JPH0977452A - Automatic operation method for crane using lifting electromagnet - Google Patents
Automatic operation method for crane using lifting electromagnetInfo
- Publication number
- JPH0977452A JPH0977452A JP25923895A JP25923895A JPH0977452A JP H0977452 A JPH0977452 A JP H0977452A JP 25923895 A JP25923895 A JP 25923895A JP 25923895 A JP25923895 A JP 25923895A JP H0977452 A JPH0977452 A JP H0977452A
- Authority
- JP
- Japan
- Prior art keywords
- electromagnet
- coil
- crane
- steel material
- attracted
- 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
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は吊上電磁石にて検出した
被吸引吊垂物に適合させて、電磁石主コイルの励磁電流
を変えてクレーンを自動運転する吊上電磁石を用いたク
レーンの自動運転方法に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is adapted to a suspended object detected by a lifting electromagnet, and changes the exciting current of the main coil of the electromagnet to automatically operate the crane. It concerns driving methods.
【０００２】[0002]
【従来の技術】鋼材等の被吊垂物をクレーン等を用いて
搬送するとき、鋼材等の励磁性物体を吊る装置としてフ
ックの代わりに吊上電磁石が広く使われている。このク
レーンの吊上電磁石は鉄磁極に所望のコイルを巻回し、
このコイルに電流を流すことにより、電磁石と被吊垂物
の鋼材とを通る磁束を発生し、この磁束による磁場の作
用で電磁石と鋼材との間に電磁吸引力を生ぜしめ、鋼材
を電磁石磁極に吸着するようにした装置である。従って
この吊上電磁石は鎖等によりクレーン等の吊り金具に吊
られており、吊上電磁石に吸着した鋼材はクレーンによ
り搬送している。2. Description of the Related Art When an object to be suspended such as a steel material is conveyed by using a crane or the like, a lifting electromagnet is widely used instead of a hook as a device for suspending an exciting object such as a steel material. The hoisting electromagnet of this crane winds a desired coil around an iron pole,
By passing a current through this coil, a magnetic flux is generated that passes through the electromagnet and the steel material of the object to be hung, and the magnetic field generated by this magnetic flux creates an electromagnetic attraction force between the electromagnet and the steel material. The device is designed to be adsorbed on. Therefore, the hoisting electromagnet is hung by a chain or the like on a hoisting metal fitting such as a crane, and the steel material adsorbed to the hoisting electromagnet is conveyed by the crane.
【０００３】[0003]
【発明が解決しようとする課題】鋼材搬送を対象とした
自動クレーンシステムの完全自動化を図るには、吊上電
磁石の効率的な自動運転が必要となる。そのためには被
吊垂物で励磁にて吸引可能な鋼材の板厚、枚数等または
吊り上げ物の物量、質がセンシングできることが必須で
ある。従来、被吸引鋼材の板厚、枚数等または吊り上げ
物の物量、質のセンシングには、γ線、レーザ光等が利
用されている。しかし、この種の装置では大がかりとな
り高価となるほか、吊り上げ物が存在する位置が変わる
とセンシング装置を移動・調整するのに多大の手間と費
用がかかり、吊上電磁石を用いたクレーンの自動化に問
題があった。Efficient automatic operation of the lifting electromagnet is required in order to fully automate the automatic crane system for conveying steel materials. For that purpose, it is essential to be able to sense the plate thickness, the number, etc. of the steel material that can be attracted by the suspended object by excitation or the quantity and quality of the suspended object. 2. Description of the Related Art Conventionally, gamma rays, laser light, and the like have been used for sensing the plate thickness, the number, and the like of a steel material to be attracted or the quantity and quality of a suspended object. However, in addition to the large size and high cost of this type of device, it also takes a lot of time and money to move and adjust the sensing device when the position of the hoisting object changes, and it is necessary to automate the crane using the lifting electromagnet. There was a problem.
