KR20210079902A - Crane apparatus and driving method thereof - Google Patents

Abstract

The present invention relates to a crane device and a traveling method thereof. The crane device comprises: a path portion forming a traveling path; a body portion including a traveling wheel installed to travel along a path portion, a vehicle body supported on the traveling wheel, and a bumper protruding from the vehicle body along the path portion; and a brake portion installed in the body portion to provide braking force to the traveling wheel by using the contact between an obstacle and the bumper, thereby capable of preventing braking failure or the vehicle body from being pushed by a reaction force.

Description

CRANE APPARATUS AND DRIVING METHOD THEREOF

The present invention relates to a crane device and a driving method thereof, and more particularly, to a crane device and a driving method thereof, which can prevent braking failure or a vehicle body being pushed out by a reaction force during braking.

In steelworks, overhead cranes are used to transport various heavy objects such as scrap iron, molten iron, molten steel, and cast iron. Since overhead cranes are usually operated at high positions, most of them lead to major accidents if they deviate from a set route. Accordingly, in order to prevent the overhead crane from deviating from the predetermined route, a stopper is installed outside the predetermined route, and a bumper is installed on the vehicle body of the overhead crane.

Even if the overhead crane approaches the outskirts of the specified route due to sudden power cut off or inexperienced operation of the operator, the bumper contacts the stopper before the vehicle body of the overhead crane deviates from the specified route, and the body of the overhead crane is decelerated by the hydraulic pressure in the bumper. and forcibly stopped.

However, when the overhead crane rapidly approaches the outside of the set route and the bumper strongly impacts the stopper, the stopper is damaged and the vehicle body of the overhead crane pushes the stopper. Alternatively, there is a problem in that the vehicle body of the overhead crane is pushed in the opposite direction to the approach direction by the strong reaction force at the time of impact and the heavy object being transported is dropped.

The technology underlying the present invention is disclosed in the following patent documents.

US 10-2014-0121624 A US 10-1832222 B1

The present invention provides a crane device capable of preventing braking from failing and a driving method thereof.

The present invention provides a crane device capable of preventing a vehicle body from being pushed by a reaction force generated during braking, and a driving method thereof.

Crane apparatus according to an embodiment of the present invention, a path portion for forming a traveling path; a body portion including a traveling wheel installed to travel along the path portion, a vehicle body supported by the traveling wheel, and a bumper protruding from the vehicle body along the path portion; and a brake unit installed in the main body to provide a braking force to the traveling wheel by using the contact between the obstacle and the bumper.

The brake unit may be spaced apart from the driving wheel using magnetic force, and when power is cut off by contact between the obstacle and the bumper and the magnetic force is released, the brake unit may be formed to be in close contact with the driving wheel using a restoring force. .

The brake unit may include a sensor installed to detect a contact between the obstacle and the bumper.

The brake part may include: a driver connected to the vehicle body, extending toward the driving wheel, and movable toward the driving wheel using power sources independent from the main body part; and a brake shoe mounted on one end of the actuator so as to be in contact with the driving wheel.

The actuator may include: an operation member configured to be rotatably forward and backward toward the driving wheel and to which the brake shoe is mounted at one end facing the driving wheel; a first power source for operating the operation member to separate the brake shoe from the travel wheel; and a second power source that operates the operation member to bring the brake shoe into contact with the traveling wheel.

The first power source may include a magnetic body and an electromagnet, and the second power source may include an elastic body, and the magnetic body, the electromagnet, and the elastic body may have opposite directions of applying power.

The magnetic body is mounted on the other end positioned higher than one end of the operating member, and the electromagnet is installed at a position facing the magnetic body in the forward and backward direction of the operating member, and is connected to a power supply through a relay connected to the sensor. can be connected

The elastic body is connected to the magnetic body at a position facing the magnetic body in the forward and backward direction of the operation member, the attractive force of the electromagnet is greater than the elastic force of the elastic body, and the elastic body and the electromagnet are located on the same side with respect to the magnetic body In this case, the length of the elastic body is longer than the length of the electromagnet.

The operating member may include: a base plate connected to the vehicle body and having a height fixed to the vehicle body; a lifting bar disposed to penetrate the base plate in the vertical direction, the first power source and the second power source being disposed at an upper end; a rotation shaft connected to the vehicle body and fixed in height relative to the vehicle body at a height lower than the base plate; A rotating bar located below the base plate, the brake shoe is mounted on one end, the other end opposite to the one end is connected to the lifting bar, and a point between the one end and the other end is supported on the rotating shaft. can

The brake unit may include a length adjuster mounted on a lower end of the lifting bar to be movable along the lifting bar, and contactable to a support shaft of the traveling wheel when the lifting bar is lowered.

It may further include a; locking unit formed on the contact surface of the brake unit and the driving wheel to forcibly restrict the rotation of the driving wheel.

A crane apparatus traveling method according to an embodiment of the present invention includes a process of traveling a vehicle body of a crane apparatus along a traveling path; detecting a contact between an obstacle and a bumper protruding from the vehicle body; and providing a braking force to a driving wheel provided under the vehicle body to emergency stop the vehicle body.

