JPH01122897A - Automatic crane control device - Google Patents

Abstract

PURPOSE: To shorten the tong lowering time so as to heighten the productivity of an automobile crane by composing a control part of a storage part for storing data on the height of a transferred object, and a computing part for setting deceleration start tong height at the time of lowering on the basis of the stored data. CONSTITUTION: The outer diameter of a coil (transferred object) is detected by a height sensor (coil outer diameter detecting part) 31 and inputted and stored in a memory (storage part) 94 of a microcomputer (control part) 9. Necessary tong stop height is computed by a CPU (computing part) 93 from the stored coil outer diamter. Deceleration start tong height is computed by the CPU 93 on the basis of the computed tong stop height. This deceleration start tong height is compared with the present height of the tong detected by a tong height detecting part 7. When the present height of the tong is the deceleration start tong height or lower, deceleration of lowering speed is commanded to a brake of a motor. The deceleration start tong at the time of lowering can therefore be always lowered regardless of the radius fluctuation of the coil.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an automatic crane control device that makes it possible to shorten cargo handling time of an automatic crane.

[Prior Art] When lowering the tongs to grasp an object on the floor in a conventional automatic crane control, the tongs for hanging the object are first lowered at high speed, and then the tongs are lowered at a high speed. When it reaches a certain altitude, it switches to low speed and lowers.
The tongs were then stopped at a predetermined height. After that, the tongs are operated and the object to be transferred is gripped by the tongs.

Similarly, when lowering the tongs suspending an object in a conventional automatic crane control device, the tongs are lowered in the following order: high-speed lowering, low-speed lowering, and braking stop. The reason why the tongs 11i111j are not suddenly brought to a braking stop from high-speed lowering is to reduce the mechanical shock when the tongs 11i111j stop.

Additionally, Utility Model Application No. 60-1264 filed by the present applicant
Publication No. 86 discloses a brake control technology for an automatic crane.

[Problems to be Solved by the Invention] However, in the lowering operation of the automatic crane, the lowering speed is switched at a predetermined constant tong height regardless of the height of the object to be transported. However, if the object to be transferred is small, there is a drawback that the unwinding speed slows down (starts to slow down) too quickly. That is, since the constant tong height is determined assuming the object to be transported has the maximum height, the height of the bottom surface of the object to be transported is small (even if the tong height is the same), the height of the bottom surface of the throat will be high. ), the deceleration of the lowering speed was completed early, and the subsequent low speed lowering period became long, resulting in poor work efficiency. Furthermore, if the low speed lowering period is long, there is a drawback that the brake built in the hoist increases wear and tear.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a control device for an automatic crane that can adjust the height of the tongs at which the lowering speed starts to be reduced depending on the height of the object to be transported. do.

[Means for Solving the Problems 1] The overhead lane control device of the present invention includes a tong height detection unit that detects the height of the tongs for suspending the transferred object of a crane that suspends and transfers the transferred object. and a control section that commands a reduction in the lowering speed of the tongs at a specific tong altitude when lowering the object to be transferred, wherein the control section is configured to control the speed of the object to be transferred. It is characterized by having a storage section that stores data regarding height, and a calculation section that sets the specific tong height based on the stored data. The specific tong height is set by the calculation section according to the height of the transferred object.

The tong height detection section is a device that detects the height of the tongs from the floor surface, and is preferably a rotary encoder installed in the hoisting machine, for example. Data regarding the height of the object to be transferred can be measured, for example, by a height sensor (coil outer diameter detection section) attached to the tongs. For example, a potential meter or any other position sensor can be used as the height sensor.

A microcomputer or a sequence control section can be used as the control section.

[Operation] In the automatic crane control wJ device of the present invention, the t11 control unit stores the height of the object to be transferred, and sets the specific tong height based on the height of the object to be transferred. The tong altitude detection unit detects the tong altitude, and the control unit instructs switching (deceleration) of the lowering speed at a specific tong altitude when lowering the tongs.

[Example] First, a specific example of an automatic overhead running lane using the GP control device of the present invention is shown in the schematic diagram of FIG. This overhead running lane 1 consists of a gutter 21 running on two running rails 3 installed on two rows of pillars 20, a club 2 running on a transverse rail 11 installed on the gutter 21, and a club 2, and tongs 12 that are suspended from the hoist 4 by a wire 18 and grip the conveyed object 13.

The gutter 21 has running wheels 5 running on the running rail 3,
It has a running motor (not shown) that drives the running wheels 5. The club No. 2 has a traversing wheel 6 that traverses on a traversing rail 11 of a garter 21, and a traversing motor (not shown) that drives the traversing wheel 6. A pair of movably opposing arms 1
The structure and operation of the tongs 12 that grip the coil (Ill-conveyed object) 13 by means of the tongs 20 and 120 are well known and will not be described here.

Next, a description will be given of the wJ control device of this embodiment used in lane 1 for overhead running. This control device includes a tong altitude detection section 7 installed on the rotating shaft of the hoist 4 and a microcomputer (control section) 9 installed on the gutter 21. Further, the & control device of this embodiment includes a coil outer diameter detection section (height sensor) 31 and a coil information input section 32, as shown in FIG.

