JPH0233091A - Crane device - Google Patents

Abstract

PURPOSE:To throw away dusts into a hopper correctly by calculating a standard accelerating speed signal, standard position signal, and an actual position signal and calculating and outputting a speed instruction for shifting a bucket from these three signals. CONSTITUTION:As for the length signal of a wire 5 which is measured by the length measurement part 6 of a crane carriage 2, the standard accelerating speed signal is calculated in the first calculation part 15, and the standard present position signal of a bucket 4 is calculated in the second calculation part 16. In the third calculation part 17, the actual position of the bucket 4 is obtained from the length signal of the wire 5 and the tension signal of the wire 5 which is measured in a tension measurement part 14, and in the fourth calculation part 18, the speed instruction for allowing the actual present position of the bucket 4 to coincide with the standard present position is calculated from the actual position signal, standard accelerating speed signal, and the standard position signal, and the shift of the crane carriage 2 is controlled on the basis of the instruction signal. Thus, the dusts caught by the bucket can be thrown into a hopper correctly.

Description

[Detailed description of the invention]

[Industrial Application Field] The present invention is used in garbage disposal plants and the like. The present invention relates to a crane device for loading objects to be transported such as garbage at a first location and dropping them to a second VV location, and particularly to a lane device for accurate transportation work. [Prior art] Figure 3 shows a crane equipped with a ℃ color crane, which is conventionally used in a garbage disposal plant.
In the configuration diagram of 1, 2 is a crane truck running on a straight rail 3, 4 is a bucket suspended from the truck 2 by a wire 5, and this wire 5 is extendable and retractable. The composition is ℃. Reference numeral 6 denotes a length measuring unit built into the cart 2, which measures the length of the h-c wire 5 and outputs a length signal 6a according to the measurement result;
7, the work length signal 6a is input at t1''C. When the mobile phase signal 8 is input, the length signal 6a is used to perform the signal processing described later, and the speed command signal 7a is generated according to the result. The signal processing section 7 is mounted on the crane truck 2, and the crane truck 2 is operated at a speed according to the value of the signal 7a by inputting the speed command signal 7a. The crane device 1 begins to travel on the rail 3 and moves to "CI!" with the bucket 4 at a predetermined first location. ! Grasp 9 and look at it, then wire 5
The bucket 4 is moved to a predetermined second location with the length from the connecting point with the trolley 2 to the approximate center of the bucket 4 reduced to t.
Here, a bucket 4 is provided to open the bucket 4 and drop one piece of garbage 9 into a hopper for feeding into a garbage incinerator, for example. FIG. 4 is a block diagram of the signal processing section 7 described above, and the diagram shows -
c, 10, when the length signal 6a is input tl, when the movement command signal 8 is input in the machining state! A first circuit that outputs a signal 10a corresponding to the time T of the calculation result of the operator that performs the calculation of equation 11.
When the signal 10a is input, the calculation unit 11 calculates the equation C(2) using T represented by the signal tOa, and outputs a signal tta corresponding to the acceleration αC of the calculation result.
In the calculation section! 2 is the signal 1 when the signal tta is input.
Calculate the equation 'C(3) using the acceleration α representing 1a.
This calculation result is a third calculation section that outputs the above-mentioned speed command signal 7a according to the speed program shown in FIG.
Composed of 11 and 12, tt”c color.(1)-(3)
Formula and Figure 4

