TW201628965A - Anti-collision crane device - Google Patents
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Abstract
Description
本發明係關於一種天車裝置，特別是關於一種防撞天車裝置。 The present invention relates to a crane device, and more particularly to an anti-collision device.
一般天車結構通常裝設在廠房內上方，並距地面有一預定之高度，利用吊車懸吊工作物的方式，並透過吊車滑移作動進行重物之搬運移動，使工作物體由一處移至另一處，進而提供較大物料進行施工，由於可節省人力，適合在較大面積廠房或物體較龐大的場所作業。 Generally, the structure of the overhead crane is usually installed above the factory building and has a predetermined height from the ground. The crane is used to suspend the work object, and the heavy object is moved and moved by the crane sliding movement, so that the working object is moved from one place to another. In another place, the construction of larger materials is provided, and since it can save manpower, it is suitable for working in a large area of a factory or a large object.
習用懸吊式天車構造主要包含有二呈平行並相距有預定間距之端樑、二利用鞍座跨接於該二端樑下方之橫樑及一利用車輪行走於該二橫樑上之台車，藉由控制該鞍座帶動該橫樑於該端樑上之縱向移動及控制該台車於該橫樑上之橫向移動，來達到全平面式之移動搬運作業。 The conventional suspended crane structure mainly comprises two end beams which are parallel and spaced apart from each other by a predetermined distance, two beams which are bridged under the two end beams by a saddle, and a trolley which uses wheels to walk on the two beams. The full-plane moving handling operation is achieved by controlling the saddle to drive the longitudinal movement of the beam on the end beam and controlling the lateral movement of the trolley on the beam.
然而，現有的天車在運行中防撞技術，多僅針對單一軌道上多數台天車的大小車之間的相互運動，進行撞擊偵測與預防功能建立，並透過語音或警報訊息之方式，通知天車操作員進行減速或是強制系統減速，以避免碰撞的發生；但此類型的防撞檢知技術，並無法滿足自動化倉儲天車於無人操作狀態下更進階的防撞需求，如吊載物體於無人倉儲行進間的防撞，於裝載區作業時與板車間的防撞需求，以及於倉儲區內裝載時 的防撞需求。 However, the existing crane anti-collision technology in operation is mostly only for the mutual movement between the large and small vehicles of a single rail on a single track, and the collision detection and prevention function is established, and the voice or alarm message is used. Inform the crane operator to decelerate or force the system to slow down to avoid the collision; however, this type of anti-collision detection technology can not meet the more advanced anti-collision requirements of the automated storage crane in the unmanned state, such as Collision avoidance of unloading objects in unmanned storage, collision avoidance requirements in the loading area and in the board shop, and loading in the storage area Anti-collision needs.
本發明之主要目的在於提供一種防撞天車裝置，利用高度間距偵測模組及橫向間距偵測模組偵測天車周圍的物體，以避免發生天車的碰撞。 The main object of the present invention is to provide an anti-collision crane device that uses a height-pitch detection module and a lateral spacing detection module to detect objects around the overhead crane to avoid collision of the crane.
為達上述之目的，本發明提供一種防撞天車裝置，包含一橫向滑軌、一天車、一偵測單元及一控制單元。該天車具有一車體及一吊爪，該車體設置在該橫向滑軌上，該吊爪連接該車體且用以夾取一待測區內之一鋼捲；該偵測單元具有一高度間距偵測模組及一橫向間距偵測模組，該高度間距偵測模組設置在該橫向滑軌上，用以偵測與下方一物體的一高度間距，並產生一高度間距信號，該橫向間距偵測模組，設置在該待測區上，用以偵測與該待測區的一物體的一橫向間距，並產生一橫向間距信號；該控制單元用以接收該高度間距信號及橫向間距信號，並基於該高度間距信號及橫向間距信號控制該車體的動作。 To achieve the above objective, the present invention provides an anti-collision crane device comprising a horizontal slide rail, a one-day vehicle, a detecting unit and a control unit. The crane has a body and a claw, the body is disposed on the transverse rail, the claw is connected to the body and is used for clamping a steel coil in a zone to be tested; the detecting unit has a height spacing detecting module and a lateral spacing detecting module, wherein the height spacing detecting module is disposed on the horizontal sliding rail for detecting a height distance from an object below and generating a height spacing signal The lateral spacing detecting module is disposed on the area to be tested for detecting a lateral distance from an object in the area to be tested, and generates a horizontal spacing signal; the control unit is configured to receive the height spacing Signal and lateral spacing signals, and controlling the motion of the vehicle body based on the height spacing signal and the lateral spacing signal.