【０００４】本発明は吊り上げ物の物理的な情報をクレ
ーンに備えた吊上電磁石側でセンシングできるように
し、吊荷に応じて効率よく電磁石主コイルに流す励磁電
流の大きさを変えて、クレーンの自動運転を行えるよう
にすることを目的とする。The present invention enables physical information of a hoisting object to be sensed on the side of the hoisting electromagnet provided in the crane, and the magnitude of the exciting current flowing in the main coil of the electromagnet can be efficiently changed according to the hoisting load to make the crane. The purpose is to enable automatic driving of.
【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、電磁石に探りコイルを巻回
し、励磁コイルに流す電流の変化に伴い、探りコイルに
誘起される電圧を積分回路を介して電磁石と被吸引鋼材
とを貫流する磁束量に相当する物理量の大きさを検知
し、被吸引鋼材の板厚、枚数等または吊上物の物量、質
を自動的にセンシングすると共に、それに適合させて電
磁石主コイルの励磁電流を変えるようにしたことを要旨
とする。SUMMARY OF THE INVENTION The present invention has been made to achieve the above object, in which a probe coil is wound around an electromagnet and a voltage induced in the probe coil is changed in accordance with a change in current flowing through the exciting coil. Detects the size of the physical quantity corresponding to the amount of magnetic flux that flows through the electromagnet and the steel to be attracted through an integrating circuit, and automatically senses the thickness, number, etc. of the steel to be attracted, or the quantity and quality of suspended objects. At the same time, the gist is that the exciting current of the main coil of the electromagnet is changed in conformity with it.
【０００６】[0006]
【作 用】吊り上げ物の物理的な情報をクレーンに備え
た吊上電磁石側でセンシングできるようにし、吊荷に応
じて効率よく電磁石主コイルに流す励磁電流の大きさを
変えて、クレーンの自動運転を行える[Operation] The physical information of the hoisted object can be sensed on the hoisting electromagnet side equipped with the crane, and the magnitude of the exciting current flowing in the main coil of the electromagnet can be changed efficiently according to the hoisted load, and the crane automatically operates. Can drive
【０００７】[0007]
【実施例】以下本発明の吊上電磁石を用いたクレーンの
自動運転方法を図面に示す実施例にもとづいて説明す
る。図１は本発明クレーンの自動運転を可能とする吊上
電磁石の断面図を示し、この吊上電磁石Ｍは所要の形状
をした鉄芯１に主コイル３を巻回すると共に、この電磁
石Ｍの磁極またはその一部に探りコイル４を巻回して構
成する。またこの吊上電磁石Ｍの探りコイル４には積分
器を接続し、この探りコイルに誘起される電圧を積分す
るようにする。従ってこのように構成する吊上電磁石の
鉄芯（鉄磁極）１の中央に巻回した主コイル３に電流を
流すと、鉄磁極１、被吸引吊垂物である鋼材２からなる
磁路を介して磁束が貫流する。この主コイルが作る全磁
束量をΦとすると、被吸引鋼材を流れる磁束の量は磁束
の漏れを無視すれば１／２Φとなる。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A method for automatically operating a crane using a lifting electromagnet according to the present invention will be described below with reference to the embodiments shown in the drawings. FIG. 1 is a sectional view of a hoisting electromagnet that enables automatic operation of the crane of the present invention. This hoisting electromagnet M has a main coil 3 wound around an iron core 1 having a required shape, and the electromagnet M The search coil 4 is wound around the magnetic pole or a part thereof. Further, an integrator is connected to the search coil 4 of the lifting electromagnet M so that the voltage induced in the search coil is integrated. Therefore, when an electric current is applied to the main coil 3 wound around the center of the iron core (iron magnetic pole) 1 of the suspension electromagnet configured as described above, the magnetic path composed of the iron magnetic pole 1 and the steel material 2 that is a suspended object to be attracted is generated. The magnetic flux flows through. Assuming that the total amount of magnetic flux created by this main coil is Φ, the amount of magnetic flux flowing through the attracted steel material will be 1 / 2Φ, ignoring leakage of magnetic flux.
