JPH07237884A - Crane - Google Patents

Abstract

PURPOSE:To provide a crane, of which posture can be controlled in the condition that a work is hoisted and which can appropriately carry a hoisted work into a carry-in position. CONSTITUTION:A crane is provided with a tower 1, a boom 2, a trolley 4 fitted to the boom 2 freely to move in the length direction of the boom 2, a hoisted work holding device 5 suspended from the trolley 4 through a wire W, a manipulator 6 provided in the trolley 4 and connected to the hoisted work holding device 5 to support it freely to be oscillated and turned, position and posture detecting units 7, 8 for detecting position and posture of a hoisted work, and a control device for controlling the operation of the trolley 4, the manipulator 6 and the hoisted work holding device 5 on the basis of the detected output. As a manipulator 6, a multi-freedom-system parallel link manipulator is desirable.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane capable of appropriately controlling the attitude of a suspended load and accurately carrying it to a predetermined position.

[0002]

2. Description of the Related Art As is well known, for example, in building construction of a building, a building crane such as a tower crane lifts and suspends a structural member such as a steel frame to carry it to a predetermined installation position. Although the work is performed, the positioning and the like are performed by human confirmation by communication between the worker and the operator of the tower crane.

On the other hand, recently, as a construction method of a building, a building member such as a steel frame is pre-assembled on the ground to be unitized, and the unitized building member is hung and suspended and carried into an installation position. Construction methods are being considered for significantly improving work efficiency by performing erection.

[0004]

[Problems to be Solved by the Invention]
It is necessary to accurately position a large-scale and heavy unitized building member, and relying on the human confirmation work by communication between the worker and the operator of the tower crane as described above, Although it requires a large number of workers, there is a problem that not only the work efficiency is low, but also positioning with high precision is difficult, and the merit of the construction method cannot be sufficiently obtained.

The present invention has been made in view of the above problems, and it is an object of the present invention to provide a crane which can control the posture of a suspended load while the suspended load is being hung and which can appropriately carry the suspended load to a loading position. Has an aim.

[0006]

A crane according to the invention of claim 1 is a tower installed so as to project upward,
A boom arranged so as to project laterally from this tower, a trolley mounted so as to be movable in the length direction of the boom, and a trolley from which the wire is suspended and supported by a wire so that suspended loads can be loaded. Detects the position / posture of the suspended load, and a manipulator that connects the suspended load grasping device for grasping and the suspended load grasping device provided on the trolley and raised by the wire so as to be swingable and rotatable. Position / orientation detector
A control device for controlling the operations of the trolley, the manipulator, and the suspended load gripping device based on the detection result of the attitude detector is provided.

A crane according to a second aspect of the present invention is the crane according to the first aspect, wherein the manipulator is disposed at a first platform disposed on the trolley side and at a predetermined position below the first platform. A second platform provided and a plurality of actuators arranged between the first and second platforms to connect them and control the position / posture of the second platform. There is.

A crane according to a third aspect of the present invention is the crane of the second aspect, wherein the hanging load gripping device is provided on both the second platform and the hanging load gripping device of the manipulator up to the position of the second platform. It is characterized in that fitting means is provided for fitting each other in a relatively non-rotatable state when they are raised and connecting and fixing them.

[0009]

In the crane of the first aspect of the present invention, the suspended load is suspended by the suspended load gripping device which is suspended from the trolley via the wire. The position / posture of the suspended load is the position / posture detector. And the detection result is input to the control device, and the control device controls the operations of the trolley, the manipulator, and the hanging load gripping device. The posture and position of the suspended load are controlled with high precision by the manipulator, and for example, when the suspended load swings, the manipulator reverses the swinging direction so as to cancel the swing and quickly attenuate the swing. A force is applied, and in the case where the suspended load rotates, a rotational force in the opposite direction is applied by the manipulator so as to cancel the rotation. In this way, the position and posture of the suspended load are controlled moment by moment, and the suspended load is always held in an appropriate posture.
It is transported to a predetermined position with high positioning accuracy.

In the crane of the second aspect of the present invention, a so-called parallel link manipulator having multiple degrees of freedom as a manipulator for controlling the position / posture of the suspended load, that is, a structure in which the first and second platforms are connected by a plurality of actuators. Is used to control the position and orientation of the suspended load with multiple degrees of freedom, high speed, and high accuracy.

In the crane of the third aspect of the present invention, when the lifting load gripping device is lifted by the wire, the second platform and the lifting load gripping device of the manipulator are connected by the fitting means in a relatively non-rotatable state. Rough positioning and attitude control of the suspended load are naturally performed only by being fixed and being connected by the fitting means.

[0012]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. 1 to 4 show one embodiment of the crane according to the present invention, and the symbol C in the drawings shows the crane of this embodiment.

