JPS63258388A - Overhead travelling crane - Google Patents
Overhead travelling craneInfo
- Publication number
- JPS63258388A JPS63258388A JP9236287A JP9236287A JPS63258388A JP S63258388 A JPS63258388 A JP S63258388A JP 9236287 A JP9236287 A JP 9236287A JP 9236287 A JP9236287 A JP 9236287A JP S63258388 A JPS63258388 A JP S63258388A
- Authority
- JP
- Japan
- Prior art keywords
- jig
- traction means
- wires
- detector
- jig mounting
- 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.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 14
- 239000000725 suspension Substances 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Landscapes
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
- Load-Engaging Elements For Cranes (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、対象物を吊−Ｌげて移動する天井走行クレー
ンに関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an overhead traveling crane that suspends and moves objects.
［従来の技術及びその解決すべき問題点］従来、この種
の天井走行クレーンは、天井に沿って水平方向で移動可
能に設けられた支持部に伸縮又は］二下動呵能にアーム
部を設け、かつ当該アーム部の先端に対象物を保持する
治具を設けてなり、上記治具で保持した対象物を持ち−
Ｌげて所定箇所に移動しうるように構成されている。[Prior Art and Problems to be Solved] Conventionally, this type of overhead traveling crane has an arm section that is movable horizontally along the ceiling and has an extendable or retractable arm section. and a jig for holding the object is provided at the tip of the arm part, and the object held by the jig is held.
It is configured so that it can be moved to a predetermined location by lifting it up.
しかし、これら従来の天井走行クレーンにおいては、対
象物を持ち上げる上記アーム部にガタツキ等があること
から対象物を水平に保持することができず、このため対
象物の正確な位置決めが行なえないという欠点があった
。However, these conventional overhead traveling cranes have the disadvantage that they cannot hold the object horizontally due to looseness in the arm that lifts the object, and therefore cannot accurately position the object. was there.
このことは、原子力廃棄物等のような正確な位置決めを
必要とする対象物を移動する際に特に問題となる。This is particularly problematic when moving objects that require precise positioning, such as nuclear waste.
［問題点の解決手段］
上記従来の問題点を解決する本発明は、対象物を吊上げ
て移動する天井走行クレーンにおいて、吊下支持部と、
該吊下支持部に吊下げられ上記対象物を保持する治具を
有する治具取付部と、該治具取付部の位置を制御する位
置制御装置を備え、」−配量下支持部は水平方向で移動
自在に設けられ、上記治具取付部は少なくとも３木のワ
イヤによって上記吊下支持部から吊下げられ、上記位置
制御装置は、上記ワイヤを上下して上記治具取付部を昇
降する牽引手段と、上記治具取付部の高さ検出手段及び
水平度検出手段を備え、上記牽引手段は、基準となる一
の牽引手段と他の追従する牽引手段を有し、該基準牽引
手段の駆動に追従して上記水平度検出手段からの検出信
号によって追従する牽引手段を駆動し上記治具取付部を
昇降するように構成してなる。[Means for Solving Problems] The present invention solves the above-mentioned conventional problems, in an overhead traveling crane that lifts and moves an object, which includes a suspension support part,
a jig mounting part having a jig suspended from the hanging support part and holding the object, and a position control device controlling the position of the jig mounting part; The jig mounting part is suspended from the suspension support part by at least three wires, and the position control device raises and lowers the jig mounting part by moving the wires up and down. A traction means, a height detection means and a horizontality detection means of the jig attachment part, the traction means has one traction means serving as a reference and another traction means to follow, and the reference traction means has a height detection means and a horizontality detection means. The jig mounting portion is configured to be moved up and down by driving the following traction means in response to the detection signal from the levelness detection means following the drive.
［実施例］
以下、本発明の実施例について図面を参照して詳細に説
明する。[Example] Hereinafter, an example of the present invention will be described in detail with reference to the drawings.
