, the transverse motor 44 is forward / reversely rotated to move to the indicated coordinates, and the height position control unit 211 'is the driving position control unit 203. And the control signal of the transverse position control unit 207 when the traveling and the moving to the coordinates indicated are completed, that is, when the driving motor 22 and the transverse motor 44 are stopped, Of the pulse generator 49 installed on the shaft of the hoist motor 45 The counter 43 is integrated by counting the number of pulses, and the hoist motor 45 is forward / reverse so that the magnet 5 reaches the indicated height by comparing the height detection value input through the height A / D converter 210. Rotate

In addition, the magnet current controller 222 compares the current indication value of the host computer 100 with the input current measurement value detected by the current detection sensor 25 and inputted through the A / D converter 221, thereby indicating the indicated current. Outputs a current control value to be applied to the magnet 5, and the weight comparison determination unit 219 is provided to the weight indication value (corresponding to the total weight of the target product) and the load cell 51 applied from the upper computer 100. By comparing the actual weight attached to the magnet (5) detected by the detection of the deviation, the sales manual automatic control unit 223, when lifting the product, so that the weight difference detected by the weight comparison determination unit 219 is compensated The current control signal output from the magnet current control unit 222 is corrected and applied to the magnet current output unit 224. Then, the magnet current output unit 224 applies the input current control signal to the current input control panel 24 provided on the ceiling crane, a predetermined current is applied to the magnet 5 side, the magnetic force is generated, The magnetic product is attached to the magnet 5 by the magnetic force.

Through the above process, the magnet 5 of the ceiling crane moved to the indicated coordinates is lowered or raised to raise or lower the product.

In the present invention, as described above, the work instruction values are received from the host computer 100 (602), the traveling motor 22 and the transverse motor 44 is driven by the traveling and traverse position control unit (203, 207), When the magnet 5 reaches the indicated driving and traversing position, the driving motor 22 and the traversing motor 44 are stopped (603 to 608). Accordingly, the hoist motor 45 is controlled by the height position control unit 211 '. ) Is driven (609), the landing state determination unit 229 checks the change in the weight detection value detected by the load cell 51 and output from the A / D converter 218, and the magnet 5 is in the landing state. It is determined 610. This landing state determination is that when the magnet 5 is landed somewhere, the weight detected by the load cell 51 is lower than the detected weight value without the steel plate attached, as shown in Figs. 4 and 7. As described above, the landing state determination unit 229 is detected by the landing state set value (weight value in the state that the product is not attached to the magnet 5) and the load cell 51 instructed by the driver terminal 240 By comparing the detected weight detection value (701, 702), if the detected weight is lower than the landing state set value, and outputs a signal indicating that the landing state (703), if the detected weight is higher than the landing state set value, it is determined as the unlanding state (704) ).

 As described above, when it is determined that the magnet 5 is in the ground state during operation, the height control condition determination unit 212 'stops the output of the height control signal once by the signal to stop the hoist motor 45 (611). ).

In operation 612, it is determined whether the error between the current measurement height and the indication height is outside the allowable range (eg, 30 mm). Usually, the height position control unit 211 'obtains a deviation between the indicated height and the measured height for height control, outputs a forward rotation signal if the deviation is a negative value, and outputs a reverse rotation signal if the deviation is a positive value. In order to automatically adjust the height zero according to the present invention, it is determined whether the deviation (| z |) between the indicated value and the measured value deviates from the tolerance γ.

As a result of the determination, if the deviation between the indicated value and the measured value does not deviate from the tolerance range, according to a normal working procedure, the product is applied by applying a current or the attached product is recommended by cutting off the current (613). Then, the processed work results are transmitted to the upper computer 100 through the performance transmitter 238 (614). This completes one overhead crane operation (615).

However, as a result of the determination, if the deviation between the indicated value and the measured value is out of the tolerance range, the magnet 5 is wound up and then zero adjustment is required (616). This outputs a predetermined signal d to the height error judging unit 228 and the hoisting processing unit 237, thereby winding up the magnet 5 in the hoisting / unwinding processing unit 237, and determining the height error. When the unit 228 generates an error about the height in the state where the magnet 5 is landed as described above, the zero adjustment request signal 232 is output to the set terminal of the RS flip-flop 239, thereby RS flip-flop. 239 is set to apply the high level signal to the travel position controller 203, the transverse position controller 207, the height position controller 211 ', and the zero adjustment condition determination unit 230, thereby driving the position controller 203. ) And the transverse position control unit 207 receives the zero coordinates applied from the host computer 100 and drives the traveling motor 22 and the transverse motor 44 forward and backward so that the magnet 5 is positioned at the zero coordinate. 617,618).

