JP2009208919A - Operation control device of traveling crane and operation control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an operation control device of a traveling crane capable of being operated speedily and appropriately with one hand without the need for paying attention to the hand, and performing continuously variable shifting for hoisting and lowering and minute speed control, and to provided a method therefor. <P>SOLUTION: This operation control device is provided with an operation device control circuit section 10 and a motor driving control circuit section 30. The inclination angle of an operated box body from an acceleration sensor 16 are separated into three inclination ranges by a command signal generating section 21. Then, on the condition of a movement determination signal S<SB>15</SB>from a movement determination continuously variable speed push-button switch 15, a traveling-traverse command signal and a speed signal command signal are generated to a traveling motor 41 and a traverse motor 42 in the first inclination range to perform only traveling-traverse operation. Moreover, a rise or fall command signal and a speed signal command signal are generated to a rise/fall motor 43 by the traveling-traverse command signal and the inclination direction of the operated box body from the acceleration sensor 16 in the second inclination range to perform traveling, traverse, and rise/fall operation, and the rise or fall command signal and speed command signal are generated in the third inclination range to perform only rise and fall operation. <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. Operation control device and operation control of traveling crane including electric traverse rail (garter) that moves, traverse motor traversing along traversal rail and electric hoisting machine for hoisting and lowering load It is about the method.

  FIG. 1 is a diagram illustrating a schematic external configuration example of the traveling crane. The traveling crane 100 is arranged in traveling rails 101 and 101 laid in a predetermined direction (for example, east-west direction) in a horizontal plane of the building ceiling, and in a direction (for example, north-south direction) orthogonal to the traveling rails 101, 101. A traverse rail (garter) 102 that moves on the travel rails 101, 101 by a geared motor (travel motor) 103, a traverse motor 104 that traverses along the traverse rail 102, and a lifting motor 105 that lifts and lowers the load. The electric hoist 106 is provided.

  In the traveling crane 100, an operation casing 107 is connected to the electric hoist 106 by a cable 108 or the like. For example, “East”, “West”, “South”, “North”, “Up”, and “Down” push button switches are attached to the operation casing 107. By operating the push buttons of “East”, “West”, “South”, and “North”, the electric hoisting machine 106 travels in the east-west direction along the traveling rails 101, 101, It is designed to traverse in the north-south direction. Further, the load (not shown) suspended by the load suspension hook 109 is raised and lowered (lifted down) by the operation of the “up” and “down” push button switches. 1A is a diagram showing an example of the overall schematic configuration of the traveling crane, and FIG. 1B is an enlarged view of the operation casing 107 portion.

  In the traveling crane configured as described above, a push button switch corresponding to the direction in which the load (conveyed object) suspended by the load suspension hook 109 moves (traveling, traversing, lifting direction) is attached to the operation casing 107. It is necessary to search from the pushbutton switches “East”, “West”, “South”, “North”, “Up”, and “Down”. Further, when the electric hoist 106 is operated in both traveling and traversing directions, two push button switches must be pressed simultaneously. In addition, there is a problem that fine speed control of running, traversing and winding up and down cannot be performed.

  In addition, as in the traveling crane disclosed in Patent Document 1, the operator pushes the switch without looking at the hand, and checks the direction of the operation casing while looking at the moving direction of the transported object that is hung on the hook. There is a traveling crane that can adjust and move the object to be translated in a desired direction. FIG. 2 is a diagram illustrating a schematic external configuration example of a traveling crane disclosed in Patent Document 1. As illustrated in FIG. The traveling crane 200 includes traversing rails (garters) between traveling rails 201 and 201 laid in a predetermined direction in a horizontal plane of a building ceiling and a pair of saddles 202 and 202 that travel on the traveling rails 201 and 201 via wheels. ) 203 and an electric hoist 204 that traverses the traverse rail 203 via wheels. A load hanging hook 206 is fixed to the tip of the support wire rope 205 wound up by the electric hoist 204. From the electric hoist 204, a communication cable 207 that is bent but not twisted hangs down to the vicinity of the floor surface. An operation casing 210 is connected to the lower end of the communication cable 207 via a rotatable connection 209.

An operation switch 211 of a two-stage push button is provided on the front surface of the operation casing 210, and an up (up) and down (down) switch is provided up and down. When the operation switch 211 is pressed, an X-axis motor and a Y-axis The motor is activated, and the electric hoist 204 moves horizontally in the direction in which the operation casing 210 faces, that is, the direction opposite to the front of the operation casing 210. Therefore, the operator presses the switch without looking at the hand and adjusts the direction of the operation casing 210 while looking at the moving direction of the transported object that is hung on the load hanging hook 206 and moves in a desired direction. The conveyed product can be moved in parallel.
JP 2007-39232 A

  In the conventional traveling crane shown in FIG. 2, when the electric hoist 204 is moved in the horizontal direction (traveling / traversing) and moving up / down (winding / lowering) with different pushbutton switches, the operation of each pushbutton switch Therefore, there is a problem that a two-handed operation is required.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and is an operation control device for a traveling crane that can be operated quickly and accurately with one hand without paying close attention to the hand, and can perform stepless speed change up and down and fine speed control. And an operation control method.