The obstacle may include a stopper provided on at least one side of the driving path, and the emergency stopping of the vehicle body may include generating a braking force using power sources independent from the vehicle body.

The process of driving the vehicle body may include: generating magnetic force by receiving power; and separating the brake shoe from the driving wheel by using the magnetic force.

The emergency stopping of the vehicle body may include, when a contact between the obstacle and the bumper is sensed, blocking the input of the power using the detection signal; and returning the brake shoe by using a restoring force to bring the driving wheel into contact with the brake shoe.

The process of emergency stopping the vehicle body may include a process of mutually locking an outer peripheral surface of the driving wheel and a braking surface of the brake shoe.

According to an embodiment of the present invention, upon detecting contact between the bumper and an obstacle on the traveling path, the brake unit can be brought into close contact with the traveling wheel provided on the vehicle body of the crane device to provide strong braking force, and the vehicle body can be stopped in an emergency. Since the braking operation is performed by the brake unit independent from the driving system of the vehicle body, the vehicle may operate normally even when the power of the vehicle body is cut off.

Accordingly, when the bumper strongly impacts the stopper, it is possible to prevent the vehicle body from pushing the stopper due to failure of braking, or from pushing the vehicle body away from the stopper by a strong reaction force generated during impact. That is, as soon as the bumper and the stopper come into contact, the vehicle body is prevented from moving any more, so that the vehicle body can be forcibly stopped. Accordingly, it is possible to prevent accidents such as breakage of the track due to braking failure or delay of the vehicle body and dropping of a heavy object while being transported.

1 is a schematic view of a crane device according to an embodiment of the present invention.
Figure 2 is a partial enlarged view of the crane device according to an embodiment of the present invention.
3 is a partially enlarged view of a brake unit according to an embodiment of the present invention.
4 is a side view of a brake unit according to an embodiment of the present invention.
5 is an exploded view of a brake unit according to an embodiment of the present invention.
6 is an operation diagram of a brake unit according to an embodiment of the present invention.
7 is a partially enlarged view of a crane device according to a modified example of the present invention.

Hereinafter, with reference to the accompanying drawings, an embodiment of the present invention will be described in detail. However, the present invention is not limited to the embodiments disclosed below, and will be implemented in various different forms. Only the embodiments of the present invention are provided to complete the disclosure of the present invention, and to completely inform those of ordinary skill in the art the scope of the invention. The drawings may be exaggerated in order to explain the embodiment of the present invention, and the same reference numerals in the drawings refer to the same elements.

A crane device and a driving method thereof according to an embodiment of the present invention may be applied to various driving equipment traveling on rails in various industrial fields. Hereinafter, an embodiment of the present invention will be described in detail with reference to the overhead crane of the steel mill.

1 is a schematic view of a crane device according to an embodiment of the present invention. Figure 2 is a partial enlarged view of the crane device according to an embodiment of the present invention.

1 and 2 , the crane device according to an embodiment of the present invention includes a path unit 100 forming a traveling path, and a traveling wheel 240 installed to travel along the path unit 100, The body 210 supported on the driving wheel 240 and the body portion 200 including the bumper 260 protruding from the vehicle body 210 along the path portion 100, and the obstacle and the bumper 260 are in contact with each other. and a brake unit 300 installed in the body unit 200 to provide braking force to the driving wheel 240 by using the brake unit.

In addition, the above-described crane device may include a lifting unit 400 and a loading unit 500 to transport the heavy object (10).

The obstacle may mean various structures and moving objects that may come into contact with or collide with the main body 200 when the main body 200 travels along the path 100 . Such an obstacle may include, for example, a stopper 120 to be described later.

On the other hand, when the crane device has a plurality of body parts 200 and these plurality of body parts 200 use the same path part 100 , the plurality of body parts 200 become obstacles with respect to each other. can Hereinafter, the stopper 120 is exemplified as an obstacle.

Referring to FIG. 2 , the path part 100 extends along the driving path and includes a rail 110 on which a vehicle body is seated, and at least one installed so as to be in contact with the bumper 260 from the outside of the rail 110 . may include a stopper 120 of

The rail 110 may be spaced apart from the ground. Of course, the rail 110 may be installed on the ground. A plurality of rails 110 may form a pair, for example, two. The pair of rails 110 may be spaced apart from each other and extend in parallel along the driving path. In this case, the traveling path means a traveling path of the main body 200 . The driving wheel 240 may be seated on the rail 110 .

The stopper 120 may be installed outside the driving path. Here, the outside of the traveling path may be both edges of the rail 110 in the direction in which the main body 200 travels and its periphery. The stopper 120 may protrude a predetermined height upward of the rail 110 , and may have a contact surface to which the bumper 260 may come into contact. The stopper 120 may contact the bumper 260 before the main body 200 departs from the travel path, and may prevent the main body 200 from deviating from the travel path.