【０００８】磁束量１／２Φの磁束に対して、鉄磁極の
磁路の磁気抵抗と被吸引鋼材の磁路の磁気抵抗とが直列
に接続されている。従って被吸引鋼材の磁路の磁気抵抗
が小さくなると、磁束の量Φは単調に増加するものとな
り、被吸引鋼材側の磁気抵抗は、例えば鉄材の板厚を増
やすと小さくなるから、図２に示すようにコイル起磁力
に対する磁束の量Φが鉄材の板厚が厚くなると単調に増
加する。また鉄材の枚数が増えることは、鉄材の板厚を
増やすことと等価である。これにより、磁束の量Φに等
価な量が分かれば、被吸引鋼材の板厚、枚数等または吊
り上げ物の物量、質がセンシングできることになる。The magnetic resistance of the magnetic path of the iron magnetic pole and the magnetic resistance of the magnetic path of the attracted steel material are connected in series with respect to the magnetic flux having a magnetic flux amount of 1 / 2Φ. Therefore, when the magnetic resistance of the magnetic path of the attracted steel material decreases, the amount of magnetic flux Φ increases monotonously, and the magnetic resistance on the attracted steel material side decreases, for example, when the plate thickness of the iron material is increased. As shown, the amount of magnetic flux Φ with respect to the magnetomotive force of the coil monotonically increases as the plate thickness of the iron material increases. Further, increasing the number of iron materials is equivalent to increasing the thickness of the iron material. As a result, if the amount equivalent to the amount of magnetic flux Φ is known, the plate thickness, the number, etc. of the attracted steel material or the quantity and quality of the suspended object can be sensed.
【０００９】電磁石の励磁コイル起磁力を変えると磁束
量が変わり、図１に示す電磁石側磁路の有効断面全体に
巻回した探りコイル４には、電磁誘導の原理により磁束
量の時間変化に比例した電圧が誘起される。従って図３
に示すように、この誘起電圧ｅを積分回路により時間積
分すると、被吸引鋼材の板厚、枚数等にリンクした磁束
量に等価な量を電磁石側で検知でき、クレーンの自動運
転に有効な情報を得ることができることになる。When the magnetomotive force of the exciting coil of the electromagnet is changed, the amount of magnetic flux changes, and the search coil 4 wound around the entire effective cross section of the magnetic path on the electromagnet side shown in FIG. A proportional voltage is induced. Therefore, FIG.
As shown in, when this induced voltage e is integrated over time by an integrator circuit, the amount equivalent to the magnetic flux amount linked to the plate thickness and number of attracted steel materials can be detected on the electromagnet side, which is effective information for automatic operation of the crane. Will be able to obtain.
【００１０】図４は本発明の第１実施例である。探りコ
イル４は鉄磁極１の中央磁極に巻回してあるが、側部磁
極または鉄磁極の一部分に隈取りコイルのように巻回し
てもよい。この実施例においては、電磁石の主コイルの
励磁電流を変えて、電磁石側に設置した探りコイルを使
って被吸引鋼材側の板厚、枚数等をセンシングする。主
コイルを流用するので、構造が簡素化される。FIG. 4 shows a first embodiment of the present invention. The search coil 4 is wound around the central magnetic pole of the iron magnetic pole 1, but may be wound around a side magnetic pole or a part of the iron magnetic pole like a shading coil. In this embodiment, the exciting current of the main coil of the electromagnet is changed, and the probe coil installed on the electromagnet side is used to sense the plate thickness, the number of sheets, etc. on the side of the attracted steel material. Since the main coil is used, the structure is simplified.