第１図から第５図に本発明の一実施例に係る天井走行ク
レーンを示す。図において、本実施例の天井走行クレー
ンは、水平方向で移動可能な吊下支持部１と、治具取付
部２と、治具取付部２の位置を制御する位置制御装置３
．治具取付部２の揺動・ねじれ運動を止める制動装置４
を有してなる。1 to 5 show an overhead traveling crane according to an embodiment of the present invention. In the figure, the overhead traveling crane of this embodiment includes a hanging support part 1 that is movable in the horizontal direction, a jig mounting part 2, and a position control device 3 that controls the position of the jig mounting part 2.
．． Braking device 4 that stops the swinging and twisting motion of the jig mounting part 2
It has.
上記吊下支持部ｌは、天井等に沿って水平に架設された
２木のレール５，５間を走行する長尺状の可動部６に対
し、レール５，５と直交方向に移動可能に設けられてい
る。これによって、吊下支持部ｌは、レール５，５の長
さと間隔で規制される水平面内において直交する２軸方
向（ｘ、ｙ方向）に自在に移動し位置決めがなされる。The above-mentioned hanging support part l is movable in a direction orthogonal to the rails 5, 5 with respect to a long movable part 6 that runs between two wooden rails 5, 5 installed horizontally along the ceiling etc. It is provided. As a result, the hanging support part 1 is freely moved and positioned in two orthogonal axial directions (x, y directions) within a horizontal plane regulated by the length and spacing of the rails 5, 5.
また、吊下支持部ｌ及び可動部６の走行は、モータ等で
車輪を駆動することによってなされ、その位置決めは後
述する制御部を介して遠隔制御によって行なわれる。Further, the hanging support part 1 and the movable part 6 are moved by driving wheels with a motor or the like, and their positioning is performed by remote control via a control part to be described later.
上記治具取付部２は、図示の如く円板状に形成され、水
平状態で上記吊下支持部ｌから３本のワイヤ７ａ、７ｂ
、７ｃによって吊下げられている。この治具取付部２の
下部には、移動を行なう対象物９を保持するための治具
８が設けられている。この治具８は、対象物９を直接つ
かむハンドとなっていて、治具取付部２に備えられたコ
ンプレッサーにより動作する。なお、上記治具８として
は、図示のハンドによるものに限られず、吸気又は磁気
によって対象物９を吸付けて持ち上げる形式等のもので
もよく、持ち上げる対象物９に応じて種々用いることが
できる。The jig attachment part 2 is formed into a disk shape as shown in the figure, and in a horizontal state, three wires 7a, 7b are connected to the hanging support part l.
, 7c. A jig 8 for holding an object 9 to be moved is provided at the lower part of the jig attachment part 2. This jig 8 has a hand that directly grasps the object 9, and is operated by a compressor provided in the jig attachment section 2. Note that the jig 8 is not limited to the hand shown in the figure, but may be of a type that attracts and lifts the object 9 by suction or magnetism, and various types can be used depending on the object 9 to be lifted.
上記位置制御装置３は、治具取付部２の高さ方向位置及
びその姿勢を制御するものであり、上記ワイヤ７ａ、７
ｂ、７ｃを引いて治具取付部２を昇降させる牽引手段１
０と、治具取付部２の高さを検出する高さ検出器１１及
び治具取付部２の水平度を検出する水平度検出器１２と
、治具取付部２の揺れを検出する揺れ検出器１３によっ
て構成されている。The position control device 3 controls the height direction position and posture of the jig mounting portion 2, and controls the wires 7a, 7.
Traction means 1 for lifting and lowering the jig attachment part 2 by pulling b and 7c
0, a height detector 11 that detects the height of the jig mounting part 2, a levelness detector 12 that detects the levelness of the jig mounting part 2, and a swing detection unit that detects the swing of the jig mounting part 2. It is composed of a container 13.
上記牽引手段１０は、基準モータｌｏａ及び追従モータ
１０ｂ、１０ｃからなっており、この各モータ１０ａ、
１０ｂ、１０ｃは各々吊下支持部１に設けられている。The traction means 10 includes a reference motor loa and follow-up motors 10b and 10c, each of which has a
10b and 10c are provided on the hanging support section 1, respectively.