At this time, the RS flip flop 211 i of the height position control unit 211 ′ is set to output the reverse rotation signal of the hoist motor 213. However, at this time, since the output contact is turned off by the height control condition determining unit 212 ′, the reverse rotation signal is not transmitted to the hoist motor 213.

When the driving motor 22 and the transverse motor 44 are driven and the magnet 5 is positioned at the zero coordinate (619 to 624), an on-signal is output from the AND circuit 237a of the hoisting / lowering processor 237. And the reverse circuit 211h for operating the hoist motor 45 in the lowering direction by the conditional circuit composed of the contact condition of the height control condition determining unit 212 'and the output signal of the flip flop 211i by this signal. The signal is continued until the output signal of the landing state determination unit 229 which determines the signal as the state in which the magnet 5 of the ceiling crane is landed (625).

By the operation of the hoist motor 45 as described above, when the magnet 5 of the ceiling crane lands (626), the output signal of the landing state determination unit 229 is turned on, and the hoist motor 45 is thus recommended. The output of the reverse rotation 211h signal for operating in the direction is stopped, and the hoist motor 45 is stopped (627).

As described above, when all zero adjustment conditions are satisfied, i.e., zero adjustment is required, a logic " 1 " signal is output from the flip-flop 239, and the magnet 5 reaches the zero adjustment position and the hoisting processing unit ( When the logic " 1 " signal is output from the AND circuit 237a of 237, and it is confirmed that the magnet 5 is in the ground state, the logic " 1 " signal is output from the landing state determination unit 229. , The logic " 1 " signal is applied from the zero adjustment condition determination unit 230 to the zero adjustment contact output unit 231, and the zero adjustment contact output unit 231 transmits an automatic zero adjustment signal to the hoist motor 45. The counter 47 is applied to the counter 47 connected to the pulse generator 49 provided on the shaft to reset the counting value of the counter 47 to zero (628). Therefore, the height zero adjustment operation to zero the height error of the height measurement value in the landing state of the magnet 5 is automatically made.

After the zero adjustment signal is applied from the zero adjustment contact output unit 231, the zero adjustment completion determination unit 233 receives the integrated value of the counter 47 through the height A / D converter 210. Check if it is changed to zero value. If the integrated value of the counter 47 is zero, the zero adjustment is completed, so that the zero adjustment completion signal 233d is outputted and logged on the driver terminal 240, and the RS flip-flop 239 is reset ( 629).

As a result, the output of the RS flip-flop 239 is turned off (logical "0"), whereby the zero adjustment condition is released, and the output of the zero adjustment contact output unit 231 is stopped. Then, the driving and traversing position control unit 203 receives and operates the driving and traversing instruction coordinates according to the work schedule.

As described above, the control device of the ceiling crane according to the present invention can determine the height error of the ceiling crane during operation, and if it is determined that the height error is automatically performed zero adjustment, thereby preventing the occurrence of errors in the height control, It can increase facility operation rate, reduce manpower by suppressing unnecessary input by the driver, and can manage height control of ceiling crane within the allowable range at any time, thus preventing accidents such as personal accidents and damage to facilities and vehicles. There is an excellent effect that can be prevented.

Claims (4)

