JP4076339B2 - Tire-type crane travel control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a tire type crane in which a linear reference magnetic reference line is provided on at least one side of a defined straight traveling path, such as a rubber tire type portal crane used for container storage in a container terminal. The present invention relates to a travel control device.
[0002]
[Prior art]
Conventionally, magnetic sensors are provided on the legs on both sides of the crane, and the movement of the legs on the side where the magnetic plates are detected is sequentially stopped in the order in which these magnetic sensors detect the magnetic plates installed on the ground. 2. Description of the Related Art A tire-crane traveling stop control device is known in which the position does not deviate back and forth with respect to the traveling direction (Japanese Patent Laid-Open No. 7-144878).
[0003]
On the other hand, on one side of the crane, a plurality of magnetic sensors arranged in parallel in the direction orthogonal to the traveling direction and on / off of the presence or absence of a magnetic plate installed on the ground, and on-detecting the magnetic plate A tire equipped with a correction device that detects a shift position of the crane in a direction perpendicular to the traveling direction from the position of each magnetic sensor and an average value of a predetermined center, and corrects the traveling position of the trolley according to the detected amount A stop position correcting device for a crane is known (Japanese Patent No. 3038669).
[0004]
[Problems to be solved by the invention]
However, in the former case, the stop position of the left and right legs is not shifted back and forth with respect to the traveling direction, but there is no device for guiding the crane to go straight, so the crane May be misaligned.
[0005]
In the latter case, a correction device for correcting the traveling position of the trolley is provided, and the traveling position of the trolley is corrected according to the lateral displacement amount of the crane, so that the crane control system is complicated. It becomes expensive. In addition, since it takes time to correct the trolley travel position, it may take time to load and unload containers.
[0006]
The present invention has been made to solve the conventional problems, and one of its purposes is to provide a traveling control device for a tire type crane that can prevent lateral displacement of the crane at a stop position. It is in.
[0007]
Another object of the present invention is to provide a traveling control device for a tire-type crane that can cancel the influence of the magnetic force other than the magnetic force of the magnetic reference point for stopping the crane and the magnetic reference plate for guiding the crane. There is.
[0008]
[Means for Solving the Problems]
In order to solve the above problems, the present invention is configured as follows.
[0009]
That is, (1) magnetic sensors are provided on both sides of the crane, and the movement of the crane on the side where the magnetic reference point for stopping is detected in order of detecting the magnetic reference points for stopping installed on the ground. In a tire-type crane in which the stop positions on both sides are not shifted back and forth with respect to the traveling direction, the stop magnetic reference point and the stop magnetic reference point group side including the stop magnetic reference point A magnetic reference line is provided on the same line, and the straight magnetic reference line is discontinuous before and after the stop magnetic reference point so that the stop magnetic reference point and the straight magnetic reference line do not overlap each other . A traveling control device for a tire-type crane, wherein the polarity of the magnetic reference point for stopping is reversed from the polarity of the magnetic reference line for straight travel.
[0013]
( 2 ) The traveling control device for a tire-type crane according to (1), wherein the polarity of the magnetic reference point for stop is N pole, and the polarity of the magnetic reference line for straight travel is S pole .
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0015]
FIG. 1 is a plan view showing an embodiment of the present invention, in which a container (not shown) is loaded and unloaded using a tire type gate crane (hereinafter referred to as a tire type crane). The arrangement of the flat part of the terminal is shown.
[0016]
In such a container terminal A, the container storage location is divided into rectangular cells, and usually a paint mark (not shown) is provided for the mark.
[0017]
The tire-type crane 1 travels in the longitudinal direction across this, stops at the center of a storage area called a bay, and loads and unloads containers from a truck (not shown) using a lifting device, or a truck Is being stacked.
[0018]
The tire-type crane 1 drives the tires 4 by motors 3a and 3b provided on the respective legs 2 to travel on traveling lanes (hereinafter referred to as crane traveling paths) 5a and 5b, and has the object drawn on the ground. Go to the bay number and the magnetic sensors 7a and 7b on both sides of the crane attached to the brackets (see FIG. 2) 6 and 6 are disk-shaped magnetic reference points for stopping (hereinafter referred to as stopping reference points). 8a and 8b are detected to stop at a predetermined stop position.
[0019]
By the way, in this invention, among the groups 18a and 18b of the stop reference points 8a and 8b installed on the ground along the left and right crane travel paths 5a and 5b, the stop reference point group 18a is in parallel. A straight rectilinear magnetic reference line (hereinafter referred to as a rectilinear reference line) 9 is installed on the ground. The rectilinear reference line 9 is located inside the crane traveling path 5a, and is parallel to the crane traveling path 5a and the stopping reference point group 18a.
[0020]
On the other hand, the tire-type crane 1 is provided with magnetic sensors 11 and 12 on the front and rear legs 21 and 22 on the side corresponding to the straight reference line 9. As shown in FIG. 3, these magnetic sensors 11 and 12 and the left and right motors 3 a and 3 b are connected to the control device 10, and when the magnetic sensor 12 of the rear leg 22 is deviated from the straight reference line 9. Then, the rotation speed of the motor 3a on the right side of the crane is increased or the rotation speed of the motor 3b on the left side of the crane is decreased to correct the trajectory so that the crane 1 faces straight. On the contrary, the magnetic sensor 11 of the front leg 21 Is deviated from the straight reference line 9, the rotational speed of the motor 3 a on the right side of the crane is decreased, or the rotational speed of the motor 3 b on the left side of the crane is increased to correct the trajectory so that the crane 1 faces straight forward. It has become.