上記基準モータｌＯａ・追従モータ１０ｂ、１０ｃの回
転軸には、治具取付部２を吊下げるワイヤ７ａ、７ｂ、
７ｃが夫々巻付けられていて、基準モータ１０ａ・追従
モータ１０ｂ、１０ｃを駆動してワイヤ７ａ〜７ｃを巻
１−げ又巻戻すことにより治具取付部２のＩＩ降が行な
えるようになっている。この牽引１１段１０による昇降
によって治具取付部２の高さ方向における位置決めがな
される。そして、上記吊下支持部ｌの水平方向における
移動と一■−記治具取付部２の昇降によって、治具取付
部２、即ち治具８により保持１．た対象物９の立***置
が制御されることになる。なお、上記牽引手段１０とし
てモータを用いているが、モータに限られるものではな
く、シリンダ式等の牽引手段を用いてワイヤ７ａ〜７ｃ
を引いてもよい。Wires 7a, 7b for suspending the jig attachment part 2 are attached to the rotation shafts of the reference motor lOa and follower motors 10b, 10c.
7c are respectively wound, and by driving the reference motor 10a and follow-up motors 10b and 10c to unwind and unwind the wires 7a to 7c, the jig mounting portion 2 can be lowered. ing. The jig mounting portion 2 is positioned in the height direction by raising and lowering the traction 11 stages 10. Then, by moving the hanging support part l in the horizontal direction and raising and lowering the jig mounting part 2, the jig mounting part 2, that is, the jig 8 holds 1. The three-dimensional position of the target object 9 is controlled. Although a motor is used as the above-mentioned traction means 10, it is not limited to a motor, and a cylinder-type traction means or the like may be used to pull the wires 7a to 7c.
You can also subtract .
Ｉ−記高さ検出器１１は、吊下支持部ｌと治具取付部２
間に張った高さ測定用ケージｌｌａによって構成されて
おり、この高さ測定用ケージｌｌａの長さを測ることに
より治具取付部２の高さを検出するものである。上記高
さ測定用ケージｌｌａは、一端を治具取付部２に固着さ
れかつ他端側を吊下支持部１側で巻取られ、治具取付部
２の昇降の際も常時張った状態に維持されている。この
高さ検出器１１の高さ検出により、治具取付部２の高さ
方向における位置決めがなされる。なお、本実施例では
、高さ測定用ケージｌｌａによって高さ検出を行なう場
合を示したが、赤外線又は超音波等を用いた高さ検出器
で吊下支持部ｌと治具取付部２間の距離を測り、高さを
検出することも可能である。I-Height detector 11 includes a hanging support part l and a jig mounting part 2.
It is constituted by a height measuring cage lla stretched between them, and the height of the jig mounting portion 2 is detected by measuring the length of this height measuring cage lla. The height measurement cage lla has one end fixed to the jig attachment part 2 and the other end wound around the hanging support part 1, so that it is always kept in tension even when the jig attachment part 2 is raised and lowered. Maintained. By detecting the height of the height detector 11, the jig mounting portion 2 is positioned in the height direction. In this embodiment, a case was shown in which the height was detected using the height measurement cage lla. It is also possible to measure the distance and detect the height.
上記水平度検出器１２は、治具取伯部２が水平状態にあ
るかどうかを検出するものであり、球又は振子等を利用
した傾斜計等を用いている。この水平度検出器１２は、
治具取付部２上面の基準モータ１０ａで巻上げるワイヤ
７ａの連結部と追従モータ１０ｂ、１０ｃで巻上げるワ
イヤ７ｂ。The levelness detector 12 detects whether the jig-taking section 2 is in a horizontal state, and uses an inclinometer using a ball, pendulum, or the like. This levelness detector 12 is
A connecting portion of the wire 7a that is wound up by the reference motor 10a on the upper surface of the jig attachment part 2, and a wire 7b that is wound up by the following motors 10b and 10c.
７ｃの連結部を結ぶ線分上２箇所に設けられている。こ
れによって、ワイヤ７ａの連結部を基準とするワイヤ７
ｂ 、７ｃの連結部の水平度をそれぞれ水平度検出器１
２．１２で検出することにより、治具取付部２自体の水
平度が検出できるように構成されている。They are provided at two locations on the line segment connecting the connecting portions 7c. As a result, the wire 7 based on the connecting portion of the wire 7a
The horizontality of the connecting parts b and 7c is measured by the horizontality detector 1.
