JPH0725584A - Crane device - Google Patents

Abstract

PURPOSE:To precisely position a carried object at a specified place by constituting a hoisting part of a winding machine of a crane so as not to swing at the time of moving the carried object as well as precisely arranging the hoisting part of the winding machine of the crane directly above the carried object. CONSTITUTION:This crane device has a winding machine 2 guided by a guide 1, a displacement detection means 6 to detect displacement delta of a rope and others generated in accordance with external force in the horizontal direction added to a carried object hoisted and a control device 7 to drive a hoisting part of the winding machine 2 in the direction to eliminate the displacement delta.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is applied to all cranes of the type in which the upper end of a suspended body of a transported object is driven along a guide, and the transported object suspended by the crane is manually displaced to be displaced. The present invention relates to a device capable of automatically driving a hoisting portion horizontally in a direction in which the amount of displacement is eliminated when it is operated.

[0002]

2. Description of the Related Art In a conventional crane device, an operator operates a push button switch of a control box to move a suspended object to be conveyed along a guide such as a guide rail or a cylinder in a horizontal plane or in a three-dimensional manner. Was to move to.

[0003]

In the conventional automatic crane device, the upper end of a hoisting machine or a hanging body such as a rope is moved prior to the transported object when the transported object is moved, and the transported object is transported. Things follow it. As a result, the object to be conveyed is swayed, which makes it difficult to perform a positioning operation for quickly and accurately hanging it. Further, due to the shaking, it is difficult to accurately position the upper end of the hanging body directly above the transported object. From that point as well, it took a lot of time and labor to accurately hang the transported object. Furthermore, since it is difficult to accurately position the upper end of the hanging body of the hoisting machine right above the transported object, there is a risk that the transported object may be suspended while the base surface of the transported object is inclined. Also, it is difficult to control the moving speed of the transported object according to various conditions,
Occasionally, transportation was dangerous.

[0004]

Therefore, according to the present invention, the upper end 4 of the hanging body 5 is positioned exactly above the object 3 to be conveyed, and the object 3 is horizontally displaced in the moving direction manually. By doing so, it is an object of the present invention to provide a crane device with good handleability in which the upper end of the hanging body can be automatically moved according to the displacement, and the following configuration is taken to achieve the object. In the crane device of the present invention, in which the upper end 4 of the hanging body 5 is guided by the guide 1 arranged above, the horizontal external force applied to the transported object 3 suspended by the hanging body 5 is applied. Based on the displacement detection means 6 for detecting the displacement δ of the hanging body 5 or the displacement of the transported object 3, which is generated based on the displacement detection means 6, the upper end 4 of the hanging body 5 is guided to the guide 1 in the direction in which the displacement δ disappears. The control device 7 is driven so as to be guided and moved.

Next, in a preferred embodiment of the present invention, the displacement detecting means 6 detects the displacement δ of the hanging body 5 two-dimensionally, and the output thereof detects the upper end 4 of the hanging body 5 via the controller 7. It is configured to drive in two dimensions. Further, in the preferred embodiment, the upper end 4 of the hanging body 5 is configured to be driven in the radial direction and the circumferential direction with respect to the rotation center of the guide 1. Alternatively, the upper end 4 of the hanging body 5 is guided by two guide rails which are orthogonal to each other and is driven two-dimensionally.

[0006]

As shown in FIG. 1, when the transported object 3 is suspended by the suspended body 5, the transported object 3 is manually moved in the transport direction, and the displacement δ of the suspended body 5 is displaced. The detection means 6 detects and the upper end 4 of the hanging body 5 is driven by the traveling motor 20 on the basis of the detected force to move in the direction in which the displacement δ becomes zero. As a result, the upper end 4 of the hanging body 5 moves right above the transported object 3 and the shaking of the transported object 3 can be eliminated. At the same time, it becomes possible to position the base surface of the transported object 3 horizontally and hang it accurately at a predetermined position.