[0021]
The control device 10 is connected with magnetic sensors 7a and 7b on both the left and right sides, a travel device speed detector 13 capable of detecting a travel distance, and a current position / target position input device 14 for inputting a current position and a target position. I am letting.
[0022]
Therefore, as shown in FIG. 4, when the magnetic sensor 12 of the rear leg 22 is deviated from the straight reference line 9, the rotational speed of the motor 3a on the right side of the crane increases or the rotational speed of the motor 3b on the left side of the crane. The track of the tire-type crane 1 is corrected so that the crane is directed straight to the front. On the contrary, when the magnetic sensor 11 of the front leg 21 deviates from the straight line for straight travel 9, the rotational speed of the motor 3a on the right side of the crane is decreased or the rotational speed of the motor 3b on the left side of the crane is increased. The trajectory of the tire-type crane 1 is corrected so that the front faces straight.
[0023]
Accordingly, when the tire crane 1 is stopped at the predetermined stop reference points 8a and 8b, not only the front / rear direction deviation but also the lateral direction deviation does not occur.
[0024]
In the above description, the stop reference point group 18a and the straight reference line 9 are provided in parallel. For example, as shown in FIG. 5, the stop reference point 8a is set to the straight reference line. It can also be installed on the same line as 9.
[0025]
However, in that case, as shown in FIG. 6, the straight reference line 9 is discontinuously before and after the stop reference point 8a so that the straight reference line 9 and the stop reference point 8a do not overlap each other. To do. In addition, the polarity of the stopping reference point 8a is set to N pole, and the polarity of the straight reference line 9 is set to S pole.
[0026]
Then, the magnetic force (for example, the magnetic force generated by the ground) a other than the polarity (N pole) of the stopping reference point 8a is canceled out by the polarity (S pole) of the straight reference line 9, and a magnetic sensor for detecting the stopping reference point The adverse effect on 8a is reduced, and the accuracy of the stop position is further improved.
[0027]
In the case of this example, the magnetic sensor 7a is provided inside the leg 2 so as to correspond to the stop reference point 8a. Other devices are the same as those in the first embodiment, and thus the same reference numerals are assigned to the same devices, and detailed descriptions thereof are omitted.
[0028]
The straight reference line 9 and the magnetic sensors 11 and 12 may be arranged on the stop reference point group 18b side or on both sides of the stop reference point groups 18a and 18b.
[0029]
【The invention's effect】
As described above, according to the present invention, magnetic sensors are provided on both sides of the crane, and the movement of the side detecting the magnetic reference point for stopping in the order in which these magnetic sensors detect the magnetic reference point for stopping is stopped. In the tire type crane in which the stop positions on both sides of the crane are not shifted back and forth with respect to the traveling direction, the stop magnetic reference point is disposed on one stop magnetic reference point group side including the stop magnetic reference point. Since the straight magnetic reference line is installed in parallel with the point cloud, it is possible to prevent the lateral displacement of the crane at the stop position.
[0030]
In the present invention, the stop magnetic reference point is installed on the same line as the rectilinear magnetic reference line, the rectilinear magnetic reference line is discontinuous before and after the stop magnetic reference point, and By reversing the polarity of the magnetic reference point for stoppage from the polarity of the magnetic reference line for straight running, the influence of magnetic force other than the magnetic force of the magnetic reference point for stopping the crane and the magnetic reference plate for guiding the crane Can be countered.
[0031]
Accordingly, the adverse effect on the magnetic sensor for detecting the reference point for stop is reduced, and the accuracy of the stop position is further improved.
[Brief description of the drawings]
FIG. 1 is a plan view of a container terminal including a tire-type portal crane according to the present invention.
FIG. 2 is a side view showing a main part of a tire-type portal crane according to the present invention.
FIG. 3 is a block diagram of a control system.
FIG. 4 is an operation explanatory diagram of the present invention.
FIG. 5 is a plan view of another example of a container terminal including a tire type portal crane according to the present invention.
6 is an enlarged view of a portion B in FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Tire type crane 7a, 7b Magnetic sensor 8a, 8b Magnetic reference point for stop 9 Magnetic reference line 18a for straight advance One magnetic reference point group for stop

Claims (2)

Magnetic sensors are installed on both sides of the crane, and in the order in which these magnetic sensors detect the magnetic reference points for stopping installed on the ground, the movement on the side detecting the magnetic reference points for stopping is stopped. In a tire-type crane that does not deviate back and forth with respect to the traveling direction, the stop magnetic reference point and the straight magnetic reference line are disposed on at least one stop magnetic reference point group including the stop magnetic reference point. The rectilinear magnetic reference line is discontinuous before and after the stopping magnetic reference point so that the stopping magnetic reference point and the rectilinear magnetic reference line do not overlap each other , and the stopping magnetic reference point is provided. A traveling control device for a tire-type crane, wherein the polarity of a reference point is opposite to the polarity of the magnetic reference line for straight travel. 2. The traveling control device for a tire type crane according to claim 1, wherein the polarity of the magnetic reference point for stop is N pole and the polarity of the magnetic reference line for straight traveling is S pole.

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