JP2009137750A - Operation control device of traveling crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation control device allowing a quick and exact operation by one hand and a fine control of moving speed. <P>SOLUTION: This operation control device is provided with a traveling rail 101 and a traversing rail 102 arranged in a direction orthogonal to the traveling rail 101 to move along the traveling rail 101. The operation control device is provided with an operation device control circuit provided with an operation body of equipment 11, an acceleration sensor 12 for detecting inclination direction and inclination angle of the operation body of equipment 11, and a command signal generation means for generating moving direction command signal and moving speed command signal of the traveling crane based on the inclination direction-angle detected by the acceleration sensor 12, and a motor driving control circuit for driving and controlling the traveling motor and traversing motor of the traveling crane based on moving direction command signal and moving speed command signal from a command signal generation means of the operation device control circuit. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention provides a travel rail laid in a predetermined direction (for example, east-west direction) in a horizontal plane, and a travel motor that is disposed in a direction orthogonal to the travel rail (for example, the north-south direction) and that travels along the travel rail. The present invention relates to an operation control device for a traveling crane that includes a traversing rail that moves and moves in the traveling rail direction and the traversing rail direction.

  As an operation control device for the traveling crane, there is a device configured to have a number of push button switches and to command the moving direction and moving speed of the crane, and the lifting direction and the lifting speed by operating the push button switch. As described above, the operation control device needs to search for a push button switch corresponding to the moving direction of the crane from a large number of push button switches, and since it closely looks at the hand, it is difficult to perform a quick and accurate operation. In addition, when traveling the crane in two directions, two push button switches must be operated at the same time, and one-handed operation cannot be performed, and a fine movement speed cannot be controlled.

There is also an operation control device that includes a joystick switch in an operation box, and that can be instructed in a moving direction and a moving speed by operating the joystick switch. The operation control device provided with the joystick switch can control a fine moving speed, but has a problem that it cannot be operated with one hand.
JP-A-60-87196

  The present invention has been made in view of the above points, and an object of the present invention is to provide an operation control device for a traveling crane that can be quickly and accurately operated with one hand and that can also finely control the moving speed.

  In order to solve the above problems, the present invention includes a traveling rail laid in a predetermined direction in a horizontal plane, a traverse rail that is disposed in a direction orthogonal to the traveling rail and moves along the traveling rail by a traveling motor, An operation control device for a traveling crane including a traverse motor for moving along the traverse rail, an operation casing, and a tilt direction / angle detection means for detecting a tilt direction and a tilt angle of the operation casing An operating device control circuit comprising command signal generating means for generating a moving direction command signal and a moving speed command signal of the traveling crane based on the tilt direction / angle detected by the tilt direction / angle detecting means, and an operating device control A motor drive control circuit for driving and controlling a traveling motor and a traversing motor of the traveling crane based on a moving direction command signal and a moving speed command signal from a command signal generating means of the circuit; It is characterized in.

  As described above, the command signal generating means of the controller control circuit generates the moving direction command signal and the moving speed command signal of the traveling crane based on the tilt direction / angle detected by the tilt direction / angle detecting means. By manipulating the tilt direction and tilt angle of the body, the traveling crane can be moved in the tilted direction at a speed corresponding to the tilt angle.

  In the operation control device for a traveling crane, the present invention is characterized in that the inclination direction / angle detection means detects an inclination direction and an inclination angle of the operation casing using an acceleration sensor.

  As described above, by using the acceleration sensor as the tilt direction / angle detection means, the tilt direction and the tilt angle of the operation casing can be detected easily and accurately.

  Further, according to the present invention, in the operation control device for the traveling crane, the command signal generation means of the operation device control circuit is configured to connect the traveling crane to the traveling rail and the traverse rail based on the inclination direction / angle detected by the inclination direction / angle detection means. When the inclination angle in the traveling rail direction of the operation casing is θ1 and the inclination angle in the traverse rail direction is θ2, the speed coefficient in the traveling rail direction = θ1 × {1+ (θ2 / 45) )}, The speed coefficient in the traverse rail direction = θ2 × {1+ (θ1 / 45)}, and a moving speed command signal in the traveling rail direction and the traverse rail direction is output.

