JP3329712B2 - Stop position correction device for lifting equipment in lifting device - Google Patents
Stop position correction device for lifting equipment in lifting deviceInfo
- Publication number
- JP3329712B2 JP3329712B2 JP33816497A JP33816497A JP3329712B2 JP 3329712 B2 JP3329712 B2 JP 3329712B2 JP 33816497 A JP33816497 A JP 33816497A JP 33816497 A JP33816497 A JP 33816497A JP 3329712 B2 JP3329712 B2 JP 3329712B2
- Authority
- JP
- Japan
- Prior art keywords
- hanging member
- end position
- lifting
- data
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Description
【0001】[0001]
【発明の属する技術分野】本発明は、昇降装置の吊下索
の伸びによる吊り具の設定昇降端停止位置と実際の昇降
端停止位置との間の誤差を補正する装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for correcting an error between a set lifting end stop position and an actual lifting end stop position of a hoist due to extension of a suspension cable of a lifting device.
【0002】[0002]
【従来の技術】チェーン、ロープ等の吊下索に吊下げら
れた吊り具、つかみ具等の移動体を該吊下索の巻上げま
たは巻下げによって昇降させる装置において、吊下索の
巻上げまたは巻下げ駆動装置にエンコーダ、レゾルバ移
相機等の位置検出器を設けて位置データの検出を行い、
該データに基づいて移動体を垂直方向の所望位置で正確
に停止させる技術は周知である。更にこの種昇降装置の
中には、吊下索に伸びが生じて設定位置データと実際の
停止位置との間に誤差が生じた場合に該誤差を補正する
ようにしたものがある。2. Description of the Related Art In a device for raising and lowering a moving body such as a hanging tool or a gripper suspended by a hanging rope such as a chain or a rope by lifting or lowering the hanging rope, the lifting or winding of the hanging rope is performed. An encoder, a position detector such as a resolver phase shifter, etc. are provided in the lowering drive device to detect position data,
Techniques for accurately stopping a moving body at a desired vertical position based on the data are well known. Further, some of these types of elevating devices are configured to correct an error when an error occurs between the set position data and the actual stop position due to extension of the suspension cable.
【0003】例えば、特公昭61−53316号公報に
は、吊下索に吊下げられた移動体をガイドレールに沿っ
て移動させ、このときの移動体の絶対位置を絶対位置検
出器により検出する巻上機において、移動体に設けられ
たドグと、ガイドレールに沿って所望の固定位置に設け
られ前記ドグの通過を検出するドグ検出器と、ドグ検出
器の固定位置に対応した基準絶対位置データを設定する
設定器と、ドグ検出器がドグの通過を検出した時に絶対
位置検出器の検出絶対位置データと設定器の基準絶対位
置データとを比較して補正量を求める補正量算出回路
と、補正量算出回路の補正量と絶対位置検出器の検出絶
対位置データとを加算して補正絶対位置データを出力す
る加算器とを設け、吊下索の伸びに応じて位置検出器の
位置データを補正し、巻き上げた移動体が常に同じレベ
ル位置で停止するようにした停止位置補正装置が開示さ
れている。For example, Japanese Patent Publication No. Sho 61-53316 discloses that a moving body suspended on a suspension cable is moved along a guide rail, and the absolute position of the moving body at this time is detected by an absolute position detector. In a hoisting machine, a dog provided on a moving body, a dog detector provided at a desired fixed position along a guide rail to detect passage of the dog, and a reference absolute position corresponding to the fixed position of the dog detector A setter for setting data, a correction amount calculating circuit for comparing the detected absolute position data of the absolute position detector with the reference absolute position data of the setter when the dog detector detects the passage of the dog, and obtaining a correction amount. An adder for adding the correction amount of the correction amount calculation circuit and the detected absolute position data of the absolute position detector to output corrected absolute position data, and the position data of the position detector according to the extension of the suspension cable. Correct Hoisting the moving body is always the same level position stop and to stop at the position correction apparatus is disclosed a.
【0004】しかし上記停止位置補正装置は、吊下索に
吊下げられた移動体をガイドレールに沿って昇降させる
場合には適しているが、移動体をガイドレールなしで昇
降させる場合には、移動体が横揺れしてドグとドグ検出
器との間隔が一定に保たれず、確実な検出ができないと
いう問題がある。[0004] However, the above-mentioned stop position correcting device is suitable for moving a moving body suspended on a suspension cable along a guide rail, but is suitable for moving the moving body up and down without a guide rail. There is a problem that the moving body is rolled and the distance between the dog and the dog detector is not kept constant, so that reliable detection cannot be performed.
