JPS6360325B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a swing displacement detection device for a suspended load for obtaining data signals necessary for controlling the operation of a crane.

When operating a crane to transport an object to a predetermined location, the hoisting device is reliably stopped above the predetermined location, and then the hoisted cargo is unwound.
The suspended load swings significantly in the direction of travel due to the inertial force caused by the crane stopping, which significantly impairs work efficiency. For this reason, various steady rest devices have been proposed in the past, and these have been combined with operation control to attenuate the swing of the suspended load and unwind and unload the suspended load. The information required for this is obtained directly from the hanging load swing angle of the hoisting rope, and there is a problem with the detected value. This is because the hanging length of the load suspended from the hoisting rope is considerably longer than the horizontal displacement of the swing width, and the swing angle at the hanging base end is minute.
It is extremely difficult to accurately detect this from a non-rigid wire rope, which hinders proper operation control. Particularly in applications such as automatic operation of cranes, which require faster work, operation control is currently an important issue, along with steady rests.

SUMMARY OF THE INVENTION An object of the present invention is to use simple means to magnify and reliably detect swing displacement of a suspended load, and use this as a data signal to control the operation of a crane with good workability.

Next, embodiments of the present invention will be described with reference to the drawings.

1 is a trolley; 2 is a winding drum provided on the trolley; 3 and 4 are sheaves that guide hoisting ropes 5 and 6 that are let out from the winding drum;
A lever 9 is disposed in the same direction as the traveling direction of the trolley 1, and in the middle there is a lever 9 supported by a bracket 8 provided on the trolley 1 via a pin 7, and a lever 9 at the tip thereof is supported via a pin 10 to tilt the central part. A freely suspended balance bar 11 is provided. The hoisting ropes 5 and 6 attached to the hoisting drum 2 are attached to the sheaves 3 and 6, respectively.
Hook sheaves 12 and 13 and a hook 14 supported by the hook sheaves 12 and 13 are suspended from the hanging ends of the hooks 4. The tip of the hoisting rope 5 is a hook sheave 12
is wound from below and connected to the right end of the balance bar 11 in the drawing, and the tip of the hoisting rope 6 is wound around a hook sheave 13 and connected to the left end of the balance bar 11 in the drawing.

A rope swing angle detection device 15 is provided on the lever 9 and the balance bar 11 suspended from the bracket 8. The deflection angle detecting device 15 is, for example, a potentiometer 15a shown in FIG. 2, or a lever 9 as shown in FIGS. 3 and 5.
Detection elements A and B are provided on the indicator plate 16 provided on the holder and the indicator plate 17 provided on the balance bar 11, respectively, and these elements are adjusted to the swing angle of the rope by appropriate well-known technical means such as a light source, a contact point, a connection resistance, etc. It is configured to detect the inclination angle of the corresponding balance bar 11, and any detection means may be used.

With this structure, when the crane stops running and the suspended load swings, and the hook sheaves 12 and 13 suspended from the hoisting ropes 5 and 6 are in the position shown in Fig. 5. , the lever 9 suspended from the trolley 1 tilts at an angle θ in the same direction as the deflection direction of the hook sheaves 12, 13, and correspondingly, the balance bar 11 tilts as shown. This tilting causes the deflection angle sensing device 15 to generate a trolley corresponding to the tilt angle θ1 or _θ2 of the balance bar 11 with respect to the working lever 9. This signal is converted into an electrical signal by the potentiometer 15a as shown in FIG. In addition, the amplifier 2
1, the signal is sent to a trolley drive motor 22, a brake, etc., and is controlled in a direction to correct the inclination of the balance bar 11.

In addition, with this control device, when the crane approaches the stop position while traveling, the traveling speed of the crane is gradually reduced by a preset data signal according to the swing angle θ of the suspended load, and the swing angle of the suspended load is gradually reduced. It is also possible to perform control in a direction to reduce the angle of deflection, and to finally stop at the stop position with no deflection angle.

Alternatively, it is also possible to carry out a trial run, detect the deflection angle θ at a predetermined point, set the running speed, braking timing, etc. based on the detected value, and control the next time onwards.

Note that although the above description has been made regarding a one-winding drum type hoisting device, it is also possible to use a two-winding drum type hoisting device by replacing the sheaves 3 and 4 disposed on the trolley 1 with the winding drum. There is no difference in the effect.

As described above, the present invention makes it possible to obtain an enlarged deflection angle by tilting the balance bar using the tensioning action of the rope caused by the sheave deflection, and to accurately detect the deflection displacement of the suspended load when the crane stops traveling. This is extremely effective for crane operation control using this as a data signal, and as a result,
It has the great feature of quickly attenuating the swing of a suspended load, contributing to automated crane operation, improved work efficiency, etc.

[Brief explanation of the drawing]

FIG. 1 is a conceptual diagram showing an embodiment of the present invention, FIG. 2 and FIG. 3 show an example of a balance lever tilt angle detection device,
FIG. 4 is a side view of FIG. 3, and FIG. 5 shows an embodiment of the trolley operation control system diagram. 1... Trolley, 2... Winding drum, 3, 4...
... Sheave, 5, 6 ... Hoisting rope, 9 ... Lever, 11 ... Balance bar, 12, 13 ... Hook sheave, 15 ... Deflection angle detection device.

Claims (1)

[Claims] 1. A balance bar is provided on a trolley supported so that it can run, and is suspended via a lever so as to be tiltable in the same direction as the trolley, one end of which is attached to the hoisting drum on the trolley, and one end of which is attached to the front of the balance bar and The other ends of each of the hoisting ropes let out from a separate position at the rear are connected to the opposite ends of the upper balance bar by winding the hook sheave from below, and the balance bar and the hoisting rope are connected to each other. A deflection angle detection device for detecting the angle of inclination of the balance bar due to the swing of the rope is provided between the lever and the lever held by the crane, and the operation of the crane is controlled by an output signal from the detection device. A swing displacement detection device for suspended loads.