By detecting step 2.12, the levelness of the jig mounting portion 2 itself can be detected.
そして、牽引手段１０によって治具取付部２の昇降を行
なう際は、まず基準モータ１０ａでワイヤ７ａを１−げ
下げすると共に、水平度検出器１２．１２が傾斜したこ
とを検出した時点で追従モータ１０ｂ、１０ｃを追従し
て駆動することによって水平度検出器１２．１２が水平
を検出する位置までワイヤ７ｂ、７ｃを上げ下げする。When the jig attachment part 2 is raised or lowered by the traction means 10, the wire 7a is first lowered by the reference motor 10a, and when the horizontality detector 12.12 detects that the The wires 7b, 7c are raised and lowered by following and driving the motors 10b, 10c to the position where the horizontality detector 12.12 detects horizontality.
また、昇降時以外に治具取イ１部２が傾いた場合にも、
追従モータ１０ｂ、１０ｅが水平度検出器１２．１２が
水平となるまでワイヤ７ｂ、７ｃを−１−げ下げするこ
とによって治具取付部２の水平状態が維持される。これ
によって、！ｈ具取付部２で保持した対象物９の水平状
態が常時保たれるものである。Also, if the jig handle 1 part 2 is tilted other than when lifting or lowering,
The horizontal state of the jig mounting portion 2 is maintained by the following motors 10b, 10e lowering the wires 7b, 7c by -1 until the horizontality detectors 12, 12 become horizontal. by this,! The horizontal state of the object 9 held by the h-tool attachment part 2 is always maintained.
−１，記揺れ検出器１３は、治具取付部２が静止状態か
どうかを検出するものであり、吊下支持部ｌの下部に設
けられている。この採れ検出器１３は、ワイヤ７ａの揺
れによって治具取付部２の静止又は採れ状態を検出する
。対象物９がその移動に注意を要するものである場合等
は、上記採れ検出器１３によって対象物９の採れを検出
し静止した状態で対象物９の位置決めを行なう。-1. The vibration detector 13 detects whether the jig mounting part 2 is in a stationary state, and is provided at the lower part of the hanging support part l. This scraping detector 13 detects whether the jig attachment portion 2 is stationary or scraping state by swinging the wire 7a. If the object 9 requires attention in its movement, the removal detector 13 detects removal of the object 9 and positions the object 9 in a stationary state.
Ｌ記制動装置４は、治具取付部２の揺動及びねじれ等の
動きをＩＬめるものであり、吊下支持部１と治具取付部
２間をつなぐワイヤ１４ａ。The braking device 4 is a wire 14a that prevents movements such as rocking and twisting of the jig mounting portion 2, and connects the hanging support portion 1 and the jig mounting portion 2.
１４ｂ 、１４ｃと、牽引手段１５からなる。ワイヤ１
４ａ、１４ｂ、１４ｃは、図示の如く傾きを持たせてク
ロスした状態でその下端をワイヤ７ａ、７ｂ、７ｃの連
結部に連結され、そのト端を吊下支持部１に設けられた
牽引１段１５であるトルクモータ１５ａ、１５ｂ、１５
ｃに夫々巻取られている。Ｌ記トルクモータ１５ａ、１
５ｂ。14b, 14c, and a traction means 15. wire 1
4a, 14b, and 14c are crossed at an angle as shown in the figure, and their lower ends are connected to the connection parts of wires 7a, 7b, and 7c, and their top ends are connected to the traction 1 provided on the hanging support part 1. Torque motors 15a, 15b, 15 which are stage 15
c. L torque motor 15a, 1
5b.