The body part 200 may include a vehicle body 210 , a support body 220 , a vehicle body 230 , a driving wheel 240 , a support shaft 250 , and a bumper 260 . The vehicle body 210 may have the lifting unit 400 supported on the upper portion, and the plurality of support members 220 may be installed on the lower portion of the vehicle body 210 . A plurality of traveling bodies 230 may be installed under the support 220 . In addition, a plurality of support shafts 250 may be installed under the vehicle body 230 , and the driving wheel 240 may be supported on the support shaft 250 .

The vehicle body 210 serves as a body of the crane device. The vehicle body 210 may have a predetermined area and a predetermined height, and may include at least one frame. The supporter 220 may extend in a width direction in which the pair of rails 110 are spaced apart from each other, and may be spaced apart from each other in a longitudinal direction in a direction in which the pair of rails 110 extend, and the vehicle body 210 ) can be installed on the lower surface of the The support 220 may include a suspension to support the weight of the vehicle body 210 .

The traveling body 230 may be spaced apart from each other in the width direction and the length direction, and may be installed on the lower surface of the support body 220 . The traveling body 230 may be formed, for example, in a block shape, and an accommodation space may be provided therein to accommodate the support shaft 250 and the traveling wheel 240 . The receiving space is opened downward, and the traveling wheel 240 may protrude downward from the receiving space (see FIGS. 1 and 4 ). The traveling body 230 may include a driving motor (not shown) to rotate the support shaft 250 .

A plurality of support shafts 250 may be provided, each extending in the width direction, spaced apart from each other in the length direction, and respectively mounted to the lower portion of the traveling body 230 in the width direction. Also, the support shaft 250 may be connected to a driving motor and may be rotated by the driving motor. The traveling wheel 240 may be disposed in the receiving space of the traveling body 230 , may be mounted and supported on the support shaft 250 , and may be seated on the rail 110 . In addition, the driving wheel 240 may be rotated by the support shaft 250 to drive the vehicle body 210 .

The bumper 260 may protrude from the support 220 in the driving direction of the main body 200 , and may protrude outward than the vehicle body 200 . In addition, the bumper 260 may be formed to be stretchable in the traveling direction of the main body 200 . Accordingly, the bumper 260 performs a cushioning action by first contacting the stopper 120 before the main body 200 when the main body 200 is driven so as to be close to the stopper 120 , and the main body 200 is closed. can be slowed down. The traveling direction of the main body 200 may mean a direction parallel to the extending direction of the pair of rails 110 .

The bumper 260 extends in the traveling direction of the main body 200, protrudes outward from the vehicle body 210, and is mounted on a hydraulic cylinder 261 and a hydraulic cylinder 261 provided with hydraulic pressure therein, and a stopper The rod 262, a part of which protrudes to the outside of the hydraulic cylinder 261 so as to be in contact with the 120, is disposed on the outer circumferential surface of the rod 262, and elastically supports the rod 262 toward the stopper 120 side. A spring 263 may be included.

The rod 262 may be positioned between the vehicle body 210 and the stopper 120 , and may first contact the stopper 120 when the vehicle body 210 approaches the stopper 120 . When the rod 262 comes into contact with the stopper 120 , it retreats toward the hydraulic cylinder 261 , and may be supported by hydraulic pressure and elasticity, and may cushion the impact caused by the contact.

At this time, the vehicle body 210 may rapidly approach the stopper 120 and the bumper 260 may strongly impact the stopper 120 . At this time, if the vehicle body 210 does not stop, the vehicle body 210 may push the stopper 120 , or the vehicle body 210 may be pushed away from the stopper 120 by a strong reaction force during impact.

In order to prevent this, the brake unit 300 according to an embodiment of the present invention is normally spaced apart from the driving wheel 240 using magnetic force, and is a power for generating magnetic force by contacting the bumper 260 with an obstacle. When this is blocked and the magnetic force is resolved, it may be formed so as to be in close contact with the driving wheel 240 using a restoring force. Accordingly, as soon as the bumper 260 impacts the stopper 120 , a braking force may be provided to the driving wheel 240 , and the vehicle body 210 may be stopped. In this case, the restoring force may be an elastic restoring force, but in addition to this, the restoring force may be various.

On the other hand, the aforementioned reaction force means a reaction force (repulsion force) with respect to the impact applied to the stopper 120 by the bumper 260 . For example, when the bumper 260 impacts the stopper 120 , the stopper 120 may apply a reaction force of the same magnitude to the bumper 260 .

3 is a partially enlarged view of a brake unit according to an embodiment of the present invention, and FIG. 4 is a side view of the brake unit according to an embodiment of the present invention. 5 is an exploded view of a brake unit according to an embodiment of the present invention.

2 to 5 , the brake unit 300 may include a brake shoe 310 , a driver, and a sensor 360 . In this case, the actuator may include an operation member 320 , a first power source 330 , and a second power source 340 . The brake shoe 310 and the operation member 320 may be disposed to face each other in the vertical direction with the driving wheel 240 .

