KR20160138686A - Safety apparatus for crane of molten steel ladle and control method thereof - Google Patents

Safety apparatus for crane of molten steel ladle and control method thereof Download PDF

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Publication number
KR20160138686A
KR20160138686A KR1020150072843A KR20150072843A KR20160138686A KR 20160138686 A KR20160138686 A KR 20160138686A KR 1020150072843 A KR1020150072843 A KR 1020150072843A KR 20150072843 A KR20150072843 A KR 20150072843A KR 20160138686 A KR20160138686 A KR 20160138686A
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KR
South Korea
Prior art keywords
molten steel
collision
ladle
steel ladle
crane
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Application number
KR1020150072843A
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Korean (ko)
Inventor
이수구
배진운
Original Assignee
현대제철 주식회사
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Priority to KR1020150072843A priority Critical patent/KR20160138686A/en
Publication of KR20160138686A publication Critical patent/KR20160138686A/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
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C17/00—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports
    • B66C17/06—Overhead travelling cranes comprising one or more substantially horizontal girders the ends of which are directly supported by wheels or rollers running on tracks carried by spaced supports specially adapted for particular purposes, e.g. in foundries, forges; combined with auxiliary apparatus serving particular purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/01—General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)

Abstract

The present invention relates to a safety device of a crane for a molten steel ladle and a method for controlling the same. The safety device of a crane for a molten steel ladle comprises: an encoder unit which detects one among a rotation direction, rotation speed, and number of rotations of a motor or a roller of a crane which winds up a wire connected to a hook joined to a molten steel ladle; a lower portion height detection unit which detects a height from a predetermined bottom surface to a lower side of the molten steel ladle around which the wire is wound as the molten steel ladle is lifted; a side collision information detection unit which detects information for preventing collision with facilities located on a transfer path when the molten ladle is transferred after being lifted; and a control unit which senses whether the molten steel ladle is lifted to a normal height for transfer based on the information detected by the encoder unit and the lower height detection unit and also senses the risk of collision with facilities on the front side of the molten steel ladle being transferred based on the information detected by the side collision information detection unit and then performs an operation for preventing a collision.

Description

FIELD OF THE INVENTION [0001] The present invention relates to a safety device for crane for molten steel ladle,

The present invention relates to a safety device for a crane for molten steel ladle and a control method thereof, and more particularly, to a safety device for a crane for a molten steel ladle, and more particularly to a safety device for a crane for ladle ladle, To a safety device for a crane for molten steel ladle and a control method thereof.

The steel equipment factory is an industrial field that covers large facilities and high-temperature objects. Facility accidents lead to large accidents, and the amount of damages is also very large.

Therefore, it is required to constantly improve and improve facilities to prevent safety accidents and improve productivity in steel plant factories.

In particular, steel mills can be caused by high-temperature high-temperature charcoal scattered and dusty areas, and due to the uncertainty of the blind spot in the crane cabin that can not be read by the driver's eyes when the ladle of the ladle There is a need for improvement measures to prevent major accidents.

Furthermore, there is a need for a method for preventing the occurrence of a crash caused by a crane in the process of transferring molten steel ladles to the upper portion of the ladle turret in a steelmaking plant.

BACKGROUND ART [0002] The background art of the present invention is disclosed in Korean Patent Laid-Open No. 10-2002-0000402 (Apr. 15, 2002).

According to an aspect of the present invention, there is provided a safety device for a crane for molten steel ladle and a control method thereof for preventing a crane that transfers molten steel ladles from a steelmaking plant from colliding with equipment or safety rails on a transfer path will be.

A safety device for a crane for molten steel ladle according to one aspect of the present invention includes an encoder for detecting at least one of a rotation direction, a rotation angle, and a rotation number of a motor or a roller of a crane for winding a wire connected to a hook fastened to a molten steel ladle, part; A lower height detector for detecting a height from a pre-designated floor to a lower surface of the lifting ladle as the molten steel ladder is wound around the wire; A side collision information detecting unit for detecting information for preventing collision with a facility on a conveying path when the steel ladle is lifted and conveyed; And a controller for detecting whether the steel ladle is lifted up to a transportable normal height based on information detected through the encoder and the lower height detector and for detecting whether the ladle is transported based on information detected through the side collision information detector And a control unit for detecting the risk of collision with the facility in front and performing a collision avoidance operation in advance.

