KR20130015049A - Apparatus and control method for crane hook - Google Patents

Apparatus and control method for crane hook Download PDF

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Publication number
KR20130015049A
KR20130015049A KR1020110076841A KR20110076841A KR20130015049A KR 20130015049 A KR20130015049 A KR 20130015049A KR 1020110076841 A KR1020110076841 A KR 1020110076841A KR 20110076841 A KR20110076841 A KR 20110076841A KR 20130015049 A KR20130015049 A KR 20130015049A
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KR
South Korea
Prior art keywords
distance
crane
cargo
wire
hook
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Application number
KR1020110076841A
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Korean (ko)
Inventor
김경수
박재수
김세엽
남중원
Original Assignee
(주)스미에스앤씨
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Priority to KR1020110076841A priority Critical patent/KR20130015049A/en
Publication of KR20130015049A publication Critical patent/KR20130015049A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/026—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring distance between sensor and object

Abstract

The present invention provides a hook control apparatus for a crane that controls a hook of a crane that is caught by a cargo when the cargo is lifted or moves a cargo by a crane by pulling and unwinding the wire by rotating the wire drum. A distance measuring unit for measuring a distance between the vehicle and a cargo and outputting a measured value, a driving unit for directing the distance measuring unit to a measurement object, a tilt measuring unit for measuring an operating angle of the driving unit and outputting the measured value, Encoder for measuring the rotational amount of the wire drum wound around the wire connected to the hook and outputs the measured value, and converts the output value of the distance measuring unit, the tilt measuring unit and the encoder and corresponding to the drive unit and the wire It provides a hook control device of a crane including a control unit for outputting a drum control signal.
The present invention has the effect of safely loading the cargo by converting the distance between the cargo being lifted by the crane and the loading point of the cargo and controlling the length of the wire connected to the hook of the crane for lifting the cargo in response to the converted distance.

Description

Apparatus and Control Method for Crane Hook}

The present invention relates to a method and apparatus for controlling a hook of a crane, and more particularly, by measuring a distance between a position of a salvage lifted by a hook of a crane and a distance at which a salvage is placed. It relates to a hook control method and apparatus of a crane capable of controlling the operation of the hook.

A crane is a machine that lifts heavy materials and moves them in the vertical and horizontal directions. There are many types of cranes depending on the purpose of use and the type of movement.

In addition, a hook device is used to fix the cargo when moving the cargo using a crane. The hook device generally includes a hook which hangs on a moving object by directly hanging on a pin installed on the side of a lifting cargo or using an intermediate member such as a wire.

When a crane is used to load a cargo where it is needed or to move a cargo loaded at a certain place to another, the operator operating the crane in the crane's control room knows the relative distance between the cargo and the loading point of the cargo. When loading the cargo to the loading point is difficult, the operation speed of the hook is not reduced, there was a problem that the cargo is damaged due to accidents such as collision with the ground.

Conventionally, a separate worker guides the distance between the cargo and the loading point for such a task, but when the communication between the operator and the crane operator is not smooth, the loading of the cargo is still difficult, and the worker who guides the distance Was at risk of an accident.

The present invention has been made to solve the above problems, the distance between the cargo lifted by the crane and the loading point of the cargo is converted to control the length of the wire connected to the hook of the crane lifting the cargo corresponding to the converted distance It is an object of the present invention to provide a hook control method and apparatus of a crane capable of safely loading cargo.

The present invention provides a hook control apparatus for a crane that controls a hook of a crane that is caught by a cargo when the cargo is lifted or moves a cargo by a crane by pulling and unwinding the wire by rotating the wire drum. A distance measuring unit for measuring a distance between the vehicle and a cargo and outputting a measured value, a driving unit for directing the distance measuring unit to a measurement object, a tilt measuring unit for measuring an operating angle of the driving unit and outputting the measured value, Encoder for measuring the rotational amount of the wire drum wound around the wire connected to the hook and outputs the measured value, and converts the output value of the distance measuring unit, the tilt measuring unit and the encoder and corresponding to the drive unit and the wire It provides a hook control device of a crane including a control unit for outputting a drum control signal.

The distance measuring unit may use a laser.

The distance measuring unit may be installed at an end side of the boom of the crane and installed at a position corresponding to 1/3 distance of the boom length.

