KR20150112532A - Automatic swivelling apparatus and leveling mehtod thereof - Google Patents

Abstract

The present invention relates to an automatic swiveling device and a leveling method thereof. The automatic swiveling device comprises: a swiveling unit which is detachably installed in a crane and lifts and swivels a weight object installed in a lower portion of the swiveling unit; and a balancing unit which is installed to move along with a lower frame formed on the swiveling unit to correspond to the center of gravity of the weight object. The automatic swiveling device and the leveling method thereof calculate an initial location of a balance weight by using weight object information such as the weight or the length of the weight object and accurately level the weight object to be in a horizontal state by finding the center of gravity while moving the balance weight.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic turning apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic revolving apparatus and a leveling method thereof, and more particularly, to an automatic revolving apparatus which swivels a horizontally installed heavy object through leveling of a long heavy long object and a driving method thereof.

Raw materials or plates of various shapes and sizes are used for large vehicles or structures such as aircraft or ships.

The raw material and the plate are mainly made of a metal such as iron or aluminum, and therefore, they are provided as a heavy material having a very large load.

When a heavy object having such a large load is turned by 180 degrees, a conventional rotary machine uses a crane to turn a material having a constant shape by 180 degrees or turn it using a turning bearing of a lathe.

For example, the following Patent Document 1 discloses a crane for lifting a heavy object into the air.

On the other hand, when the center of gravity is shifted to one side because the shape of the heavy object is not constant, the turning work using the crane itself is impossible or it has to be manually rotated by using a dolly.

In order to solve such a problem, Japanese Unexamined Patent Publication (Kokai) No. 2001-005450 discloses a tower crane in which a counterweight is provided so as to be movable in correspondence with a load of a heavy object.

Patent Document 2 discloses a structure in which a counterweight is moved by a non-moving force during rotation of the gimbals to correspond to a load of a workpiece to be lifted, the load and impact are prevented from being applied to the parts and structures by adjusting the moment, Discloses a configuration of a tower crane that monitors the load of the lifted object and the angle of the jib by monitoring the driver directly to carry out lifting work in a safe state.

Korean Patent Registration No. 10-0542001 (published on January 10, 2006) Korean Patent Publication No. 10-2005-0072842 (published on July 12, 2005)

However, in Patent Document 2, since the counterweight is installed in the tower crane itself, it is difficult to change the weight of the counterweight when the heavy object is changed, and the work space is unnecessarily increased by rotating the tower crane itself.

In the case of a swivel according to the prior art including Patent Document 2, it is difficult to precisely level the swivel according to the center of gravity of the heavy object.

As a result, there has been a risk that the swing machine according to the related art is liable to cause a safety accident in which a heavy object is dropped while falling in a turning process of a heavy object.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic revolving apparatus which is installed in a crane so as to be detachable and performs a turning operation of a large-sized heavy object which is not uniform in shape.

It is another object of the present invention to provide an automatic turning apparatus for accurately locating a center of gravity of a heavy object in a turning operation of a heavy object using a crane and a leveling method thereof.

In order to accomplish the above object, an automatic revolving apparatus according to the present invention is provided with a swing unit detachably installed in a crane, lifting a weight provided at a lower portion thereof and pivoting in the air, And a balancing portion movably installed along the lower frame.

In the leveling process for turning the heavy object, the horizontal sensing unit for sensing the horizontal state of the upper frame provided in the swing unit, and the balancing unit for weighting the center point of the heavy object based on the sensing information of the horizontal sensing unit, And a control unit for controlling the balance weight so as to move the balance weight based on the initial position of the balance weight.

Wherein the pivoting portion includes an upper frame detachably installed in the crane, a lower frame provided with a weight at a lower portion thereof and rotatably coupled to the upper frame, a driving motor for generating driving force for turning the lower frame and the heavy object, And a power transmitting member for transmitting the driving force of the motor to the lower frame.

The power transmitting member includes a swing bearing installed between the upper frame and the lower frame and a driving gear coupled to an output shaft of the driving motor and transmitting a driving force generated by the driving motor to the outer ring of the swing bearing. do.

The balancing portion includes a pair of balance weights movably installed along both side surfaces of the lower frame, and a driving module that generates driving force to move each balance weight and transmits the driving force to each balance weight.

