JPH0781877A - Device for detecting deviation angle and torsion of hoisting accessory of crane - Google Patents
Device for detecting deviation angle and torsion of hoisting accessory of craneInfo
- Publication number
- JPH0781877A JPH0781877A JP25497693A JP25497693A JPH0781877A JP H0781877 A JPH0781877 A JP H0781877A JP 25497693 A JP25497693 A JP 25497693A JP 25497693 A JP25497693 A JP 25497693A JP H0781877 A JPH0781877 A JP H0781877A
- Authority
- JP
- Japan
- Prior art keywords
- crane
- load
- sheave
- trolley
- sensor base
- 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.)
- Granted
Links
Landscapes
- A Measuring Device Byusing Mechanical Method (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は吊荷の振れ角をトロリ側
と吊具をガイドロープで連結し、２本のガイドロープの
傾斜角と捻れ角を測定し、これにより荷の振れと捻れを
２組の傾斜計で独立的に計測するようになしたクレーン
の吊具振れ角及び捻れ検出装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the swing angle of a suspended load by connecting a trolley side and a hanger with a guide rope, and measures the inclination angle and the twist angle of two guide ropes. The present invention relates to a hanging tool deflection angle and twist detection device for a crane, which is configured to measure independently by two sets of inclinometers.
【０００２】[0002]
【従来の技術】クレーンにおいて吊荷を吊垂運搬する場
合、吊荷の巻上時及びクレーンの横行、あるいは走行時
に吊荷に振れが発生する。特に自動運転クレーンにより
吊荷を吊垂運搬し、所望位置にしかも正確に吊荷を着床
させるには、この吊荷の振れを検出し、その振れを抑制
し、制御を行う必要がある。従来この吊荷の振れ角の測
定はトロリ側と吊具とを、吊具の中心を通る１本のガイ
ドロープで連結し、クレーンの横行、走行時クレーンの
吊具が吊荷の振れによって振れることにより、ガイドロ
ープの横行・走行方向の移動量で振れを検出している。2. Description of the Related Art When a suspended load is carried by a crane, the suspended load is shaken when the suspended load is being hoisted, when the crane is traversing or when traveling. In particular, in order to suspend and transport a suspended load by an automatic operating crane and accurately land the suspended load on a desired position, it is necessary to detect the swing of the suspended load, suppress the swing, and perform control. Conventionally, the deflection angle of this suspended load is measured by connecting the trolley side and the suspending tool with one guide rope that passes through the center of the suspending tool, and the crane traverses and the suspending tool of the crane swings during traveling by the swing of the suspended load. As a result, runout is detected by the amount of movement of the guide rope in the traverse / travel direction.
【０００３】[0003]
【発明が解決しようとする課題】このため吊荷の捻れ状
態を検出することができない欠点があった。Therefore, there is a drawback that the twisted state of the suspended load cannot be detected.
【０００４】本発明は荷の振れ角の測定において、横走
行の振れ角の検出とともに荷の捻れ角の検出を行うこと
を目的とする。It is an object of the present invention to detect the deflection angle of lateral traveling as well as the torsion angle of the load when measuring the deflection angle of the load.
【０００５】[0005]
【課題を解決するための手段】本発明は上記目的を達成
するためになしたもので、ワイヤロープ等にて荷を吊垂
し目的位置へ運搬するようになしたクレーンにおいて、
クレーンの吊具中央上方に設けた吊具側シーブと、クレ
ーンのトロリに取り付けられた２方向に回転可能な手段
を備えたセンサベースと、センサベースに配置したクレ
ーンの横行方向及び走行方向の傾斜角を検出する２台の
傾斜計と、一端をセンサベースの下端に接続し、吊具側
シーブとトロリ側シーブを介して他端を２台の巻取装置
にてガイドロープを巻き取るようにして荷の振れと荷の
捻れを検出することを要旨とする。SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, and in a crane adapted to hang a load with a wire rope or the like and convey it to a target position,
A sheave on the lifting equipment side provided above the center of the lifting equipment of the crane, a sensor base equipped with means capable of rotating in two directions attached to the trolley of the crane, and inclination of the crane arranged on the sensor base in the transverse direction and the traveling direction. Connect two inclinometers that detect the angle and one end to the lower end of the sensor base, and wind the guide rope with the two winding devices at the other end via the sheave side sheave and the trolley side sheave. The main point is to detect the swing of the load and the twist of the load.