【0005】[0005]
【発明が解決しようとする課題】本発明はこのような問
題点に鑑みて成されたものであり、吊下索に吊下げられ
た移動体をガイドレールなしで昇降させる場合でも確実
な検出ができる吊り具の停止位置補正装置を提供するこ
とを目的としている。SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and ensures reliable detection even when a moving body suspended on a suspension cable is lifted and lowered without a guide rail. It is an object of the present invention to provide a hanger stop position correcting device that can be used.
【0006】[0006]
【課題を解決するための手段】本発明は上記課題を解決
するため、移動体の直下方床面上に上向きに距離センサ
を設置して、移動体の基準下降端位置と距離センサとの
間隔(C)と移動体の実際の下降端位置と距離センサと
の間隔(D)とを比較して補正値(C−D)を求め、該
補正値に基づいて位置検出器の設定位置データを補正す
ることを要旨としている。According to the present invention, in order to solve the above-mentioned problem, a distance sensor is installed upward on a floor directly below a moving body, and a distance between a reference lower end position of the moving body and the distance sensor is set. (C) is compared with the actual lower end position of the moving body and the distance (D) between the distance sensor to obtain a correction value (CD), and the set position data of the position detector is calculated based on the correction value. The gist is to make corrections.
【0007】[0007]
【実施例】以下、本発明の実施例について図面を参照し
て説明する。図1は本発明に係る吊り具の停止位置補正
装置を具備した昇降装置の正面図である。図において、
1は架台2上に横向きに設置された電動機であり、該電
動機1の出力軸3に駆動ギヤ4が取り付けてある。上記
架台2上には駆動ギヤ4に並行して従動ギヤ5が設置さ
れており、両ギヤ4,5間には駆動チェーン6が掛け回
されている。従動ギヤ5には、一端に吊り具7を、他端
に重り8を取り付けた吊上げチェーン9が掛け回されて
おり、電動機1の正逆回転により吊り具7が昇降するよ
うにされている。電動機1の出力軸3には、該軸3の回
転量を検出するエンコーダ(図示せず)が取り付けられ
ており、該エンコーダは導線11を介してコントローラ
12に接続している。なお13は、コントローラ12か
ら電動機1へ駆動開始・停止指令信号を送る導線であ
る。Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a front view of an elevating device provided with a hanger stop position correcting device according to the present invention. In the figure,
Reference numeral 1 denotes an electric motor installed horizontally on a gantry 2, and a drive gear 4 is attached to an output shaft 3 of the electric motor 1. A driven gear 5 is provided on the gantry 2 in parallel with the drive gear 4, and a drive chain 6 is looped between the gears 4 and 5. The driven gear 5 is hung around a hoisting chain 9 having a hoist 7 attached at one end and a weight 8 at the other end, and the hoist 7 is raised and lowered by forward and reverse rotation of the electric motor 1. An encoder (not shown) for detecting the rotation amount of the shaft 3 is attached to the output shaft 3 of the electric motor 1, and the encoder is connected to a controller 12 via a conductor 11. Reference numeral 13 denotes a conductor for transmitting a drive start / stop command signal from the controller 12 to the electric motor 1.
【0008】上記吊り具7の直下方床面上には、該吊り
具7との間隔を計測する距離センサ14が上向きに設置
されており、該センサ14は導線15を介して上記コン
トローラ12に接続している。図2は上記コントローラ
12における吊り具の位置補正装置16のブロック図を
示し、設定器(A)17には、初期値として、吊り具7
の基準上昇端位置データと基準下降端位置データとが入
力されており、エンコーダの検出回転量が該データと合
致したとき、コントローラ12からの指令により電動機
1の駆動が停止され、吊り具7の昇降が停止される。な
お、基準上昇端位置データは、従動ギヤ5におけるチェ
ーン9の接線位置から基準上昇端位置(A)までの距離
(L2)として表わされ、基準下降端位置データは、従
動ギヤ5におけるチェーン9の接線位置から基準下降端
位置(B)までの距離(L1)として表わされる。A distance sensor 14 for measuring a distance from the hanging member 7 is installed upward on the floor directly below the hanging member 7, and the distance sensor 14 is connected to the controller 12 via a conducting wire 15. Connected. FIG. 2 shows a block diagram of the position correcting device 16 of the hanging tool in the controller 12, and the setting device (A) 17 stores the hanging tool 7 as an initial value.
When the detected rotation amount of the encoder matches the data, the drive of the electric motor 1 is stopped by a command from the controller 12, and Lifting is stopped. Note that the reference rising end position data is expressed as a distance (L2) from the tangent position of the chain 9 to the reference rising end position (A) in the driven gear 5, and the reference falling end position data is the chain 9 in the driven gear 5. From the tangent position to the reference lower end position (B).