  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 provided with an electric hoisting machine including a traverse motor for moving along the traverse rail and an elevating motor for hoisting and lowering a load, the operation casing, and the operation casing An operation housing inclination detecting means for detecting a direction and an inclination angle in the vertical plane of the tip portion, an operation housing direction detecting means for detecting a direction in the horizontal plane of the operation housing tip portion, and a traveling motor Operation including command signal generating means for generating a travel command signal and a travel speed command signal, a traverse command signal and a traverse speed command signal for the traverse motor, a lift command signal for the lift motor, and a lift speed command signal And a motor drive control circuit that drives and controls the travel motor, the traverse motor, and the lift motor based on each command signal from the command signal generation means of the controller control circuit. An operation determining continuously variable speed setting means for outputting a determination signal and a continuously variable speed signal is provided, and the command signal generating means of the operating device control circuit divides the inclination angle detected by the operation housing inclination detecting means into three inclination ranges. Then, on the condition that there is an operation determination signal from the operation determining continuously variable speed setting means, a travel command signal and a speed signal command signal corresponding to the traverse command signal are generated in the first tilt range, and travel is performed in the second tilt range. The command signal, the traversing command signal, and the command signal for raising or lowering are generated depending on whether the direction of the front end of the operation casing is upward or downward, and the speed signal command signal corresponding to each of the command signals is generated. In the third tilt range, an upward or downward command signal is generated depending on whether the direction of the front end of the operation casing is upward or downward, and a speed signal command signal corresponding to the upward or downward command signal is generated. It is characterized by doing.

  As described above, the tilt range of the operation casing is divided into first to third tilt ranges, and in the first tilt range, a travel command signal to the travel motor and a traverse command signal to the traverse motor are generated to control the motor drive. It outputs to the circuit and performs only the driving and traversing operation. In the second inclination range, it generates the traveling command signal to the traveling motor, the traversing command signal to the traversing motor, and the raising / lowering command signal to the lifting motor. Outputs to the motor drive control circuit and performs running, traversing, and raising / lowering operations. In the third tilt range, it generates an ascending / descending command signal to the raising / lowering motor and outputs it to the motor drive control circuit to perform only raising / lowering operations. Since it is made to operate, with one hand holding the operation housing, the operation housing tip is tilted in the vertical direction in the vertical plane, the direction operation in the horizontal plane, and the operation determining stepless speed setting means is operated. Of the traveling crane Line, transverse, and with one hand grasping the operation of the lift can be carried out without watching the hand. Further, when it is desired to quickly move the electric hoist to a predetermined position, it can be carried out simply by operating the motion determining continuously variable speed setting means toward the predetermined position where the front end of the operation casing is to be moved.

  Further, according to the present invention, in the operation control device for a traveling crane described above, the three inclination ranges include a first predetermined angle <second predetermined angle <90 °, and the first inclination angle detected by the operation housing inclination detection means. A predetermined angle or less is a first inclination range, a first predetermined angle to a second predetermined angle is a second inclination range, and a second predetermined angle to 90 ° is a third inclination range.

  In the traveling crane operation control device, the first predetermined angle is 15 °, and the second predetermined angle is 60 °.

  Further, according to the present invention, in the operation control device for a traveling crane, the command signal generation means of the operation device control circuit determines a speed command signal corresponding to the travel command signal and the traverse command signal in the first inclination range to determine the stepless speed. Generated according to the continuously variable speed signal from the setting means, and generated the speed command signal corresponding to the travel command signal and the traverse command signal in the second inclination range according to the continuously variable speed signal from the operation determining continuously variable speed setting means Then, a speed command signal corresponding to the command signal for raising or lowering the second tilt range is generated according to the detected tilt angle from the operation casing tilt detecting means, and the speed corresponding to the command signal for raising or lowering the third tilt range. The command signal is generated according to the continuously variable speed signal from the operation determining continuously variable speed setting means.

  As described above, the speed command signal corresponding to the travel command signal and the traverse command signal in the first tilt range (0 ° to 15 °) in which the tilt angle of the operation housing is small is the stepless speed from the motion determining stepless speed setting means. In response to the signal, the control unit tilts the operation case to generate a speed command signal corresponding to a traveling command signal, a traversing command signal, and an ascending or descending command signal with a second tilting range (15 ° to 60 °) having an intermediate tilt angle. A speed command signal generated according to the detected tilt angle from the detection means and corresponding to a command signal for raising or lowering the third tilt range (60 ° to 90 °) having a large tilt angle is output from the motion determining continuously variable speed setting means. Therefore, the traveling speed, the traversing speed, and the ascending / descending speed can be changed continuously, and fine speed control can be performed.

  According to the present invention, in the operation control device for the traveling crane, the command signal generating means of the operation device control circuit determines the operation of the speed command signal corresponding to the travel command signal, the traverse command signal, and the ascending or descending command signal. It is generated according to a continuously variable speed signal from a continuously variable speed setting means.

  As described above, the speed command signal corresponding to the travel command signal, the traverse command signal, and the ascending or descending command signal is generated according to the continuously variable speed signal from the operation determining continuously variable speed setting means. The speed and the ascending / descending speed can be continuously variable, and fine speed control is possible.