As shown in FIG. 1, the crane C according to the present embodiment.
Is a crane main body 3 in which a horizontally extending boom 2 is attached to a tower 1 projecting upward, and a trolley 4 arranged on the lower surface side of the boom 2 so as to be movable in the longitudinal direction thereof. To connect the hanging load gripping device 5 suspended from the trolley 4 via the wire W and the hanging load gripping device 5 provided on the trolley 4 so as to be swingable and rotatably supported. And a manipulator 6 for controlling the posture and position of the suspended load. The trolley 4 may be moved not only in the longitudinal direction of the boom 2 but also in the horizontal direction with respect to the tower 1, so that the trolley 4 can be moved in a wider range.

Further, the crane C has a laser range finder 7 (position detector) for detecting the height of the suspended load.
And a camera 8 (posture detector) for detecting the posture of the suspended load by performing image processing by taking an image of the suspended load, and a distance installed at the base of the boom 2 for detecting the position of the trolley 4. 30 in total, these rangefinders 7, cameras 8,
Based on the detection output of the distance meter 30, the operation of the trolley 4 and the manipulator 6 and the operation of the hanging load gripping device 5 (that is, the winch 9 that winds and lowers the wire W).
(See FIG. 4) and a control device 11 (see FIG. 4) for controlling a hook 10 (see FIG. 3), which will be described later, are provided. The control signal is transmitted to the manipulator 6 by an optical communication system as will be described later, and reference numerals 31, 32, 3 in FIG.
Reference numeral 3 is a data transmitter, an optical communication unit, and an optical receiver for that purpose.

The trolley 4 is constructed so that it can be moved in the horizontal direction of the boom 2 and can be positioned at any position, and a manipulator 6 is attached to the lower end surface thereof. Further, the trolley 4 is provided with a pulley (not shown) for suspending the wire W.

The manipulator 6 is of a type having multiple degrees of freedom called a parallel link manipulator, and has a first platform 12 which is fixed to the lower end surface of the trolley 4 and which is a plate-like member having a circular shape in plan view. A second platform 13 made of a similar plate-like member disposed at a predetermined position below the first platform 12, and six hydraulic oils that connect the first and second platforms 12 and 13 and can extend and contract in the axial direction. And a cylinder 14 ...

The hydraulic cylinder 14 is arranged between each of the platforms 12 and 13 so that two cylinders form a pair and are formed in a V shape when viewed from the front. Thirteen
They are evenly arranged in the space. The hydraulic cylinder 14 and the platforms 12 and 13 are connected by a rotary joint 15. Then, each hydraulic cylinder 14 is controlled by a control signal from the control device 11.
Drive the second platform 13
It has a structure that enables high-speed and highly accurate posture control with a degree of freedom. The expansion / contraction state of each cylinder 14 and the load acting on it are measured by an encoder and a load cell (both not shown) and fed back to the control device 11. Further, the manipulator 6 in this embodiment is set to an output capable of controlling the horizontal posture of the gravity-compensated suspended load.

A hole through which the wire W can be inserted is formed at a substantially central portion of each of the platforms 12 and 13.
As shown in FIG. 2 (c), a hole 13 a formed in the second platform 13 is formed with an eccentric elliptical cone-shaped fitting recess 13 b that widens downward. A fitting member 18 of a hanging load gripping device 5 described later is fitted and mounted in the fitting recess 13b, and the hanging load gripping device 5 is fitted by the fitting recess 13b and the fitting member 18. Fitting means for connecting and fixing the above in a state of being unable to rotate relative to the manipulator 6 is configured.

On the other hand, the suspended load gripping device 5, which is suspended and supported by the wire W from the trolley 4 and can be moved up and down by the winch 9, is mounted on a frame body 16 assembled in a rectangular shape in plan view, and its corners. A high-rigidity diagonal member 17 is assembled so as to converge toward the upper center of the frame 16 from the portion 16a, and the hook 10 for gripping and fixing the suspended load is further attached to the lower end of each corner 16a of the frame 16. It is configured to be installed. Further, as shown in FIGS. 2A and 2B, an eccentricity that can be fitted to the fitting recess 13b formed in the hole 13a of the second platform 13 is provided at the upper end of each diagonal member 17. An elliptic cone-shaped fitting member 18 is fixed.