  As described above, when the inclination angle in the traveling rail direction of the operation casing is θ1 and the inclination angle in the traverse rail direction is θ2, the command signal generating means has a speed coefficient in the traveling rail direction = θ1 × {1+ (θ2 / 45)}, the speed coefficient in the traverse rail direction = θ2 × {1+ (θ1 / 45)}, and the moving speed command signal in the travel rail direction and the traverse rail direction is output. When traveling in two directions, speed control in each direction can be performed based on a correlation of angles at which the operation casing is tilted in two directions.

  Further, according to the present invention, in the operation control device for a traveling crane described above, a travel / traverse determination switch is provided in the operation casing, and the command signal generation means of the operation device control circuit travels when the travel / transverse determination switch is turned on. A start permission command signal for the motor and the traversing motor is output.

  As described above, since the start permission command signal for the travel motor and the traverse motor is output when the travel / transverse determination switch is turned on, it is possible to prevent the travel crane from moving due to an inadvertent tilting operation of the operation casing.

  According to the present invention, in the operation control device for a traveling crane described above, the operation casing is provided with a travel determination switch and a traverse determination switch, and the command signal generation means of the operation device control circuit is configured such that the travel determination switch and the traverse determination switch are ON. When this is done, a start permission command signal for the travel motor and the traverse motor is output.

  As described above, when the travel determination switch and the traverse determination switch are turned on, the start permission command signal for the travel motor and the traverse motor is output, respectively, so that the traveling crane moves due to an inadvertent tilt operation of the operation casing. Can be prevented. In addition, the operation casing is easily tilted, and the operation is simplified when the traveling crane is desired to be moved only in the traveling rail direction or the transverse rail direction.

Further, in the operation control device for a traveling crane, the present invention is provided with a travel / transverse determination switch with a lever having a lever that can be tilted from the neutral position to the travel rail direction and the traverse rail direction in the operation housing. When the travel / transverse determination switch with lever is operated as follows, the command signal generation means of the controller control circuit outputs the following command signal.
・ When the lever is tilted toward the traveling rail and the switch is turned on, the movement permission command signal in the traveling rail direction ・ When the lever is tilted toward the transverse rail and the switch is turned on, the movement permission command signal and lever in the transverse rail direction are neutral When the switch is turned on, the movement permission command signal in both the traveling rail direction and the traverse rail direction

  As described above, the travel / transverse determination switch with lever is provided, and when the travel / transverse determination switch with lever is operated as described above, the command signal generating means of the operating device control circuit outputs the command signal. Therefore, it is possible to prevent the traveling crane from moving due to an inadvertent tilting operation of the operation casing. Moreover, it becomes easy to comprise so that an operation control apparatus can be operated with one hand.

  Further, in the operation control device for a traveling crane according to the present invention, the travel / transverse determination switch, the travel determination switch, the traverse determination switch, and the travel / transverse determination switch with a lever can be operated with a finger of one hand holding the operation casing. It is provided in.

  As described above, the travel / transverse determination switch, travel determination switch, traverse determination switch, and travel / transverse determination switch with lever are provided at a position where they can be operated with a finger of one hand that grips the operation housing. Can be done with one hand.

  According to the present invention, in the operation control device for a traveling crane described above, the operation casing includes a rectangular hexahedron having an X axis corresponding to the traveling rail direction and a Y axis corresponding to the transverse rail direction. .

  As described above, since the operation casing is a rectangular hexahedron having the X axis corresponding to the traveling rail direction and the Y axis corresponding to the transverse rail direction, the X axis and the Y axis are respectively set to the traveling rail direction and the transverse rail. The operation casing can be tilted in the direction, improving operability.