[0007]

Embodiments of the present invention will now be described with reference to the drawings. 1 is a principle view of the present apparatus, FIG. 2 is an elevational view showing one embodiment of the apparatus, FIG. 3 is a main part of the apparatus, and FIG. 4 is a plan view of the apparatus. Explaining the principle diagram of the present crane device shown in FIG. 1, the traveling unit 2 is guided on a guide 1 arranged above. The traveling unit 2 has a hoisting motor (not shown) inside, and a suspending body 5 made of a rope or a chain is suspended from the traveling unit 2.
The transported object 3 is detachably held at the lower end thereof. The traveling unit 2 has a displacement detecting means 6 adjacent to the hanging body 5.
Is provided. As shown in FIGS. 1 (B) and 1 (C), the displacement detecting means 6 includes an X-direction sensor 21 and a Y-direction sensor.
22 is arranged close to the hanging body 5, and the detected body 23 that moves or moves only in the X and Y directions is contacted or guided to follow the horizontal displacement of the hanging body 5. It is provided. Then, the distance between the detected object 23 and the X-direction sensor 21 and the Y-direction sensor 22 is electrically detected, and the X-direction displacement component and the Y-direction displacement component are obtained based on the distance.

A known ultrasonic sensor can be used as the displacement detecting means 6 as an example. This is because when the upper end of the hanging body 5 is displaced, the distance between the detected body 23 and the X-direction sensor 21 and / or the Y-direction sensor 22 changes, so that ultrasonic waves are emitted from both sensors 21, 22.
The displacement amount can be detected from the time delay of the reflected wave reflected by the detected body 23. As the displacement detecting means 6, various known ones can be used. For example, it is possible to detect the displacement of the suspended object by using the change in the electrostatic capacitance between the detected object and the sensor based on the displacement of the distance or the deviation angle between the sensor and the laser. . The detected output is input to the comparator 8 as shown in FIG. 1A and drives the traveling motor 20 via the controller 9 and the driver 26 for driving the servo motor.
The controller 9 can also control the rotation speed of the traveling motor 20 to be high in proportion to the amount of displacement of δ.

However, the present invention is not limited to this, and a substantially constant driving speed may be given to a displacement above a certain level. The traveling motor 20 is composed of a servo motor, and is directly connected to the drive wheel 24 via a speed reducer and a transmission mechanism, or not via them, and drives the drive wheel 24 in a reversible manner. The rotation speed and the rotation speed of the servo motor are detected by the rotation detector 4 and input to the controller 9. Further, the reference set value of the controller 9 is input to the comparator 8. That is, the reference voltage when the suspension 5 is in the state of zero displacement is input to the comparator. Then, the output voltage which is the detection signal from the displacement detection means 6 is compared with the reference voltage, the difference between the two voltages is output from the comparator 8, and the displacement δ of the hanging body 5 disappears based on the output signal. The traveling motor 20 is driven. The smaller the displacement δ is, the lower the rotation speed of the traveling motor is, and when the displacement δ is zero, a brake (not shown) operates.

The guide 1 may be a guide rail arranged only in a one-dimensional direction or a two-dimensional guide rail orthogonal to the guide rail. Further, as shown in FIG. 2, it may be a combination of a swivel arm and a traveling unit 2 guided on the arm in a radial direction. 2 to 4 show an embodiment of the present crane device. In this embodiment, one end of an arm 27 is pivotally supported by a bearing 12 projecting from the upper end of a base 17 and a column 14 is provided at the middle of the arm 27. The column 14 is fixed in a cross shape with respect to, and the column 14 and each part of the arm 27 are connected by the reinforcing wire 13. A drive wheel 28 is provided at the lower end of the column 14 and is guided by an annular guide rail 29. The drive wheel 28 is connected to the rotating shaft of the turning motor 31, and the casing of the turning motor 31 is fixed to the support column 14. The arm 27 has H-shaped steel arranged as a guide rail, and the traveling unit 2 is guided there.
The traveling unit 2 is provided with a traveling motor 20, which is connected to drive wheels 24. Therefore, in this embodiment, the annular guide rail 29 and the arm 27 constitute the guide 1 of the present invention.