【０００６】[0006]
【作用】荷の振れの測定は吊具の中心を通る１本のガイ
ドロープで吊具とトロリを連結し、ガイドロープの横行
・走行方向の傾斜角で荷の振れ角を計測することができ
る。この場合、荷の捻れに関しては検出することができ
ない。吊具側シーブの回転中心線上に吊具中心から等間
隔の距離をおいてガイドロープ用シーブを配置し、２組
の振れ角検出装置を対称に配置することにより、振れと
捻れの両方を計測することができる。横走行の振れは２
組のセンサに同相信号として発生し、捻れは１８０゜位
相が反転した逆相信号として発生する。従って２組のセ
ンサの信号の和を取ることにより振れ角信号を、差を取
ることにより捻れ角信号を得ることができる。[Operation] For the measurement of the deflection of the load, it is possible to measure the deflection angle of the load by connecting the suspending tool and the trolley with one guide rope passing through the center of the suspending tool and measuring the inclination angle of the guide rope in the traverse / travel direction. . In this case, the twist of the load cannot be detected. Both the runout and the twist are measured by arranging the guide rope sheaves at equal distances from the center of the lifting equipment on the rotation center line of the lifting equipment sheave and arranging two sets of deflection angle detection devices symmetrically. can do. Horizontal runout is 2
It is generated as an in-phase signal in the pair of sensors, and the twist is generated as a reverse-phase signal in which the phase is inverted by 180 °. Therefore, the deflection angle signal can be obtained by taking the sum of the signals of the two sets of sensors, and the twist angle signal can be obtained by taking the difference.
【０００７】[0007]
【実施例】以下本発明クレーンの吊具振れ角及び捻れ検
出装置を図示の実施例に基づいて説明する。図において
１はクレーンガータで、天井その他に設けたレールＲに
沿って走行し、このクレーンガータ１上には横行するト
ロリ２を配設すると共に、このトロリ２上に吊荷Ｇを吊
垂支持する巻上機３を設置し、この巻上機３に基端側よ
り巻取るようにした巻上ワイヤＷを、図１乃至図４に示
すようにトロリに設けたトロリ側シーブ４と吊荷Ｇに吊
具（フック）６を介して支持した吊り荷側シーブ５間に
掛け、この巻上ワイヤＷを巻上機３にて巻上げ、または
巻下げすることにより吊り荷側シーブ５に支持した吊具
６に吊垂した吊荷Ｇを上昇または降下するようになす。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A hoisting tool deflection angle and twist detection device for a crane according to the present invention will be described below with reference to the illustrated embodiment. In the figure, reference numeral 1 denotes a crane garter which travels along a rail R provided on a ceiling or the like, and a trolley 2 traversing the crane garter 1 is arranged, and a suspended load G is suspended and supported on the trolley 2. The hoisting wire W is installed on the hoisting machine 3, and the hoisting wire W wound on the hoisting machine 3 from the base end side is attached to the trolley-side sheave 4 provided on the trolley as shown in FIGS. The hoisting wire W is supported by the hoisting side sheave 5 by hanging the hoisting wire W between the hoisting wire W and the hoisting wire W, which is hung between the hoisting wire W and the hoisting wire W. The suspended load G suspended on the suspender 6 is raised or lowered.