The driving module includes a motor for generating a driving force, a driving sprocket provided on an output shaft of the motor, a driven sprocket provided on one end of the lower frame, a chain connected to a lower end of the balance weight and installed in the driving sprocket and the driven sprocket, .

The present invention further includes a storage unit for storing the weight information, the weight information of the automatic swing device and the driving program, and a position sensor for sensing the position of the balance weight in the leveling process of the weight, The controller controls the weight of the weight to be stored in the storage unit according to the detection signal of the position sensor when the weight is in a horizontal state using the sensing signal.

In order to achieve the above object, a method of leveling an automatic revolving apparatus according to the present invention comprises the steps of: (a) installing an upper frame of a turning part on a crane and installing a heavy object on a lower frame; (b) And (c) leveling the balance weight by adjusting the position of the balance weight so that the weight and the pivot portion are in a horizontal state.

(D) In the step (c), when the heavy object and the pivot portion are in a horizontal state, the method further comprises rotating the lower frame to rotate the heavy object by 180 degrees.

In the step (c), when the weight and the pivot portion are in a horizontal state, the current position of the balance weight is detected according to the center of gravity of each weight, and the sensed position information is stored in the storage unit.

In the step (b), when the position information of the balance weight corresponding to the weight is stored in the storage unit, the balance weight is moved according to the previously stored position information instead of calculating the initial position.

As described above, according to the automatic pivoting apparatus and leveling method of the present invention, the initial position of the balance weight is calculated using the weight information such as the load and length information of the heavy object, the center of gravity is found while moving the balance weight The weight can be accurately leveled to be in a horizontal state.

Thus, according to the present invention, it is possible to securely lift a heavy object having a non-uniform shape and turn it in the air, thereby preventing a safety accident occurring in the course of turning work.

According to the present invention, since the automatic pivoting device is removably mounted on the crane and the lower frame is rotated to pivot the heavy object, the work space can be remarkably reduced as compared with the case where the crane itself is rotated .

According to the present invention, it is possible to save the position of the balance weight along the center-of-gravity point of each heavy object so that the turning time of the heavy object can be rapidly performed in the case of the same weight, thereby shortening the working time.

Further, according to the present invention, it is possible to simplify the structure of the automatic swing device to the utmost, and to reduce the manufacturing cost.

1 is a block diagram of an automatic revolving apparatus according to a preferred embodiment of the present invention;
Fig. 2 is a configuration diagram of the automatic swing apparatus shown in Fig. 1,
3 is a sectional view taken along the line A-A 'shown in Fig. 1,
4 is a flow chart for explaining a stepwise leveling method of an automatic revolving apparatus according to a preferred embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an automatic pivoting apparatus and a leveling method according to preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of an automatic revolving apparatus according to a preferred embodiment of the present invention, and FIG. 2 is a configuration diagram of the automatic revolving apparatus shown in FIG.

As shown in FIGS. 1 and 2, the automatic revolving apparatus 10 according to the preferred embodiment of the present invention is installed in a crane (not shown) And a balancing part 30 movably installed in the swivel part 20 so as to correspond to the center of gravity of the weight O and the swivel part 20 to be rotated.

In addition, the automatic revolving apparatus 10 according to the preferred embodiment of the present invention includes a horizontal sensing unit 40 for sensing the horizontal state of the upper frame 21 provided in the swivel unit 20, The balance weight 31 calculates the initial position of the balance weight provided in the balancing portion 30 along the center of gravity of the heavy object O based on the weight information and the sensing signal of the horizontal sensing portion 40, And a control unit 50 for controlling the moving unit 50 to move.

In this embodiment, a heavy object such as a lower blade of an aircraft having a long length and a large load will be described as an example, but the present invention is not necessarily limited thereto.

That is, the present invention can pivot the weight in various shapes and sizes in the air.

Particularly, as shown in FIG. 2, the present invention calculates and centers the center of gravity of a heavy object whose shape is not constant and whose center of gravity is difficult to accurately predict.

2, the swivel part 20 includes an upper frame 21 detachably installed on a crane, a weight O disposed on a lower part of the upper frame 21, A driving motor 23 for generating a driving force for turning the heavy object O and a driving force transmitting member 22 for transmitting driving force of the driving motor 23 to the lower frame 22, (24).