【００１１】図５は本発明の第２実施例である。探りコ
イル４については第１実施例と同様の構成である。本実
施例では、電磁石の主コイル３とは別に電磁石側に励磁
コイル５を設け、このコイルに流す電流を変化させて探
りコイルに誘起される電圧を時間積分して得た磁束量に
等価な量から、被吸引鋼材側の板厚、枚数等をセンシン
グする。主コイルとは独立した励磁コイルを設けること
で、主コイルにより鋼材を吸引した状態において、被吸
引鋼材の板厚、枚数等がセンシングできる。FIG. 5 shows a second embodiment of the present invention. The search coil 4 has the same configuration as that of the first embodiment. In the present embodiment, an exciting coil 5 is provided on the side of the electromagnet in addition to the main coil 3 of the electromagnet, and the current flowing in this coil is changed to make it equivalent to the amount of magnetic flux obtained by time-integrating the voltage induced in the search coil. From the amount, the thickness of the steel to be attracted, the number of sheets, etc. are sensed. By providing an exciting coil that is independent of the main coil, it is possible to sense the plate thickness, the number, and the like of the attracted steel material when the steel material is attracted by the main coil.
【００１２】[0012]
【発明の効果】本発明の吊上電磁石を用いたクレーンの
自動運転方法によれば、吊り上げ物の物理的な情報が吊
上電磁石で自動的にセンシングできるので、吊り上げ物
の置かれている位置が変わる度にセンシング装置を移動
・調整することが不要となり、また吊り上げ物の物量が
自動的に検知でき、その量に見合って電磁石の励磁電流
の大きさを適正に変えることができて、吊上電磁石を備
えたクレーンの効率的な自動運転を行える利点がある。According to the automatic operation method of the crane using the hoisting electromagnet of the present invention, the physical information of the hoisting object can be automatically sensed by the hoisting electromagnet, so the position where the hoisting object is placed. It is no longer necessary to move or adjust the sensing device each time, and the amount of the object to be lifted can be automatically detected, and the magnitude of the exciting current of the electromagnet can be appropriately changed according to the amount, There is an advantage that a crane equipped with an upper electromagnet can be efficiently operated automatically.
【図１】本発明の吊上電磁石を用いたクレーンの自動運
転方法の一実施例を示す断面図である。FIG. 1 is a cross-sectional view showing an example of an automatic crane operating method using a lifting electromagnet of the present invention.
【図２】本発明クレーンの自動運転方法に用いる吊上電
磁石の特性概念図であり、被吸引鋼材側の板厚をパラメ
ータとして、電磁石、コイル起磁力に対する電磁石磁極
内の磁束量Φの特性を示す。FIG. 2 is a characteristic conceptual diagram of a hoisting electromagnet used in the automatic operation method of the crane of the present invention, showing the characteristics of the magnetic flux amount Φ in the electromagnet magnetic pole with respect to the electromagnet and the coil magnetomotive force with the plate thickness of the attracted steel material side as a parameter. Show.
【図３】探りコイルの誘起電圧から探りコイルと鎖交す
る磁束量を得るための回路ブロック図である。FIG. 3 is a circuit block diagram for obtaining the amount of magnetic flux interlinking with the search coil from the induced voltage of the search coil.
【図４】本発明クレーンの自動運転方法に用いる吊上電
磁石の第１実施例の断面図である。FIG. 4 is a cross-sectional view of a first embodiment of a hoisting electromagnet used in the automatic operation method for a crane of the present invention.
【図５】同吊上電磁石の第２実施例の断面図である。FIG. 5 is a sectional view of a second embodiment of the suspension electromagnet.