As shown in FIGS. 3 (a) to 3 (c), the hook 10 has a clamp portion 10b which is U-shaped in a side view and has an insertion hole 10a in the horizontal direction, and the insertion hole 10a. A pin 10c that is inserted into the insertion hole 10a and a link mechanism 10d that is connected to one end of the pin 10c and prevents the pin 10c from being pulled out when the pin 10c is inserted into the insertion hole 10a. In this state, it is configured to have a pin lock 10e mechanism that locks from above (see FIG. 3B), and these link mechanisms 10 are controlled by a control signal from the control device 11.
d, the pin lock mechanism 10e can be remotely operated. Then, the suspended load U is attached to the clamp portion 10b.
By providing a hole X through which the grasped portion V and the pin 10c, which are fitted to each other, can be inserted, the hanging load and the hanging load gripping device 5 can be integrally connected (FIG. 3 (a)).

Then, as shown in FIG.
The height data of the suspended load detected by the camera, the image data of the marker by the camera 8, and the position of the trolley 4 detected by the distance meter 30 are input to the control device 11, respectively, and the control device 11 performs arithmetic processing on these data. Then, a control signal is output to the trolley 4, the manipulator 6, the winch 9, and the hook 10 of the hanging load gripping device 5 to drive them, and the position of the trolley 4 and the height / horizontal posture of the load are appropriately controlled. It is said that proper positioning is performed. In this case, the control signal is transmitted to the manipulator 6 by an optical communication system, and the control signal is transmitted from the data transmission device 31 to the optical communication unit 32 provided at the base of the boom 2 as shown in FIG. The signal is transmitted to the optical receiver 33 attached to the manipulator 6 via.

Crane C of this embodiment having the above construction
In the above, the suspended load is suspended from the position of the trolley 4 arranged on the boom 2 below the suspended load gripping device 5 which is suspended and supported via the wire W. The trolley 4 has the manipulator 6 having the above configuration. Since a so-called parallel link manipulator is used as the manipulator 6, the position and horizontal posture of the suspended load can be surely controlled at high speed and with high accuracy. For example, when the suspended load swings, the manipulator 6 can apply a force in the direction opposite to the swing to the suspended load gripping device 5 so that the manipulator 6 cancels the swing and quickly attenuates it. Further, when the suspended load rotates, the manipulator 6 can quickly apply a rotational force in the opposite direction to the suspended load gripping device 5 so as to cancel the rotation. Also, the second manipulator 6
Since both the platform 13 and the hanging load gripping device 5 are provided with the fitting recess 13b and the fitting member 18 as the fitting means, the hanging load gripping means 5 can be installed in the second platform 13 as well.
When they are raised to the position, they are naturally connected and fixed in a state in which they cannot rotate relative to each other, and the position / posture of the suspended load by the manipulator 6 as described above becomes possible, and only by being connected by the fitting means. The rough positioning and attitude control of the suspended load are naturally performed.

Next, as an example of constructing a steel frame body by the crane C according to the present embodiment, it will be described with reference to FIGS. 1, 5 and 6. First, the pillars 19 are previously set on the ground or on the work floor. The steel unit U composed of
Markers 21 (see FIG. 1) are attached to at least three places on the lower surface of 0, and the rangefinder 7 and the camera 8 are installed at predetermined erection positions of this steel frame unit U (see FIG. 6). The steel frame unit U is provided with a gripped portion (not shown) corresponding to the clamp portion 10b of the hook 10 and a hole (not shown) corresponding to the pin 10c.

Then, as shown in FIG. 5, the steel frame unit U is hoisted and suspended, and as shown in FIG. 6, when the steel frame unit U is carried over to above the rangefinder 7 and the camera 8, the camera 8 shoots the image data. To the control device 11 (see FIG. 4), the height of the steel frame unit U is measured by the distance meter 7, the position of the trolley 4 is measured by the distance meter 30, and those data are input to the control device 11. To do. Control device 11
Calculates the data, detects the position / orientation of the steel frame unit U from the position information of the marker 21 in the image data, and outputs a control signal to the trolley 4, the manipulator 6, and the winch 9. The steel frame unit U is fixed to the steel frame body S while controlling the position and horizontal posture of the steel frame unit U to be optimum. After the positioning and joining of the steel frame unit U is completed, the front hook 10 is controlled to separate the suspended load gripping device 5 from the steel frame unit U.

By carrying out the above work appropriately according to the steel frame unit U to be carried in and the installation position thereof, the target steel frame body can be efficiently constructed.

As described above, according to the crane C of this embodiment, the position and the posture of the steel frame unit U are controlled to be always optimum on the basis of the data from the camera 8 and the rangefinders 7 and 30. Since it is possible to carry in the steel frame unit U in a posture matched to the intended steel frame body, it is not necessary to perform human work by a large number of workers as in the conventional case,
Not only can work efficiency be greatly improved, but workers can be free from dangerous work. Further, the manipulator 6 is fast and highly accurate in position of the steel frame unit U.
Attitude control is possible, and moreover,
Since the hanging load gripping device 5 is automatically connected and fixed by the fitting means only by raising the hanging load gripping device 5 to the position of the manipulator 6, no special connecting means having a complicated structure is required.