According to the present invention, the following excellent effects can be obtained.
-Since the operation can be controlled by tilting the operation casing, it is possible to operate quickly and accurately without having to watch the hand.
-Since the speed of the traveling crane can be controlled steplessly by tilting the operation casing, fine speed control is possible.
・ The crane can be operated with one hand.

  Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a diagram showing an external configuration example of an operation device control circuit unit of an operation control device for a traveling crane according to the present invention. The operation device control circuit unit 10 includes an operation housing 11 from a rectangular hexahedron. The operation casing 11 has an X-axis corresponding to the traveling rail direction of the traveling crane and a Y-axis corresponding to the traverse rail direction, and an inclination direction / angle for detecting the inclination direction and the inclination angle of the operation casing 11 therein. An acceleration sensor 12 serving as detection means is provided. Further, a winding push button switch 13, a winding push button switch 14, and a travel / transverse determination push button switch 15 are provided on the upper surface of the operation casing 11.

  FIG. 2 is a block diagram showing the overall configuration of the traveling crane operation control device according to the present invention. The traveling crane operation control device includes an operation device control circuit unit 10 and a motor drive control circuit unit 20. The operating device control circuit unit 10 includes a command signal generation unit 16 and a communication unit 17. The motor drive control circuit unit 20 includes a communication unit 21, a control unit 22, a travel inverter 23, a traverse inverter 24, and a lift inverter 25. The electronic components and devices that constitute the command signal generation unit 16 and the communication unit 17 of the operation device control circuit unit 10 are mounted in the operation housing 11, and the electronic components and devices that constitute the motor drive control circuit unit 20 will be described later. It is arranged on a hoisting machine (traveling crane body).

  The command signal generation unit 16 of the controller control circuit unit 10 includes an inclination direction detection signal S1 and an inclination angle detection signal S2 detected by the acceleration sensor 12, and a travel / transverse determination signal S3 when the travel / transverse determination pushbutton switch 15 is turned on. The hoisting signal S4 when the hoisting push button switch 13 is turned on and the lowering signal S5 when the hoisting push button switch 14 is turned on are inputted. The command signal generator 16 receives the tilt direction detection signal S1 and the tilt angle detection signal S2, and determines the moving direction and moving speed of the traveling crane. Then, a travel motor moving speed command signal for designating the speed of the travel motor 31 and a traverse motor moving speed command signal for designating the speed of the traversing motor 32 are generated.

  In addition, the command signal generation unit 16 receives the travel / transverse determination signal S3, receives the travel / transverse movement permission command signal, the hoisting signal S4 when the hoisting pushbutton switch 13 is turned ON, and the moving speed thereof. In response to a command signal (for example, low-speed winding, high-speed winding), a lowering signal S5 when the lowering push button switch 14 is turned ON, a lowering command signal and a moving speed command signal (for example, low-speed lowering, high-speed winding) Lower). And the traveling motor moving speed command signal, the traverse motor moving speed command signal, the hoisting command signal and its moving speed command signal, the lowering command signal and its moving speed command signal generated by the command signal generating unit 16 are the communication unit. 17 is transmitted to the communication unit 21 of the motor drive control circuit unit 20 via 17.

  The communication unit 21 receives the command signal from the operating device control circuit unit 10 and outputs it to the control unit 22. The control unit 22 receives the travel motor movement speed command signal and the traverse motor travel speed command signal, generates an activation signal and speed signal for the travel motor 31, and an activation signal and speed signal for the traverse motor 32, and permits travel and traverse movement. The traveling inverter 23 and the traverse inverter 24 are activated on condition that there is a command signal. As a result, electric power is supplied from the traveling inverter 23 and the traversing inverter 24 to the traveling motor 31 and the traversing motor 32, respectively, and the traveling motor 31 and the traversing motor 32 are activated. Move at a moving speed according to the angle. At this time, if the tilt direction and tilt angle of the operation casing 11 change, the moving direction and moving speed of the traveling crane also change accordingly.