The upper frame 21 and the lower frame 22 may be connected to the crane and the heavy object O by a chain or a connecting member 25 such as a wire or a rope, respectively.

Here, the connecting member 25 connecting the lower frame 22 and the heavy object O may be provided at least two, preferably three or more, so that the heavy object O can be safely lifted and turned.

For example, when the connecting member 25 is provided as a set, the connecting members 25 may be installed at both the ends and the center of the lower frame 22, respectively.

The power transmitting member 24 is connected to a slewing ring bearing provided between the upper frame 21 and the lower frame 22 and a driving force generated by the driving motor 23, To the outer ring of the swing bearing.

The swivel bearing fixes the axis of the rotating machine at a fixed position and rotates the shaft while supporting the weight of the shaft and the load applied to the shaft.

Such a swivel bearing may consist of an outer roller and an inner roller, a steel ball, a seal, a support, and the like.

In this embodiment, the swing bearing may be provided as an outer ring type swing bearing having a gear formed on the outer ring.

Accordingly, the inner ring of the swing bearing is connected to the upper frame 21, the outer ring of the swing bearing is connected to the lower frame 22, and rotated by the rotation of the driving gear to rotate the lower frame 22.

Next, the configuration of the balancing unit will be described in detail with reference to FIG.

3 is a cross-sectional view taken along the line A-A 'shown in FIG.

3, the balancing unit 30 includes a pair of balance weights 31 that are movably installed along both side surfaces of the lower frame 22, and a driving force for moving the balance weights 31 To the respective balance weights (31).

The balance weight 31 can be detachably attached to at least one of the balance weights 31 so that the weight can be adjusted according to the weight information of the weight O.

The driving module 32 includes a motor 33 for generating a driving force, a driving sprocket provided on an output shaft of the motor, a driven sprocket provided on one end of the lower frame 22, and a balance weight 31, And a chain 34 mounted to the sprocket and driven sprocket.

The driving module 32 can transmit the driving force of the motor 33 to the balance weight 31 through the driving sprocket and the chain 34 to adjust the position of the balance weight 31 by moving the balance weight 31.

To this end, guide rails 26 are provided on both side surfaces of the lower frame 22, and an engagement groove, which is coupled to the guide rail 26, is formed on the surface of the balance weight 31 which is in contact with the lower frame 22 have.

1, the horizontal sensing unit 40 is installed in the upper frame 21 or the lower frame 22, and senses the horizontal state of the swing unit 20 and transmits a sensing signal to the controller 50. [

Here, the horizontal sensing unit 40 may be a horizontal sensor or a tilt sensor for sensing the horizontal state of the swivel unit 20.

The control unit 50 may be provided as an electronic control unit that controls the driving of each device provided in the automatic swing device 10. [

Of course, in the present invention, the main control unit for controlling the driving of the crane may perform the function of the control unit, or the control unit may be provided separately from the main control unit.

Particularly, the control unit 50 controls the weight of the heavy object O in the leveling operation of the automatic revolving apparatus 10 in the state that the heavy object O is installed, weight information including the load, length, The operation of the balancing unit 30 can be controlled based on the weight information of the apparatus 10 and the sensing signal of the horizontal sensing unit 40. [

To this end, the automatic turning apparatus 10 according to the present embodiment includes a storage unit 51 for storing weight information, weight information of the automatic turning apparatus 10, various programs and information for driving the automatic turning apparatus 10, As shown in FIG.

The control unit 50 executes the driving program stored in the storage unit 51 to store the weight O in the lower frame 22 before lifting the weight O, The initial position of the balance weight 31 is calculated according to the weight information of the turning apparatus 10 and the driving of the motor 33 is controlled so as to adjust the position by moving the balance weight 31 to the calculated position.

Here, the heavy object information can be input through the operation unit 60. [

The operation unit 60 includes an input unit 61 for receiving various commands for operating the automatic swing device 10 and the heavy object information and an operation state of the automatic gyroscope 10 such as the weight information of the heavy object O, 20, and the like).

The operation unit 60 is provided as a remote controller for direct operation by an operator on the ground, and can perform communication with the control unit 50 in a wireless or wired manner.