Referring to FIG. 2 , the brake shoe 310 may be disposed on the upper portion of the driving body 230 , and may be mounted on one end of the actuator, specifically, the operating member 320 so as to contact the driving wheel 240 . The brake shoe 310 may be spaced apart from the outer circumferential surface of the driving wheel 240 by a predetermined distance c or may come into contact with the outer circumferential surface of the driving wheel 240 by the operation of the driver. The brake shoe 310 may have a braking surface that extends along the outer circumferential shape of the driving wheel 240 . The braking surface may have a curved shape.

Referring to FIG. 2 , the drivers 320 , 330 , and 340 may be connected to the vehicle body 210 , may extend toward the driving wheel 240 , and may be independent power sources 330 and 340 from the main body 200 . It may be formed to be movable toward the driving wheel 240 using the .

Meanwhile, the meaning of the power sources 330 and 340 independent from the main body 200 means that they operate independently of the operation of the driving system for the driving of the main body 200 , for example, the driving body 230 . This means that the driver can immediately stop the driving wheel 240 just by contacting the stopper 120 and the bumper 260 without being affected at all by the operator's inexperienced driving and the failure of the driving body 230 . .

3 and 5 , the actuator may include an operation member 320 , a first power source 330 , and a second power source 340 . The operation member 320 is formed to be rotatable forward and backward toward the driving wheel 240 , and a brake shoe 310 may be mounted at one end facing the driving wheel 240 .

The operating member 320 is connected to the vehicle body 210 and is disposed to vertically penetrate the base plate 322 and the base plate 322 having the height of the vehicle body 210 fixed, and the first A rotating shaft 324 connected to the lifting bar 323 on which the power source 330 and the second power source 340 are disposed and the vehicle body 210 and having a height relative to the vehicle body 210 fixed at a height lower than the base plate 322 . ), and located on the lower side of the base plate 322, the brake shoe 310 is mounted on one end, the other end opposite to the one end is connected to the lifting bar 323, and a point between the one end and the other end is the rotation shaft 324 ) may include a rotating bar 321 supported on. Here, the fixed height means that the height does not change and is constant. In this case, the reference of the height is the vehicle body 210 . That is, when the height of the vehicle body 210 is constant, the heights of the base plate 322 and the rotation shaft 324 are constant. In addition, when the height of the vehicle body 210 is changed, the heights of the base plate 322 and the rotation shaft 324 may be equally changed by the changed height.

The rotating bar 321 may rotate about the rotating shaft 324 by lifting and lowering the lifting bar 323 . That is, one point between one end and the other end of the rotating bar 321 is supported by the rotating shaft 324 , and when the other end of the rotating bar 321 is raised by the lifting bar 323 , one end of the rotating bar 321 is It may descend together with the brake shoe 310 , and when the other end of the rotating bar 321 is lowered by the lifting bar 323 , one end of the rotating bar 321 may rise together with the brake shoe 310 . As such, when one end of the rotary bar 321 rises, the other end descends, and when one end descends, the other end may rise. That is, one end and the other end of the rotating bar 321 may rotate around a point. By this rotation, the brake shoe 310 may contact and be spaced apart from the outer circumferential surface of the driving wheel 240 .

The rotating bar 321 may extend in a direction inclined with respect to the direction in which the main body 200 travels. The rotating bar 321 may be located above the traveling body 230 . In this case, one end of the rotating bar 321 may have a lower height than the rotating shaft 324 , and the other end of the rotating bar 321 may have a higher height than the rotating shaft 324 .

The rotating bar 321 shows movement like a lever while rotating about the rotating shaft 324 . For example, one end of the rotary bar 321 serves as an action point, the rotary shaft 324 serves as a fulcrum, and the other end of the rotary bar 321 serves as a force point.

A plurality of, for example, two rotating bars 321 may be provided, and may be disposed on both sides of the lifting bar 323 in a direction in which the main body 200 travels. With this structure, a plurality of, for example, two brake shoes 310 may be in close contact with a plurality of, for example, two driving wheels 240 by one operation member 320 . Of course, one rotation bar 321 may be provided.

The base plate 322 may be installed under the support 220 . The base plate 322 serves to support the entire load of the operation member 320 , and serves to support the lifting of the lifting bar 323 . The base plate 322 may be formed in a disk shape, and a central portion may be opened. The lifting bar 323 may be disposed to pass through the central opening.

The lifting bar 323 may be spaced apart in a direction in which the driving wheel 240 and the main body 200 travel, and may extend in the vertical direction. The lifting bar 323 is disposed to pass through the base plate 322 , and can be lifted up and down by power sources provided thereon, and the other end of the rotary bar 321 can be lifted up and down. At this time, the lifting unit 323 and the other end of the rotating bar 321 may be connected to enable mutual rotation. For example, they can be hinged. The rotating bar 321 can be rotated by the lifting part 323 raising and lowering the other end of the rotating bar 321 .

The rotating shaft 324 may be installed on the upper portion of the traveling body 230 , and may be mounted to penetrate the center of the rotating bar 321 . As such, the rotating shaft 324 supports the rotation of the rotating bar 321, so that when the lifting bar 323 is lifted, the rotating shaft 324 rotates while the brake shoe 310 contacts and separates the driving wheel 240. .