In addition, the present invention provides a hook control method of a crane to operate the wire drum to adjust the loosening of the wire to which the hook of the crane is connected and to safely put down the cargo lifted by the hook of the crane in a loading position, Measuring a distance (D1) of the ground and the distance measuring unit by a distance measuring unit, rotating the distance measuring unit toward the salvaged cargo, and measuring a rotation angle, by the distance measuring unit Measuring the distance (D2) of the salvaged cargo, converting the distance (D) between the salvaged cargo and the ground, and controlling the degree of wire loosening according to the distance between the salvaged cargo and the ground (D) It provides a hook control method of a crane comprising a step.

In the step of converting the distance between the lifted cargo and the ground, the conversion of the distance is D = D1- (D2 * cos θ) (D: distance between the ground and the salvage cargo, D1: distance between the distance measuring unit and the ground , D2: distance between the distance measuring unit and the lower part of the lifted cargo, θ: rotation angle of the distance measuring unit).

The step of controlling the wire loosening degree of the crane is a step of measuring the degree of rotation of the wire drum by the inverter, converting the degree of loosening of the wire by the rotation value measured by the inverter, the degree of loosening of the wire Comparing the distance between the cargo and the ground, the lowering of the rotational speed of the wire drum as the distance is closer to the degree of loosening of the wire in the comparing step and the degree of loosening of the wire is the same in the comparing step And stopping the rotation of the wire drum.

The present invention as described above, the effect of converting the distance between the cargo and the loading point of the cargo being lifted by the crane and controlling the length of the wire connected to the hook of the crane for lifting the cargo in response to the converted distance to safely load the cargo There is.

1 and 2 are views showing the configuration of a hook control device of a crane according to an embodiment of the present invention.
3 is a view showing a connection state of the driving unit and the distance measuring unit according to another embodiment of the present invention.
4 is a view showing a crane using a hook control device of a crane according to an embodiment of the present invention.
5 is a view showing the configuration of a wire drum according to an embodiment of the present invention.
6 is a flow chart showing the configuration of a hook control method of a crane according to an embodiment of the present invention.
7 is a flow chart showing the configuration of the step of controlling the wire unwinding degree of the crane according to an embodiment of the present invention.
8 is a view for explaining the operation of the encoder according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 are views showing the configuration of a hook control device of a crane according to an embodiment of the present invention.

3 is a view showing a connection state of the driving unit and the distance measuring unit according to another embodiment of the present invention.

4 is a view showing a crane using a hook control device of a crane according to an embodiment of the present invention.

1 to 4, the hook control device 100 of a crane according to an embodiment of the present invention includes a crane 1, a hook 10, a control unit 110, a distance measuring unit 120, and a driving unit ( 130, the tilt measuring unit 140 and the encoder 150.

The above components may be installed in a separate case 102, but may be installed separately.

First, the hook control apparatus of a crane according to an embodiment of the present invention has been described by applying to a crane using a boom (boom) as shown in Figure 4, the present invention is not limited to this and various types It can be applied to the crane.

The hook 10 is a ring-shaped mechanical element used to lift or place a load in place. On the crane 1 for the operation of the hook 10 is installed a wire drum 160 to which the wire 12 connected to the hook 10 is wound. Here, the wire 12 used in the crane 1 is generally made of a metal material to facilitate the lifting of heavy loads. In addition, since the configuration and operation of the hook 10 is a known technique well known in the art, further detailed description thereof will be omitted.

The controller 110 receives the measured values output from the distance measuring unit 120, the tilt measuring unit 140, and the encoder 150, which will be described later, calculates the height of the cargo with respect to the loading position, and calculates the calculated values. Control the operation of the drive unit 130 to be described later in accordance with the height of the cargo.

The controller 110 is connected to the above components by wireless or wired.

The distance measuring unit 120 measures the distance between the ground and the salvage cargo. The distance measuring part 120 is installed in the boom 2 on the crane 1, and measures the distance D1 of the distance measuring part 120 and the salvage cargo. At this time. Distance measuring unit 120 is based on the measurement of the lower end of the cargo. In addition, the distance D2 between the distance measuring unit 120 and the ground is measured.