The tong height detection section 7 detects the rotation angle of the rotating shaft of the hoist 4, detects the tong height from the floor surface when the wire 18 is hoisted and lowered, and inputs information regarding the tong height to the microcomputer 9. It is an encoder.

The coil outer diameter detection section 31 is a height sensor that detects the height (outer diameter) of the coil 13 and inputs it to the microcomputer 9.
It is installed on 2.

The coil information input unit 32 is an input device that manually inputs data such as the outer diameter of the coil 13 to the microcomputer 9.

The microcomputer 9 has an input/output interface 91 and a CPLJ
It is a one-chip microcomputer that has a computing section 93, a memory (storage section) 94, and a bus 92 that interconnects them. ), transverse motor (
(not shown). Note that the brake is for stopping the tongs whose lowering speed is reduced when the tongs are lowered, and is built into the lowering member 114.

Next, the tIII 110 task of switching the lowering speed of the present control device will be explained using a specific example of lowering empty tongs to grip a coil on the floor. FIG. 4 is a flowchart of the microcomputer 9 regarding this lowering speed switching (tongue deceleration) operation. It is assumed that the brake has already been loosened and the tongue 12 has been lowered at a predetermined high speed before starting this flowchart.

First, in step 5101, initial settings of the microcomputer 9 are executed.

At 5102, data regarding the coil outer diameter (coil height) is transferred from the coil outer diameter detection unit 31 to the memory 94.
Enter.

In step 5103, the required tong stopping height is calculated from the stored coil outer diameter. In this embodiment, the tong stopping height X is set equal to the radius of the coil 13.

In 3104, 1 is the height of the tongs 12 from the floor surface at the time when the deceleration operation of the tongs 12, that is, the speed switching operation is started (
Calculate the deceleration start tongue altitude h=). Note that this calculation is performed using the following formula.

h'-X+Y+Z where X is the tong stop height or radius of the coil 12, as stated above. Y is the distance of coasting during deceleration of the tongs 12 that does not grip the coil 13 (a degree change state), and is constant.
2 is the distance to activate the brake and quietly stop the tongs when the speed reaches a predetermined low speed, and is 0.5 m.
It is set to about.

To further explain the meaning of the above equation with reference to the coil position diagram in FIG. 3, the deceleration start tongue height h=1 of the coil 121 is
1 + Y + Z, and the deceleration start tongue height h ′2 of the coil 122 which has a smaller radius than the coil 121
Ha, X2+Y+Z,! :Become.

5105 stores the current height of the tongs 12 in the memory 94.
input to the CPU 93 from The current height of the tongs 12 is calculated by counting pulses from a rotary encoder, which is the tong height detection section 7, by the CPU 93, and is periodically stored in the memory 94.

At 8106, the current altitude of the tongs is compared with the deceleration start tong altitude h'. If h is greater than h', then 8
Returning to 105, if h is less than h', the process proceeds to 5107 to instruct the brake (not shown) of the hoisting motor 4 to reduce the hoisting speed.

As explained above, according to this embodiment, the deceleration start tongue height during lowering can always be kept low regardless of the variation in the radius of the coil 13. Also, the coil 13 is attached to the tongs 12.
Since the coil 13 is equipped with a sensor that detects the height (outer diameter) of the coil 13, the height (radius) of the coil 13 can be automatically input to the microcomputer 9, thereby preventing delays in the unwinding operation.

Incidentally, the IIJ m device of this embodiment can also be used when winding down the tongs 12 that are gripping the coil 13. Further, the outer diameter of the coil 13 is determined by the coil information input section 32.
It may also be input manually from to the memory 94.

[Effects of the Invention] As explained above, the automatic crane control device of the present invention determines the deceleration start tongue height h' during lowering based on the height of the transferred object, so that the When lowering the tongs to grip an object or to land a gripped object on the ground, the time for lowering the tongs can be shortened, and the productivity of the automatic crane can be improved.

[Brief explanation of the drawing]

FIG. 1 is a schematic diagram of an overhead running lane equipped with the device of the present invention. FIG. 2 is a block diagram of the microcomputer 11111MS)9. Figure 3 shows coils 121 and 122 during lowering.
FIG. 3 is a tong position diagram showing the tong height at which deceleration starts. Fourth
The figure is a flowchart of the microcomputer 9. 7... Tong altitude detection section 9... Microcomputer (control section) 31... Height sensor (coil outer diameter detection section) 93...
CPU (Performance II part) 94...Memory (storage part) Patent applicant Toyota Motor Corporation agent
Patent Attorney Hiroshi OkawaFigure 1Figure 2Figure 3

Claims (2)

[Claims] (1) A tong height detection unit that detects the height of tongs for suspending an object of a crane that suspends and transfers an object; and a tong height detection unit that detects the height of tongs for suspending an object, and winding the tongs at a specific tong altitude when lowering the object. A control device for an automatic crane comprising: a control unit that commands a reduction in a lowering speed; and a storage unit that stores data regarding the height of an object to be transferred; 1. A control device for an automatic crane, comprising: a calculation section for setting a tong altitude. (2) The tongs are equipped with a height sensor that detects the height of the object to be transferred during hanging, and the control section stores a signal from the height sensor in the storage section. A control device for an automatic crane according to item 1.