The first power source 330 may operate the operation member 320 to separate the brake shoe 310 from the driving wheel 240 . Specifically, the first power source 330 may lower the lifting bar 323 to separate the brake shoe 310 from the driving wheel 240 , and by this lowering, one end of the rotating bar 321 rises and the brake The shoe 310 may be spaced apart from the driving wheel 240 .

The first power source 330 may include a magnetic material 332 and an electromagnet 331 . The direction in which the first power source 330 applies power to the lifting bar 323 of the operation member 320 , for example, the direction in which the first power source 330 moves the lifting bar 323 is the second power source 340 is the operation member. The direction in which power is applied to the lifting unit 323 of the 320 may be opposite to each other.

The magnetic body 332 may have a disk shape, for example. The magnetic body 332 may be mounted on the other end positioned higher than one end of the operation member 320 . Specifically, the magnetic body 332 may be mounted on the upper end of the lifting bar 323 .

The electromagnet 331 may be installed at a position facing the magnetic body 332 in the forward and backward direction of the lifting bar 323 of the operation member 320 . Specifically, the electromagnet 331 may be installed to surround the lifting bar 323 between the magnetic body 332 and the base plate 322 . At this time, the magnetic body 332 may be supported by any one of the support 220 and the base plate 322 inside the support 220 . That is, the height of the electromagnet 331 may also be fixed. The electromagnet 331 may have a cylindrical shape, and the center thereof may be opened up and down. The lifting bar 323 and the second power source 340 may be disposed in the opening of the center of the electromagnet 331 .

The electromagnet 331 may receive power from a power supply source (not shown) to pull the magnetic body 332 . In this case, the power supply may be an independent power supply or a power supply supplying power to the vehicle 230 .

The electromagnet 331 may be connected to a power supply source through a relay provided in a sensor 360 to be described later. The electromagnet 331 may determine whether to cut off the power according to the detection result of the sensor 360 . In detail, the electromagnet 331 may be powered off by the operation of a relay by the detection signal output from the sensor 360 . When the power supplied to the electromagnet 331 is cut off, the force of the electromagnet 331 pulling the magnetic body 332 may be resolved.

The second power source 340 may operate the operation member 320 to bring the brake shoe 310 into contact with the driving wheel 240 . Specifically, the second power source 340 raises the lifting bar 323 to bring the brake shoe 310 into contact with the driving wheel 240 , and one end of the rotating bar 321 is lowered by this rise, and the brake shoe 310 may be in close contact with the driving wheel 240 .

The second power source 340 may include an elastic body. Specifically, the elastic body may include an elastic spring. In this case, the direction in which the power is applied by the elastic body, that is, the direction in which the elastic body moves the lifting bar 323 may be opposite to the direction in which the magnetic body 332 and the electromagnet 331 move the lifting bar 323 .

The above-described elastic body 340 is in contact with the magnetic body 332 to enable expansion and contraction in the forward and backward direction of the lifting bar 323 of the operation member 320, and applies an elastic force to the magnetic body 332 in a direction away from the electromagnet 331. can provide Specifically, the elastic body 340 may be disposed at a position facing the magnetic body 332 in the forward/backward direction of the operation member 320 , and may be connected to the magnetic body 332 . In this case, the forward/backward direction is a forward/backward direction with respect to the driving wheel 240 , and may be a direction parallel to the vertical direction.

On the other hand, when the electromagnet 331 and the elastic body 340 are positioned on different sides with respect to the magnetic body 332 , the upper end of the elastic body 340 is mounted at a predetermined position of the support 220 , and the lower end thereof is connected to the magnetic body 332 . can

On the other hand, when the electromagnet 331 and the elastic body 340 are positioned on the same side with respect to the magnetic body 332 , the elastic body 340 is seated on the upper surface of the base plate 322 , and the lower end thereof is supported by the base plate 322 . and the upper end may be connected to the magnetic body 332 . In addition, the elastic body 340 may be disposed to surround the upper end of the lifting bar 323 inside the opening of the electromagnet 331 . In addition, the vertical length of the elastic body 340 may be longer than the vertical length of the electromagnet 331 . Here, the vertical length of the elastic body 340 refers to the vertical length when not compressed, that is, the initial vertical length.

The magnitude of the elastic force provided by the elastic body 340 to the magnetic body 332 is smaller than the magnitude of the attractive force provided by the electromagnet 331 to the magnetic body 332 . Accordingly, when power is supplied to the electromagnet 331 , the magnetic body 332 overcomes the elastic force and descends, and the lifting bar 323 can be lowered.

The sensor 360 may be installed to detect contact between the obstacle and the bumper 260 . For example, the sensor 360 may include a limit switch, and may detect the movement of the rod 262 provided in the bumper 260 . Of course, the type of the sensor 360 may be various. The sensor 360 may have a built-in relay to cut off the power supplied to the first power source 330 when the movement of the rod 262 is detected. For example, when the limit switch detects the movement of the load 262 and outputs a detection signal, the relay can operate by accepting the detection signal, and the power supply to the electromagnet 331 that was supplied with power through the relay is cut off. can That is, the relay may block the power circuit between the electromagnet 331 and the power source.