The present invention further includes an alarm unit for outputting an alarm around the crane under the control of the control unit when there is a risk of a collision between the molten steel ladle and a facility in front of the molten steel ladle, And at least one of an alarm by information or an alarm by audible information.

The present invention further includes a communication unit for notifying a risk of a collision to a crane operation room under the control of the control unit when there is a risk of a collision between the ladle and the facilities in front of the ladle, And notifies the user that the portable steel ladle is safely being transported to the crane operating room under the control of the control unit when there is no risk of collision between the ladle and the facility.

In the present invention, the encoder unit outputs a count signal every predetermined rotation angle unit when the motor or the roller rotates, and the control unit counts the accumulated count signal, and calculates a height .

The side impact information detecting unit may include a camera sensor for simultaneously photographing the facility in front of the direction of conveyance in relation to the molten steel ladle at a side of the direction in which the molten steel is conveyed, The image is detected to simultaneously detect the distance from the facility to the side of the molten steel ladle and the height from the highest point of the facility to the bottom of the steel ladle to detect the risk of collision.

According to another aspect of the present invention, there is provided a control method for a crane safeguard for a molten steel ladle, comprising the steps of: detecting, by a crane, a lifting height of the steel ladle through an encoder unit when the steel ladle starts lifting; The control unit detects the lower height of the rising steel ladle through the lower height detecting unit, and crosschecks the rising height and the lower height to determine whether the normal height is for transporting the steel ladle; And a controller for detecting the risk of collision with a facility in front of the facility where the hot-rolled steel is conveyed based on the information detected by the control unit through the side-collision information detecting unit when the hot- The method comprising the steps of:

In the present invention, in the step of sensing the risk of collision with the facilities in front of the transporting ladle, the control unit controls the transporting direction of the ladle in the transport direction of the ladle through the camera sensor of the side collision information detecting unit. And a facility located in front of the moving direction of the molten steel ladle and processing the photographed image to measure a distance from the facility to the side of the molten steel ladle and a height from a highest point of the facility to a bottom surface of the molten steel ladle And simultaneously detecting the collision risk.

In the present invention, in the step of performing the collision avoidance operation, when there is a risk of a side collision of the molten steel ladle with respect to the facility, the control unit outputs an alarm around the crane through the alarm unit as the collision avoidance operation, To the crane operator's room.

The present invention makes it possible to prevent an accident that a crane that carries ladles of steel mills collides with facilities or safety rails on a conveying path. Further, the present invention makes it possible to improve the productivity by preventing the safety accident of the crane for the molten steel ladle.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a schematic configuration of a safety device for a crane for a molten steel ladle according to an embodiment of the present invention; FIG.
2 is an exemplary diagram showing a graph in which the control unit counts and counts the count signal output from the encoder unit in FIG.
FIG. 3 is an exemplary diagram illustrating a graph in FIG. 1, in which a control unit processes signals output from a lower height detection unit. FIG.
FIG. 4 is an exemplary view for explaining a method of determining a possibility of collision based on a side distance and a bottom height of a steel ladle from a calculated facility by processing the image photographed by the side collision information detecting unit in FIG. 1;
5 is a flowchart illustrating a method of controlling a safety device for a crane for a molten steel ladle according to an embodiment of the present invention.
6 is an exemplary view for understanding the process in which a crane for molten steel ladle transfers molten steel ladle according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a safety device for a crane for a molten steel ladle according to the present invention and a control method thereof will be described with reference to the accompanying drawings.

In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is an exemplary view showing a schematic configuration of a safety device for a crane for a molten steel ladle according to an embodiment of the present invention.

1, the safety device 100 for a crane for a molten steel ladle according to the present embodiment includes an encoder 110, a lower height detector 120, a side impact information detector 130, a controller 140, An alarm unit 150, and a communication unit 160.

The encoder unit 110 is configured to clamp a hook (not shown) on a ladle (or a molten steel ladle) on a molten steel drum (not shown), and then wind a wire (not shown) connected to the hook to lift the ladder (Or a roller that winds a wire to which the hook is connected) (not shown) for rotating the motor (or the rotation angle).

The count signal output by the encoder 110 according to the number of rotations (or rotation angle) of the motor (or the roller) (not shown) Lt; / RTI > elevation).

The encoder unit 110 outputs a count signal every predetermined rotation angle (for example, 10 degrees) when the motor (or the roller) (not shown) rotates to lift the ladle.