[Here is °C, g is the acceleration of gravity, and vo is the temperature at time t0 when the signal tia is not input to the calculation unit 12.
The trolley 2 has zero or minute acceleration, vl is the value of the speed V of the trolley 2 at time t1 after time T has elapsed from time 1G, and the speed command signal 7a is the speed V shown in FIG.
It is a signal according to the Time 1 in Figure 5. is the time when the trolley 2 reaches the area directly above the hopper into which the garbage 9 is to be dumped, and the speed program in Figure 5 decelerates the trolley 2 at time t, and then changes the speed of the trolley 2 to vo at time t. The crane device 1 opens the bucket 4 at time t and starts dropping the waste 9. Also * vo 1
vl is a predetermined speed. T=2π, / t/g (1
)α=(vl-v0rek...(2v
= v0 + αt ...... (Thirdly, explain the reason why the crane device IC: wire 5 in the crane device IC: and garbage 9
In order to derive the equation of motion of the suspension part 13 consisting of the bucket 4 holding the bucket 4 from the Lagrangian equation of motion (1), first find the total energy L of the sum of the kinetic energy and potential energy of the suspension part I3. (4
) and (9-type odor detector, θ is the 4-angle of the wire 5 from the vertical line shown in Fig. 3. m is the mass of the suspended g13, and X is the position of the trolley 2. In this case, It is assumed that the quality i1m is concentrated at the position of bucket 4 and is ℃, and t is assumed to be almost constant regardless of the amount of waste 9. From equations (4) and (5), (6 ) is obtained, so now if we assume that 1.sin θ = θ in C05o because θ is small, we will obtain equation (7) from E9. Then C,
It is clear that equation (7) represents the equation of motion of the suspended fi1513. 2ttθ+t7J-7”xcosθ+gzsinθ=O
・−・−(6)θ+(2z/l)θ+(g//,)θ=
x/l... (7However, as we learned from the above, since 1=0 and X; α,
By substituting these into equation 9, the differential equation obtained by ℃ is t=Q
Let the six values of θ and θ be θOl ”O, respectively.
Fence (and (F9 formula is obtained. θ=(θ.−(d/g)l Cog(dt+(j,/1
n) Sinωt+α/g 'H From equation (8), time t is ω
When t=2π is satisfied, in other words, when 1 time t is equal to time T as shown in equation (9) from equation 9 and CD equation, θ=00 and δ=00. t-work 2π/ω = 2πJt/g-ki = Shimokawa...
(9) ``C, If the crane device 1 speeds up to t, then flaw number 7a is a signal that commands the speed of the temporal pattern shown in No. 59, θ.'''If o = 00, at time t0 When the signal 7a commands the truck 2 to move one step to the right, the bucket 4 temporarily moves to f''+E.
C
Finally, at time t shown in FIG. 5, θ=j of the suspension part 13 again.
=O condition occurs, and after that, the trolley 2 moves to time t! Since it moves in a straight line at a constant velocity until
The condition continues. Therefore, when the bucket 4 is opened at time t, the garbage 9 will be accurately thrown into the hopper. [Problem to be Solved by the Invention] Since the beam number processing s7 in the crane equipment fltt is made 4111 to perform the above-mentioned operation, if θ・-Je=6, one truck 2 is moved to the above-mentioned hopper. Bucket 4 when approaching
As opposed to the cart 2C, which is stationary and the machining wire 5 is vertical, it is possible to accurately feed the waste 9 into the hopper at a time of 1°, but θ. Be0 big J,
Since ζ0 is θNO and iNO at time t, this time t! ``5'' phenomenon may occur when the podium 9 is dropped outside the hopper when the bucket 4 is touched.In addition, between 1 time 1 and 1 m, the intermediate car 2 follows the speed pattern shown in Fig. 5. "t by signal 7a to perform C traveling operation.
However, if a disturbance is applied to the magistrate mode of the bogie 2, such as when the bogie 2 collides with the protrusion on the rail 3 by 1 degree, then θo '''o = 0 and the time t! Since there are cases where θ and i do not become zero, it is clear that in this case as well, a phenomenon similar to that described above in which dust JF9 is thrown out of the hopper may occur.Therefore, as described above, This means that the crane device l that is used has the problem that it is not possible to accurately throw the garbage 9 into the hopper.The purpose of the present invention is to make θ become zero at time
The purpose is to enable one piece of trash 9 to be accurately thrown into a hopper. [Means for Solving the Problems] In order to achieve the above object, according to the present invention, when a speed command signal is input, a crane truck that travels at a speed corresponding to the speed command signal and a crane truck that grasps a transported object are provided. a bucket to be held or carried; a telescopic connection mechanism for suspending the bucket on the crane truck; and a tension measuring unit that measures the tension applied to the connection mechanism and outputs a tension signal in accordance with the result. , a length measuring section that measures the length of the coupling mechanism and outputs a length signal according to the result; and a length measuring section that measures the length of the coupling mechanism and outputs a length signal according to the result; and a signal processing section that outputs a "cIII speed indicator" signal that performs a predetermined calculation using the length signal and the length signal, and the signal processing section performs a predetermined first calculation using the length signal.
a first calculation unit that outputs a construction standard acceleration compensation code for calculation;
a second calculation section that performs a predetermined second calculation using the reference acceleration signal and outputs a reference position signal corresponding to the reference current position of the bucket; a third calculation unit that performs a third calculation of “C” and outputs an actual position signal according to the actual current position of the bucket;
the reference acceleration signal, the reference position signal, and the actual position f
i1 signal is input manually, and a predetermined fourth operation is performed using these three input signals. It is assumed that the crane device is configured to have four calculation sections. [Function] With the above configuration, when a movement command signal is input to the signal processing unit, the fourth performance unit outputs a speed command signal so that the actual current position of the bucket matches the reference current position of the bucket. When the speed command signal is input to the crane truck, the bucket is finally suspended vertically through the crane truck's coupling mechanism. 1st position. As a result, when the movement command signal is input to the signal processing section Even when disturbances are applied to the movement of the trolley. Finally, the bucket is suspended vertically from the crane truck, and the objects to be carried, which are gripped or carried by the bucket, can be accurately transported to the target destination. [Embodiment] FIG. 1 is a block diagram of an embodiment of the present invention. In the figure, C, 14)"!A tension measuring section is built in the bucket 4 and detects the tension τ of the wire 5 and outputs a tension signal 14a according to this τ. 151 is a tension measuring section that receives the length signal 6a and performs the above-mentioned calculation. When the signal 151a is input, the calculation part 52, which performs the same calculation operation as the part 10 and outputs the signal 151B corresponding to the working time T, calculates the formula (10) according to the resultant reference acceleration β. 15 is a first calculation section consisting of calculation sections 151 and 152. β; v1/T (10)