  As described above, when the travel motor 31 and the traverse motor 32 are started up on condition that there is a travel / transverse determination signal S3 when the travel / transverse determination pushbutton switch 15 is turned on, the operator intends to move the travel crane. Only when the operation casing 11 is tilted, the traveling crane moves. That is, safety can be maintained without the traveling crane moving even if the operator inadvertently performs an operation of tilting the operation casing 11. The command signal generation unit 16 of the controller device control circuit unit 10 and the control unit 22 of the motor drive control circuit unit 20 are each configured by a microcomputer. As the signal transmission means of the communication unit 17 and the control unit 22, signal transmission by wire or signal transmission by radio such as electromagnetic waves or light is used.

  Here, detection of the tilt direction and tilt angle of the operation casing 11 by the acceleration sensor 12 will be described. When the operation casing 11 to which the acceleration sensor 12 is attached is tilted by the angle θ, as shown in FIG. 3, a decomposition component g · sin θ of the gravitational acceleration g is applied in the direction in which the acceleration sensor 12 is attached. Therefore, a value corresponding to g · sin θ is output as a voltage as the output of the acceleration sensor 12. Here, when the angle θ changes from 0 to π / 2, the value of sin θ changes from 0.0 to 1.0, and the most inclined θ = g · sin θ becomes equal to 1 g. Since the output of the acceleration sensor 12 is output as a voltage value as described above, an output serving as a reference is obtained by obtaining a change width until the operation casing 11 is vertically arranged with reference to the output voltage value when the operation casing 11 is leveled. Get the voltage value. Then, the difference between the current output voltage of the acceleration sensor 12 and the reference value is obtained, and this value is converted into an angle using an inverse sine, so that the converted angle becomes the current tilt angle of the operation casing 11.

  When the operation casing 11 is tilted only in the X-axis direction (traveling rail direction) or the Y-axis direction (transverse rail direction), the traveling crane should be small in angle according to the angle tilted in the direction in which the operation casing 11 is tilted. In other words, a movement speed command signal is output from the command signal generation unit 16 so as to move at high speed if the speed is low and large. Further, when the traveling crane is moved in both the traveling rail direction and the transverse rail direction, it is necessary to control the speed in each direction based on the correlation of the angles inclined in the two directions. Here, when the inclination angle in the traveling rail direction is θ1 and the inclination angle in the transverse rail direction is θ2, the speed coefficient in the traveling rail direction = θ1 × {1+ (θ2 / 45)}, the speed coefficient in the transverse rail direction = θ2 X {1+ (θ1 / 45)} and a speed generation signal is output from the command signal generation unit 16 so as to control the moving speed in the traveling rail direction and the traverse rail direction.

  In the traveling crane operation control apparatus described above, as shown in FIG. 1, the operation casing 11 is provided with one traveling / running determination pushbutton switch 15 for determining traveling and traversing simultaneously. As described above, the travel determination push button switch 18 and the traverse determination push button switch 19 may be provided separately, and the travel determination signal and the traverse determination signal may be separately output to the command signal generation unit 16. By doing so, it becomes easy to control the inclination of the operation casing 11. Further, when it is desired to operate only the movement of the traveling crane in the traveling rail direction or the movement in the transverse rail direction, the operation can be easily performed. However, in this case, if the distance between the travel determination pushbutton switch 18 and the traverse determination pushbutton switch 19 is too large, there is a possibility that it cannot be operated with one hand. Therefore, when the travel determination pushbutton switch 18 and the traverse determination pushbutton switch 19 are attached to a position where the travel determination pushbutton switch 19 can be operated with one hand, for example, the position where the travel determination pushbutton switch 18 can be operated with the index finger, Can be operated with one hand.