For example, if it is assumed that the encoder (110) outputs a count signal every 10 degrees in accordance with the rotation of the motor (or the roller), when the motor (or the roller) The controller 110 outputs 36 count signals, and the controller 140 receives the count signal and counts the accumulated counts, thereby calculating the height of the ladders (see FIG. 2).

FIG. 2 is an exemplary diagram showing a graph in which the control section counts and counts the count signal output from the encoder section in FIG. 1; FIG.

As shown in FIG. 2, the encoder unit 110 sets a minimum count value and a maximum count value to be output according to a section (that is, a section in which the steel ladle is lifted in the steelmaking plant). The minimum count value and the maximum count value are set in consideration of an error margin of the encoder unit 110.

Referring back to FIG. 1, the lower height detecting unit 120 detects the lower height of the lower surface of the rail from which the crane starts to rise by hooking the molten steel ladle (for example, Etc.) to the lower surface of the rising steel ladle.

The lower height detecting unit 120 detects the lower height of the steel ladle using at least one distance sensor (e.g., a laser sensor, an ultrasonic sensor, an infrared ray sensor, or the like) (that is, The height from the bottom surface of the ladle to the lower surface of the rising ladle).

The lower height detector 120 outputs a more accurate value (i.e., a height value of the steel ladder) in comparison with a value output from the encoder unit 110. [

When the value output from the lower height detector 120 and the value output from the encoder 110 (i.e., the height of the ladle) output the same value within the error range, (See Fig. 3) based on the value output from the lower height detecting unit 120. [0053] Fig.

3 is an exemplary diagram illustrating a graph in which the controller outputs a signal output from the lower height detector in FIG.

3, the lower height detecting unit 120 detects the lower height by using a distance sensor (e.g., a laser sensor, an ultrasonic sensor, an infrared sensor, etc.) (not shown) And detects the height to the lower surface of the rising steel ladle.

Referring to FIG. 3, it can be seen that the shape detected on the bottom surface as well as the side surface of the molten steel ladle is shown in the graph. Accordingly, the controller 140 calculates the coordinate value of the Y axis at the coordinates (30, 65) of the bottom flat portion in the detected signal using the distance sensor (not shown) as the lower height.

For example, referring to the graph shown in FIG. 3, it can be seen that the height of the steel ladle is 65 (Cm), which is the height of the bottom of the steel ladle at the reference floor (0, 0) (I.e., 60 (Cm)). Accordingly, the controller 140 can determine that the lower height of the ladle has been raised to a normal height (i.e., a transportable height).

Referring again to FIG. 1, the side collision information detecting unit 130 detects a risk of collision with a facility on the conveying path when the steel ladle is lifted and conveyed.

The side collision information detecting unit 130 detects the side collision information from a facility (for example, a safety guardrail, a ladle turret, etc.) (not shown) on the transport path when the ladle is transported, And the height from the highest point of the facility (i.e., the highest point in the specified facility on the path through which the ladders are transported) to the bottom surface of the steel ladle at once.

The side collision information detecting unit 130 simultaneously photographs the molten steel ladle and the facilities on the side of the direction in which the molten steel ladle is conveyed using a camera sensor (not shown). The control unit 140 processes the photographed image to calculate the distance from the facility to the side of the crucible and the highest point of the facility (i.e., the highest point in the specified facility on the path through which the ladders are transported) To the bottom surface of the steel ladle.

Since the lower height detecting unit 120 detects the height at the lower portion of the point where the molten steel is conveyed after the molten steel is conveyed, the lower height detecting unit 120 may detect the height of the lower height Detection alone may not be able to detect the access of the facility to the specific facility.

The side collision information detecting unit 130 detects the distance from the specific facility to the side surface of the ladle steel ladder in a period where the risk of collision between the specific facility and the ladle ladle can not be detected only by detecting the lower height as described above, The control unit 140 detects the height from the highest point of the facility to the bottom surface of the steel ladder at the same time even before the ladle is transferred to thereby determine the possibility of collision based on the information detected through the side collision information detecting unit 130 Can be detected in advance.

That is, the controller 140 controls the side impact information detecting unit 130 based on information (e.g., side distance information, lower height information of the steel ladder) (For example, alarm output & situation notification to the crane cab) (see FIG. 4).