In the above embodiment, the hydraulic cylinder is used as the actuator of the manipulator 6, but it is operated by various working media such as air and electrorheological fluid in consideration of the load of the suspended load and the response speed. Needless to say, it is possible to adopt a cylinder that operates, and it is also possible to adopt a direct-acting type actuator composed of a ball screw and an electric motor.

In the above embodiment, the rangefinder 7
The camera 8 and the camera 8 are arranged on the side of the skeleton. However, for example, the camera 1 may be fixed to the tower 1 or the boom 2 of the crane body 3, the trolley 4, or the like. It is possible to obtain effects such as improvement of work efficiency.

Further, with respect to the structure of the fitting means for connecting and fixing the hanging load gripping device 5 to the manipulator 6, the manipulator 6 and the hanging load gripping device 5 can be naturally connected, and their relative rotation is restricted. As a matter of course, other structures may be adopted as long as the structure can be achieved.

[0030]

The crane according to the present invention has the following effects. According to the crane of claim 1, the control device controls the operation of the trolley, the manipulator, and the suspended load gripping device based on the output of the position / posture detector, thereby controlling the position / posture of the suspended load. Therefore, the suspended load can be reliably carried in with high positioning accuracy while always holding the suspended load in an appropriate posture. Therefore, unlike the conventional case, it is not necessary to arrange a large number of workers at the position where the suspended load is carried in, the work efficiency can be significantly improved, and the workers can be released from dangerous work.

According to the crane of the second aspect, the manipulator is provided with the first manipulator arranged on the trolley side.
A platform, a second platform disposed at a predetermined position below the first platform, and the first and second platforms.
Since a so-called multi-parallel link manipulator having a configuration including a plurality of actuators that connect the second platforms is used, in addition to the above effects, the attitude control of the suspended load can be performed at sufficiently high speed and with high accuracy. .

According to the third aspect of the present invention, since the fitting means is provided on both the manipulator and the hanging load gripping device, it is not possible to rotate the hanging gripping means relative to the manipulator. It is possible to connect and fix in such a state that the position and posture of the suspended load can be adjusted by the manipulator as described above, and by simply connecting and fixing by the fitting means, the positioning and posture control of the suspended load can be performed naturally. Can be done.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of a crane according to the present invention.

2A and 2B are views showing fitting means provided in the manipulator and the suspended load gripping device of the crane according to the embodiment, FIG. 2A is a side view showing a fitting member, and FIG. And (c) is a side sectional view of a main part of the second platform.

3A and 3B are schematic views showing a configuration of a hook portion of a gripping device, FIG. 3A is a schematic side view showing a state of being gripped by a pin lock mechanism and a link lock mechanism, and FIG. 3B is a state in which the link lock mechanism is released. And (c) is a schematic side view showing a state in which the pin lock and the link lock mechanism are released.

FIG. 4 is a block diagram showing a posture / position detector of the crane, a control device, and an output destination of the control device in the embodiment.

FIG. 5 is a schematic view showing a state where the steel frame unit is suspended by the crane.

FIG. 6 is a schematic view showing a state where the steel frame unit is carried into a predetermined position by the crane and a steel frame body is constructed.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 tower 2 boom 4 trolley 5 suspended load gripping device 6 manipulator 7 range finder (position detector) 8 camera (posture detector) 11 controller 12 first platform 13 second platform 13b fitting recess (fitting means) 14 hydraulic pressure Cylinder (actuator) 18 Fitting member (fitting means) 30 Distance meter C Crane W Wire

Claims (3)

[Claims] 1. A tower installed so as to project upward, a boom arranged so as to project laterally from the tower, and a trolley mounted movably in the longitudinal direction of the boom. A hanging load gripping device that is hung and supported by a wire from the trolley so as to be lifted up and down and that holds a hanging load is connected to a hanging load gripping device that is provided on the trolley and that is lifted by the wire, and can swing. Manipulator rotatably supported, position / posture detector for detecting the position / posture of the suspended load, and operation of the trolley, the manipulator, and the suspended load gripping device based on the detection result of the position / posture detector. A crane characterized by comprising a control device for controlling each of the. 2. The crane according to claim 1, wherein the manipulator includes a first platform arranged on the trolley side and a second platform arranged at a predetermined position below the first platform. A crane comprising: a plurality of actuators arranged between the first and second platforms to connect the first and second platforms and control the position and orientation of the second platform. 3. The crane according to claim 2, wherein both the second platform of the manipulator and the hanging load gripping device cannot rotate relative to each other when the hanging load gripping device is raised to a position of the second platform. The crane is characterized in that it is provided with a fitting means for fitting each other in such a state and connecting and fixing them.