１５ｃは、夫々所定間隔で吊下支持部１上に設けられて
いて、１−記ワイヤ１４ａ、１４ｂ、１４ｃを常時一定
の張力で引張っている。このワイヤ１４ａ、１４ｂ、１
４ｃの張力は、治具取付部２の重量及び揺動・ねじれ運
動を行なう際の慣性力に比べて充分小さな値となってお
り、治具取付部２の昇降動作に影響しないようにしであ
る。The wires 15c are provided on the hanging support part 1 at predetermined intervals, and always pull the wires 14a, 14b, and 14c with a constant tension. These wires 14a, 14b, 1
The tension of 4c is a sufficiently small value compared to the weight of the jig attachment part 2 and the inertia force when performing rocking/twisting motion, so that it does not affect the vertical movement of the jig attachment part 2. .
以上により、治具取付部２が揺動・ねじれ遅動を行なう
と、ワイヤ１４ａ、１４ｂ、１４ｃｃ７）張力によって
治具取付部２を元の静止状態に戻す向きの水平方向の力
が働き、上記揺動・ねじれ運動が迅速に止められる。即
ち、ワイヤ１４ａ。As described above, when the jig mounting part 2 performs swinging/twisting slow movement, a horizontal force is applied due to the tension of the wires 14a, 14b, 14cc7) in the direction of returning the jig mounting part 2 to the original stationary state, and the above-mentioned Rocking and twisting movements can be quickly stopped. That is, wire 14a.
１４ｂ 、１４ｃが傾斜した状態で三方から治具取付部
２を引張っているため、治具取付部２に元の静止状態に
引き戻そうとする水平力が働くものである。なお、本実
施例では制動装置４の牽引手段１５としてトルクモータ
１５ａ、１５ｂ、１５ｃを用いているが、ソレノイド及
びバネ部材等を用いてワイヤ１４ａ、１４ｂ、１４ｃを
牽引してもよい。また、トルクモータ１５ａ、１５ｂ。Since 14b and 14c are pulling the jig attachment part 2 from three sides in an inclined state, a horizontal force acts on the jig attachment part 2 to return it to its original stationary state. In this embodiment, the torque motors 15a, 15b, 15c are used as the traction means 15 of the braking device 4, but the wires 14a, 14b, 14c may be pulled using a solenoid, a spring member, or the like. Also, torque motors 15a, 15b.
１５ｃで常時ワイヤ１４ａ、１４ｂ、１４ｃを引張る場
合を示したが、ワイヤ１４ａ、１４ｂ。15c shows the case where the wires 14a, 14b, 14c are constantly pulled, but the wires 14a, 14b.
１４ｃに治具取付部２の揺動等の動きを検知するセンサ
ーを設け、当該センサーが動きを検知したときにワイヤ
１４ａ、１４ｂ、１４ｃを引張るようにしてもよい。A sensor for detecting movement such as rocking of the jig attachment part 2 may be provided at 14c, and the wires 14a, 14b, and 14c may be pulled when the sensor detects movement.
次に、本実施例の天井走行クレーンの制御ブロック図を
第５図に示す。上記基準モータ１０ａ、追従モータ１０
ｂ、１０ｃ及び高さ検出器１１．水平度検出器１２、揺
れ検出器１３、トルクモータ１５ａ、１５ｂ、１５ｃは
、制御部２０によって制御される。制御部２０は、高さ
検出器１１・水平度検出器１２・揺れ検出器１３からの
検出信号に応じて、上記基準モータ１０ａ、追従モータ
１０ｂ、１０ｃを駆動して治具取付部２の昇降及び姿勢
制御を行なう。また、制御部２０には、操作卓２１が接
続されていて、この操作卓２１を操作することにより治
具８による対象ｌ
物９の保持位置及び移動位置等を制御部２０に入力指定
することができるようになっている。また、吊下支持部
１及び可動部６の走行及び位置制御も上記制御部２０に
よって行なわれる。Next, FIG. 5 shows a control block diagram of the overhead traveling crane of this embodiment. The reference motor 10a and the following motor 10
b, 10c and height detector 11. The levelness detector 12, the sway detector 13, and the torque motors 15a, 15b, and 15c are controlled by a controller 20. The control section 20 drives the reference motor 10a and the follow-up motors 10b and 10c to raise and lower the jig mounting section 2 in accordance with detection signals from the height detector 11, levelness detector 12, and swing detector 13. and perform posture control. Further, an operation console 21 is connected to the control unit 20, and by operating the operation console 21, the holding position and movement position of the object 9 by the jig 8 can be input and specified to the control unit 20. is now possible. Further, the travel and position control of the hanging support part 1 and the movable part 6 is also performed by the control part 20.