  According to the present invention, in the operation control device for a traveling crane described above, the operation determining continuously variable speed setting means is a motion determining continuously variable speed pushbutton switch that outputs an operation determining signal and a continuously variable speed signal by a pressing operation and its pressing pressure. It is characterized by being.

  As described above, by using the motion determination stepless speed pushbutton switch for the motion determination stepless speed setting means, the operation determination signal and the stepless speed signal are output by a simple pressing operation, and the traveling speed, traverse speed, and lifting speed are output. Can be continuously variable.

  Further, according to the present invention, in the operation control device for the traveling crane described above, the direction in which the front end portion of the operation casing faces is displaced by 360 ° in a horizontal plane, and the direction in which the front end portion of the operation casing faces is detected by the operation casing direction detection means. The command signal generating means of the controller control circuit generates a travel command signal for the travel motor and a traverse command signal for the traverse motor according to the detected direction of the front end of the operation casing. It is characterized by that.

  As described above, the travel command signal to the travel motor and the traverse command signal to the traverse motor are generated in accordance with the direction in which the front end of the operation casing faces, so that the location where the electric hoist is to be moved is in the horizontal plane. Regardless of the position of 360 °, the electric hoist can be quickly moved to a predetermined position simply by directing the tip of the operation housing to that position.

  In the operation control device for a traveling crane, the present invention is provided with a reset switch that outputs a reset signal to the operation housing, and the operation device control circuit receives the reset signal and resets the operation control device to an initial state. It is characterized by having.

  Since the operating device control circuit has a reset function as described above, the operating control device can be quickly set to the initial state by operating the reset switch provided in the operating housing.

  Further, the present invention is characterized in that in the operation control device for a traveling crane described above, the operation determining stepless speed setting means and the reset switch are disposed at a position where the operation can be performed with a finger of one hand holding the operation housing. .

  By setting the motion-determining stepless speed setting means and the reset switch at a position where it can be operated with a finger of one hand holding the operation housing, the traveling crane can be run, traversed and moved up and down, and set to the initial state with one hand. Can be operated.

  Further, the present invention provides a traveling rail laid in a predetermined direction in a horizontal plane, a traversing rail disposed in a direction orthogonal to the traveling rail and moved along the traveling rail by a traveling motor, and the traversing rail. An operation control method for a traveling crane provided with an electric hoisting machine including a traverse motor for moving along and a lifting motor for hoisting and lowering a load, the operation housing and a vertical position of the front end of the operation housing An operation casing inclination detecting means for detecting a direction facing up and down in the plane and an inclination angle thereof, an operation casing direction detecting means for detecting a direction facing in the horizontal plane of the front end of the operation casing, an operation determination signal and a stepless signal An operation-determining stepless speed setting means for outputting a speed signal is provided, and an inclination angle detected by the operation casing inclination detection means is determined by an upward / downward tilt operation in a vertical plane of the operation casing tip and a direction operation in a horizontal plane. Divide the range into three On the condition that there is an operation determination signal from the determined continuously variable speed setting means, only a speed signal command signal corresponding to a travel command signal to the travel motor and a traverse command signal to the traverse motor is generated in one inclination range, Only the crane travels and traverses, and the other one tilt range depends on the travel command signal to the travel motor, the traverse command signal to the traverse motor, and whether the direction of the tip of the operation housing is upward or downward A command signal for ascending or descending to the lifting motor and a speed command signal corresponding to the command signal are generated, and the traveling crane travels and traverses and moves up and down. The up and down command signal to the lifting motor and the speed command signal corresponding to the command signal are generated depending on the upward or downward direction, and only the traveling crane is lifted and lowered. .

  As described above, the traveling crane travels on the condition that there is a motion determination signal from the motion determination continuously variable speed setting means by the vertical tilt operation in the vertical plane of the operation casing tip and the direction operation in the horizontal plane. Since the operation can be performed while traversing and moving up and down, the operation control of the traveling crane can be performed by a simple operation that does not require a close gaze at hand.

According to the present invention, the following excellent effects can be obtained.
-It is possible to quickly and accurately lift and lower the traveling crane, and to run and traverse operation without having to look closely.
・ Since the hoisting / lowering speed can be controlled at a continuously variable speed according to the tilt angle of the operation casing, fine speed control is possible.
The traveling crane can be run, traversed, and lifted / lowered with a single motion determining stepless speed setting means (for example, a motion determining pushbutton switch).

  Embodiments of the present invention will be described below in detail with reference to the drawings. In addition, since the structure of the traveling crane using the operation control apparatus which concerns on this invention is the same as that of the structure shown in FIG.1 and FIG.2, the description is abbreviate | omitted. FIG. 3 is a diagram showing an external configuration example of an operation device control circuit unit of the operation control device for a traveling crane according to the present invention. The operation device control circuit unit 10 includes an operation housing 11 formed of a hexahedron whose plane, front, and side are rectangular. An arrow A indicating the tip direction of the housing is attached to the upper surface of the operation housing 11. Further, on the upper surface of the operation casing 11, a power push button switch 12 for turning on / off the power, an operation determining continuously variable push button switch 15 as an operation determining continuously variable speed setting means for outputting an operation determining signal and a continuously variable speed signal, A reset push button switch 14 is attached.