在本發明之一實施例中，該高度間距偵測模組具有數個二維雷射測距儀，間隔設置在該橫向滑軌的底部。 In an embodiment of the invention, the height spacing detection module has a plurality of two-dimensional laser range finder, and is disposed at a bottom of the lateral rail.
在本發明之一實施例中，該等二維雷射測距儀沿該橫向滑軌的一中線排列。 In an embodiment of the invention, the two-dimensional laser range finder is arranged along a centerline of the transverse rail.
在本發明之一實施例中，該橫向間距偵測模組具有兩個二維雷射測距儀，分別設置在該待測區的前端及後端。 In an embodiment of the invention, the lateral spacing detection module has two two-dimensional laser range finder, which are respectively disposed at the front end and the rear end of the area to be tested.
在本發明之一實施例中，該兩個二維雷射測距儀彼此相向面對。 In an embodiment of the invention, the two two-dimensional laser rangefinders face each other.
在本發明之一實施例中，該偵測單元還包含一移動偵測模組，設置在該吊爪上，用以偵測與周圍一物體的距離。 In an embodiment of the invention, the detecting unit further includes a motion detecting module disposed on the hanging claw for detecting a distance from an object around.
在本發明之一實施例中，該移動偵測模組具有兩個橫向二維雷射測距儀，分別設置在該吊爪的底部二側，用以偵測與一物體的一橫向距離，並產生一橫向距離信號。 In an embodiment of the present invention, the motion detection module has two horizontal two-dimensional laser range finder, which are respectively disposed on two sides of the bottom of the claw for detecting a lateral distance from an object. And generate a lateral distance signal.
在本發明之一實施例中，該移動偵測模組具有兩個縱向二維雷射測距儀，分別設置在該吊爪的頂部兩側，用以偵測與一物體的一縱向距離，並產生一縱向距離信號。 In an embodiment of the invention, the motion detection module has two longitudinal two-dimensional laser range finder, which are respectively disposed on two sides of the top of the claw for detecting a longitudinal distance from an object. And generate a longitudinal distance signal.
在本發明之一實施例中，該控制單元包含一處理模組及一驅動模組，該處理模組用以處理該偵測單元所發出的高度間距信號及橫向間距信號，該驅動模組電性連接該處理模組且用以驅動該車體之移動。 In one embodiment of the present invention, the control unit includes a processing module and a driving module, and the processing module is configured to process the height spacing signal and the horizontal spacing signal sent by the detecting unit, and the driving module is electrically The processing module is connected to drive the movement of the vehicle body.
在本發明之一實施例中，該控制單元還包含一無線接收模組，電性連接該處理模組，用以接收該偵測單元所發出的高度間距信號及橫向間距信號。 In an embodiment of the invention, the control unit further includes a wireless receiving module electrically connected to the processing module for receiving the height spacing signal and the lateral spacing signal emitted by the detecting unit.