以下、上記の如く構成される天井走行クレーンの動作に
ついて述べると、まず、可動部６及び吊下支持部１が走
行され、水平方向の位置決めがなされる。その後、高さ
検出器１１によって治具取付部２が対象物９の位置まで
降ろされ、治具８で対象物９を保持し所定位置まで持ち
上げられる。Hereinafter, the operation of the overhead crane configured as described above will be described. First, the movable part 6 and the hanging support part 1 are moved and horizontally positioned. Thereafter, the jig attachment part 2 is lowered to the position of the object 9 by the height detector 11, and the object 9 is held by the jig 8 and lifted to a predetermined position.
その際、水平度検出器１２により治具取付部２が水平に
保たれる。そして、再び可動部６と吊下支持部１の走行
によって移動位置まで運ばれ、その位置で対象物９が降
ろされる。At this time, the jig mounting portion 2 is kept horizontal by the horizontality detector 12. Then, the movable part 6 and the hanging support part 1 move again to the moving position, and the object 9 is lowered at that position.
なお、上記実施例では、３本のワイヤ７ａ。Note that in the above embodiment, there are three wires 7a.
７ｂ、７ｃによって吊下げる場合を示したが、このワイ
ヤは３本以上であればその本数は問わない。また、水平
度検出器１２についても２個設けて２方向における水平
度から治具取付部２の水平状態を検出する場合を示した
が、１個のみで治具取付部２の水平を検出しうる検出器
を用いてもよい。Although the case where the wires are suspended by wires 7b and 7c is shown, the number of wires is not limited as long as it is three or more. In addition, the case where two horizontality detectors 12 are provided to detect the horizontal state of the jig mounting part 2 from the horizontality in two directions has been shown, but it is possible to detect the horizontal state of the jig mounting part 2 with only one. A light detector may also be used.
なお、本発明の天井走行クレーンは、正確な位置決めが
必要な原子力廃棄物の処理等において使用される。Note that the overhead traveling crane of the present invention is used in processing of nuclear waste, etc., which requires accurate positioning.
［発明の効果］
以上述べたように本発明は、吊下支持部からワイヤを介
して治具取付部を吊下げると共に、高さ検出手段と水平
度検出手段によって治具取付部の高さ方向位置と水平度
を検出しつつ牽引手段でワイヤを上下し治具取付部を昇
降することにより、対象物の水平状態を保持しつつ昇降
及び移動が行なえるので、極めて正確な運搬作業が可能
となる効果がある。[Effects of the Invention] As described above, the present invention suspends the jig mounting part from the suspension support part via the wire, and also detects the height direction of the jig mounting part using the height detection means and the horizontality detection means. By raising and lowering the wire using the traction means and raising and lowering the jig attachment part while detecting the position and levelness, it is possible to raise, lower, and move the object while maintaining its horizontal state, making extremely accurate transportation work possible. There is a certain effect.