  Although not shown, the operation casing 11 detects the direction in which the tip of the operation casing 11 is tilted and the angle thereof (the direction in which the tip is directed up and down in the vertical plane and the angle thereof). An acceleration sensor as an inclination detection means and a gyro sensor as an operation casing direction detection means for detecting the direction in which the distal end portion of the operation casing 11 faces (the direction in which the distal end portion faces in a horizontal plane) are attached.

  FIG. 4 is a block diagram showing the overall system configuration of the traveling crane operation control apparatus 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 30. The controller device control circuit unit 10 includes a command signal generation unit 21 and a communication unit 22. The motor drive control circuit unit 30 includes a communication unit 31, a control unit 32, a travel inverter 33, a traverse inverter 34, and a lift inverter 35. The electronic components and devices that constitute the command signal generation unit 21 and the communication unit 22 of the operation device control circuit unit 10 are mounted in the operation housing 11, and the communication unit 31 and the control unit 32 of the motor drive control circuit unit 30 are configured. The electronic parts and devices to be mounted are mounted on the electric hoist (see the electric hoist 106 in FIG. 1 and the electric hoist 204 in FIG. 2).

The command signal generation unit 21 of the controller control circuit unit 10 includes an inclination direction detection signal S ₁₆ a indicating whether the tip 11 a of the operation casing 11 detected by the acceleration sensor 16 is upward or downward, and its An inclination angle detection signal S ₁₆ b indicating an inclination angle, an operation determination signal S ₁₅ when the operation determination stepless speed pushbutton switch 15 is pressed, a stepless speed signal SV ₁₅ corresponding to the pressing pressure, and a reset pushbutton switch 14 The reset signal S ₁₄ due to the pressing operation and the operation casing direction detection signal S ₁₇ that detects the direction in which the front end portion 11a of the operation casing 11 detected by the gyro sensor 17 faces in the horizontal plane are input. . The operation determines variable-speed pushbutton switch 15, as variable-speed signal SV ₁₅ magnitude corresponding to the pressing force at the time of pressing operation as described above can output, for example, depending on the pressure-sensitive rubber (pressing force A push button switch using a rubber material whose resistance value changes).

The command signal generation unit 21 of the controller control circuit unit 10 includes an inclination direction detection signal S ₁₆ a and an inclination angle detection signal S ₁₆ b from the acceleration sensor 16, and an operation determination signal S ₁₅ from the operation determination continuously variable pushbutton switch _15. stepless speed signal SV ₁₅ and receives the operation casing direction detecting signal S ₁₇ from the gyro sensor 17, the running command signal and the travel speed command signal for the travel motor 41, traverse command signal and traverse speed of the traverse motor 42 The command signal, the lift command signal of the lift motor 43 and the lift speed signal are generated and transmitted to the communication unit 31 of the motor drive control circuit unit 30 via the communication unit 22. The communication unit 31 sends the received command signals to the control unit 32, and the control unit 32 starts the travel motor 41 start signal and speed signal, the traverse motor 42 start signal and speed signal, and the lifting motor 43 based on the command signals. Are generated, and the travel inverter 33, the traverse inverter 34, and the lift inverter 35 are activated.

  As a result, electric power is supplied from the travel inverter 33, the traverse inverter 34, and the lift inverter 35 to the travel motor 41, the traverse motor 42, and the lift motor 43, respectively, and the travel motor 41, the traverse motor 42, and the lift motor 43 are activated. The traveling hoist of the traveling crane travels and traverses at a speed set in a direction in which the front end of the operation casing 11 faces, and moves up and down (winds up and down) the lifting motor 43 at a speed set in a specified direction. . That is, the traveling crane travels and traverses only by the raising / lowering operation in the vertical plane of the distal end portion of the operation casing 11, the horizontal displacement operation (turning operation), and the operation determining stepless speed pushbutton switch 15 pressing operation. , And the lifting operation can be performed quickly and accurately without having to pay close attention to the hand.

Hereinafter, the operation procedure will be described in detail. As shown in FIG. 5, the tilt direction detection signal S ₁₆ a from the acceleration sensor 16 indicates the tilt direction of the distal end portion 11 a of the operation housing 11, and the first tilt range B 1 when the tilt angle is 0 ° to 15 ° upward. When the tilt angle is 15 ° to 60 °, the second tilt range B2, the tilt angle 60 ° to 90 ° is the third tilt range B3, the tilt direction is downward, and the tilt angle is 0 ° to −15 °. One tilt range B1, a tilt angle of −15 ° to −60 ° is defined as a second tilt range B2, and a tilt angle of −60 ° to −90 ° is defined as a third tilt range B3. Then, on condition that the command signal generator 21 have a motion decision signal S ₁₅ from the motion decision variable-speed pushbutton switch 15, the tilt direction of the distal end portion 11a of the operation casing 11 depending on whether the upper or lower, the inclination A command signal for operating the traveling crane as follows is generated according to the range.