The controller 60 controls the position of the balance weight 31 and checks the horizontal state of the swivel unit 20 using the sensing signal transmitted from the horizontal sensing unit 40. When the swivel unit 20 is horizontal The control unit 40 controls to store the current position of the balance weight 31 in the storage unit 51. [

Therefore, according to the present invention, the position of the balance weight can be adjusted according to the detection signal of the horizontal sensing unit, thereby accurately performing the leveling of the heavy object and the automatic swing device.

In the present invention, the position of the balance weight in which the pivot portion is in the horizontal state is stored in the storage portion, and in the case of the same weight, the weight can be quickly leveled with reference to the position of the stored balance weight.

 To this end, the present invention may further include a position sensing sensor 70 installed in the lower frame 22 for sensing the position of the balance weight 31.

The position detection sensor 70 may be provided with a limit switch, a proximity sensor, a motion detection sensor, or the like, installed at an initial position of the balance weight 31 stored for each heavy object through leveling, have.

Of course, the present invention can be modified to apply an encoder or a hall sensor, which senses the rotation angle or the rotation amount of the motor 33, to the position detection sensor 70.

Next, referring to FIG. 4, a method of leveling an automatic swing apparatus according to a preferred embodiment of the present invention will be described in detail.

4 is a flowchart illustrating a stepwise method of leveling an automatic swing apparatus according to a preferred embodiment of the present invention.

An automatic turning apparatus is installed in a crane (not shown) in step S10 of FIG. 4, and a heavy object O is installed on a lower frame provided in the turning unit 20 of the automatic turning apparatus 10 (S12).

At this time, it is preferable that the heavy object O is stably installed by at least two connecting members 25 so as to prevent a safety accident during a lifting operation and a turning operation.

Here, the operation unit 60 receives the weight information including the load and length information of the heavy object O from the worker, and transfers the information to the control unit 50 (S14).

The control unit 50 calculates the initial position of the balancing weight 31 provided in the balancing unit 30 using the weight information and the weight information of the automatic pivoting device 10. [

For example, the control unit 50 can calculate the initial position so that the moving distance of the balance weight 31 is increased and moved to the side where the load of the heavy object O is small, when the load deviation of the left and right sides of the heavy object O is large .

Then, the control unit 50 generates a control signal for controlling the driving of the motor 33 to move the balance weight 31 to the calculated initial position.

When the motor 33 is driven in accordance with the control signal of the control unit 50, the drive sprocket provided on the output shaft of the motor 33 and the balance weight 31 connected to the chain 34 are detected by the control unit 50 And moves to the initial position (S16).

When the automatic swing device 10 and the heavy object O are operated by the crane, the horizontal sensing part 40 senses the horizontal state of the swing part 20 and transmits a sensing signal to the control part 50.

Accordingly, the control unit 50 checks whether or not the swivel unit 20 and the heavy object O are in a horizontal state according to the detection signal of the horizontal sensing unit 40 (S18).

If the swing unit 20 and the heavy object O are inclined to one side and can not achieve a horizontal state as a result of the inspection in step S18, the controller 50 controls the balance weight 31 to move in a direction opposite to the direction in which the heavy object O is tilted And controls the position to be adjusted (S20).

At this time, the position sensing sensor 70 senses the position of the balance weight 31 and can transmit the sensed position to the control unit 50.

When the swing unit 20 and the heavy object O are brought into a horizontal state by the adjustment of the position of the balance weight 31 as a result of the inspection in step S18, the control unit 50 controls the balance weight 31 sensed by the position sensor 70, In the storage unit 51 (S22).

Then, when the weight O is raised by the crane by more than a predetermined height by the crane so as to prevent the interference with the worker or the structure on the ground, the control unit 50 controls the turning unit 20 to turn the heavy object O by 180 degrees And generates a control signal for controlling the driving of the drive motor 23 provided.

The outer wheel of the swing bearing receives the driving force via the driving gear provided on the output shaft of the driving motor 23 and rotates while being rotated by the driving force of the lower frame 22, And the heavy object O are turned 180 degrees (S24).

When the turning operation of the heavy object O is completed, the automatic turning apparatus 10 separates the corresponding heavy object O and then installs the new heavy object O and turns it.

At this time, when the automatic turning apparatus 10 is a weight O storing the position of the balance weight 31 along the center-of-gravity point by weight in the storage unit 51, it is unnecessary to calculate the initial position of the balance weight 31 The balance weight 31 can be moved to the stored position and the turning operation of the heavy object O can be performed quickly.