【０００８】また、トロリ２には図３、図４に詳示する
ように、センサベースＢに２台の傾斜計７、８を吊具の
中心を通る鉛直線を中心として左右に等間隔に、かつ所
定の間隔Ｗをあけて設けると共に更にこのトロリには前
記吊具の中心を通る鉛直線を中心として左右に等間隔
に、傾斜計よりも外側に巻取装置９、１０を設け、この
各巻取装置９、１０に巻取っているガイドロープＷ１、
Ｗ２をガイドシーブ１１、１２に掛けてその先端を吊荷
側、即ち吊り荷側シーブに取り付けた吊り荷側ガイドシ
ーブ１３、１４に掛けた後、前記傾斜計７、８に夫々係
止する。Further, as shown in detail in FIGS. 3 and 4, the trolley 2 is provided with two inclinometers 7 and 8 on the sensor base B at equal intervals left and right with respect to a vertical line passing through the center of the suspension. In addition, the trolley is provided with winding devices 9 and 10 on the outer side of the inclinometer at equal intervals to the left and right around a vertical line passing through the center of the suspension, Guide rope W1 wound around each winding device 9,10,
W2 is hung on the guide sheaves 11 and 12, and its tip is hung on the hanging load side, that is, the hanging load side guide sheaves 13 and 14 attached to the hanging load sheave, and then locked to the inclinometers 7 and 8, respectively.
【０００９】またトロリ側に固定したセンサベースは２
方向傾転可能とし、これを２組用い、吊り荷側シーブの
回転中心線上に、かつ吊具中心より等間隔で前記ガイド
ロープ用シーブは配置され、センサベースに取り付けら
れた傾斜計はクレーンの横行方向・走行方向の各々に感
応するようにして配置し、ガイドロープの一端を傾斜計
に夫々固定し、フック側に取り付けられたガイドロープ
用シーブを介して他の一端を巻取装置に固定し、一定ト
ルクでガイドロープを巻取装置の巻取ドラムに巻き取る
ようにすると共に傾斜計の取付間隔と吊り具側のガイド
ロープ用シーブの間のガイドロープＷ１、Ｗ２は垂直に
なるよう傾斜計を配置する。The sensor base fixed on the trolley side is 2
The guide rope sheaves are arranged on the rotation center line of the sheave on the load side and at equal intervals from the center of the hoisting tool, and the inclinometer attached to the sensor base is The guide ropes are arranged so that they are sensitive to each of the traverse direction and traveling direction, one end of the guide rope is fixed to the inclinometer, and the other end is fixed to the winding device via the guide rope sheave attached to the hook side. Then, the guide rope is wound around the winding drum of the winding device with a constant torque, and the guide ropes W1 and W2 between the mounting space of the inclinometer and the sheave for the guide rope on the hanger are inclined so as to be vertical. Place the meter.
【００１０】なお、傾斜計の信号処理は、図７に示すよ
うに振れ角出力のための加算処理、捻れ角出力のための
減算処理を行う制御装置により信号処理される。Note that the signal processing of the inclinometer is signal processed by a control device that performs addition processing for output of a deflection angle and subtraction processing for output of a twist angle, as shown in FIG.
【００１１】以下本発明の動作と作用を説明する。傾斜
計の出力はガイドロープ長Ｌに対し吊り具側ガイドロー
プのシーブの移動量が十分に小さい場合、移動量に比例
した出力を得る。振れのモードに対し移動量は次のよう
になる。The operation and action of the present invention will be described below. The output of the inclinometer is proportional to the movement amount when the movement amount of the sheave of the hanger-side guide rope is sufficiently small with respect to the guide rope length L. The movement amount for the shake mode is as follows.
【００１２】走行方向単独に荷が振れた場合、ガイドロ
ープ用シーブ１３，１４の走行方向の変位は振れ角をθ
とすると次式の如くなる。 Ｏ１（ＴＬ）＝Ｌθ （１） Ｏ２（ＴＬ）＝Ｌθ （２）When the load swings in the traveling direction alone, the displacement of the guide rope sheaves 13 and 14 in the traveling direction has a deflection angle θ.
Then, the following equation is obtained. O1 (TL) = Lθ (1) O2 (TL) = Lθ (2)
【００１３】横行方向単独に荷が振れた場合、ガイドロ
ープ用シーブ１３、１４の横行方向の変位は振れ角をξ
とすると次式の如くなる。 Ｏ１（ＴＳ）＝Ｌξ （３） Ｏ２（ＴＳ）＝Ｌξ （４）When the load is shaken in the transverse direction alone, the displacement of the guide rope sheaves 13 and 14 in the transverse direction has a deflection angle ξ.
