JPS5812194B2 - positioning control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a positioning control device for, for example, an overhead crane.

A general overhead crane is shown and explained in FIG. 1.

In Figure 1, 1 and 2 are traveling saddles, 3 is a transverse girder,
4 clubs, 5 a hanging tool, 6 and 7 running rails as first and second running rails, and the running rails 6 and 1 and the transverse girder 3 are arranged in a direction perpendicular to each other.

In such an automatic positioning control device for a movable ceiling crane, recognition of the horizontal coordinates of the position of the hanging device is achieved by independently detecting the position of the traveling saddle on the traveling rail and the position of the club on the transverse girder. It is something that

In the case of a conventional automatic positioning control device, the running position is detected by reading a scale mark (not shown) placed along either one of the two running rails 6 and 7, or by touching the rail. It is common to convert the rotation angle of the desk into a position signal.

In other words, the traveling position is based on one side of the traveling girder, and the traveling saddle on the girder at the other end faithfully follows the movement of the traveling saddle on the side that is the position reference - in other words, it is the traveling axis. The angle between the transverse axes (usually right angles)
The necessary condition is that it remains constant whether the crane is moving or stopped.

However, it is difficult to make the crane a completely rigid structure, and due to the gap between the flange of the traveling vehicle and the side of the rail, the above-mentioned requirements cannot be realized.

As a result, although the traveling and traversing positions were accurately detected, the actual position of the hanging device 5 was several hundred points in the traveling direction compared to the predicted position.
There were drawbacks such as errors in combat.

This invention was made in order to alleviate the above-mentioned drawbacks, and a position detection device for detecting the position of the traveling saddle is provided on each of the two traveling rails, and a position detection device for detecting the position of the traveling saddle is provided on each of the two traveling rails, and a position detection device for detecting the position of the traveling saddle is provided on each of the two traveling rails. The present invention provides a positioning control device that selects and performs positioning.

Embodiments of the present invention will be described below with reference to the drawings.

The embodiment of this invention is based on the running rails 6 and 7 shown in FIG.
Each of the saddles 1 and 2 is provided with a position detection device for detecting the position of the traveling saddles 1 and 2 that move thereon, and the other configurations are the same as those of the conventional one.

Next, a device for positioning is shown in FIG. 2 and will be described.

In FIG. 2, 11 is a transverse position detection device, 12, 13
14 is a running position detecting device as a first and second running position detecting device, and 14 is a switch which operates depending on the target stopping position of the club.

Reference numeral 15 designates a traverse fixed position stop device, 16 a travel fixed position stop device, 17 a traverse stop position setter, and 18 a travel stop position setter, which perform positioning.

The traveling position detection devices 12 and 13 are provided for the purpose of independently detecting the existing positions of the left and right traveling saddles 1 and 2 on the left and right traveling girders 3.

The position detection method may follow the conventional method.

The traversing or traveling fixed position stop devices 15 and 16 have the function of moving and stopping the crane so that the set values of the respective stop position setters 17 and 18 are equal to the respective position detection values. I'm here.

The switch 14 has a function of selecting either one of the travel position detection devices 12 or 13 according to the setting amount of the traversing stop position setting device 15 and coupling it to the travel fixed position stop device 16.

That is, the switch 14 determines whether the target stop position of the hoist 5 is to the right or to the left based on the intermediate distance from the traveling rails 6 and 7 on the transverse axis, and if it is to the right, the target stop position of the hanging tool 5 is determined to be toward the right or left. The traveling position detecting device 13 that detects the position of the traveling saddle 2 along the left side girder is selected, and if the traveling saddle 2 is on the left side, the traveling position detecting device 12 that detects the position of the traveling saddle 1 along the left-hand girder is selected.

The traveling fixed position stopping device 15 moves and stops the crane based on the detected value of the selected traveling position detecting device.

As a result of the above operations, the distance from the transverse girder 3, which serves as a position reference, to the hoisting device 5 becomes less than 1/2 of the crane span, so the recognition error in the hoisting device position due to crane deflection and other factors is reduced to 1/2 of that of the conventional method. It has been improved to 2 or below.

In other words, the span of the crane is H, the deflection angle of the traversing girder (the angle between the traversing girder 3 and a line orthogonal to the traveling rails 6 and 7) θ, and the target setting position of the hoist 5 is based on the traveling rail 6. l (o<l<H/2), if the conventional position detection device for detecting the position of the traveling Zard is provided on the traveling rail 6 side, it will have the same error as the invention of this application. is provided on the traveling rail γ side, (H-l)sinθ-lsinθ However, o<l<H/
It is possible to improve the error by only 2.

As explained above, the invention of this application provides a detection device for detecting the traveling saddle position on each of the two traveling rails, and performs positioning by selecting one of the position signals depending on the target stopping position of the club. Therefore, errors with respect to the target stopping position of the club can be reduced.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing a general overhead crane, and FIG. 2 is a block diagram according to an embodiment of the present invention. In the figure, 1 and 2 are running saddles, 3 is a transverse girder, 4 is a club, 5 is a hanging tool, 6 and 1 are running rails as first and second running rails, 12 and 13 are first and second running rails. a traveling position detection device as a traveling position detection device; 14 is a switching device;
15 is a traverse fixed position stopping device, and 16 is a traveling fixed position stopping device.

Claims (1)

[Claims] 1. A traveling saddle that moves on first and second traveling rails installed in parallel, a girder that moves integrally with this traveling saddle and is provided in a direction orthogonal to the traveling rail, and a girder that moves along this girder. A club, a hanging device provided on the club, and first and second running position detection devices respectively provided on the first and second running rail sides for detecting the positions of the running saddle; A positioning control device configured to select one of the position signals from the first and second traveling position detection devices according to the target stop position, and to determine the stop position of the club based on the selected position signal. .