The steel sheet product is controlled by controlling the current of the magnet while moving the magnet in a traveling direction that is a first direction on an arbitrary plane parallel to the ground, a transverse direction perpendicular to the first direction on the plane, and a height direction perpendicular to the ground. In the automatic control device of the overhead crane that works on hoisting, hoisting, transferring, loading and unloading, Upper control means for indicating a current value applied to the traveling coordinates, the transverse coordinates, the height coordinates and the magnets of the magnet according to a work schedule, and designating the traveling, the transverse and height coordinates for zero adjustment; A driving A / D converter which receives the sensing signal of the odometer laser installed in the ceiling crane and converts it into a driving distance measurement value, and outputs the driving instruction coordinate or zero coordinate driving coordinate of the upper control means and the driving A / D converter. A driving position control unit for outputting a motor control signal for moving to the indicated coordinates by comparing the measured driving distance measurement values and a driving motor driving output unit for outputting the motor control signal output from the driving position control unit to the driving motor Travel control means for moving the magnet to a travel coordinate; Transverse A / D converter for receiving the sensing signal of the transverse distance meter laser installed in the ceiling crane and converting it into the transverse distance measurement value, and outputting from the traverse coordinate for zero coordinate adjustment or zero coordinate adjustment of the upper control means and the transverse A / D converter. A traverse position control unit for outputting a motor control signal for moving to the indicated coordinates by comparing the measured traverse distance measured values and a traverse motor drive output unit for outputting the motor control signal output from the traverse position control unit to the traverse motor; Transverse control means for moving the magnet in transverse coordinates; A current for controlling the current value applied to the magnet to compare the current value indicated by the upper control means and the current detection value of the magnet, determine the number of products attached from the load applied to the magnet, and attach the indicated amount. Control means; A height A / D converter for receiving the output of the counter counting the output pulses of the pulse generator connected to the hoist motor of the ceiling crane and converting the height pulse into digital data; and the height detection value output from the height A / D converter and Height position control unit for comparing the deviation of the height indication coordinates of the upper control means and outputs the motor control signal to move by the calculated deviation until the zero adjustment signal is applied, outputting the control signal until the landing state of the magnet is detected A height control condition determination unit for stopping the operation, a hoist motor drive output unit outputting a motor control signal applied from the height control condition determination unit to a hoist motor, and receiving a signal from the height position control unit and the travel and traverse position control unit; In accordance with the hoisting / lowering processing unit for hoisting / lowering the magnet and the hoisting / lowering processing unit Control means including a small upper hoisting / volume can ever informing the processing unit, when after winding the magnet reaches a traveling and transverse coordinates for zeroing, a height control means for gwonha until the landing magnet is detected; A landing state determination means for detecting whether the magnet is landed by comparing the load detection value applied to the magnet with the basic load value at no load; Means for outputting an on signal when the error is outside the allowable range by checking an error between the indication height and the detection height from the height control means when detecting the magnet landing from the landing state determining means, and receiving the zero signal as a zero adjustment request signal. Error determining means including means for applying to the respective means; And When the zero adjustment request signal is applied from the error judging means, the traveling, traversing, height control means and the landing state judging means are checked to determine the height value of the ceiling crane when the magnet has reached the driving and transverse coordinates for the zero adjustment and is in the landing state. Zero adjustment means to set to zero Automatic control device of the ceiling crane that can adjust the height of the zero, characterized in that it comprises a. The method of claim 1, wherein the landing state determining means Including a comparator for comparing the load detection value applied to the magnet with the basic load value at no load, An automatic control device for ceiling cranes capable of zeroing the height, characterized in that it is determined that the load detection value is smaller than the basic load value as the landing state of the magnet. The method of claim 1, wherein the error determining means An AND circuit that outputs an on signal when a landing state determination signal is input from the landing state determination means and a signal indicating that an error between an indication value and a detection value for a height is outside the allowable range is input from the height control means; And The ON signal of the AND circuit is input as a set signal, and a zero adjustment request signal is output to the traveling position control unit, the transverse position control unit, the height position control unit, and the zero adjustment unit, and the zero adjustment completion signal of the zero adjustment unit is converted into a reset signal. Automatically control the height of the ceiling crane capable of zero height adjustment characterized in that it comprises an RS flip-flop that receives the input and stops the output of the zero adjustment request signal to the traveling position control unit, transverse position control unit, height position control unit and zero adjustment means. Device. The zero point adjusting means according to claim 1, A zero adjustment request signal is applied from the error judging means, a zero point adjustment travel signal from the travel and traverse control means is applied, and a zero point adjustment checks whether a magnet landing signal is applied from the landing state determining means. Condition determination unit; A zero adjustment contact output unit for outputting a zero adjustment signal for setting the height detection value of the height detection means of the ceiling crane to zero when it is determined that all conditions are satisfied by the zero condition determination unit; And A zero adjustment completion unit which checks the height detection value of the ceiling crane and outputs a zero adjustment completion signal when the height detection value becomes 0 after the zero adjustment signal is output from the zero adjustment contact output unit; Automatic control device of the ceiling crane that can be adjusted to the height of the zero, characterized in that it comprises a.

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