如上所述，利用該高度間距偵測模組、該橫向間距偵測模組及該移動偵測模組的二維雷射測距技術，使該車體及橫向滑軌於接近物體時能夠及時停止移動，以避免發生碰撞，可有效達到吊載作業的防撞、倉儲裝卸作業的防撞及待測區的貨車卸貨作業的防撞，使該天車於無人操作下，仍具備安全防撞功能。 As described above, the two-dimensional laser ranging technology of the height spacing detecting module, the lateral spacing detecting module and the motion detecting module enable the vehicle body and the lateral rail to be timely when approaching an object. Stop moving to avoid collision, which can effectively achieve the anti-collision of the lifting operation, the collision avoidance of the loading and unloading operation, and the anti-collision of the unloading operation of the truck in the area to be tested, so that the crane is still safe and anti-collision under the unmanned operation. Features.
101‧‧‧鋼捲 101‧‧‧Steel coil
102‧‧‧待測區 102‧‧‧Down area
2‧‧‧橫向滑軌 2‧‧‧Horizontal slides
3‧‧‧縱向滑軌 3‧‧‧Longitudinal slides
4‧‧‧天車 4‧‧‧天车
41‧‧‧車體 41‧‧‧ body
42‧‧‧吊爪 42‧‧‧Claws
5‧‧‧偵測單元 5‧‧‧Detection unit
51‧‧‧高度間距偵測模組 51‧‧‧ Height Spacing Module
511‧‧‧二維雷射測距儀 511‧‧‧Two-dimensional laser range finder
52‧‧‧橫向間距偵測模組 52‧‧‧Horizontal gap detection module
521‧‧‧二維雷射測距儀 521‧‧‧Two-dimensional laser range finder
53‧‧‧移動偵測模組 53‧‧‧Moving detection module
531‧‧‧橫向二維雷射測距儀 531‧‧‧Horizontal two-dimensional laser range finder
532‧‧‧縱向二維雷射測距儀 532‧‧‧Longitudinal two-dimensional laser range finder
6‧‧‧控制單元 6‧‧‧Control unit
61‧‧‧無線接收模組 61‧‧‧Wireless receiving module
62‧‧‧處理模組 62‧‧‧Processing module
63‧‧‧驅動模組 63‧‧‧Drive Module
第1圖是根據本發明一較佳實施例之防撞天車裝置的示意圖；及 第2圖是根據本發明一較佳實施例之防撞天車裝置的吊爪的示意圖。 1 is a schematic view of an anti-collision crane device according to a preferred embodiment of the present invention; and 2 is a schematic view of a claw of an anti-collision crane device according to a preferred embodiment of the present invention.
為了讓本發明之上述及其他目的、特徵、優點能更明顯易懂，下文將特舉本發明較佳實施例，並配合所附圖式，作詳細說明如下。再者，本發明所提到的方向用語，例如上、下、頂、底、前、後、左、右、內、外、側面、周圍、中央、水平、橫向、垂直、縱向、軸向、徑向、最上層或最下層等，僅是參考附加圖式的方向。因此，使用的方向用語是用以說明及理解本發明，而非用以限制本發明。 The above and other objects, features and advantages of the present invention will become more <RTIgt; Furthermore, the directional terms mentioned in the present invention, such as upper, lower, top, bottom, front, rear, left, right, inner, outer, side, surrounding, central, horizontal, horizontal, vertical, longitudinal, axial, Radial, uppermost or lowermost, etc., only refer to the direction of the additional schema. Therefore, the directional terminology used is for the purpose of illustration and understanding of the invention.
請參照第1、2圖所示，本發明一較佳實施例之防撞天車裝置，包含一橫向滑軌2、一縱向滑軌3、一天車4、一偵測單元5及一控制單元6，該天車裝置特別適用於鋼鐵工廠之廠房中以供夾取、吊掛及移動一貨車上之一鋼捲101。本發明將於下文詳細說明各元件的細部構造、組裝關係及其運作原理。 Referring to FIGS. 1 and 2, an anti-collision device according to a preferred embodiment of the present invention includes a horizontal slide rail 2, a longitudinal slide rail 3, a one-day vehicle 4, a detecting unit 5, and a control unit. 6. The crane device is particularly suitable for use in a steel factory building for picking, hanging and moving a steel coil 101 on a truck. The detailed construction, assembly relationship, and operation principle of each element will be described in detail below.