4 and 5 , the brake unit 300 is mounted on the lower end of the lifting bar 323 to be movable along the lifting bar 323 , and the driving wheel 240 when the lifting bar 323 is lowered. It may include a length adjuster 350 contactable to the support shaft 250 of the.

The length adjuster 350 may be screw-coupled to the lower end of the lifting bar 323 . The length adjuster 350 may extend in a direction in which the main body 200 travels, and its center may protrude in a direction in which the pair of rails 110 are spaced apart. This protruding portion of the length adjuster 350 may be screwed to the lower end of the lifting bar 323 . The length adjuster 350 is disposed on the upper side of the support shaft 250 , and by adjusting the height coupled to the lifting bar 323 , it is possible to adjust the lifting height of the lifting bar 323 . That is, the elevating bar 323 and the length adjuster 350 descend together, but when the length adjuster 350 comes into contact with the support shaft 250 , the lowering is limited, so the elevating bar 323 is the length adjuster 350 descends. You can only descend as high as possible.

Accordingly, when the installation height of the length adjuster 350 is adjusted, the lifting height of the lifting bar 323 can be adjusted. By adjusting the elevation height of the elevation bar 323 in this way, the rotation angle of the rotation bar 321 can be adjusted. Accordingly, the rotation angle of the rotation bar 321 may be increased according to the degree of wear of the brake shoe 310 .

6 is an operation diagram of the brake unit 300 according to an embodiment of the present invention.

Referring to FIG. 6 , when the vehicle body 210 travels in a direction approaching the stopper 120 , for example, forward, and the bumper 260 comes into contact with the stopper 120 , the reaction force pushes the vehicle body 210 backward. , at this time, the sensor 360 of the brake unit 300 may detect the contact between the bumper 260 and the stopper 120 . That is, the sensor 360 is operated using the impact applied to the bumper 260 . In this case, the relay provided in the sensor 360 may cut off the power directed to the electromagnet 331 immediately upon detecting such contact. Accordingly, as the magnetic force of the electromagnet 331 is resolved, a force pulling the magnetic material 332 toward the electromagnet 331, for example, an attractive force may be released. As such, when the attractive force constraining the magnetic body 332 disappears, the elastic body 340 that has been compressed in the meantime is elastically restored to push the magnetic body 332 upward. That is, the magnetic body 332 is pushed upward by using the elastic restoring force. Accordingly, the lifting bar of the operation member 320 rises to raise the other end of the rotating bar, and lowering one end opposite to the other end of the rotating bar, thereby bringing the brake shoe 310 into close contact with the traveling wheel 240 . That is, the position of the brake shoe 310 is restored. Accordingly, a braking force is generated, and the 210 itself can be stopped immediately without being pushed backward.

The lifting unit 400 may be formed to elevate the loading unit 500 using a wire rope and a wire drum. The lifting unit 400 may include, for example, a wire rope, a wire drum, a disk, a drive shaft, a drive motor and a gear box. The configuration of the lifting unit 400 may be various.

The loading unit 500 may be supported by a wire rope in the lower portion of the main body 200 and may be elevated, and may include a hook, a rope pulley and a trolley bar so as to be elevated by fastening various weights 10 . In this case, the configuration of the loading unit 500 may be various.

7 (a) to (c) is a partial enlarged view of a crane device according to a modified example of the present invention.

For example, when the brake shoe 310 is in close contact with the driving wheel 240 and the driving wheel 240 slides, it may not be possible to brake the vehicle body 210 . In order to prevent this, the crane device according to a modified example of the embodiment of the present invention is a contact surface of the brake shoe 310 and the driving wheel 240 of the brake unit 300 so as to constrain the rotation of the driving wheel 240 forcibly. It may further include a locking part 600 formed in the.

Referring to (a) of FIG. 7 , the locking part 600 includes the locking grooves 610 and locking grooves 610 arranged along the outer circumferential surface of the driving wheel 240 to face the brake shoe 310 . A slide groove 620 that is concavely formed in the hibernation surface is inserted into the slide groove 620, and a slide block 630 and a slide block 630 that are slidable for a predetermined distance in the extension direction of the braking surface inside the slide groove 620. It protrudes from and may include a locking protrusion 640 that can be inserted into the locking groove 610 . An end of the locking protrusion 640 may be rounded.

The extended length L of the slide block 630 is smaller than the inner length L0 of the slide groove 620, and when the brake shoe 310 comes into contact with the driving wheel 240 due to this play, the locking protrusion 640 ) the position of the slide block 630 may be adjusted until it is inserted into the locking groove 610 .

Referring to (b) and (c) of FIG. 7 , when the brake shoe 310 contacts the outer peripheral surface of the driving wheel 240 , the locking protrusion 640 may be inserted into the locking groove 610 , and the driving wheel When the 240 rotates by the sliding Δθ, the slide block 630 may be in close contact with one side wall of the slide groove 620, and from then on, the locking protrusion 640 is applied to the binding force of the locking groove 610. By this, the driving wheel 240 may stop sliding and be forcibly stopped.