A short suspension 5 is suspended from the traveling unit 2 guided by the arm 27, a hoist 30 is provided at the lower end of the suspension 5, and an adsorber 11 is vertically suspended therein. This suction device 11 has a plurality of suction cups on the lower surface,
In this embodiment, the adsorber 11 adsorbs the laminated iron plates for generator one by one and conveys them to a predetermined position to assemble the stator. Therefore, as shown in FIG. 2, a scaffold 16 and a temporary stand 15 are provided on the outer periphery. A large number of fan-shaped iron plates are placed as the objects to be conveyed 3 on the temporary table 15. Arm 27
A plurality of suspension fittings 18 are provided on the top so as to be movable in the longitudinal direction. A controller 7 is provided on the outer periphery of the upper end of the base 17, and the controller 7 and the hoist 30 are connected by an air pipe 19, and the controller 7 and the traveling unit 2 are connected.
And the turning motor 31 at the lower end of the column 14 is connected by a control cable (not shown). The air pipe 19 is supported at a proper position by a plurality of metal fittings 18 to prevent it from hanging downward.

Next, inside the traveling unit 2, a displacement detecting means 6 similar to that shown in FIGS. 1 (B) and 1 (C) is provided at the upper end portion of the hanging body 5, and the output thereof is provided. A signal is input to the control device 7 to drive the traveling motor 20 inside the traveling unit 2 and the revolving motor 31 at the lower end of the column 14. Therefore, the traveling unit 2 is located right above the transported object 3. The traveling unit may be moved by manually pushing the hoist 30 or the transported object 3 in a desired direction. Then, the hanging body 5 is inclined from the vertical line to generate a displacement δ, and the displacement amount of the hanging body 5 is detected through the displacement detecting means. Then, based on the detection signal, the traveling motor 20 (FIG. 3) of the traveling unit 2 in the direction in which the amount of displacement of the hanging body 5 becomes zero and at the speed corresponding to the amount of displacement, if necessary for turning. The motor 31 is driven to position the traveling unit 2 directly above the transported object 3.

Next, the hoist 30 is lowered, and the object to be conveyed 3 is adsorbed by the adsorber 11 and is raised, and is moved to the center side in the radial direction. At this time, the worker on the scaffold 16 pushes the transported object 3 to the left in the same manner as described above, thereby detecting the displacement amount of the hanging body 5 through the displacement detection means not shown in FIG. Based on the detection signal,
The traveling motor 20 is moved in the direction in which the displacement amount of the hanging body 5 becomes zero.
Also, the turning motor 31 is driven. Then, when the hoist 30 is lowered so that the transported object 3 is aligned with a predetermined position, the traveling unit 2 is automatically positioned immediately above the hoist 30 to accurately and quickly position the transported object to a desired position. Can be placed. In this embodiment, two arms 27 are provided around the bearing 12, and a traveling unit and the like are attached to each of them. Therefore, it is possible to simultaneously and independently perform the transfer work at two locations.

[0014]

[Modification] The present invention is not limited to the one in which the crane device is two-dimensionally controlled in the circumferential direction and the radial direction as in the above embodiment, but can be applied to a crane vehicle or the like which is also controlled in the vertical direction. It can also be applied to cranes that move up and down as the cylinder expands and contracts. In this case, in the direction in which the displacement δ of the hanging body 5 becomes zero by the control device,
The crane cylinder and hoisting device may be three-dimensionally controlled so that the transported object 3 always moves horizontally. At this time, the guide, which is the configuration of the present invention, serves as a cylinder for moving the hanging body and its pivot axis.

