JPH0227274B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a method for controlling a crane bucket when transporting objects such as garbage are thrown into a pot using the crane bucket.

Conventional configurations and their problems Methods for preventing crane buckets from swaying are described in Japanese Patent Laid-Open No. 53-47665, etc., but these methods use a microcomputer to adjust the coasting characteristics of buckets. Combined acceleration → constant speed →
The vehicle is running at a reduced speed and resting on the bucket. Therefore, the traverse speed can be set to about 40 m/min, allowing high-speed operation, and it is also possible to traverse and travel at the same time. However, if you perform such precise control to completely stop the swing of the bucket and then open the bucket all at once, as mentioned above, when objects such as garbage are put into the hopper, localized unevenness may occur. There is a problem in that it is easy to be thrown into use.

Therefore, an object of the present invention is to make it possible to prevent such locally biased loading.

Structure of the Invention In order to achieve the above-mentioned object, the present invention is capable of stopping the bucket at a stop position within a certain range with an amplitude of swing within a certain range when loading objects such as garbage into a hopper using a crane bucket. When the bucket cart is moved as shown in FIG. This is a step-by-step process of repeating the wait for the bucket for a relatively short period of time. Therefore, Bucket is
Under the shaking condition, while repeating the standby and opening operations step by step for approximately half of the shaking period,
Since the objects to be transported, such as garbage, are gradually introduced into the hopper, it is possible to input the objects evenly.

Embodiment and Operation An embodiment of the present invention will be described below based on the drawings.

1 and 2 show a waste incineration facility, where 1 is a platform, 2 is a waste pit, and 3 is an incinerator. The garbage in the garbage pit 2 is dropped into a hopper 7 by a garbage crane 6 having a bucket 4 and a rope 5 for hanging the garbage, and is then thrown into an incinerator 3.

Next, a method of operating the garbage crane 6 will be explained with reference to FIG. 3. In addition, in FIG. 3, 8 indicates a display lamp.

(A) While performing the loosening operation, manually grasp the garbage with the bucket 4 and lift the bucket 4 to a predetermined height position (detected by a limit switch, etc.).

(B) When the crane 6 is run and moved to the feeding center to the hopper 7, it is automatically stopped by the action of the limit switch 9.

(C) By pressing the charging start button 10, the bucket 4 is lifted to a certain height higher than the hopper 7 detected by the limit switch 11. The length of the hanging rope 5 at this time is 1.5 to 2.5
It has been shortened to m.

(D) At the same time as the limit switch 11 is turned on, the bucket 4 moves sideways. Traverse speed is constant, 5 to 15
The speed is as low as m/min. For example, if the length of the hanging rope 5 is 2 m, the traverse speed is 10 m/min.
Take.

(E) When the bucket 4 comes onto the hopper 7, the limit switch 12 is activated and the bucket 4 is stopped by applying the brake. That is, the limit switch 12 is installed at a predetermined position in front of a predetermined stop position in accordance with the braking characteristics, thereby making it possible to stop the vehicle at a stop position within a certain range without performing a special deceleration operation. FIG. 4 is a diagram showing the relationship between the traverse speed and the stop position, and FIG. 5 is a diagram showing the measurement results of the stop position accuracy. Further, by shortening the length of the hanging rope 5 and making the traversing speed low, the swing of the bucket bag 4 can be attenuated, and the swing width can be kept within a certain range.

(F) When brake control is applied, the bucket 4 swings as shown in FIG. 6 because it has swing characteristics depending on the length of the hanging rope 5. Therefore, the seventh
As shown in the figure, first, the waiting time is set to a time that is slightly shorter than one-half of the swing period of the bucket 4, and then a time that is slightly longer than one-half of the swing cycle of the bucket 4 is set as the waiting time. After that, the waiting period and the opening operation are repeated step by step, and garbage is gradually thrown into the hopper 7. In Figure 7, the garbage input is completed after four times. In this way, it becomes possible to throw the garbage into the hopper 7 without it being concentrated. The opening limit of the bucket 4 is detected by a limit switch or the like.

(G) When it is detected that the bucket 4 has been opened to the maximum limit, the bucket 4 moves back to the garbage pit 2 in an open state, and by the action of the limit switch 13 installed at the center of the garbage pit 2. Stop rampant. Then move on to lowering,
It stops at the lower fixed position set by the limit switch 14.

(H) This completes the loading work, so repeat this cycle from now on. Incidentally, as shown in FIG. 3, the grasping operation by the bucket bag 4 can also be performed automatically.

In this way, the hanging rope 5 of the bucket 4 is wound up to shorten the length of the hanging rope 5, the traversing speed of the crane is set to a low speed, and the braking start timing is determined by the limit switch 12 located based on the braking characteristics of the brake device. is set, it is possible to stop the bucket 4 from moving traversely at a stop position within a certain range with a swing width within a certain range by only applying the brake without decelerating from a constant speed. Also, when opening the bucket 4,
The opening of the bucket 4 for a time slightly longer than one-half of the runout period and the standby of the bucket 4 for a time slightly shorter than one-half of the runout cycle are repeated step by step. Since the garbage is thrown into the hopper 7, it is possible to throw the waste into the hopper 7 so that it is not concentrated.

In addition to the above-mentioned operation of gradually opening the bucket 4 in stages, in addition to the above-mentioned operation in which the traverse is stopped by applying the brake alone, the operation of gradually opening the bucket 4 is generally carried out by transporting the object with a crane bucket and opening the bucket 4 when stopped. Applicable to all cases where runout occurs.

Further, in the above description, a limit switch was used as a sensor for detecting the movement of the bucket 4, but a proximity switch or a phototube may also be used. Furthermore, after the bucket 4 has manually grabbed the object, the hoisting and traveling can be automated using a limit switch or the like.

In the above case, the crane operating efficiency decreases because the crane 6 travels at a low speed, but to prevent this, if the garbage pit width l in FIG. Sufficient for practical use. Furthermore, if the garbage pit width l is wide, this can be countered by dividing the traverse speed of the crane 6 into several stages in the width direction of the pit 2.

Effects of the Invention As described above, according to the present invention, when the bucket cart is oscillating within a certain range, the bucket cart is gradually opened in stages, so that the objects to be transported are not biased in the hopper. can be put into.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and FIGS.
Figure 3 shows the operation cycle of the crane, Figure 4 shows the relationship between traverse speed and stop position, Figure 5 shows the measurement results of stop position accuracy, FIG. 6 is a diagram showing the deflection characteristics of the bucket, and FIG. 7 is a diagram showing the opening movement of the bucket. 3...garbage pit, 4...bucket, 5...hanging rope, 6...garbage crane, 7...hopper, 12...limit switch.

Claims (1)

[Claims] 1. When loading objects such as garbage into a hopper with a crane bucket, the bucket is moved so that it can be stopped at a stop position within a certain range with a swing width within a certain range, and the swing of the bucket at the stop position is Under the condition, opening of the bucket for a time slightly longer than one-half of the swing period of the bucket and waiting of the bucket for a time slightly shorter than one-half of the swing period of the bucket is performed in stages. A method for controlling a crane bucket, which is characterized by repeated repetitions.