【0009】18は上記エンコーダが、設定された基準
下降端位置データ(L1)に基づいて吊り具7の下降端
位置を検知する毎にカウントするカウンタであり、該カ
ウンタ18があらかじめ設定された数をカウントしたと
きに上記距離センサ14が作動し、上記吊り具7の実際
の下降端位置と距離センサ14との間隔データ(D)が
記憶回路19に出力され、ここに記憶される。なお設定
カウント数は、吊上げチェーン9の伸び量が吊り具停止
位置の許容限界に達するまでの設備稼働サイクルであ
る。一方、設定器(B)21から吊り具7の基準下降端
位置(B)と距離センサ14との間隔データ(C)が比
較演算回路22に供給され、上記記憶回路19に記憶さ
れた間隔データ(D)との間で比較演算が行われ、差算
値(C−D)が出力され、該差算値は減算器23に供給
される。減算器23の他方の入力端には、設定器(A)
17より吊り具7の基準下降端位置データ(L1)が供
給され、減算器23により後者の入力データ(L1)か
ら前者の入力データ(C−D)が減算されて補正下降端
位置データ{L1−(C−D)}として出力される。Reference numeral 18 denotes a counter which counts each time the encoder detects the lowering end position of the hanging member 7 based on the set reference lowering end position data (L1). Is counted, the distance sensor 14 is activated, and the distance data (D) between the actual lower end position of the hanging member 7 and the distance sensor 14 is output to the storage circuit 19 and stored therein. Note that the set count number is a facility operation cycle until the amount of extension of the lifting chain 9 reaches the allowable limit of the suspension position. On the other hand, the interval data (C) between the reference lower end position (B) of the hanging member 7 and the distance sensor 14 is supplied from the setting device (B) 21 to the comparison operation circuit 22 and the interval data stored in the storage circuit 19 is stored. A comparison operation is performed with (D), a difference value (C-D) is output, and the difference value is supplied to the subtractor 23. A setter (A) is connected to the other input terminal of the subtractor 23.
17, the reference falling end position data (L1) of the hanging member 7 is supplied, and the subtractor 23 subtracts the former input data (C-D) from the latter input data (L1) to obtain corrected falling end position data {L1. − (CD)}.
【0010】演算回路24の一方の入力端には上記比較
演算回路22の差算値(C−D)が供給され、他方の入
力端には、上記設定器(B)21から、従動ギヤ5の軸
心レベル位置から基準下降端位置(B)までの距離(L
1)と従動ギヤ5の軸心レベル位置から基準上昇端位置
(A)までの距離(L2)との比率値(L2/L1)が
供給され、両入力データの乗算{L2/L1・(C−
D)}が行われる。演算回路24の乗算値は加算器25
に供給される。加算器25の他方の入力端には、設定器
(A)17より吊り具7の基準上昇端位置データ(L
2)が供給され、加算器25により両者の入力データ
{L2,L2/L1・(C−D)}が加算されて補正上
昇端位置データ{L2+L2/L1・(C−D)}とし
て出力される。The operation circuit 24 has one input terminal supplied with the difference value (CD) of the comparison operation circuit 22 and the other input terminal receives the driven gear 5 from the setter (B) 21. (L) from the axial center level position to the reference lower end position (B).
The ratio value (L2 / L1) of the distance (L2) from the axial center position of the driven gear 5 to the reference ascending end position (A) is supplied, and the multiplication of both input data ΔL2 / L1 · (C −
D)} is performed. The multiplied value of the arithmetic circuit 24 is added to the adder 25.
Supplied to The other input end of the adder 25 is provided with reference set end position data (L
2) is supplied, and the input data {L2, L2 / L1 · (CD)} of the two are added by the adder 25 and output as corrected rising end position data {L2 + L2 / L1 · (CD)}. You.