Accordingly, since the sliding of the driving wheel 240 is quickly stopped, the vehicle body 210 can be stopped more quickly.

1 to 7, a crane device traveling method according to an embodiment of the present invention will be described.

The crane device driving method according to an embodiment of the present invention includes a process of driving the vehicle body 210 of the crane device along a traveling path, a process of detecting contact between an obstacle and the bumper 260 protruding from the vehicle body 210, and the vehicle body and providing a braking force to the driving wheel 240 provided under the 210 to emergency stop the vehicle body 210 .

First, the vehicle body 210 of the crane device is driven along the traveling path. At this time, referring to FIG. 1 , the crane device may transport a heavy object 10 , such as a ladle, using the lifting unit 400 and the loading unit 500 . During this process, a magnetic force may be generated by receiving power from the first power source 330 , and the brake shoe 310 and the driving wheel 240 may be spaced apart by using the magnetic force. Specifically, as shown in FIG. 2 , power is supplied to the electromagnet 331 of the first power source 330 . In addition, the magnetic body 332 is brought into contact with the electromagnet 331 by using the magnetic force generated by the electromagnet 331 , and a part of the operation member 320 connected to the magnetic body 332 is lowered and rotated. Accordingly, the brake shoe 310 supported by the operation member 320 may be spaced upwardly from the driving wheel 240 .

Thereafter, the contact between the obstacle and the bumper 260 is sensed using the sensor 360 . The obstacle may be a stopper 120 provided on at least one side of the travel path. Referring to FIGS. 2 and 6 , for example, due to inexperienced driving of the operator or a defect in the main body 200 , when the main body 200 travels and gets closer to the stopper 120 , the body of the main body 200 is The bumper 260 protruding from the 120 may first contact the stopper 120 . The sensor 360 may detect this.

Meanwhile, the above-described obstacle may be another body unit 200 traveling on the path unit 100 . That is, a plurality of body parts 200 are provided in the path part 100 , and they can each run for work. At this time, when the main body 200 is close to another main body (not shown) for reasons such as inexperienced operation of the operator or a defect in the main body 200 , the bumper 260 of the main body 200 is different from the main body. It may come into contact with the negative bumper (not shown), and the sensor 360 mounted on the bumper 260 may detect this contact.

Thereafter, as shown in FIG. 6 , when contact between the obstacle and the bumper 260 is sensed, braking force is provided to the driving wheel 204 to emergency stop the vehicle body 210 . At this time, since the braking force is generated using power sources independent from the vehicle body 210 , for example, the braking force can be generated immediately upon contact between the obstacle and the bumper 260 , regardless of the inexperienced driving of the operator or the defect of the main body 200 .

In this case, specifically, the process of emergency stopping the vehicle body is a process of blocking power input to the electromagnet 331 using the detection signal when the sensor 360 detects contact between the stopper 120 and the bumper 260 . , and returning the brake shoe 310 by using the restoring force to bring the driving wheel 240 into contact with the brake shoe 310 .

That is, when the limit switch provided in the sensor 360 detects the movement of the rod 262 due to the contact between the stopper 120 and the bumper 260 and generates a detection signal, the relay provided in the sensor unit 360 is The electromagnet 331 that is operated by receiving the detection signal and has been supplied with power from a power supply source (not shown) through a relay may be powered off.

Accordingly, the force of the electromagnet 331 pulling the magnetic body 332 downward is released, the elastic body 340 is elastically restored, and the magnetic body 332 is pushed up and the lifting bar 323 of the operating member 320 can be raised. have. As a result, the rotating bar 321 rotates to lower the brake shoe 310 , and thus the brake shoe 310 can be brought into close contact with the driving wheel 240 .

In this process, as shown in (b) and (c) of FIG. 7 , the outer peripheral surface of the driving wheel 240 and the braking surface of the brake shoe 310 can be mutually locked by using the locking part 600 . . Accordingly, it is possible to prevent the traveling wheel 240 from sliding along the braking surface of the brake shoe 310 and bring the vehicle body 210 to a standstill.

According to the above-mentioned bar, as soon as the contact between the bumper 260 and the stopper 120 is sensed, the brake shoe 310 is brought into close contact with the traveling wheel 240 provided in the vehicle body 210 of the crane device to provide strong braking force. have. Since this braking operation is performed by the brake unit 300 independent from the driving system of the vehicle body 210 , the vehicle may operate normally even in a state in which power to the vehicle body 210 is cut off.

Therefore, when the bumper 260 strongly impacts the stopper 120, the vehicle body 210 fails to brake and pushes the stopper 120, or the vehicle body 210 causes the stopper ( 120) can be prevented from being pushed away from the That is, as soon as the bumper 260 and the stopper 120 come into contact with each other, the vehicle body 210 is prevented from moving any more, so that the vehicle body 210 can forcibly stop. Accordingly, it is possible to prevent accidents such as a failure in braking of the vehicle body 210 or a departure from a track due to a delay and dropping of a heavy object being transported in advance.