Each of the distances D1 and D2 measured by the distance measurer 120 is input to the controller 110 and then used to calculate the distance between the salvage cargo and the ground.

Here, the distance measuring unit 120 measures the distance (D2) between the distance measuring unit 120 and the ground, but if the salvage cargo is not loaded on the ground, for example, in a trailer (not shown) When loaded, the distance between the distance measuring unit 120 and the loading unit of the trailer is measured.

The distance measuring unit 120 is installed on the boom 2 of the crane 1. Referring to FIG. 3, the boom 2 is installed at a 2/3 point from the fixing part of the boom 2 toward the end. Although the distance measuring unit 120 may be installed at a different position on the boom 2, the distance difference with the ground is obvious according to the operation of the boom 2, and at the same time, the distance measurement with the ground is not hindered by the salvage cargo. It is desirable to be installed in a position that does not.

In addition, in the present embodiment, the distance measuring unit 120 uses a laser. The distance measuring unit 120 emits the laser to a predetermined position and then receives the reflection of the predetermined object. To this end, the distance measuring unit 120 includes a light emitting unit and a light receiving unit. In the present embodiment, the distance measuring unit 120 is installed integrally with the light emitting unit and the light receiving unit, but may be separately installed in a separate place according to the needs of the user.

 Laser distance measurement technology is well known in the art, so a detailed description thereof will be omitted.

In the present embodiment, a laser is used as the distance measuring unit 120. If the distance can be measured, ultrasonic waves or the like may be used.

Depending on the location of the salvage cargo, the distance measuring unit 120 is rotated at a predetermined angle using the driving unit 130.

The driving unit 130 rotates the distance measuring unit 120 at a predetermined angle to facilitate distance measurement. As the driving unit 130, a motor is used. Therefore, hereinafter, the motor will be referred to by the same reference numerals as the drive unit 130 in order to avoid confusion by the name.

The distance measuring unit 120 is connected to an end of the drive shaft of the motor 130. The motor 130 operates according to the control signal of the controller 110 and directs the distance measuring unit 120 to the required position. According to FIG. 1, although the distance measuring unit 120 is directly connected to the end of the drive shaft of the motor 130, as shown in FIG. 3, a separate gear 132 is provided between the motor 130 and the distance measuring unit 120. It may be connected by mediation.

The tilt measuring unit 140 is installed on the drive shaft of the motor 130 to which the distance measuring unit 120 is connected, and the distance measuring unit with respect to the boom 2 using the degree of rotation of the drive shaft of the motor 130 ( The rotation angle θ of 120 is measured. The value measured by the tilt measuring unit 140 is output to the control unit 110.

The inclination measuring unit 140 may be configured as a contact sensor, but if the degree of rotation of the driving shaft of the motor 130 can be measured, the present invention is not limited thereto and may be formed of various components.

In addition, the tilt measuring unit 140 is installed on the drive shaft of the motor 130 in the present embodiment, but if the degree of rotation of the drive shaft of the motor 130 can be measured, the tilt measuring unit 140 is different from the drive shaft. Can be installed at the location.

The encoder 150 measures the degree of rotation of the wire drum 160 to which the wire 12 lifting the hook 10 is wound. 5 shows a configuration of a wire drum according to an embodiment of the present invention. The encoder 150 is installed on one side of the wire drum 160 and outputs a predetermined signal to the controller 110 according to the degree of rotation of the wire drum 160. According to the figure, the encoder 150 is connected to measure the amount of rotation of the wire drum 160 via the intermediate gear 162, but may be directly connected to the wire drum 160 without the intermediate gear 162.

Since the signal output from the encoder 150 indicates the degree of rotation and the direction of rotation of the wire drum 160, the control unit 110 uses the degree of rotation of the wire drum 160 and the circumference of the wire drum 160. Convert the loosened length of (12). To this end, the circumferential value of the wire drum 160 is preset in the controller 110.

6 is a flow chart showing the configuration of the hook control method of the crane according to an embodiment of the present invention, Figure 7 is a flow chart showing the configuration of the step of controlling the wire unwinding degree of the crane according to an embodiment of the present invention.

Referring to Figures 6 and 7, the operation of the embodiment of the present invention configured as described above will be described.

As with a general crane, the cargo is lifted using the hook 10 of the crane 1, and the lifted cargo is moved to a position required by the worker to be loaded.