Then, the following equation is obtained. O1 (TS) = Lξ (3) O2 (TS) = Lξ (4)
【００１４】捻れが発生した場合、ガイドロープ用シー
ブ１３、１４の走行方向、横行方向の変位は次式の如く
なる。When a twist occurs, the displacements of the guide rope sheaves 13 and 14 in the traveling direction and the transverse direction are as follows.
【００１５】[0015]
【式１】 ここでψは捻れ角を、Ｗはセンサ取り付け間隔を示す。[Formula 1] Here, ψ is the twist angle, and W is the sensor mounting interval.
【００１６】走行の振れを得るには（５）、（６）式の
和を取る。これを次式で示す。In order to obtain the running deflection, the sum of equations (5) and (6) is calculated. This is shown by the following equation.
【式２】 [Formula 2]
【００１７】ただし、走行方向の振れは（５）式または
（６）式においてψが小さい場合は第２項は無視でき和
をとらなくてもよい。また、横行の振れを得るには
（７）、（８）の和をとる。これを次式で示す。However, when the ψ in the equation (5) or the equation (6) is small, the second term can be ignored and the sum does not have to be taken. Also, to obtain the swing of the transverse movement, the sum of (7) and (8) is taken. This is shown by the following equation.
【式３】 [Formula 3]
【００１８】捻れは（７）、（８）式の差をとる。これ
を次式で示す。The twist takes the difference between the equations (7) and (8). This is shown by the following equation.
【００１９】[0019]
【式４】 [Formula 4]
【００２０】ガイドロープのモード毎の移動軌跡を図５
に、また捻れによるシーブ１３、１４の軌跡を図６に夫
々示す。又、これを実現する処理装置として図７のブロ
ック図に示すような構成を採用する。The locus of movement of the guide rope for each mode is shown in FIG.
The loci of the sheaves 13 and 14 due to the twisting are shown in FIG. 6, respectively. Further, as a processing device for realizing this, a configuration as shown in the block diagram of FIG. 7 is adopted.
【００２１】[0021]
【発明の効果】本発明クレーンの吊具振れ角及び捻れ検
出装置は、ワイヤロープ等にて荷を吊垂し目的位置へ運
搬するようになしたクレーンにおいて、クレーンの吊具
中央上方に設けた吊具側シーブと、クレーンのトロリに
取り付けられた２方向に回転可能な手段を備えたセンサ
ベースと、センサベースに配置したクレーンの横行方向
及び走行方向の傾斜角を検出する２台の傾斜計と、一端
をセンサベースの下端に接続し、吊具側シーブとトロリ
側シーブを介して他端を２台の巻取装置にてガイドロー
プを巻き取るようにするため、容易に、確実に荷の振れ
と荷の捻れを検出することができる利点がある。The hoisting tool deflection angle and twist detection device of the crane of the present invention is provided above the center of the hoisting tool of a crane in a crane in which a load is hung by a wire rope or the like and transported to a target position. A sheave on the lifting tool side, a sensor base attached to a trolley of a crane and provided with means capable of rotating in two directions, and two inclinometers for detecting the inclination angles of the crane arranged in the sensor base in the transverse direction and the traveling direction. And one end is connected to the lower end of the sensor base, and the guide rope is wound by the two winding devices at the other end via the hanger side sheave and the trolley side sheave. There is an advantage that it is possible to detect the sway and the twist of the load.
【図１】本発明クレーンの吊具振れ角及び捻れ検出装置
の一実施例を示す天井走行クレーンの概略構造図であ
る。FIG. 1 is a schematic structural diagram of an overhead traveling crane showing an embodiment of a lifting tool deflection angle and twist detection device for a crane of the present invention.
【図２】同検出装置部の振れ、捻れの運動方向を示す平
面図である。FIG. 2 is a plan view showing a motion direction of shake and twist of the detection device unit.
【図３】ガイドロープの張架方法を示す側面図である。FIG. 3 is a side view showing a method of stretching the guide rope.