In FIG. 1, the travel / transverse determination pushbutton switch 15 is a pushbutton switch with a lever having a lever that can be tilted from the neutral direction to the X-axis direction (for example, east-west direction) and the Y-axis direction (for example, north-south direction). The following command signal may be output from the command signal generator 16 by operating the pushbutton switch with lever as described below.
・ When the lever is tilted in the X-axis direction (for example, east-west direction) and the pushbutton switch is pressed, the movement permission command signal for moving in the direction of the traveling rail is tilted ・ The lever is tilted in the Y-axis direction (for example, the north-south direction) → Move permission command signal to move in the direction of the traversing rail ・ When the lever is tilted neutrally and the pushbutton switch is pressed, → Move permission command signal to be moved in both the traveling rail direction and the traversing rail direction By doing so, there is an advantage that the traveling crane can be operated with one hand. However, when it is desired to move the traveling crane in the direction of the traveling rail, or when it is desired to move in the direction of the traverse rail, the operation becomes complicated. Further, it becomes difficult to control the tilt of the operation casing 11.

  FIG. 5 is a diagram illustrating a configuration example of a traveling crane using the traveling crane operation control device. The traveling crane is disposed in a predetermined direction (for example, east-west direction) within a horizontal plane of the building ceiling, and is disposed in a direction (for example, north-south direction) orthogonal to the traveling rails 101, 101, and geared. A traverse rail (garter) 102 that moves on the travel rails 101, 101 by a motor (travel motor) 103, and a hoisting machine (traveling crane main body) 105 that moves on the traverse rail 102 by a traverse motor 104. .

  The X axis of the operation casing 11 having the appearance shown in FIG. 1 is aligned with the laying direction of the traveling rails 101 and 101, and the Y axis is aligned with the direction of the traversing rail 102. When the operation casing 11 is tilted in the X-axis direction, the Y-axis direction, or both the X-axis and Y-axis directions, the acceleration sensor 12 serving as the tilt direction / angle detection means detects the tilt direction and tilt angle. And output to the command signal generator 16. The command signal generation unit 16 receives the tilt direction detection signal and the tilt angle detection signal, and determines the moving direction and moving speed of the hoisting machine (traveling crane body) 105. Then, a traveling motor moving speed command signal that specifies the speed of the geared motor 103 (traveling motor 31) and a traverse motor moving speed command signal that specifies the speed of the traversing motor 104 (transverse motor 32) are generated. Then, the traveling motor travel speed command signal and the traverse motor travel speed command signal are transmitted to the communication unit 21 via the communication unit 17 on condition that the travel / transverse determination pushbutton switch 15 is pressed and there is a travel / crossing determination signal.

  The communication unit 21 transmits the received travel / traverse determination signal to the control unit 22, and the control unit 22 activates the travel inverter 23 and the traverse inverter 24 according to the travel motor movement speed command signal and the traverse motor movement speed command signal, The geared motor 103 (traveling motor 31) and the traversing motor 104 (traversing motor 32) are activated, and the hoisting machine (traveling crane body) 105 is moved in the tilt direction detected by the acceleration sensor 12 at a speed corresponding to the detected tilt angle. Move.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea described in the claims and the specification and drawings. Is possible. Note that any shape or material not directly described in the specification and drawings is within the scope of the technical idea of the present invention as long as the effects and advantages of the present invention are achieved. For example, in the above example, the operation switch attached to the operation casing 11 is a push button switch in the above embodiment, but the operation switch is not limited to the push button switch. Further, although the acceleration sensor is used as the tilt direction / angle detection means, it is not limited to the acceleration sensor as long as the tilt direction and tilt angle of the operation casing can be detected.

It is a figure which shows the example of an external appearance structure of the operating device control circuit part of the operating control apparatus of the traveling crane which concerns on this invention. It is a block diagram which shows the whole structure of the operation control apparatus of the traveling crane which concerns on this invention. It is explanatory drawing of an acceleration sensor. It is a figure which shows the example of an external appearance structure of the operating device control circuit part of the operating control apparatus of the traveling crane which concerns on this invention. It is a figure which shows the structural example of the traveling crane using the operation control apparatus of the traveling crane which concerns on this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Operating device control circuit part 11 Operation housing | casing 12 Acceleration sensor 13 Hoisting pushbutton switch 14 Lowering pushbutton switch 15 Traveling / transverse decision pushbutton switch 16 Command signal generation part 17 Communication part 18 Traveling decision pushbutton switch 19 Traverse decision pushbutton switch 20 Motor Drive control circuit unit 21 Communication unit 22 Control unit 23 Traveling inverter 24 Traverse inverter 25 Lifting inverter 31 Traveling motor 32 Traverse motor 33 Lifting motor