【0011】上記のように構成された昇降装置におい
て、吊り具7の上昇端位置を基準上昇端位置(A)にセ
ットすると共に、設定器(A)17に初期値として吊り
具7の基準上昇端位置データ(L2)と基準下降端位置
データ(L1)とを入力した状態で、電動機1を駆動し
て吊り具7の昇降作動を開始する。吊り具7の昇降作動
が設定サイクルに達したら、その時点における吊り具7
の実際の下降端位置と距離センサ14との間隔データ
(D)と、吊り具7の基準下降端位置(B)と距離セン
サ14との間隔データ(C)との比較演算(C−D)が
行われ、その演算結果に基づき減算器23から補正下降
端位置データ{L1−(C−D)}が設定器(A)17
へ出力され、初期設定値と置換される。すなわちチェー
ンの伸び分だけ電動機1の出力軸3の回転量が減らされ
るため、次のサイクルで吊り上げチェーン9を巻下げた
とき、吊り具7は基準下降端位置(B)で停止する。In the lifting device constructed as described above, the rising end position of the hanging member 7 is set to the reference rising end position (A), and the setting device (A) 17 sets the reference lifting position of the hanging member 7 as an initial value. With the end position data (L2) and the reference lower end position data (L1) input, the motor 1 is driven to start the lifting / lowering operation of the hanging member 7. When the lifting / lowering operation of the lifting device 7 reaches the set cycle, the lifting device 7 at that time is
(C-D) of the distance data (D) between the actual lower end position and the distance sensor 14 and the distance data (C) between the reference lower end position (B) of the hanging member 7 and the distance sensor 14. Is performed, and based on the calculation result, the corrected falling edge position data {L1- (CD)} is set from the subtractor 23 to the setting unit (A) 17
Is output to and replaced with the initial setting value. That is, since the rotation amount of the output shaft 3 of the electric motor 1 is reduced by an amount corresponding to the elongation of the chain, when the hoisting chain 9 is lowered in the next cycle, the hoist 7 stops at the reference lower end position (B).
【0012】これと同時に、比較演算回路の差算値(C
−D)と、従動ギヤ5の軸心レベル位置から基準下降端
位置(B)までの距離(L1)と従動ギヤ5の軸心レベ
ル位置から基準上昇端位置(A)までの距離(L2)と
の比率値(L2/L1)との乗算{L2/L1・(C−
D)}が行われ、その演算結果に基づき加算器25から
補正上昇端位置データ{L2+(L2/L1・(C−
D)}が設定器(A)17へ出力され、初期設定値と置
換される。すなわちチェーンの伸び分だけ電動機1の出
力軸3の回転量が増やされるため、吊り上げチェーン9
を巻き上げたとき、吊り具7は基準上昇端位置(A)で
停止する。At the same time, the difference value (C
-D), the distance (L1) from the axial center position of the driven gear 5 to the reference lower end position (B), and the distance (L2) from the axial center position of the driven gear 5 to the reference ascending end position (A). Multiplication with a ratio value (L2 / L1) of と L2 / L1 · (C−
D)} is performed, and the adder 25 outputs corrected rising edge position data {L2 + (L2 / L1 · (C−
D) is output to the setting device (A) 17 and is replaced with the initial setting value. That is, the rotation amount of the output shaft 3 of the electric motor 1 is increased by an amount corresponding to the elongation of the chain.
Is lifted, the hanging tool 7 stops at the reference rising end position (A).
【0013】[0013]
【発明の効果】上記のような本発明によれば、吊り具が
昇降時に横揺れしても確実に誤差が検出ができるから、
ガイドレールのような案内装置が不要になり、設備コス
トを低減できる。According to the present invention as described above, an error can be reliably detected even if the hanging tool rolls up and down.
A guide device such as a guide rail is not required, and equipment costs can be reduced.
【図1】本発明に係る吊り具の停止位置補正装置を備え
た昇降装置の正面図である。FIG. 1 is a front view of an elevating device provided with a hanger stop position correcting device according to the present invention.
【図2】本発明に係る吊り具の停止位置補正装置のブロ
ック図である。FIG. 2 is a block diagram of a hanger stop position correcting device according to the present invention.