(When the tip of the operation cabinet is tilted upward)
First inclination range B1: In the first inclination range B1, only traveling and traversing operations of the traveling crane are performed. For operating housing tip indicated by the operation casing direction detecting signal S ₁₇ from the gyro sensor 17 moves the traveling crane in a direction toward a horizontal plane surface, traverse the running command signal and a speed command signal to the driving motor 41 A traverse command signal and a speed command signal for the motor 42 are generated, and the command signals are transmitted to the motor drive control circuit unit 30 to run the traveling crane and drive only the traverse. At this time, the speed signal corresponding to the travel command signal and the traverse command signal generates a travel speed command signal and a traverse speed command signal at a speed corresponding to the continuously variable speed signal SV ₁₅ from the operation-determining continuously variable pushbutton switch 15. .

Second inclination range B2: In the second inclination range B2, the traveling crane travels, traverses, and moves up and down. That is, in order to move the traveling crane in a direction indicated by the operating housing tip indicated by the operation casing direction detecting signal S ₁₇ from the gyro sensor 17, a travel command signal and the speed command signal to the travel motor 41, transverse motor The traverse command signal and speed command signal to 42 and the rise command signal and speed command signal to the lifting motor 43 are generated, and this command signal is transmitted to the motor drive control circuit unit 30 to travel, traverse and rise of the traveling crane. Do the driving. At this time, a speed signal for the travel command signal and the traverse command signal generates a travel speed command signal and a traverse speed command signal at a speed corresponding to the continuously variable speed signal SV ₁₅ from the operation determining continuously variable pushbutton switch 15. The speed signal corresponding to the ascending command signal generates an ascending speed command signal corresponding to the tilt angle of the operation casing 11 indicated by the tilt angle detection signal S ₁₆ b from the acceleration sensor 16.

Third tilt range B3: In the third tilt range B3, only the traveling crane is lifted. That is, only the ascending command signal to the lifting motor 43 is generated. The ascending speed command signal corresponding to the ascending command signal generates an ascending speed command signal corresponding to the continuously variable speed signal SV ₁₅ from the operation determining continuously variable pushbutton switch 15.

(When the tip of the operation cabinet is tilted downward)
First inclination range B1: In the first inclination range B1, only traveling and traversing operations of the traveling crane are performed. That is, in order to move the traveling crane in a direction indicated by the operating housing tip indicated by the operation casing direction detecting signal S ₁₇ from the gyro sensor 17, transverse the travel command signal and the speed command signal to the travel motor 41 motor 42 A traverse command signal and a speed command signal are generated, and the command signal is transmitted to the motor drive control circuit unit 30 so that the traveling crane travels and traverses only. At this time, a speed signal for the travel command signal and the traverse command signal generates a travel speed command signal and a traverse speed command signal at a speed corresponding to the continuously variable speed signal SV ₁₅ from the operation determining continuously variable pushbutton switch 15.

Second inclination range B2: In the second inclination range B2, the traveling crane travels, traverses, and moves up and down. That is, in order to move the traveling crane in a direction indicated by the operating housing tip indicated by the operation casing direction detecting signal S ₁₇ from the gyro sensor 17, a travel command signal and the speed command signal to the travel motor 41, transverse motor A traverse command signal and a speed command signal to 42, a lower command signal and a speed command signal to the lifting motor 43 are generated, and the command signals are transmitted to the motor drive control circuit unit 30 so that the traveling crane travels, traverses and descends. Do the driving. At this time, the speed signal corresponding to the travel command signal and the traverse command signal generates a travel speed command signal and a traverse speed command signal for traveling at a speed corresponding to the continuously variable speed signal SV ₁₅ from the operation determining continuously variable pushbutton switch 15. . A speed signal corresponding to the lowering command signal generates a lowering speed command signal corresponding to the speed corresponding to the tilt angle of the operation casing 11 indicated by the tilt angle detection signal S ₁₆ b from the acceleration sensor 16.

Third inclination range B3: In the third inclination range B3, only the traveling crane is lowered. That is, only a lowering command signal to the lifting motor 43 is generated. The descending speed command signal corresponding to the descending command signal generates a descending speed command signal having a speed corresponding to the continuously variable speed signal SV ₁₅ from the operation determining continuously variable pushbutton switch 15.

As described above, the inclination range in the vertical plane of the operation casing 11 is divided into the first to third inclination ranges, and the traveling crane can be operated only in the first inclination range B1 in the traveling and traversing operation. By allowing the traveling, traversing and elevating operation in the range B2, and allowing only the elevating operation in the third inclination range B3, the tilting operation in the vertical plane of the distal end portion 11a of one operation housing 11 can be performed. A simple operation of turning in a horizontal plane (an operation for changing the direction of the operation housing 11) and a pressing operation of the operation determining continuously variable pushbutton switch 15 attached to the operation housing 11, that is, it is not necessary to watch the hand. The operation makes it possible to operate the traveling crane quickly and accurately. In addition, the stepless speed signal SV ₁₅ by the pressing operation of the operation determining stepless speed pushbutton switch 15 and the tilting operation of the operation housing 11 control the traveling, traverse, and elevating speed at the stepless speed change. Speed control is possible.

