JPH0940365A - Apparatus and method for detecting deflection angle of suspended load - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] A wire rope and a swing angle detection device for a suspended load are not in contact with each other, and a swing angle detection device for a suspended load, which is capable of accurately and quickly detecting the swing angle of a suspended load, and Provide a way. A horizontal shaft (2) provided on a spreader (13) in a direction perpendicular to a transverse direction of a trolley (14), and a weight (3) supported by the horizontal shaft (2) so as to be able to smoothly rotate.
A light projector 4 supported so as to rotate integrally with the weight 3, a light receiver 5 provided on the lower surface of the trolley 14 for receiving light emitted from the light projector 4 and detecting a light receiving position, and hoisting From the rope length detector 6 that detects the length of the wire rope 25 from the winding position of the device 26, and the deflection angle calculator 7 that receives the signals from the light receiver 5 and the rope length detector 6 to calculate the deflection angle. It is characterized by

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a swing angle detecting device and method for a suspended load in a cargo handling device for lifting and transporting a load with a wire rope.

[0002]

2. Description of the Related Art A container crane is an example of a cargo handling device for lifting and carrying a load by a wire rope.
Figure 1 shows the front view of a typical container crane. The container crane shown in the figure has a front leg 10 and a rear leg 11 having wheels 9, a horizontal member 12 and a diagonal member 16 connecting between the both legs,
A trolley 14 having a spreader 13 for holding a cargo 1 such as a ship, a cab 15 for operating the spreader 13 and the trolley 14, a girder 17 having a rail (not shown) for moving the trolley 14, and a trolley 14 moving. A boom 18 that has a rail (not shown) that undulates around a connection point with the girder 17, a top iron frame 20 that has a sheave 19 that assists the undulation of the boom 18, and a back that supports the top iron frame 20. The stay 21 and the hoisting device 23 that hoists the hoisting rope 22 connected to the boom 18 to hoist the boom 18, and the wire rope 25 that is stretched around the trolley 14 and the spreader 13 are hoisted (lowered) to move the spreader 13 up and down. A machine room 24 for accommodating a hoisting device 26 and the like.

In the container crane as shown in the drawing, the trolley 14 traverses on the boom 18, the length of the wire rope 25 is adjusted by the hoisting device 26, and the load 1 is fed by the spreader 13.
Hold (for example, a container loaded on a container ship). When the luggage 1 is gripped, the trolley 14 is pulled up by the front leg 10 and the rear leg 1 with the wire rope 25 slightly wound up.
1 is traversed to the position of a truck or the like prepared, and the wire rope 25 is unwound to load the suspended load 1 on the truck or the like.

When the transported load 1 is reloaded on a truck or the like, the load 1 cannot be lowered to a predetermined position unless the swing of the load 1 is suppressed. Therefore,
Since the trolley 14 is traversing over the boom 18 and the girder 17 in a state where the load 1 is normally held and lifted by the spreader 13, the swing angle of the suspended load 1 is detected and the steady rest control is performed.

FIG. 6 is a diagram showing a conventional deflection angle detecting device. The deflection angle detecting device shown in the figure has a wire rope holding portion 27 including three rollers for holding the wire rope 25.
And a swing angle detector 28 provided on the trolley 14, and a lever 29 suspended between the wire rope holding portion 27 and the swing angle detector 28. According to this conventional example, the wire rope holding portion 27
Also, the lever 29 of the deflection angle detector 28 pivots. Then, from the rest position of the suspended load 1, the lever 29
Is detected as the deflection angle of the suspended load 1.

[0006]

However, in the above-mentioned device for detecting the deflection angle of a suspended load, since the device is in contact with the wire rope, oil and fat of the wire rope adheres to the roller,
It was difficult to maintain accurate detection of the deflection angle. Therefore, maintenance of the device must be frequently performed.

The present invention was created to solve the above problems. That is, it is an object of the present invention to provide a swing angle detection device and method for a suspended load that can detect the swing angle of the suspended load accurately and quickly, while the wire rope and the swing angle detection device for the suspended load are not in contact with each other. And

[0008]

According to the present invention, a spreader, which is suspended from a trolley by a wire rope and holds a load, is lifted by a hoist, and in that state, the trolley is traversed to move the load to a predetermined position. In a device for detecting a swing angle of a suspended load of a cargo handling device to be transported, a horizontal axis provided on the spreader in a direction perpendicular to the transverse direction of the trolley, and a weight supported so that the horizontal axis can smoothly rotate. And a light projector supported so as to rotate integrally with the weight, a light receiver provided on the lower surface of the trolley to detect the light receiving position by receiving the light projected from the light projector, and the winding position of the hoisting machine. A rope length detector that detects the length of the wire rope from the receiver and a deflection angle calculator that calculates the deflection angle by receiving signals from the light receiver and the rope length detector. Corner detector It is subjected.