16, a signal 152a representing acceleration β is input; 4. (The right-hand side of the IT formula in equation 8 is θ.=δ.=O and α±β. In the second calculation unit, 17 is a third calculation unit which receives the length signal 6a and the tension signal L4a and outputs the actual position No. 9 L7a according to the process θa which performs the calculation on the right side of equation (12). Since the right side of equation (11) was derived as described above, if X in the equation θε & σ is set to β,
-C represents the theoretical deflection angle θ exhibited by the suspended g13 according to the equation of motion of equation 1, and [the right side of equation 129 is the first
In the figure, if tθzO, then equation (13) holds and 1
This is because θ is derived from this equation (13). θa represents the actual deflection angle θ exhibited by the Jinak portion 13, which is determined based on the tension τ that changes over time. In this case, θCf1 is the amount corresponding to the reference current position of the bucket 4, and θa is the amount corresponding to the actual current position of the bucket 4. τ=Ri−θ・・・・・・(13)
In Fig. 1, 181 is a coefficient obtained by inputting the reference acceleration signal 152a, the reference position signal 16a, and the actual position No. 9 17a, and performing two predetermined calculations on the difference between the signals 16a and 178. A command acceleration generation unit that corrects the reference acceleration β represented by the signal 152a and outputs a signal 181a according to the command acceleration γ obtained by ! 82 receives the signal 181a,
Using the command acceleration r represented by this signal 181a, 1:(14
) and based on the calculation result, the speed program shown in Figure 2 is obtained (: the corresponding speed finger No. 44 1
82aY is the velocity command signal output section, and 18 is a fourth calculation section consisting of generation sections 181 and 182. V=γt (14) In Fig. 1, ℃ is the % speed command signal 182a is input to the crane truck 2, and the crane truck 2 changes the speed represented by this signal 182a when the signal 182a is input. It is configured to run on rail 3 with V. 19 is a first calculation unit 15, a second calculation unit 16, and a third calculation unit 1
7 and the fourth processing unit 18. In this processing unit 19r, each part is configured as described above, so that the signal processing unit FJ! l119 indicates the tension signal 14a, the length signal 6a, and the moving finger A? When Shingan 8 is input, signal 14a
A predetermined nod calculation is performed using
It can be said that it outputs 2a. Also,
In Figure 1, the signal processing section 19 is drawn in a different position from the trolley 2, and in color 1, but in this embodiment, the processing section I9 is actually mounted on the trolley 2. The figure corresponds to FIG. 5. In this case, the speed V shown in FIG. 14) "C changes over time according to the formula, and at time t, V
. 1 color. Therefore, in this case, r='
+/(t4-tO). In FIG. 1, each part is configured as described above.
By outputting 1 crane truck 2, this information @ 1
82a, and set the time t and r shown in Figure 2 so that the value of the C signal 17a matches the value of the signal 16a, so that tt"cθa=θC. The fourth calculation unit 18 is configured.In addition, in the lane device as described above, when the movement command signal 8 is input to the signal processing unit 19, the bucket 4 represented by the actual position signal 17a is
The signal processing unit 19 adjusts the actual current position θa of the bucket to match the reference current position θC of the bucket represented by the reference position signal 16a.
The speed command signal 182a is outputted from the base 3! As is clear from the description of the crane device 1 in FIG. Bucket 4 is wire 5 from trolley 2
The crane device shown in Fig. 1 has a mobile phase A? Even if the bucket 4 is not directly below the trolley 2 when the number 8 is input, or if a disturbance is applied to the movement mode of the trolley 2 while it is moving. ] In the end, the bucket 4 is suspended vertically from the trolley 2, and as described above, the garbage 9 held in the bucket 4 can be accurately transported to the target destination. According to the present invention, there is provided a crane truck that travels at a speed corresponding to the speed command signal when a speed command signal is input, a bucket that can grasp or carry an object to be transported, and a crane. The trolley has a telescopic connecting mechanism for hanging the bucket, and a tension measuring section that measures the tension and outputs a tension signal according to the result.
When the length measuring section receives a tension signal, a length signal, and a movement command signal, it outputs a length signal according to the result. using the signal t
a signal processing section that performs a predetermined calculation and outputs a speed command signal; a first calculation section that performs a predetermined first calculation using the length signal in the signal processing section and outputs a reference acceleration signal; A predetermined second calculation is performed using the acceleration open signal to obtain a reference position signal corresponding to the reference current position of the °C bucket? a second calculation unit that outputs a predetermined third calculation using the tension signal and the length signal and outputs an actual position signal corresponding to the actual current position fu of the bucket; The signal, reference position signal, and actual position signal are input.These three input signals @
and a fourth calculation unit that outputs a speed command signal that causes the actual current position of one packet to match the reference current position, and performs a predetermined fourth operation 14' using accomplished. Therefore, with the R2 configuration as described above, when a movement command signal is input to the % signal processing section, the fourth (A calculation section) sends a speed command signal so that the actual current position of this bucket matches the reference current position of the bucket. Then, the reference current position is inputted to the crane truck, so that the speed command signal is input to the crane truck. 1. In the backward movement of this crane truck, it is finally transferred from the bucket or the crane truck to the vertical position via the coupling mechanism. 1. so that it is in a suspended position.
The second and fourth arithmetic units can be configured (CI),
As a result 1, according to the present invention, mobile phase A? When the flaw number is input to the m processing section, even if the bucket is not in the 100F position of the crane truck, or if some disturbance is applied to the movement of the crane truck while the crane truck is moving, the bucket will eventually be It is advantageous to be able to transport objects that are not suspended vertically from the crane truck, but are eventually gripped or carried by the bucket, to a target destination for crushing.