In the above example, the ascending / descending speed command signal is generated so that the ascending / descending speed of the second inclination range B2 is controlled by the inclination angle of the operation casing 11, but the first inclination range B1 and the second inclination range are used. B2, and through the third tilt range B3, travel, traverse, and to allow controlled speed control for lifting operation at a speed corresponding to the variable-speed signal SV ₁₅ by the pressing operation of the operation decision variable-speed pushbutton switch 15, the speed command signal may be generated in response to the radio-speed signal SV _15. Thereby, speed control in three directions of traveling, traversing, and raising / lowering can be performed by a pressing operation of one operation-determining continuously variable pushbutton switch 15.

  Further, since the gyro sensor 17 detects the direction in which the distal end portion 11a of the operation casing 11 faces in the horizontal plane and controls running and traversing, the operation casing 11 places the distal end portion 11a in the horizontal plane in FIG. As shown in FIG. 2, since it can be directed in any direction of 360 °, an arbitrary place where a hoisting and lowering of an electric hoist of a traveling crane (see the electric hoists 106 and 204 in FIGS. 1 and 2) is desired. It is possible to move quickly.

Further, activation of the travel motor 41, traverse motor 42, and the elevation motor 43, i.e., the running command signal, traverse command signal, operation decision signal S ₁₅ by the pressing operation of the operation determines the generation of the elevation command signal variable-speed pushbutton switch 15 As long as there is a condition, the traveling crane can be used only when the operator changes the orientation of the front end portion 11a of the operation casing 11 in the horizontal plane or the vertical inclination in order to move or lower the traveling crane. Traveling, traversing, and raising / lowering (winding / lowering) operations are performed. That is, or to displace the tip portion 11a of the operator inadvertently operating body 11 in the horizontal plane, there is no motion decision signal S ₁₅ by the pressing operation of the operation decision variable-speed pushbutton switch 15 be changed in the vertical direction of the tilt The traveling crane will not travel, traverse, or move up and down, and safety can be maintained. The command signal generation unit 21 of the controller device control circuit unit 10 and the control unit 32 of the motor drive control circuit unit 30 are each configured by a microcomputer. Further, as the signal transmission means of the communication unit 22 and the communication unit 31, signal transmission by wire and signal transmission by radio such as radio waves and light are used.

  Here, detection of the up / down tilt direction and the tilt angle of the operation casing 11 by the acceleration sensor 16 will be described. When the operation casing 11 to which the acceleration sensor 16 is attached is tilted by the angle θ, as shown in FIG. 7, a decomposition component g · sin θ of the gravitational acceleration g is applied in the direction in which the acceleration sensor 16 is attached. Therefore, a value corresponding to g · sin θ is output as a voltage as the output of the acceleration sensor 16. 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 16 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 16 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.

  Next, detection of the direction (operation casing direction) in which the tip of the operation casing 11 faces by the gyro sensor 17 will be described. The gyro sensor includes a vibration type, a mechanical type, an optical type, a fluid type, and the like. Any of the above gyro sensors can be used for the operation control device of the traveling crane, but a piezoelectric vibration gyro sensor is often used for reasons such as small size and mass production. 8A and 8B are diagrams showing the principle of the piezoelectric vibration gyro sensor. FIG. 8A shows a stationary state and FIG. 8B shows a rotating state. The piezoelectric vibration gyro 18 includes a vibrator 18a made of a piezoelectric element, and is driven to vibrate as indicated by an arrow C when stationary. When an angular velocity ω with the axis as the rotation center is applied to the vibrator 18a during rotation, Coriolis force in the direction indicated by the arrow D acts and charges 18b are generated in the vibrator 18a. By detecting this charge, the angular velocity ω is detected. Thus, since the piezoelectric vibration gyro sensor 18 is a sensor that detects the angular velocity ω, it is sometimes called an angular velocity sensor.

The piezoelectric vibration gyro sensor (angular velocity sensor) 18 is installed as a gyro sensor 17 at a predetermined position in the operation casing 11. Then, the arrow A of the operation casing 11 is set in a predetermined direction (for example, set in the east-west direction, which is the traveling direction), and the reset push button switch 14 provided on the operation casing 11 is pressed. The initial setting and accumulated error of the gyro sensor 17 are erased. Output from the reset point, the command signal generating unit 21 an angular velocity ω detected by the gyro sensor 17 (piezoelectric vibration gyro sensor 18) as the operation casing direction detecting signal S _17. The command signal generator 21 rotates (turns) the operation casing 11 horizontally from the predetermined direction (east direction) based on the operation casing direction detection signal S ₁₇ and the elapsed time (integration of the angular velocity ω). Is calculated, and the direction in which the arrow A of the operation casing 11 faces is obtained.