Through the above process, the present invention can calculate the initial position of the balance weight using the weight information such as the load and length information of the heavy object, and accurately level the heavy object so that the heavy object is horizontal while moving the balance weight.

Accordingly, the present invention can safely lift a heavy object and turn it in the air, thereby preventing a safety accident occurring during the turning operation.

Although the invention made by the present inventors has been described concretely with reference to the above embodiments, the present invention is not limited to the above embodiments, and it goes without saying that various changes can be made without departing from the gist of the present invention.

The present invention is applied to an automatic turning apparatus for calculating an initial position of a balance weight by using weight information and leveling the weight so that the weight is moved horizontally while moving the balance weight, and a method of leveling the same.

10: automatic turning device 20:
21: upper frame 22: lower frame
23: drive motor 24: power transmission member
25: connecting member 26: guide rail
30: Balancing part 31: Balance weight
32: drive module 33: motor
34: chain 40: horizontal sensing unit
50: control unit 51:
60: Operation part 61: Input part
62: Display 70: Position sensor
O: Weight

Claims (11)

A swinging part which is detachably installed in the crane and lifts a weight installed at the lower part and turns in the air;
And a balancing portion movably installed along a lower frame provided on the pivot portion so as to correspond to a center of gravity of the heavy object. The method according to claim 1,
A horizontal sensing unit for sensing a horizontal state of the upper frame provided in the swivel unit,
The initial position of the balance weight provided in the balancing portion along the center of gravity of the heavy object is calculated based on the weight information and the sensing signal of the horizontal sensing portion during the leveling process for turning the heavy object and the balance weight is controlled Further comprising a control unit for controlling the operation of the automatic turning apparatus. 3. The apparatus according to claim 1 or 2, wherein the turning unit
An upper frame detachably installed in the crane,
A lower frame provided with a weight at the bottom thereof and rotatably axially coupled to the upper frame,
A driving motor for generating driving force for turning the lower frame and the heavy object,
And a power transmitting member for transmitting the driving force of the driving motor to the lower frame. The power transmission apparatus according to claim 3, wherein the power transmitting member
A swing bearing installed between the upper frame and the lower frame;
And a driving gear coupled to an output shaft of the driving motor and transmitting a driving force generated by the driving motor to an outer ring of the swing bearing. 3. The apparatus according to claim 1 or 2, wherein the balancing unit
A pair of balance weights movably installed along both side surfaces of the lower frame,
And a driving module for generating and transmitting a driving force to each of the balance weights so as to move the respective balance weights. 6. The apparatus of claim 5, wherein the drive module
A motor for generating a driving force,
A drive sprocket provided on an output shaft of the motor, a driven sprocket provided on one end of the lower frame,
And a chain connected to a lower end of the balance weight and installed in the drive sprocket and the driven sprocket. 3. The method of claim 2,
A storage unit for storing the weight information, the weight information of the automatic turning apparatus, and the drive program,
Further comprising a position sensing sensor for sensing a position of the balance weight in a leveling process of the heavy object,
The control unit may control the horizontal sensing unit to detect a horizontal state of the heavy object and to store the position of the weighted weight in the storage unit according to the sensing signal of the position sensing sensor when the heavy object is horizontal, And the automatic revolving device. (a) installing an upper frame of the pivoting part on a crane and installing a heavy object on the lower frame,
(b) calculating an initial position of the balance weight based on the information of the heavy object and moving the calculated position to the calculated position; and
(c) leveling the balance weight by adjusting the position of the balance weight so that the weight and the pivot portion are in a horizontal state. 9. The method of claim 8,
(d) rotating the lower frame to turn the heavy object 180 degrees when the heavy object and the pivot portion are horizontal in the step (c). 10. The method according to claim 8 or 9,
Wherein the step (c) includes sensing the current position of the balance weight along the center of gravity of each of the heavy objects and the detected position information in the storage unit when the heavy object and the turning unit are in a horizontal state. 11. The method of claim 10,
Wherein when the position information of the balance weight corresponding to the weight is stored in the storage unit, the balance weight is moved in accordance with the previously stored position information instead of calculating the initial position. A method of leveling a device.

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