續參照第1圖所示，該縱向滑軌3係以二支撐架縱向設置在一廠房的天花板處，該橫向滑軌2利用二支撐架橫向跨設在該縱向滑軌3上，其中該橫向滑軌2透過滾輪在該縱向滑軌3上滑動而進行縱向位移。 Continuing to refer to FIG. 1 , the longitudinal slide rail 3 is longitudinally disposed at a ceiling of a factory building with two support brackets, and the horizontal slide rail 2 is laterally spanned on the longitudinal slide rail 3 by two support brackets, wherein the transverse rails The slide rail 2 is longitudinally displaced by sliding the roller on the longitudinal slide rail 3.
續參照第1、2圖所示，該天車4包括一車體41及一吊爪42；該車體41設置在該橫向滑軌2上，並可透過滾輪在該橫向滑軌2上滑動而進行橫向位移；該吊爪42利用一纜繩連接該車體41，透過捲收該纜繩而驅動該吊爪42升降移動，而用以夾取一待測區102內之一物體，例如一鋼捲101；另外，該天車4還可包括一荷重感測器(圖未示)，用以感測該吊爪42是否夾取該鋼捲101。 Referring to FIGS. 1 and 2, the crane 4 includes a body 41 and a claw 42. The body 41 is disposed on the lateral rail 2 and is slidable on the transverse rail 2 through the roller. The lateral displacement is performed; the hanging claw 42 is connected to the vehicle body 41 by a cable, and the lifting and lowering movement of the lifting claw 42 is carried out by winding the cable, and is used for clamping an object in the area to be tested 102, for example, a steel. The roll 101; in addition, the crane 4 may further include a load sensor (not shown) for sensing whether the claw 42 grips the steel coil 101.
續參照第1圖所示，該偵測單元5具有一高度間距偵測模組51、一橫向間距偵測模組52及一移動偵測模組53；其中該高度間距偵測模組51設置在該橫向滑軌2上，用以偵測與下方一物體(例如承載鋼捲101的貨車)的一高度間距，並產生一高度間距信號；在本較佳實施例中，該高度間距偵測模組51具有數個二維雷射測距儀511，該等二維雷射測距儀511間隔設置在該橫向滑軌2的底部，且沿該橫向滑軌2的一中線排列。 The detection unit 5 has a height spacing detection module 51, a lateral spacing detection module 52 and a motion detection module 53. The height spacing detection module 51 is provided. The horizontal slide rail 2 is configured to detect a height spacing from an object below (for example, a truck carrying the steel coil 101) and generate a height spacing signal; in the preferred embodiment, the height spacing detection The module 51 has a plurality of two-dimensional laser range finder 511 spaced apart from each other at the bottom of the horizontal slide 2 and arranged along a center line of the transverse slide 2 .
續參照第1圖所示，該橫向間距偵測模組52設置在該待測區102上，用以偵測與該待測區102的物體的一橫向間距，並產生一橫向間距信號；在本較佳實施例中，該橫向間距偵測模組52具有兩個二維雷射測距儀521，分別設置在該待測區102的前端及後端，且該兩個二維雷射測距儀521彼此相向面對，用以偵測該待測區102內的物體，例如貨車。 Referring to FIG. 1 , the lateral spacing detecting module 52 is disposed on the to-be-tested area 102 for detecting a lateral distance from an object of the area to be tested 102 and generating a lateral spacing signal; In the preferred embodiment, the lateral spacing detection module 52 has two two-dimensional laser range finder 521 disposed at the front end and the rear end of the to-be-tested area 102, respectively, and the two two-dimensional laser measurement The distance meters 521 face each other to detect an object in the area to be tested 102, such as a truck.