【図４】同ガイドロープの張架方法を示す正面図であ
る。FIG. 4 is a front view showing a method of stretching the guide rope.
【図５】傾斜計による各種モードの出力説明図である。FIG. 5 is an explanatory view of outputs of various modes by the inclinometer.
【図６】吊り具側ガイドロープ用シーブの変位説明図で
ある。FIG. 6 is a displacement explanatory view of the sheave for the lifting tool side guide rope.
【図７】処理装置の構成図である。FIG. 7 is a configuration diagram of a processing device.
１ クレーンガーダ ２ トロリ ３ 巻上機 ４ トロリ側シーブ ５ 吊荷側シーブ ６ 吊具 ７ 傾斜計 ８ 傾斜計 ９ 巻取装置 １０ 巻取装置 １１ ガイドシーブ １２ ガイドシーブ １３ ガイドシーブ １４ ガイドシーブ Ｗ１、Ｗ２ ガイドロープ 1 Crane girder 2 Trolley 3 Hoisting machine 4 Trolley side sheave 5 Hanging load side sheave 6 Lifting device 7 Inclinometer 8 Inclinometer 9 Winding device 10 Winding device 11 Guide sheave 12 Guide sheave 13 Guide sheave 14 Guide sheave W1, W2 Guide rope
Claims (1)
へ運搬するようになしたクレーンにおいて、クレーンの
吊具中央上方に設けた吊具側シーブと、クレーンのトロ
リに取り付けられた２方向に回転可能な手段を備えたセ
ンサベースと、センサベースに配置したクレーンの横行
方向及び走行方向の傾斜角を検出する２台の傾斜計と、
一端をセンサベースの下端に接続し、吊具側シーブとト
ロリ側シーブを介して他端を２台の巻取装置にてガイド
ロープを巻き取るようにして荷の振れと荷の捻れを検出
することを特徴とするクレーンの吊具振れ角及び捻れ検
出装置。1. A crane in which a load is hung by a wire rope or the like to be transported to a target position, and a hanger-side sheave provided above the center of the hanger of the crane and a trolley attached to the crane A sensor base provided with means capable of rotating in any direction, and two inclinometers for detecting the inclination angles of the crane arranged in the sensor base in the traverse direction and the traveling direction,
One end is connected to the lower end of the sensor base, and the other end of the guide rope is wound by the two winding devices via the sheave side sheave and the trolley side sheave to detect the swing and twist of the load. An apparatus for detecting a swing angle and a twist of a crane, which is characterized in that
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25497693A JP2833974B2 (en) | 1993-09-17 | 1993-09-17 | Crane swing angle and torsion angle detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25497693A JP2833974B2 (en) | 1993-09-17 | 1993-09-17 | Crane swing angle and torsion angle detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0781877A true JPH0781877A (en) | 1995-03-28 |
| JP2833974B2 JP2833974B2 (en) | 1998-12-09 |
Family
ID=17272489
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25497693A Expired - Lifetime JP2833974B2 (en) | 1993-09-17 | 1993-09-17 | Crane swing angle and torsion angle detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2833974B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040052138A (en) * | 2002-12-13 | 2004-06-19 | 주식회사 윈젠 | A method and apparatus to detect sway angle of an object carried in overhead crane |
| WO2013041770A1 (en) * | 2011-09-20 | 2013-03-28 | Konecranes Plc | Crane control |
-
1993
- 1993-09-17 JP JP25497693A patent/JP2833974B2/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040052138A (en) * | 2002-12-13 | 2004-06-19 | 주식회사 윈젠 | A method and apparatus to detect sway angle of an object carried in overhead crane |
| WO2013041770A1 (en) * | 2011-09-20 | 2013-03-28 | Konecranes Plc | Crane control |
| CN103998367A (en) * | 2011-09-20 | 2014-08-20 | 科恩起重机有限公司 | Crane control |
| US9108826B2 (en) | 2011-09-20 | 2015-08-18 | Konecranes Plc | Crane control |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2833974B2 (en) | 1998-12-09 |
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