１ 鉄磁極 ２ 被吸引鋼材 ３ 主コイル ４ 探りコイル ５ センシング用励磁コイル 1 Iron magnetic pole 2 Steel material to be attracted 3 Main coil 4 Search coil 5 Excitation coil for sensing
Claims (1)
ルに流す電流の変化に伴い、探りコイルに誘起される電
圧を積分回路を介して電磁石と被吸引鋼材とを貫流する
磁束量に相当する物理量の大きさを検知し、被吸引鋼材
の板厚、枚数等または吊上物の物量、質を自動的にセン
シングすると共に、それに適合させて電磁石主コイルの
励磁電流を変えるようにしたことを特徴とする吊上電磁
石を用いたクレーンの自動運転方法。1. A probe coil is wound around an electromagnet, and a voltage induced in the probe coil according to a change in current flowing through the exciting coil corresponds to the amount of magnetic flux flowing through the electromagnet and the attracted steel material through an integrating circuit. By detecting the physical quantity and automatically sensing the thickness, number, etc. of the steel to be attracted or the quantity and quality of the suspended object, the exciting current of the main coil of the electromagnet can be changed accordingly. A method of automatically operating a crane using a characteristic lifting electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25923895A JP3634463B2 (en) | 1995-09-11 | 1995-09-11 | Crane automatic operation method using lifting electromagnet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP25923895A JP3634463B2 (en) | 1995-09-11 | 1995-09-11 | Crane automatic operation method using lifting electromagnet |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0977452A true JPH0977452A (en) | 1997-03-25 |
| JP3634463B2 JP3634463B2 (en) | 2005-03-30 |
Family
ID=17331332
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP25923895A Expired - Fee Related JP3634463B2 (en) | 1995-09-11 | 1995-09-11 | Crane automatic operation method using lifting electromagnet |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3634463B2 (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005515080A (en) * | 2001-07-26 | 2005-05-26 | シュトイブリ・テク−システムズ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Magnetic clamping device and method for detecting and controlling the operating state of a magnetic clamping device |
| EP2838093A1 (en) * | 2013-07-29 | 2015-02-18 | The Boeing Company | Transformer core flux control for power management |
| US9455084B2 (en) | 2012-07-19 | 2016-09-27 | The Boeing Company | Variable core electromagnetic device |
| US9472946B2 (en) | 2012-07-19 | 2016-10-18 | The Boeing Company | Electrical power distribution network monitoring and control |
| US9568563B2 (en) | 2012-07-19 | 2017-02-14 | The Boeing Company | Magnetic core flux sensor |
| US9651633B2 (en) | 2013-02-21 | 2017-05-16 | The Boeing Company | Magnetic core flux sensor |
| US9947450B1 (en) | 2012-07-19 | 2018-04-17 | The Boeing Company | Magnetic core signal modulation |
| US10403429B2 (en) | 2016-01-13 | 2019-09-03 | The Boeing Company | Multi-pulse electromagnetic device including a linear magnetic core configuration |
-
1995
- 1995-09-11 JP JP25923895A patent/JP3634463B2/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005515080A (en) * | 2001-07-26 | 2005-05-26 | シュトイブリ・テク−システムズ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Magnetic clamping device and method for detecting and controlling the operating state of a magnetic clamping device |
| US9455084B2 (en) | 2012-07-19 | 2016-09-27 | The Boeing Company | Variable core electromagnetic device |
| US9472946B2 (en) | 2012-07-19 | 2016-10-18 | The Boeing Company | Electrical power distribution network monitoring and control |
| US9568563B2 (en) | 2012-07-19 | 2017-02-14 | The Boeing Company | Magnetic core flux sensor |
| US9633776B2 (en) | 2012-07-19 | 2017-04-25 | The Boeing Company | Variable core electromagnetic device |
| US9947450B1 (en) | 2012-07-19 | 2018-04-17 | The Boeing Company | Magnetic core signal modulation |
| US10033178B2 (en) | 2012-07-19 | 2018-07-24 | The Boeing Company | Linear electromagnetic device |
| US10593463B2 (en) | 2012-07-19 | 2020-03-17 | The Boeing Company | Magnetic core signal modulation |
| US9651633B2 (en) | 2013-02-21 | 2017-05-16 | The Boeing Company | Magnetic core flux sensor |
| EP2838093A1 (en) * | 2013-07-29 | 2015-02-18 | The Boeing Company | Transformer core flux control for power management |
| US9389619B2 (en) | 2013-07-29 | 2016-07-12 | The Boeing Company | Transformer core flux control for power management |
| US10403429B2 (en) | 2016-01-13 | 2019-09-03 | The Boeing Company | Multi-pulse electromagnetic device including a linear magnetic core configuration |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3634463B2 (en) | 2005-03-30 |
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