7 吊り具 9 吊下索 14 距離センサ 18 カウンタ 19 記憶装置 22 比較演算回路 23 減算器 24 演算回路 25 加算器 Reference Signs List 7 hanging tool 9 hanging cable 14 distance sensor 18 counter 19 storage device 22 comparison operation circuit 23 subtractor 24 operation circuit 25 adder
フロントページの続き (58)調査した分野(Int.Cl.7,DB名) B66D 1/46 B66B 1/40 Continuation of front page (58) Field surveyed (Int.Cl. 7 , DB name) B66D 1/46 B66B 1/40
Claims (1)
吊下索9の巻上げまたは巻下げによって昇降させると共
に該吊り具7の停止位置を位置検出器を介して制御する
昇降装置における吊り具の停止位置補正装置であって、 上記吊り具7の直下方床面上に上向きに設置されて該吊
り具7との間隔を計測する距離センサ14と、 上記位置検出器が吊り具7の下降端位置を検知する毎に
カウントするカウンタ18と、 該カウンタ18が所定数をカウントしたときに、上記吊
り具7の実際の下降端位置と上記距離センサ14との間
隔データ(D)を記憶する記憶回路19と、 該記憶回路19の記憶内容と、上記吊り具7の基準下降
端位置と上記距離センサ14との間隔データ(C)とを
比較して差算値(C−D)を求める比較演算回路22
と、 該比較演算回路22の差算値に基づいて上記位置検出器
の設定位置データを減算補正する減算器23と、 上記吊下索9の基準下降端位置までの距離(L1)と基
準上昇端位置までの距離(L2)との比率と上記比較演
算回路22の差算値(C−D)とに基づいて乗算値(L
2/L1・(C−D))を求める演算回路24と、 該演算回路24の乗算値に基づいて上記位置検出器の設
定位置データを加算補正する加算器25と、を備えてい
ることを特徴とする昇降装置における吊り具の停止位置
補正装置。1. A lifting device for raising and lowering a hanging member 7 suspended on a hanging line 9 by hoisting or lowering the hanging line 9 and controlling a stop position of the hanging member 7 via a position detector. And a distance sensor 14 installed upward on the floor immediately below the hanging member 7 to measure an interval between the hanging member 7 and the position detector. A counter 18 that counts each time the falling end position of the hanging member 7 is detected; and when the counter 18 counts a predetermined number, interval data (D) between the actual falling end position of the hanging member 7 and the distance sensor 14. And a storage value of the storage circuit 19, and a difference value (C-D) obtained by comparing the storage content of the storage circuit 19 with the distance data (C) between the reference lower end position of the hanging member 7 and the distance sensor 14. ) For the comparison operation circuit 22
A subtractor 23 for subtracting and correcting the set position data of the position detector based on a difference value of the comparison operation circuit 22; a distance (L1) to a reference lower end position of the suspension cable 9 and a reference rise; The multiplication value (L) is calculated based on the ratio of the distance to the end position (L2) and the difference value (CD) of the comparison operation circuit 22.
2 / L1 · (C−D)), and an adder 25 for adding and correcting the set position data of the position detector based on the multiplied value of the arithmetic circuit 24. A lifting position correction device for a lifting device in a lifting device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP33816497A JP3329712B2 (en) | 1997-11-21 | 1997-11-21 | Stop position correction device for lifting equipment in lifting device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP33816497A JP3329712B2 (en) | 1997-11-21 | 1997-11-21 | Stop position correction device for lifting equipment in lifting device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH11157786A JPH11157786A (en) | 1999-06-15 |
JP3329712B2 true JP3329712B2 (en) | 2002-09-30 |
Family
ID=18315525
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP33816497A Expired - Fee Related JP3329712B2 (en) | 1997-11-21 | 1997-11-21 | Stop position correction device for lifting equipment in lifting device |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100761768B1 (en) | 2006-12-29 | 2007-09-28 | 삼성전자주식회사 | Air conditioner for ceiling |
CN102530692A (en) * | 2012-03-20 | 2012-07-04 | 扬州凯思特机械有限公司 | Method for performing intelligent compensation of elongation of steel wire rope during cage bearing |
CN102602787A (en) * | 2012-03-20 | 2012-07-25 | 扬州凯思特机械有限公司 | Intelligent compensation method and special compensation device for elongation of cage bearing steel wire rope |
KR101839318B1 (en) * | 2016-07-11 | 2018-03-16 | 전남대학교산학협력단 | A cable calibration device of winch |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2009292644A (en) * | 2008-06-09 | 2009-12-17 | Murata Mach Ltd | Conveyance travelling vehicle |
CN106829671B (en) * | 2017-03-02 | 2018-07-20 | 山东科技大学 | A kind of elevator safety detection device and detection method |
-
1997
- 1997-11-21 JP JP33816497A patent/JP3329712B2/en not_active Expired - Fee Related
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
KR100761768B1 (en) | 2006-12-29 | 2007-09-28 | 삼성전자주식회사 | Air conditioner for ceiling |
CN102530692A (en) * | 2012-03-20 | 2012-07-04 | 扬州凯思特机械有限公司 | Method for performing intelligent compensation of elongation of steel wire rope during cage bearing |
CN102602787A (en) * | 2012-03-20 | 2012-07-25 | 扬州凯思特机械有限公司 | Intelligent compensation method and special compensation device for elongation of cage bearing steel wire rope |
KR101839318B1 (en) * | 2016-07-11 | 2018-03-16 | 전남대학교산학협력단 | A cable calibration device of winch |
Also Published As
Publication number | Publication date |
---|---|
JPH11157786A (en) | 1999-06-15 |
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