Further, according to the present invention, a spreader for hanging a spreader, which is suspended from a trolley by a wire rope and grips a load, is lifted by a hoist, and in that state, the trolley is traversed to transport the load to a predetermined position. In the swing angle detection device of a suspended load, by a light projector provided on the spreader to always emit light vertically upward, and a light receiver provided on the lower surface of the trolley to receive light emitted from the light projector and detect a light receiving position, First, the light receiving position when the spreader is at rest is detected as the reference position, and then the deviation between the light receiving position and the reference position when the trolley traverses and the suspended load shakes is detected. A method for detecting the deflection angle of a suspended load by detecting the length of the wire rope from the winding position and calculating the deflection angle of the suspended load from the deviation of the received light receiving position and the length of the wire rope. There is provided.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of the present invention will be described with reference to FIGS. In each figure, the same parts as those in the related art are designated by the same reference numerals, and a duplicate description will be omitted.

FIG. 1 is an overall configuration diagram of the swing angle detecting device for a suspended load according to the present invention, and FIG. 2 is an enlarged view of the light projecting portion A as seen in the transverse direction. The embodiment shown in FIG. 1 has a trolley 14 and a light projecting section A which is always maintained vertically upward and projects light.
A light receiver 5 which is provided on the lower surface and receives the light projected from the light projecting section A to detect the light receiving position, and a hoisting machine 26 (see FIG. 5).
A rope length detector 6 for detecting the length of the wire rope 25 from the winding position of the wire rope, and a deflection angle calculator 7 for receiving the signals from the light receiver 5 and the rope length detector 6 to calculate the deflection angle. is there.

In FIG. 2, the light projecting portion A is a horizontal shaft 2 provided on the spreader 13 in a direction perpendicular to the transverse direction of the trolley 14, and a vertical upper part from the upper surface of the spreader 13 supporting the horizontal shaft 2. A pair of horizontal shaft support members 30 extending in a horizontal direction, a cylindrical rotary member 31 provided so as to smoothly rotate around the horizontal shaft 2, and a weight 3 fixed to the rotary member 31. And a light projector 4.

The rotating member 31 is supported by the horizontal shaft 2 via a bearing 32 so that the rotating member 31 can be smoothly rotated around the horizontal shaft 2, and the weight 3 is fixed to the side surface of the rotating member 31. The light projector 4 is fixed to the side surface of the rotating member 31 so as to project light vertically upward with the trolley 14, the spreader 13, and the weight 3 stationary. By configuring the projector 4 in this way, even when the trolley 14 traverses and the suspended load 1 (spreader 13) swings, the projector 4 always projects light vertically upwards due to the weight of the weight 3. Maintained. The light projector 4 may be any light beam having excellent directivity, such as laser or infrared light.

The light receiver 5 includes a light receiving unit 33 that receives the light projected from the light projector 4, and a light receiving position detector 34 that detects which light receiving unit 33 received the light projected from the light projector 4. Consists of. The light receiving unit 33
Are arranged in the transverse direction within a range where the swing of the suspended load 1 (spreader 13) on the lower surface of the trolley 14 is predicted, and the light receiving position detector 34 is provided in the operator's cab 15. Further, the light receiving position detector 34 detects the light receiving position when the spreader 13 is stationary as a reference position O, and then receives the light when the trolley 14 traverses and the suspended load 1 (spreader 13) shakes. The position A is detected, the deviation X of the light receiving position is calculated, and the deviation X is transmitted to the deflection angle calculator 7. On the other hand, the rope length detector 6 is installed on the hoisting machine 26 (see FIG. 5) of the wire rope 25, detects the length L of the wire rope from the winding position, and calculates the swing angle of the length L. It is being sent to vessel 7.

FIG. 3 is a diagram showing the relationship among the deviation X of the light receiving position, the length L of the wire rope and the deflection angle θ. As shown in the figure, the deviation X of the light receiving position is determined by the reference position O and the light receiving position A.
Is the difference. If the wire rope lengths L and L ′ are different with respect to the light receiving position deviation X, the deflection angles θ and θ ′ are also different. Therefore, in the present invention, a time difference occurs between the light receiving position deviation X and the wire rope length L. Without performing the detection, the shake angle calculator 7 calculates the shake angle θ. From the figure, it can be seen that Sinθ = X / L is obtained by using a basic trigonometric function. Therefore, θ = Sin ⁻¹ (X / L) is obtained. The deviation X of the light receiving position, the length L of the wire rope, and the deflection angle θ
From the above relationship, the flowchart showing the calculation processing of the deflection angle calculator 7 as shown in FIG. 4 is completed.