4 is an exemplary view for explaining a method of determining a possibility of collision based on a side distance and a lower height of a ladle ladle from a facility calculated by processing the image photographed by the side collision information detecting unit in the above FIG. 1 .

As shown in FIG. 4, the side collision information detecting unit 120 simultaneously photographs the facility in front of the moving direction of the molten steel ladle at a side of the direction in which the molten steel is conveyed.

The control unit 140 processes the photographed image and calculates the height from the facility to the side of the ladle and the height from the highest point of the facility to the bottom of the ladder at a time.

Accordingly, when there is no possibility of collision between the molten steel ladle and the facility based on the distance information from the facility to the side of the molten steel ladle and the height information from the highest point of the facility to the bottom surface of the ladle, 140 transports the molten steel to the target point and performs predetermined collision avoidance operations (eg, alarm output & status notification to the crane cabin) if there is a possibility of collision with the molten steel ladle and the facility.

As described above, the control unit 140 processes the signal output from the encoder unit 110 to detect a height at which the ladle is lifted, processes the signal output from the lower height detector 120, And detects the lower height and processes the photographed image through the side collision information detecting unit 130 so that the distance to the specific facility in front of the direction in which the steel ladle is conveyed and the distance from the bottom of the steel ladle at the highest point of the facility The height to the face is calculated at the same time.

The controller 140 processes the signal (or information) detected through the encoder 110, the lower height detector 120, and the side collision information detector 130 and crosschecks And detects the risk of collision with the facilities in front of the transporting ladle, and performs the collision avoidance operation.

1, the alarm unit 150 outputs an alarm around the crane under the control of the controller 140 when there is a risk of a collision between the ladle and the facility in front of the ladder.

The alarm output by the alarm unit 150 includes at least one of an alarm based on visual information or an alarm based on audible information.

The communication unit 160 informs the crane operation room of a situation (for example, a collision risk) under the control of the control unit 140 when there is a risk of a collision between the ladle and the facility in front of the ladder.

The communication unit 160 informs the crane operator of a situation (e.g., a collision risk) in a wired or wireless manner.

Of course, the control unit 140 notifies the crane operation room through the communication unit 160 of a situation (for example, a situation in which the ladles are safely being transported) even in a safety situation in which there is no risk of collision between the ladle and the facility It is possible.

FIG. 5 is a flowchart illustrating a method of controlling a safety device for a crane for a molten steel ladle according to an exemplary embodiment of the present invention. FIG. 6 is a flowchart illustrating a method for controlling the safety device of a crane for a molten steel ladle according to an exemplary embodiment of the present invention. For example.

As shown in FIG. 5, when the steel ladle starts to be lifted by the crane (S101), the control unit 140 detects the elevation height of the steel ladle through the encoder unit 110 (S102).

The controller 140 controls the lower height of the ladle starting to rise from the bottom height detecting unit 120 (i.e., from the bottom surface of the point where the ladle starts to raise the ladle to the lower surface of the rising ladle (S103).

Here, the rising height and the bottom height mean substantially the same height, but in the present embodiment, they are used in combination for convenience of explanation.

The control unit 140 crosschecks the elevation height of the steel ladle detected through the encoder unit 110 and the lower height of the steel ladle detected through the lower height detection unit 120, It is determined whether or not it is a normal height for transport (S104).

For reference, the height for transporting the steel ladle can be set differently for each transport section.

If the height for conveying the molten steel ladle is normal (YES in S104), the controller 140 controls the crane operating room 200 to communicate with the crane operating room 200 through the communication unit 160, ), And accordingly the crane driver transfers the ladle ladles toward the target point (S105).

However, if the height for conveying the molten steel is not normal (NO in S104), the control unit 140 outputs an alarm through the alarm unit 150 (S108).

During the transportation of the molten steel, the controller 140 controls the side collision information detecting unit 130 to calculate the distance from the facility located in the direction in which the molten steel ladle is conveyed to the side of the dragon ladle, (Or detected) the height from the point to the bottom surface of the steel ladle at a time (S106).

The controller 140 controls the side impact information detector 130 to detect a lateral collision of the facility with respect to facilities (that is, a facility located in the forward direction of the steel ladle) based on the lateral distance and the lower height of the steel ladle It is determined whether there is a risk (S107).

If there is a risk of a side collision of the ladle with respect to the facility (S107), the control unit 140 outputs an alarm through the alarm unit 150 (S108).