When loading the lifted cargo, the distance measuring unit 120, the motor 130 and the tilt measuring unit 140 may operate as follows.

The distance measurer 120 measures the distance D1 between the distance measurer 120 and the ground, and the measured value is output to the controller 110 (S110). At this time, the angle of the distance measuring unit 120 with respect to the ground may be separately adjusted.

Thereafter, the controller 110 rotates the distance measurer 120 using the driver 130 so that the distance measurer 120 faces the salvage cargo 20 (S120). At this time, the inclination measuring unit 140 measures the rotation angle θ of the distance measuring unit 120 toward the lifting cargo 20 and outputs it to the control unit 110.

Thereafter, the distance measuring unit 120 measures the distance between the distance measuring unit 120 and the salvage cargo 20 and outputs it to the control unit 120 (S130). At this time, since the salvage cargo 20 is loaded on the ground, the distance measuring unit 120 is preferably directed to a portion where the salvage cargo 20 and the ground contact each other, that is, the lower end of the salvage cargo 20.

The distance measuring unit 120 may be presented in various ways to face the lower end of the salvage cargo (20). That is, while the distance measuring unit 120 rotates while measuring the distance to the ground, the measured distance gradually changes. At this time, when the measured distance is sharply reduced, at this time, the area facing the distance measuring unit 120 may be set to the lower end of the lifting cargo (20). In addition, it may be selected by the user in a variety of ways, such as using a method of attaching a separate mark to facilitate the measurement by the distance measuring unit 120 at the bottom of the lifting cargo 20.

The distance measuring unit 120 measures the distance between the distance measuring unit 120 and the salvage cargo and outputs it to the control unit 110 (S140).

The controller 110 converts the distance between the salvage cargo and the ground based on the distance value l1 measured by the distance measurer 120 and the angle θ measured by the tilt measurer 140 (S140). .

The distance calculation between the salvage cargo and the ground by the controller 110 is performed by the following formula.

Figure pat00001

(D: distance between ground and salvage

D1: Distance between the distance measuring part and the ground

D2: Distance between the distance measuring section and the bottom of the salvaged cargo

θ: angle of the distance measuring unit)

The lifting cargo is moved to a predetermined place, that is, the position at which the cargo is loaded by the operation of the crane 1, so that the lifting drum is loaded while the wire drum 160 of the crane 1 is unloaded (S150).

Referring to FIG. 8, when the wire drum 160 rotates, the encoder 150 measures the rotation amount of the wire drum 160 and inputs it to the controller 110 (S151). That is, the encoder 150 measures the first arbitrary position t1 of the wire drum 160 closest to itself, and when the wire drum 160 is rotated by a predetermined angle, the wire drum (closest to itself) After the second arbitrary position t2 of 160 is measured, the angles of the two positions t1 and t2 are measured.

The angle measured by the encoder 150 is output to the controller 110. The control unit 110 converts the degree of loosening of the wire 14 by using the output value of the encoder 150 and the circumferential value of the wire drum 160 set in advance (S152).

The control unit 110 compares the unwinding length of the wire with the distance D between the lifting cargo 20 and the ground (S153). If the wire drums 160 are close to each other while the wire drum 160 rotates, the wire drum 160 The rotational speed of the control is also correspondingly reduced (S154).

In addition, the control unit 110 stops the operation of the wire drum when the distance between the lifting load of the wire 20 and the ground becomes 0 so that the load is stably loaded (S155).

On the other hand, a display unit (not shown) is provided in the adjustment chamber of the crane 10. The display unit is configured with a screen or the like, and displays the measured value and the operation state of the components of the crane control apparatus according to the present invention to inform the operator. In addition, when the components of the crane control apparatus according to the present invention operates abnormally, a warning unit for notifying the abnormal operation state by using an acoustic or light emitting display, etc. may be additionally installed in the control room of the crane (10).