The above embodiments of the present invention are intended to illustrate the present invention, not to limit the present invention. It should be noted that the configurations and methods disclosed in the above embodiments of the present invention may be combined and modified in various forms by combining or intersecting with each other, and modifications thereof may also be considered as the scope of the present invention. That is, the present invention will be embodied in a variety of different forms within the scope of the claims and equivalents thereof, and those skilled in the art to which the present invention pertains can implement various embodiments within the scope of the technical spirit of the present invention. will be able to understand

100: path part 200: body part
210: body 240: driving wheel
260: bumper 300: brake unit
310: brake shoe 320: operating member
330: first power source 340: second power source
360: sensor 600: locking part

Claims (16)

a path unit forming a driving path;
a body portion including a traveling wheel installed to travel along the path portion, a vehicle body supported by the traveling wheel, and a bumper protruding from the vehicle body along the path portion;
Crane device comprising a; a brake unit installed in the main body to provide a braking force to the traveling wheel by using the contact between the obstacle and the bumper. The method according to claim 1,
The brake unit may be spaced apart from the traveling wheel by using magnetic force, and when the power is cut off by contact between the obstacle and the bumper and the magnetic force is resolved, the crane device is formed so as to be in close contact with the traveling wheel using a restoring force . The method according to claim 1,
The brake unit,
A crane device comprising a; a sensor installed to detect the contact between the obstacle and the bumper. 4. The method according to claim 3,
The brake unit,
a driver connected to the vehicle body, extending toward the driving wheel, and movable toward the driving wheel using power sources independent from the main body;
Crane device including; a brake shoe mounted to one end of the actuator so as to contact the traveling wheel. 5. The method according to claim 4,
The actuator is
an operation member formed to be rotatable forward and backward toward the driving wheel and to which the brake shoe is mounted at one end facing the driving wheel;
a first power source for operating the operation member to separate the brake shoe from the travel wheel; and
Crane apparatus comprising a; a second power source for operating the operation member to bring the brake shoe into contact with the traveling wheel. 6. The method of claim 5,
The first power source includes a magnetic material and an electromagnet,
The second power source includes an elastic body,
The magnetic body and the electromagnet and the elastic body are the crane device in which the direction of application of power is opposite to each other. 7. The method of claim 6,
The magnetic body is mounted on the other end positioned higher than one end of the operation member,
The electromagnet is installed at a position facing the magnetic body in the forward and backward direction of the operation member, and the crane device can be connected to a power supply source through a relay connected to the sensor. 8. The method of claim 7,
The elastic body is connected to the magnetic body at a position facing the magnetic body in the forward and backward direction of the operation member,
The attractive force of the electromagnet is greater than the elastic force of the elastic body,
When the elastic body and the electromagnet are positioned on the same side with respect to the magnetic body, the length of the elastic body is longer than the length of the electromagnet. 6. The method of claim 5,
The operating member is
a base plate connected to the vehicle body and having a fixed height with respect to the vehicle body;
a lifting bar disposed to penetrate the base plate in the vertical direction, the first power source and the second power source being disposed at an upper end thereof;
a rotation shaft connected to the vehicle body and fixed in height relative to the vehicle body at a height lower than the base plate;
A rotating bar located below the base plate, the brake shoe is mounted on one end, the other end opposite to the one end is connected to the lifting bar, and a point between the one end and the other end is supported on the rotating shaft. crane device. 10. The method of claim 9,
The brake unit,
Crane device comprising; a length adjuster mounted on the lower end of the lifting bar to be movable along the lifting bar, and contactable to the support shaft of the traveling wheel when the lifting bar is lowered. The method according to claim 1,
Crane device further comprising a; locking portion formed on the contact surface of the brake unit and the traveling wheel to forcibly restrict the rotation of the traveling wheel. The process of driving the vehicle body of the crane device along the traveling path;
detecting a contact between an obstacle and a bumper protruding from the vehicle body; and
Crane device driving method comprising a; providing a braking force to the driving wheel provided under the vehicle body to emergency stop the vehicle body. 13. The method of claim 12,
The obstacle includes a stopper provided on at least one side of the travel path,
In the process of emergency stopping the vehicle,
Crane device driving method comprising the step of generating a braking force using independent power sources from the vehicle body. 13. The method of claim 12,
The process of driving the vehicle is
a process of receiving power and generating a magnetic force;
Using the magnetic force, the process of separating the brake shoe and the traveling wheel; Crane device driving method comprising a. 15. The method of claim 14,
In the process of emergency stopping the vehicle,
when detecting contact between the obstacle and the bumper, blocking the input of the power using the detection signal;
Crane device driving method comprising a; returning the brake shoe by using a restoring force, and contacting the driving wheel and the brake shoe. 16. The method of claim 15,
In the process of emergency stopping the vehicle,
The process of mutually locking the outer peripheral surface of the driving wheel and the braking surface of the brake shoe; Crane device driving method comprising a.

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