續參照第1、2圖所示，該移動偵測模組53設置在該吊爪42上，用以偵測與周圍物體的距離，該移動偵測模組53具有兩個橫向二維雷射測距儀531及兩個縱向二維雷射測距儀532，其中該等橫向二維雷射測距儀531分別設置在該吊爪42的底部二側，用以偵測與該物體的一橫向距離，並產生一橫向距離信號；另外，該等縱向二維雷射測距儀532分別設置在該吊爪42的頂部兩側，用以偵測與該物體的一縱向距離，並產生一縱向距離信號。 Referring to FIGS. 1 and 2, the motion detecting module 53 is disposed on the claw 42 for detecting a distance from a surrounding object. The motion detecting module 53 has two horizontal two-dimensional lasers. a range finder 531 and two longitudinal two-dimensional laser range finder 532, wherein the horizontal two-dimensional laser range finder 531 is respectively disposed on two sides of the bottom of the claw 42 for detecting one of the objects a lateral distance and a lateral distance signal; in addition, the longitudinal two-dimensional laser range finder 532 is respectively disposed on both sides of the top of the claw 42 for detecting a longitudinal distance from the object and generating a Longitudinal distance signal.
續參照第1圖所示，該控制單元6包含一無線接收模組61、一處理模組62及一驅動模組63；該無線接收模組61電性連接該處理模組62，用以接收該高度間距偵測模組51、該橫向間距偵測模組52及該移動偵測模組53所發出的高度間距信號、橫向間距信號、橫向距離信號及縱向距離信 號；該處理模組62接收來自該無線接收模組61的信號並進行處理；該驅動模組63電性連接該處理模組62且用以驅動該車體41及橫向滑軌2的移動，在實際操作中，該處理模組62能夠基於該高度間距信號、橫向間距信號、橫向距離信號及縱向距離信號而透過該驅動模組63控制該車體41於該橫向滑軌2的移動(見第1圖橫向箭頭)或停止，以及控制該橫向滑軌2於該縱向滑軌3的移動(見第1圖縱向箭頭)或停止。 Continuing to refer to FIG. 1 , the control unit 6 includes a wireless receiving module 61 , a processing module 62 , and a driving module 63 . The wireless receiving module 61 is electrically connected to the processing module 62 for receiving The height spacing signal, the lateral spacing signal, the lateral distance signal and the longitudinal distance signal sent by the height spacing detecting module 51, the lateral spacing detecting module 52 and the motion detecting module 53 The processing module 62 receives the signal from the wireless receiving module 61 and performs processing; the driving module 63 is electrically connected to the processing module 62 for driving the movement of the vehicle body 41 and the lateral rail 2, In operation, the processing module 62 can control the movement of the vehicle body 41 on the lateral rail 2 through the driving module 63 based on the height spacing signal, the lateral spacing signal, the lateral distance signal, and the longitudinal distance signal (see Figure 1 is a horizontal arrow) or stopped, and controls the movement of the transverse rail 2 to the longitudinal rail 3 (see the longitudinal arrow of Figure 1) or stops.
依據上述的結構，當該驅動模組63驅動該車體41及橫向滑軌2移動時，該高度間距偵測模組51、該橫向間距偵測模組52及該移動偵測模組53會同時進行偵測並回傳信號，若偵測到與物體的距離太接近，該驅動模組63則驅動該車體41及橫向滑軌2減速停止，以避免該吊爪42及/或鋼捲101與物體(如貨車)發生碰撞。 According to the above structure, when the driving module 63 drives the vehicle body 41 and the horizontal sliding rail 2 to move, the height spacing detecting module 51, the lateral spacing detecting module 52 and the motion detecting module 53 At the same time, the signal is detected and returned. If the distance from the object is detected to be too close, the driving module 63 drives the vehicle body 41 and the lateral rail 2 to decelerate and stop to avoid the claw 42 and/or the coil. 101 collides with an object such as a truck.