For example, when the reset button 14 is pressed after the arrow A of the operation casing 11 is directed to the east direction (traveling direction), for example, and the operation determining continuously variable pushbutton switch 15 is pressed, the command signal generator 21 travels. A travel command signal for causing the motor 41 to travel in the east direction (forward rotation) is generated, and a speed command signal at a speed V corresponding to the pressing force of the operation determining continuously variable pushbutton switch 15 is generated. Further, when shifting the arrow A of the operation housing 11 from the east direction, the gyro sensor 17 outputs the command signal generating unit 21 as the operation casing direction detecting signal S ₁₇ detects the angular velocity ω of the deviation. Thereby, the command signal generation unit 21 integrates the angular velocity ω to calculate a rotation angle deviated from the reference direction (east direction), and the rotation direction of the traveling motor 41 and the traversing motor 42 according to the direction (travel direction, The traverse direction) and the rotation speed are calculated, and the command signal is generated.

  For example, as shown in FIG. 9, when the operation casing 11 is rotated to the north side by θ ° (θ <90 °) horizontally from the east direction, a travel command signal for causing the travel motor 41 to travel in the east direction (forward rotation) is generated. At the same time, a traverse command signal for traversing the traverse motor 42 in the north direction (reverse rotation) is generated, and the ratio of the rotation speed (speed) of the traverse motor 42 to the rotation speed (speed) of the travel motor 41 is Vcos θ: Vsin θ. To control. Further, when the operation casing 11 is rotated to the south side by θ ° horizontally from the east direction, a travel command signal for causing the travel motor 41 to travel in the east direction (forward rotation) is generated and the traverse motor 42 is moved in the south direction (forward rotation). ) And a ratio of the rotational speed (speed) of the traversing motor 42 to the rotational speed (speed) of the traveling motor 41 is controlled to be Vcos θ: Vsin θ.

  Further, when the operation casing 11 is rotated to the north side by (180-θ) ° horizontally from the east direction, a travel command signal for causing the travel motor 41 to travel in the west direction (reverse rotation) is generated and the traverse motor 42 is moved in the north direction. A traverse command signal that traverses (reverse) is generated, and the ratio of the rotational speed (speed) of the traversing motor 42 to the rotational speed (speed) of the traveling motor 41 is controlled to be Vcos θ: Vsin θ. Further, when the operation casing 11 is rotated horizontally (180-θ) ° southward from the east direction, a travel command signal for causing the travel motor 41 to travel in the west direction (reverse rotation) is generated and the traverse motor 42 is moved in the south direction. A traverse command signal for traversing in the (forward) direction is generated, and the ratio of the rotational speed (speed) of the traversing motor 42 to the rotational speed (speed) of the traveling motor 41 is controlled to be Vcos θ: Vsin θ.

Further, the reset signal S ₁₄ is output to the command signal generator 21 by pressing the reset push button switch 14 of the operation casing 11. In response to the reset signal S ₁₄ , the command signal generation unit 21 sets the controller device control circuit unit 10 to an initial state. This reset push button switch 14 is also provided at a position to be operated by a finger of one hand holding the operation casing 11. Accordingly, the traveling crane can be operated with one hand holding the operation casing 11 for traveling, traversing, raising / lowering operation, and setting the operating device control circuit unit 10 to the initial state.

Further, in the above-described embodiment, the operation determining continuously variable speed push button switch 15 using pressure-sensitive rubber is used as the operation determining continuously variable speed setting means, and the continuously variable speed signal SV ₁₅ corresponding to the pressing pressure during the pressing operation is generated. Although it is configured to output, it is not limited to this as long as it can output an operation determination signal and a continuously variable speed signal, and can output a continuously variable speed signal according to the pressing pressure during the pressing operation. The push button switch or the operation unit may move with a predetermined stroke, and a switch capable of outputting a continuously variable speed signal corresponding to the moving stroke may be used.

  In the above-described embodiment, the example in which the acceleration sensor 16 is used as the operation case inclination detection unit that detects the vertical inclination direction and the inclination angle of the operation case 11 has been described. It is not limited to an acceleration sensor as long as it can detect a direction and an inclination angle. Moreover, although the example which uses the gyro sensor 17 as an operation housing | casing direction detection means to detect the direction which the operation housing | casing 11 faces in the horizontal surface was shown, the direction which the operation housing 11 faces in the horizontal surface can be detected. If there is, it is not limited to a gyro sensor.

  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, although an acceleration sensor is used as the tilt direction / angle detection means, the method 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 external appearance schematic structural example of the conventional traveling crane. It is a figure which shows the external appearance schematic structural example of the conventional traveling crane. 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 system structure of the operation control apparatus of the traveling crane which concerns on this invention. It is explanatory drawing explaining the inclination range in the vertical plane of an operation housing | casing. It is explanatory drawing explaining the displacement in the horizontal surface of an operation housing | casing. It is explanatory drawing of an acceleration sensor. It is a figure which shows the principle of operation of a piezoelectric vibration gyro sensor. It is a figure which shows the rotation state in the horizontal surface of an operation housing | casing.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Operation apparatus control circuit part 11 Operation housing | casing 12 Power supply pushbutton switch 14 Reset pushbutton switch 15 Operation determination continuously variable speed pushbutton switch 16 Acceleration sensor 17 Gyro sensor 18 Piezoelectric vibration gyro sensor 21 Command signal generation part 22 Communication part 30 Motor drive control Circuit unit 31 Communication unit 32 Control unit 33 Traveling inverter 34 Traverse inverter 35 Lifting inverter 41 Traveling motor 42 Traversing motor 43 Lifting motor