The flowchart shown in FIG. 4 will be described. (1) As step 1, the light receiving position detector 3 of the light receiver 5
The deviation X of the light receiving position from 4 is input to the shake angle calculator 7. (2) In step 2, the length L of the wire rope when the light receiving position A is detected is input from the rope length detector 6 to the deflection angle calculator 7. (3) In step 3, the deflection angle calculator 7 calculates the value of X / L. (4) In step 4, the deflection angle calculator 7 sets Sin
^-1 (X / L) or θ corresponding to the value of X / L from the trigonometric function table input to the deflection angle calculator 7
Find the value of and calculate θ. (5) In step 5, the value of θ is output as the deflection angle.

The swing angle θ of the suspended load 1 thus calculated is input to a steady rest control device (not shown) of the suspended load 1. In the steady rest control of the suspended load 1, since the control is performed based on this swing angle θ, it is required to detect the swing angle θ accurately and quickly. Therefore, since the wire rope 25 is not in contact with the wire rope 25 and the deflection angle θ is detected by using light as in the present invention, the above requirements can be satisfied.

It should be noted that the present invention is not limited to the above-described embodiment, but can be variously modified without departing from the gist of the present invention.

[0019]

As described above, according to the swing angle detecting device and method of the suspended load of the present invention, since the swing angle detecting device and the wire rope are not in contact with each other, oil and fat on the wire rope may adhere. Absent. Therefore, the deflection angle can always be detected accurately and quickly. Further, it has an excellent effect that the number of maintenance can be reduced and the maintenance itself can be facilitated.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an apparatus for detecting a swing angle of a suspended load according to the present invention.

FIG. 2 is an enlarged view of the light projecting portion of FIG. 1 as viewed in the transverse direction.

FIG. 3 is a diagram showing a relationship between a shift of a light receiving position, a length of a wire rope, and a deflection angle.

FIG. 4 is a flowchart showing a calculation process of a deflection angle calculator.

FIG. 5 is a front view of a general container crane.

FIG. 6 is a diagram showing a conventional deflection angle detection device.

[Explanation of symbols]

 1 Luggage (suspended load) 2 Horizontal axis 3 Weight 4 Emitter 5 Light receiver 6 Rope length detector 7 Deflection angle calculator 9 Wheel 10 Front leg 11 Rear leg 12 Horizontal member 13 Spreader 14 Trolley 15 Operator's room 16 Oblique member 17 Girder 18 Boom 19 Sheave 20 Top Steel Structure 21 Back Stay 22 Elevating Rope 23 Elevating Device 24 Machine Room 25 Wire Rope 26 Hoisting Machine 27 Wire Rope Holder 28 Swing Angle Detector 29 Lever 30 Horizontal Shaft Support Member 31 Rotating Member 32 Bearing 33 Light Reception Unit 34 Light receiving position detector

Claims (2)

[Claims] 1. A swing angle of a suspended load of a cargo handling apparatus for suspending a spreader, which is suspended from a trolley by a wire rope and grips a load, by a hoist, and the trolley is traversed in that state to transport the load to a predetermined position. In the detection device, a horizontal axis provided on the spreader in a direction perpendicular to the traverse direction of the trolley, a weight supported by the horizontal axis so as to be able to smoothly rotate, and the weight rotates integrally with the weight. Supported on the trolley, a light receiver provided on the lower surface of the trolley to detect the light receiving position by receiving the light emitted from the light projector, and a rope for detecting the length of the wire rope from the winding position of the hoisting machine. A swing angle detection device for a suspended load, comprising a length detector and a swing angle calculator that calculates a swing angle by receiving signals from a light receiver and a rope length detector. 2. A swing angle of a suspended load of a cargo handling apparatus for suspending a spreader, which is suspended from a trolley with a wire rope and grips a load, by a hoist, and the trolley is traversed in that state to transport the load to a predetermined position. In the detection device, the spreader is first stopped by a light projector installed on the spreader that always emits light vertically upward and a light receiver installed on the lower surface of the trolley that detects the light receiving position by receiving the light emitted from the light emitter. The light receiving position when the trolley traverses and the suspended load shakes after that is detected as a reference position, and the deviation between the light receiving position and the reference position is detected.
A method for detecting the deflection angle of a suspended load by detecting the length of the wire rope from the winding position of the hoist and calculating the deflection angle of the suspended load from the input light receiving position deviation and the length of the wire rope. .