JPS5839759B2 - Crane automatic operation method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for automatically operating a suppository supply crane for supplying suppositories in a pit of a suppository processing plant to an incinerator hopper.

Conventional methods for indirectly detecting the height of deposits include the photoelectric reflection method, but these methods detect objects with irregular surfaces such as iron plates, or deposits of minute particles such as cement or sand. Although it is effective against
For objects with different shapes and materials, the angle, transmittance, and rate of offending surfaces are not uniform, making accurate detection impossible and hindering automatic driving.

The present invention determines the location addresses of the pit in a grid pattern, accurately moves a crane to each address, and detects the level of sediment in the pit when a hanging device such as a packet lands, thereby grasping the state of sediment accumulation. The system was designed to streamline and save labor by automatically controlling the lanes efficiently according to the accumulation condition. An example of a crane will be described.

1 to 3 show part of the layout of a suppository processing plant, in which a crane 3 is provided over a suppository collection pit 2 and a suppository processing device, such as an incinerator hopper 1.

As shown in FIGS. 4 and 5, this crane 3 is mounted on a trolley 3 that can freely traverse on a crane girder 3 running on a traveling girder 6.
1, and this trolley 31 is provided with a packet hoisting/lowering mechanism consisting of a hoisting motor 32, a hoisting brake 33, a hoisting reducer 34, and a drum 35. This Toro IJ-31 is equipped with a traverse device 37 for hoisting, lowering, opening and closing the suspended packet 5, and traverses it on the crane gutter.

These operations are carried out from inside the operator's cab 4 installed in the building, and the suppositories deposited in the pit 2 are grabbed by the packet 5 and driven up, the packet is opened on the incinerator hopper 1, the suppositories are thrown in, and the suppositories are thrown into the pit 2. Suppositories brought in by a belt conveyor or by a truck T as shown are sequentially introduced.

Therefore, the height of the suppositories deposited in this pit is not uniform, and there are differences in height as shown in FIGS. 3 and 6.

The pits are divided into a required number of rows in the transverse force direction and columns in the vertical direction, and thereby each address is set as shown in FIG.

This address is a virtual address, and the center of the address is the operating position of the crane.
With the top as the reference point, the detection of each address row is based on the traveling direction and distance of the crane, and the detection of each address column is based on the traveling distance of the trolley 31 traveling on the crane gutter. For example, the traveling direction of the above-mentioned crane is measured by the forward and reverse rotation of the motor, and the travel distance of the crane and trolley is measured by a travel distance measuring device using a timer or a pulse counter or a rotation speed meter attached to the wheels, etc. It is known that a predetermined location has been reached when the number of pulses becomes the same as the timer or pulse number.

In addition, for this detection, limit switches are installed at positions corresponding to the rows of each address along the rails the crane runs on, and limit switches are installed on the crane gutter at positions corresponding to the columns of each address along the rails the trolley runs on. , and thereby each address may be measured.

Further, the drum 35 of this trolley is provided with a detector 36 for measuring the height of deposits, such as a pilot generator or a pulse counter, which is directly connected to the drum shaft or via a transmission mechanism, and this detector detects the height of deposits generated according to the distance traveled by the packet. The distance the packet is moved up and down is detected by the number of cycles or number of pulses.The upper limit is set arbitrarily using a guard limit switch, etc., and the lower limit is set by opening the packet, lowering it, and placing it on the suppository. When the packet reaches the landing, the landing is detected based on changes in the load of the packet, mechanical displacement such as slack in the rope, or changes in the model current, and the height of the deposit is detected based on the travel distance of these upper and lower limits.

The present invention measures and stores the height of the deposit at each address, and uses a comparison and judgment device to measure and store the height of the deposit at the lowest address (maximum value bn
After determining the address (a This will be explained based on the diagram.

First, in Figure A, when the crane confirms that the packet has been opened at the hopper position and the suppositories have been dropped (or a predetermined time has elapsed using a timer, etc.), a filling completion signal is transmitted to the travel command device A. Ru.

This command device A sends a signal to an address command device B, and the address command device B is of a rotary switch type as an example.

That is, each row and column rotary switch B1. B2 and a selection panel B3 provided on the output side of each switch, and the panel B3 allows signals to be sequentially sent to a required number of cables (32 cables in the illustrated example).

In the illustrated example, the numbers are sequentially advanced to 11, 12, 13, etc., and the row rotary switch B2 is set to 1.
When the row rotary switch B1 is at 8, it indicates the address 18, and when the row rotary switch B1 reaches O, a signal is sent to the travel command device A through the row end signal circuit, and the device A switches the column rotary switch B2. moves to 2, repeats this, and both row and column rotary switches go to 0.
When this occurs, a one cycle end signal is issued from the travel command device A.