第１図は本発明の一実施例に係る天井走行りレーンの外
観図、第２図はその天井走行クレーンの側面図、第３図
は治具取刊部の平面図、第４図は制動装置の構成を示す
側面図、第５図は一実施例に係る天井走行クレーンの制
御ブロック図である。
ｌ：吊下支持部 ２：治具取付部３：位置制御装
置 ４：制動装置
７ａ、７ｂ、７ｃ：ワイヤ
８：治具 １（ｌ牽引手段１０ａ：基準モ
ータ
１０ｂ、１０ｃ：追従モータ
１１：高さ検出器 １２：水平度検出器１４ａ、１
４ｂ、１４ｃ：ワイヤ
１５：牽引手段
１５ａ、１５ｂ、１５ｅ：）ルクモータ出願人 元田
電子工業株式会社
第２図
１００ １０ｂ ＩＯＣ
○ ＯＯ’）
１３０、
７０ ７ｂ １ａ ７゜舎
一シ□争■−曇
第４図Fig. 1 is an external view of an overhead traveling lane according to an embodiment of the present invention, Fig. 2 is a side view of the overhead traveling crane, Fig. 3 is a plan view of the jig section, and Fig. 4 is a brake. A side view showing the configuration of the device, and FIG. 5 is a control block diagram of the overhead traveling crane according to one embodiment. l: Hanging support part 2: Jig mounting part 3: Position control device 4: Braking device 7a, 7b, 7c: Wire 8: Jig 1 (l Traction means 10a: Reference motor 10b, 10c: Follow-up motor 11: High Level detector 12: Level detector 14a, 1
4b, 14c: Wire 15: Traction means 15a, 15b, 15e:) Lukmotor Applicant Motoda Electronics Co., Ltd. Figure 2 100 10b IOC ○ OO') 130, 70 7b 1a 7゜sha □Conflict■ - Cloud Figure 4
Claims (1)
とする天井走行クレーン。 （イ）吊下支持部と、該吊下支持部に吊下げられ上記対
象物を保持する治具を有する治具取付部と、該治具取付
部の位置を制御する位置制御装置を備える。 （ロ）上記吊下支持部は水平方向で移動自在に設けられ
、上記治具取付部は少なくとも３本のワイヤによって上
記吊下支持部から吊下げられる。 （ハ）上記位置制御装置は、上記ワイヤを上下して上記
治具取付部を昇降する牽引手段と、上記治具取付部の高
さ検出手段及び水平度検出手段を備える。 （ニ）上記牽引手段は、基準となる一の牽引手段と他の
追従する牽引手段を有し、該基準牽引手段の駆動に追従
して上記水平度検出手段からの検出信号によって追従す
る牽引手段を駆動し上記治具取付部を昇降する。[Scope of Claims] An overhead traveling crane characterized by having the following requirements for lifting and moving objects. (A) A hanging support part, a jig attachment part having a jig suspended from the suspension support part and holding the object, and a position control device for controlling the position of the jig attachment part. (b) The suspension support section is provided to be movable in the horizontal direction, and the jig attachment section is suspended from the suspension support section by at least three wires. (c) The position control device includes a traction device that raises and lowers the jig attachment portion by moving the wire up and down, and a height detection device and a horizontality detection device of the jig attachment portion. (d) The traction means has one traction means serving as a reference and another traction means that follows, and the traction means follows the drive of the reference traction means based on the detection signal from the levelness detection means. to move the jig mounting section up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9236287A JPS63258388A (en) | 1987-04-15 | 1987-04-15 | Overhead travelling crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9236287A JPS63258388A (en) | 1987-04-15 | 1987-04-15 | Overhead travelling crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS63258388A true JPS63258388A (en) | 1988-10-25 |
Family
ID=14052299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9236287A Pending JPS63258388A (en) | 1987-04-15 | 1987-04-15 | Overhead travelling crane |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63258388A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017095261A (en) * | 2015-11-26 | 2017-06-01 | 株式会社ダイフク | Article conveyance equipment |
| CN111212797A (en) * | 2017-11-02 | 2020-05-29 | 村田机械株式会社 | Aerial transportation vehicle system and method for temporarily storing articles therein |
-
1987
- 1987-04-15 JP JP9236287A patent/JPS63258388A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017095261A (en) * | 2015-11-26 | 2017-06-01 | 株式会社ダイフク | Article conveyance equipment |
| KR20170061608A (en) * | 2015-11-26 | 2017-06-05 | 가부시키가이샤 다이후쿠 | Article transport facility |
| CN106927206A (en) * | 2015-11-26 | 2017-07-07 | 株式会社大福 | Article carrying apparatus |
| CN106927206B (en) * | 2015-11-26 | 2020-11-24 | 株式会社大福 | Article conveying apparatus |
| CN111212797A (en) * | 2017-11-02 | 2020-05-29 | 村田机械株式会社 | Aerial transportation vehicle system and method for temporarily storing articles therein |
| CN111212797B (en) * | 2017-11-02 | 2021-07-20 | 村田机械株式会社 | Aerial transportation vehicle system and method for temporarily storing articles therein |
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