The control unit 140 informs the crane operator 200 of the risk of collision with the facility through the communication unit 160 when there is a risk of side collision of the facility, It is notified that the portable lifting gears are safely being transported to the crane operating room 200 through the communication unit 160 at step S109.

As described above, according to the present embodiment, it is possible to prevent an accident that a crane for transporting steel ladles of steel mills collides with facilities or safety rails on a conveying path, and prevents a safety accident of a crane for a molten steel ladle And productivity can be improved.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, I will understand the point. Accordingly, the technical scope of the present invention should be defined by the following claims.

100: Safety device for crane for molten steel ladle
110: Encoder section
120: Lower height detector
130: side collision information detector
140:
150:
160:
200: Crane cabin

Claims (8)

An encoder unit for detecting at least one of a rotation direction, a rotation angle, and a rotation number of a motor or a roller of a crane for winding a wire connected to a hook fastened to the molten steel ladle;
A lower height detector for detecting a height from a pre-designated floor to a lower surface of the lifting ladle as the molten steel ladder is wound around the wire;
A side collision information detecting unit for detecting information for preventing collision with a facility on a conveying path when the steel ladle is lifted and conveyed; And
A detector for detecting whether the molten steel is lifted up to a transportable normal height based on information detected through the encoder and the lower height detector, and a controller for detecting, based on information detected through the side impact information detector, And a control unit for detecting a risk of collision with the facility in advance and performing a collision avoidance operation.
The method according to claim 1,
Further comprising an alarm unit for outputting an alarm around the crane under the control of the control unit when there is a risk of a collision between the molten steel ladle and a facility in front of the molten steel ladle,
Wherein the alarm includes at least one of an alarm based on visual information or an alarm based on audible information.
The method according to claim 1,
Further comprising a communication unit for notifying the crane operator of the risk of collision according to the control of the control unit when there is a risk of a collision between the ladle and the facility in front of the ladle,
Wherein the communication unit informs the crane ladle when the safety ladle is being safely transported to the crane operating room under the control of the control unit when there is no risk of collision between the ladle and the facility safety device.
The method according to claim 1,
Wherein the encoder unit outputs a count signal every predetermined rotation angle unit when the motor or the roller rotates,
Wherein the control unit receives the count signal, cumulatively counts the calculated count signal, and calculates the elevation height of the molten steel ladle.
The apparatus according to claim 1, wherein the side collision information detecting unit comprises:
And a camera sensor for simultaneously photographing the molten steel ladle at the side of the direction in which the molten steel ladle is conveyed, and the facility in front of the conveyance direction,
Wherein the controller processes the photographed image to detect a collision risk by simultaneously detecting a distance from a facility to a side of the molten steel ladle and a height from a highest point of the facility to a bottom surface of the molten steel ladle, Safety device for crane for molten steel ladle.
When the molten steel starts to be lifted by the crane, the control unit detects the elevation height of the molten steel through the encoder unit;
The control unit detects the lower height of the rising steel ladle through the lower height detecting unit, and crosschecks the rising height and the lower height to determine whether the normal height is for transporting the steel ladle; And
The control unit detects the risk of collision with the facility in front of the facility where the hot-rolled steel is conveyed based on the information detected through the side-collision information detecting unit, And a control unit for controlling the crane safety device.
[7] The method of claim 6, wherein, in the step of sensing the risk of collision with the facilities in front of the transported molten steel,
Wherein the control unit simultaneously photographs a facility located in front of the moving direction of the molten steel ladle in the direction in which the molten steel ladle is conveyed through the camera sensor of the side collision information detecting unit and processes the photographed image, Wherein a distance between the side of the molten steel ladle and a height of the facility from the highest point to the bottom of the ladle is detected at the same time to detect the risk of collision.
7. The method of claim 6, wherein, in performing the anti-collision operation,
If there is a risk of side impact of the steel ladle with respect to the facility,
Wherein the control unit outputs an alarm around the crane through the alarm unit as the collision avoidance operation and informs the crane operator of the risk of collision through the communication unit.
KR1020150072843A 2015-05-26 2015-05-26 Safety apparatus for crane of molten steel ladle and control method thereof KR20160138686A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200012583A (en) 2018-07-27 2020-02-05 주식회사 포스코 Transporting apparatus and transporting method

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200012583A (en) 2018-07-27 2020-02-05 주식회사 포스코 Transporting apparatus and transporting method

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