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

1: crane
2: boom
10: hook
12: hook wire
14: wire
20: salvage cargo
100: hook control device
102: case
110: control unit
120: distance measuring unit
130: drive unit
140: first tilt measurement unit
150: encoder
160: wire drum

Claims (6)

In the crane hook control device for controlling the hook of the crane caught by the cargo when the cargo is lifted by the crane or moving the cargo for loading by pulling and unwinding the wire by the rotation of the wire drum,
Distance measuring unit for measuring the distance from the ground and the cargo and output the measured value,
A driving unit for directing the distance measuring unit to a measurement object;
A tilt measuring unit measuring an operating angle of the driving unit and outputting a measured value;
An encoder for measuring an amount of rotation of a wire drum to which the wire connected to the hook is wound and outputting a measured value,
And a controller for receiving and converting output values of the distance measuring unit, the tilt measuring unit, and the encoder, and outputting the driving unit and the wire drum control signal corresponding thereto.
Hook control unit of crane. The method of claim 1,
The distance measuring unit uses a laser
Hook control unit of crane. The method of claim 1,
The distance measuring unit is installed on the end side of the boom of the crane is installed at a position corresponding to the distance 1/3 of the boom length
Hook control unit of crane. In the hook control method of the crane to operate the wire drum to adjust the loosening of the wire to which the hook of the crane is connected and to safely lower the cargo lifted by the hook of the crane in the loading position,
Measuring a distance D1 between the ground and the distance measuring unit by a distance measuring unit;
Rotating the distance measuring unit toward the lifted cargo and measuring a rotation angle;
Measuring the distance D2 between the distance measuring unit and the salvage by the distance measuring unit;
Converting the distance (D) between the salvage cargo and the ground; and
Controlling the amount of wire loosening according to the distance between the salvage and the ground (D)
Containing
How to control the hook of the crane. 5. The method of claim 4,
In the step of converting the distance between the salvage cargo and the ground
The conversion of the distance
D = D1- (D2 * cos θ)
(D: distance between ground and salvage
D1: Distance between the distance measuring part and the ground
D2: Distance between the distance measuring section and the bottom of the salvaged cargo
θ: rotation angle of the distance measuring unit)
Made by
How to control the hook of the crane. 5. The method of claim 4,
Controlling the degree of wire loosening of the crane
Measuring the degree of rotation of the wire drum by an inverter,
Converting the degree of loosening of the wire into a rotation value measured by the inverter;
Comparing the degree of loosening of the wire and the distance between the cargo and the ground,
Reducing the rotational speed of the wire drum as the distance and the degree of loosening of the wire are closer in the comparing step,
Stopping the rotation of the wire drum if the distance is equal to the degree of loosening of the wire in the comparing step.
Containing
How to control the hook of the crane.
KR1020110076841A 2011-08-02 2011-08-02 Apparatus and control method for crane hook KR20130015049A (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101384576B1 (en) * 2013-08-20 2014-04-11 주식회사 에이엔케이 Hook movement controlling apparatus of a crane and the method thereof
IT201600108686A1 (en) * 2016-10-27 2018-04-27 O Me Fa S P A Officina Mecc Fassi Support device for a cable of a winch of a crane
CN108680376A (en) * 2018-07-16 2018-10-19 江苏省特种设备安全监督检验研究院 Multifunctional motor-driven cucurbit testing stand
KR20220006738A (en) * 2020-07-09 2022-01-18 주식회사 포스코 Transporting apparatus and method for steel product

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101384576B1 (en) * 2013-08-20 2014-04-11 주식회사 에이엔케이 Hook movement controlling apparatus of a crane and the method thereof
IT201600108686A1 (en) * 2016-10-27 2018-04-27 O Me Fa S P A Officina Mecc Fassi Support device for a cable of a winch of a crane
EP3315452A1 (en) * 2016-10-27 2018-05-02 O.ME.FA. S.p.A. Officina Meccanica Fassi Device for supporting a cable of a capstan of a crane
US10384916B2 (en) 2016-10-27 2019-08-20 O.ME.FA S.p.A. Officina Meccanica Fassi Device for supporting a cable of a capstan of a crane
CN108680376A (en) * 2018-07-16 2018-10-19 江苏省特种设备安全监督检验研究院 Multifunctional motor-driven cucurbit testing stand
CN108680376B (en) * 2018-07-16 2023-10-10 江苏省特种设备安全监督检验研究院 Multifunctional electric hoist test bed
KR20220006738A (en) * 2020-07-09 2022-01-18 주식회사 포스코 Transporting apparatus and method for steel product

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