[Brief explanation of the drawing]

Figure 1 is an FJ configuration diagram of an embodiment of the present invention. Figure 1 is the FJ configuration diagram of an embodiment of the present invention.
(Figure 3 is an explanatory diagram of the operation of the main parts of the V-arrow. Figure 3 is a diagram of the configuration of a conventional crane device. Figure 4 is a detailed diagram of the main parts of Figure 3. Figure 5 is a detailed diagram of the main parts of Figure 4.) 1. Crane device, 2. Crane truck, 4. Bucket, 5. Wire, 6.
...Length measuring section, 6a length signal, 7.19...
... Signal processing section, 7a + t82a ... Speed command signal, 8 ... Movement command signal, 9 ... (1 item. 14 ... Tension measurement section % 14a. ...Tension signal, 15...First calculation section, 16...
・Second performance JI part, 16a...Reference position signal,
17...Third calculation unit, 17a...Actual position signal, 18...Fourth calculation example, 152a.
...Basic rate〃11 series l number, T...Tension, t
······length. Horror picture

Claims (1)

[Claims] 1) A crane truck that travels at a speed according to the speed command signal when a speed command signal is input, a bucket that grips or carries an object to be transported, and a telescopic device that suspends the bucket from the crane truck. a connecting mechanism, a tension measuring unit that measures the tension applied to the connecting mechanism and outputs a tension signal according to the result, and measures the length of the connecting mechanism and outputs a length signal according to the result. When the tension signal, the length signal, and the movement command signal are inputted to the output length measuring section, the tension signal and the length signal are used to perform a predetermined calculation, and the speed command signal is output. a first calculation unit that performs a predetermined first calculation using the length signal and outputs a reference acceleration signal; and a first calculation unit that performs a predetermined first calculation using the reference acceleration signal. a second calculation unit that performs two calculations and outputs a reference position signal corresponding to the reference current position of the bucket; and a second calculation unit that performs a predetermined third calculation using the tension signal and the length signal to determine the actual position of the bucket. a third calculation unit that outputs an actual position signal according to the current position; and a third calculation unit that receives the reference acceleration signal, the reference position signal, and the actual position signal, and performs a predetermined fourth calculation using these three input signals. and a fourth calculation section that outputs the speed command signal that causes the actual current position of the bucket to match the reference current position.