The address signal from the dirt floor panel B3 is sent to the activation circuits of the crane motor and trolley motor, which will be described later, and is also sent to the jump selection device C1 together with the command signal from the traveling command device A, and is stored in advance in the device C1. It is compared with the predetermined address signal from the skip address storage device C2, and if the address does not match, it remains as 5, but if it is the same as the skip address signal, a skip command signal is given to the traveling command device A, and the address signal matches the skip address signal. The command device A again sends a command signal to the address command device B in the same manner as described above, and also sends a command signal to the jump selection device C1 to repeat the above-mentioned operation.

As shown in Figure C, the crane motor drive device includes an address-by-address mileage storage device D1 that stores the distance to each address, and a selection device that extracts and stores the mileage to a desired address based on the address signal from the address command device B. It is equipped with a storage device D2, a starting circuit D3 activated by the address signal, and the mileage measuring device D4 which is emitted as the motor rotates, and a signal from the measuring device D4 and a sorting storage device D2.
The comparator D5 compares the signal with the signal D5, and if the same number is reached, the stop circuit D6 is activated to stop the signal.

The trolley morph drive device is also exactly the same, so its explanation will be omitted.

In this way, as the crane motor and trolley motor rotate, the required address is reached and stopped, and the packet 5 is lowered and the grasping operation begins.

At the same time as the packet 5 descends, a signal is emitted by the deposit height measurement detector 36.

The procedure for storing this information and selecting the address of the lowest deposit is shown in the same figure, and will be described later.

The packet descends, the grasping operation is completed, and the packet is hoisted to start moving toward the hopper 1. In this case, as in the case of moving to the address, the signal from the travel distance measuring device from the motor corresponds to the stored distance in the sorting storage device D2. If they become the same, it will stop.

This means that the trolley motor has returned to the base point on the hopper 1 by a predetermined distance.
The packet is opened, thereby completing the operation for the predetermined location.

This is repeated and when the operation for all addresses is completed, the one cycle end value number is issued from the travel command device A as described above.

The procedure for storing the height of the deposit and selecting the address of the lowest deposit will be explained with reference to the same figure.

An address signal is given in advance to the input device E2 of the address command device E1 from the address command device B, and when a signal is given from the deposit height detector 36, the storage device E1
The height is memorized at a predetermined location.

This storage device E1 is provided with a reading comparison and discrimination device E3, which sequentially compares the heights of each address of the storage device E1 and stores the address (one or several locations) with the lowest height, The address is applied and stored in the skip address storage device C2 together with the one cycle completion signal.

As a result, the crane sequentially transports the deposits at each address to the hopper and operates to skip over the lowest address of the deposit, so-called thinning operation. A flowchart of this automatic operation is shown in FIG. 10.

In this manner, when the t values of all addresses reach 1max, each address is sequentially operated according to a predetermined program to pick up deposits in the pit and supply them to the hopper.

Further, if necessary, for example, the pile height is measured at regular intervals, and the above-mentioned operation is repeated to uniformly supply the deposits in the pit to the hopper.

According to the present invention, the overall state of accumulation can be grasped by detecting the height of the accumulation, and by storing and discriminating this detected value, advanced control becomes possible and automation or semi-automation of the crane is possible. It has the advantage that it can be easily carried out and the supply of deposits can be evened out qualitatively and quantitatively.

[Brief explanation of the drawing]

Figure 1 is a plan view, Figure 2 is a side view, Figure 3 is a front view, Figure 4 is a detailed front view of the crane, Figure 5 is a plan view of Figure 4, and Figure 6 is an explanatory diagram of the pit. , Fig. 7 is an explanatory diagram of pit address settings, Fig. 8 is a block diagram, Fig. 9 a,
10b and 10c are block circuit diagrams of main parts, and FIGS. 10a and 10b are flowcharts of automatic operation. 2... pit, 3... crane, 4...
...Driver's cabin, 5...Packet, 6...
...Travel girder.

Claims (1)

[Claims] 1. In automatic operation of a crane that sequentially moves back and forth between a predetermined location such as a hopper and multiple addresses installed in the pit, it is possible to instruct the crane to move sequentially from address to address and to instruct the crane to jump over the required addresses. A running operating device, a detector installed on the crane trolley that detects the height of the deposit by a signal corresponding to the lowering distance of the hanging tool, and a storage device that stores the output signal of the detector for each address. and a comparison/discrimination device that compares the numerical values for each stored address, and the comparison/discrimination device discriminates the address with the lowest height among the deposits detected by the landing of the hanging device, and this is determined by the traveling operation. 1. A method for automatic operation of a crane, characterized in that a voltage is applied to the device to cause the crane to jump over the address.