Next, the means for detecting the displacement δ of the suspension 5 is
It is also possible to detect by an angle detector. Further, instead of detecting the displacement of the hanging body 5, the displacement of the transported object 3 may be detected. For example, a laser sensor is provided on the fixed part of the hanging body, and its reflection plate is appropriately attached to the upper surface of the transported object so that the displacement amount of the transported object displaced by an external force can be detected from the change in laser reflection. Good. It goes without saying that the present invention can add the contents of the present invention to a conventional push-button operated crane in combination with the push-button control box. In that case, the changeover switch for operation of the present invention may be added to the control box. Further, it is preferable that the stop button and the brake button can be operated while the device is in use.

[0016]

According to the crane device of the present invention, the hanging body 5 generated based on the horizontal external force applied to the object 3 to be conveyed.
Of the displacement body 6 or the displacement δ of the transported object 3 is detected, and the upper end of the hanging body 5 is driven via the control device 7 in the direction in which the displacement detection means 6 disappears. Since it is configured, it is possible to automatically and accurately position the hanging body 5 directly above the transported object 3. As a result, it becomes possible to accurately and quickly position the suspended position of the transported object 3. At the same time, the base surface of the transported object 3 can be accurately positioned horizontally. Furthermore, by pushing the transported object 3 manually, the transported object 3 can be moved according to the traveling speed of the human power. Thereby, the transported object 3 can be safely transported.

[Brief description of drawings]

FIG. 1 is a principle diagram of a crane device of the present invention.

FIG. 2 is an elevational view showing an embodiment of the present crane device.

FIG. 3 is an enlarged view of a main part of the crane device.

FIG. 4 is a plan view of the crane device.

[Explanation of symbols]

 1 Guide 2 Traveling Unit 3 Conveyed Object 4 Upper End 5 Suspended Body 6 Displacement Detection Means 7 Control Device 8 Comparator 9 Controller 10 Sensitivity Adjuster 11 Adsorber 12 Bearing 13 Reinforcement Wire 14 Strut 15 Temporary Stand 16 Scaffold 17 Base 18 Suspension Metal 19 Air hose 20 Traveling motor 21 X-direction sensor 22 Y-direction sensor 23 Detected object 24 Driving wheel 25 Rotation detector 26 Driver 27 Arm 28 Driving wheel 29 Annular guide rail 30 Hoist 31 Turning motor

Claims (6)

[Claims] 1. A suspension 5 is attached to a guide 1 arranged above.
In the crane device in which the upper end of the object is guided, the displacement δ of the suspended body 5 such as a rope or the displacement of the transferred object 3 caused by the external force in the horizontal direction applied to the transferred object 3 to be suspended is detected. Displacement detecting means 6
And a controller 7 that drives the upper end 4 of the hanging body 5 so as to move while being guided by the guide 1 in a direction in which the displacement δ disappears. 2. The crane device according to claim 1, wherein the larger the displacement δ is, the faster the moving speed of the upper end of the suspension 5 is driven. 3. The displacement detecting means 6 according to claim 1.
Is a crane device configured to detect the displacement δ of the hanging body 5 two-dimensionally and output the output to drive the upper end 4 of the hanging body 5 two-dimensionally via the control device 7. 4. The crane according to claim 3, wherein an upper end 4 of the suspension 5 is configured to be driven in a radial direction and a circumferential direction with respect to a rotation center of the guide 1. 5. The crane according to claim 3, wherein an upper end 4 of the suspension 5 is guided by two guide rails that are orthogonal to each other and is driven in the two-dimensional manner. 6. The displacement detecting means 6 according to claim 1.
Detects the displacement δ of the hanging body 5 two-dimensionally, and outputs the displacement to drive the upper end 4 of the hanging body 5 three-dimensionally via the control device 7 and to the lower end of the hanging body 5. A crane device configured so that the held objects to be transported move in a substantially horizontal direction.