如上所述，本發明利用該高度間距偵測模組51、該橫向間距偵測模組52及該移動偵測模組53的二維雷射測距技術，使該車體41及橫向滑軌2於接近物體時能夠及時計算出與物體之間的X、Y、Z軸各維度距離關係，並停止移動該吊爪42及鋼捲101，以避免發生碰撞，因而可有效達到吊載作業的防撞、倉儲裝卸作業的防撞及待測區102的貨車卸貨作業的防撞，使該天車4於無人操作下，仍具備安全防撞功能。 As described above, the present invention utilizes the two-dimensional laser ranging technology of the height spacing detecting module 51, the lateral spacing detecting module 52, and the motion detecting module 53 to make the vehicle body 41 and the lateral rails. 2 When the object is approached, the distance relationship between the X, Y and Z axes of the object can be calculated in time, and the claw 42 and the steel coil 101 are stopped from moving to avoid collision, so that the lifting operation can be effectively achieved. The anti-collision of the collision avoidance, the storage and unloading operation, and the anti-collision of the unloading operation of the truck in the area to be tested 102 enable the crane 4 to have a safety anti-collision function under the unmanned operation.
雖然本發明已以較佳實施例揭露，然其並非用以限制本發明，任何熟習此項技藝之人士，在不脫離本發明之精神和範圍內，當可作各種更動與修飾，因此本發明之保護範圍當視後附之申請專利範圍所界定者為準。 The present invention has been disclosed in its preferred embodiments, and is not intended to limit the invention, and the present invention may be modified and modified without departing from the spirit and scope of the invention. The scope of protection is subject to the definition of the scope of the patent application.
101‧‧‧鋼捲 101‧‧‧Steel coil
102‧‧‧待測區 102‧‧‧Down area
2‧‧‧橫向滑軌 2‧‧‧Horizontal slides
3‧‧‧縱向滑軌 3‧‧‧Longitudinal slides
4‧‧‧天車 4‧‧‧天车
41‧‧‧車體 41‧‧‧ body
42‧‧‧吊爪 42‧‧‧Claws
5‧‧‧偵測單元 5‧‧‧Detection unit
51‧‧‧高度間距偵測模組 51‧‧‧ Height Spacing Module
511‧‧‧二維雷射測距儀 511‧‧‧Two-dimensional laser range finder
52‧‧‧橫向間距偵測模組 52‧‧‧Horizontal gap detection module
521‧‧‧二維雷射測距儀 521‧‧‧Two-dimensional laser range finder
53‧‧‧移動偵測模組 53‧‧‧Moving detection module
531‧‧‧橫向二維雷射測距儀 531‧‧‧Horizontal two-dimensional laser range finder
532‧‧‧縱向二維雷射測距儀 532‧‧‧Longitudinal two-dimensional laser range finder
6‧‧‧控制單元 6‧‧‧Control unit
61‧‧‧無線接收模組 61‧‧‧Wireless receiving module
62‧‧‧處理模組 62‧‧‧Processing module
63‧‧‧驅動模組 63‧‧‧Drive Module
Claims (10)
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| TW104103893A TWI572550B (en) | 2015-02-05 | 2015-02-05 | Anti-collision crane device |
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| TW104103893A TWI572550B (en) | 2015-02-05 | 2015-02-05 | Anti-collision crane device |
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| TWI572550B TWI572550B (en) | 2017-03-01 |
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| CN111123868A (en) * | 2019-12-21 | 2020-05-08 | 唐山钢铁集团微尔自动化有限公司 | System and method for realizing intelligent scheduling of unmanned overhead travelling crane of hot-rolled slab warehouse |
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| JP2000065541A (en) * | 1998-08-17 | 2000-03-03 | Mitsubishi Heavy Ind Ltd | Position detecting device |
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| CN111123868A (en) * | 2019-12-21 | 2020-05-08 | 唐山钢铁集团微尔自动化有限公司 | System and method for realizing intelligent scheduling of unmanned overhead travelling crane of hot-rolled slab warehouse |
| CN111123868B (en) * | 2019-12-21 | 2022-12-27 | 唐山钢铁集团微尔自动化有限公司 | System and method for realizing intelligent scheduling of unmanned overhead travelling crane of hot-rolled slab warehouse |
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