Claims (8)

A traveling rail laid in a predetermined direction in a horizontal plane, a traverse rail arranged in a direction orthogonal to the traveling rail and moved along the traveling rail by a traveling motor, and a travel rail for moving along the traversing rail An operation control device for a traveling crane equipped with a traverse motor,
An operation casing, an inclination direction / angle detection means for detecting an inclination direction and an inclination angle of the operation casing, and a moving direction command of the traveling crane based on the inclination direction / angle detected by the inclination direction / angle detection means An operating device control circuit comprising command signal generating means for generating a signal and a moving speed command signal;
A travel comprising a motor drive control circuit for driving and controlling a travel motor and a traverse motor of the travel crane based on a travel direction command signal and a travel speed command signal from a command signal generating means of the controller control circuit. Crane operation control device. In the traveling crane operation control device according to claim 1,
An operation control device for a traveling crane, wherein an acceleration sensor is used as the tilt direction / angle detection means to detect the tilt direction and tilt angle of the operation casing. In the operation control apparatus of the traveling crane according to claim 1 or 2,
The command signal generating means of the operating device control circuit is a case where the traveling crane is moved in two directions of the traveling rail and the traverse rail based on the inclination direction / angle detected by the inclination direction / angle detecting means, When the tilt angle of the operation casing in the traveling rail direction is θ1 and the tilt angle in the traverse rail direction is θ2, the speed coefficient in the travel rail direction = θ1 × {1+ (θ2 / 45)}, the speed coefficient in the traverse rail direction = Θ2 × {1 (θ1 / 45)} and a traveling speed command signal in the traveling rail direction and the transverse rail direction is output. In the operation control apparatus of the traveling crane of any one of Claims 1 thru | or 3,
The operation casing is provided with a travel / transverse determination switch
The operation control device for a traveling crane is characterized in that the command signal generation means of the operation device control circuit outputs a start permission command signal for the travel motor and the traverse motor when the travel / transverse determination switch is turned on. In the operation control apparatus of the traveling crane of any one of Claims 1 thru | or 3,
The operation casing is provided with a travel determination switch and a traverse determination switch,
The command signal generation means of the controller control circuit outputs a start permission command signal for the travel motor and the traverse motor, respectively, when the travel determination switch and the traverse determination switch are turned on. Operation control device. In the operation control apparatus of the traveling crane of any one of Claims 1 thru | or 3,
The operation casing is provided with a travel / transverse determination switch with a lever with a lever that can be tilted from the neutral position in the travel rail direction and the traverse rail direction, and the travel / transverse determination switch with the lever is operated as follows. In this case, the operation control device for a traveling crane is characterized in that the command signal generation means of the operation device control circuit outputs the following command signal.
・ When the lever is tilted toward the traveling rail and the switch is turned on, the movement permission command signal in the traveling rail direction ・ When the lever is tilted toward the transverse rail and the switch is turned on, the movement permission command signal and lever in the transverse rail direction are neutral When the switch is turned on, the movement permission command signal in both the traveling rail direction and the traverse rail direction In the operation control apparatus of the traveling crane of any one of Claims 4 thru | or 6,
The traveling crane, the travel determination switch, the travel determination switch, the traverse determination switch, and the travel / transverse determination switch with a lever are provided at positions that can be operated with a finger of one hand holding the operation casing. Operation control device. In the operation control apparatus of the traveling crane according to any one of claims 1 to 7,
The operation control device for a traveling crane, wherein the operation casing is composed of a rectangular hexahedron having an X axis corresponding to the traveling rail direction and a Y axis corresponding to the traverse rail direction.

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