Claims (10)

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 provided with an electric hoisting machine comprising a traverse motor and a lifting motor for winding and unloading a load,
An operation case, an operation case inclination detecting means for detecting a direction and an inclination angle in a vertical plane of the operation case front end, and a direction in the horizontal plane of the operation case front end. An operation housing direction detecting means, a travel command signal and a travel speed command signal for the travel motor, a traverse command signal and a traverse speed command signal for the traverse motor, a lift command signal for the lift motor, and a lift speed command signal. An operating device control circuit having a command signal generating means for generating, and a motor drive for driving and controlling the traveling motor, the traverse motor, and the lifting motor based on the command signals from the command signal generating means of the operating device control circuit Equipped with a control circuit,
The operation casing is provided with a motion determining continuously variable speed setting means for outputting a motion determining signal and a continuously variable speed signal,
The command signal generation means of the operating device control circuit divides the inclination angle detected by the operation housing inclination detection means into three inclination ranges, and there is an operation determination signal from the operation determination continuously variable speed setting means. In the first tilt range, a speed signal command signal corresponding to the travel command signal and the traverse command signal is generated, and in the second tilt range, the travel command signal, the traverse command signal, and the direction of the front end of the operation casing are directed. Generates a command signal for raising or lowering depending on whether it is upward or downward, and also generates a speed signal command signal corresponding to each of the command signals. An operation control device for a traveling crane, characterized by generating an upward or downward command signal depending on whether it is upward or downward, and a speed signal command signal corresponding to the upward or downward command signal. In the traveling crane operation control device according to claim 1,
The three inclination ranges are defined as an inclination angle detected by the operation casing inclination detecting means according to a first predetermined angle <second predetermined angle <90 °, a first predetermined angle or less being a first inclination range, and a first predetermined angle. An operation control device for a traveling crane, wherein the second predetermined angle is a second inclination range, and the second predetermined angle to 90 ° is a third inclination range. In the operation control apparatus of the traveling crane according to claim 2,
The operation control device for a traveling crane, wherein the first predetermined angle is 15 ° and the second predetermined angle is 60 °. In the operation control apparatus of the traveling crane according to claim 2 or 3,
The command signal generation means of the controller control circuit generates a speed command signal corresponding to the travel command signal and the traverse command signal in the first inclination range according to the continuously variable speed signal from the motion determining continuously variable speed setting means. A speed command signal corresponding to the travel command signal and the traverse command signal in the second tilt range is generated according to the continuously variable speed signal from the motion determining continuously variable speed setting means, and the second tilt range increases or A speed command signal corresponding to a lowering command signal is generated according to a detected tilt angle from the operation casing tilt detecting means, and a speed command signal corresponding to the rising or lowering command signal of the third tilt range is determined as the operation determination An operation control device for a traveling crane, which is generated according to a stepless speed signal from a step speed setting means. In the operation control apparatus of the traveling crane according to claim 2 or 3,
The command signal generating means of the controller control circuit converts the speed command signal corresponding to the travel command signal, the traverse command signal, and the ascending or descending command signal into the continuously variable speed signal from the motion determining continuously variable speed setting means. An operation control device for a traveling crane, which is generated according to the method. In the operation control apparatus of the traveling crane according to any one of claims 1 to 5,
The operation determining continuously variable speed setting means is an operation determining continuously variable pushbutton switch that outputs an operation determining signal and a continuously variable speed signal by a pressing operation and its pressing pressure. In the operation control apparatus of the traveling crane according to any one of claims 1 to 6,
The direction in which the front end of the operation casing faces is displaced by 360 ° in a horizontal plane, the direction in which the front end of the operation casing faces is detected by the operation casing direction detection means, and the command signal generation means of the operating device control circuit is The operation of the traveling crane is characterized in that a travel command signal to the travel motor and a traverse command signal to the traverse motor are generated in accordance with a direction in which the detected front end of the operation casing faces. Control device. In the operation control apparatus of the traveling crane according to any one of claims 1 to 7,
A traveling crane having a reset switch for outputting a reset signal to the operation housing, wherein the operation device control circuit has a reset function for receiving the reset signal and resetting the operation control device to an initial state. Operation control device. In the operation control apparatus of the traveling crane according to claim 8,
The operation control device for a traveling crane, wherein the operation determining continuously variable speed setting means and the reset switch are arranged at a position where the operation can be operated with a finger of one hand holding the operation casing. 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 method for a traveling crane including an electric hoisting machine including a traverse motor and a lifting motor for winding and unloading a load,
An operation case, an operation case inclination detecting means for detecting a direction and an inclination angle in a vertical plane of the operation case front end, and a direction in the horizontal plane of the operation case front end. An operation housing direction detecting means, and an action determining continuously variable speed setting means for outputting an action determining signal and a continuously variable speed signal,
The range of inclination angles detected by the operation case inclination detection means is divided into three by the up / down inclination operation in the vertical plane of the operation case end and the direction operation in the horizontal plane, and the operation determination steplessly On the condition that there is an operation determination signal from the speed setting means, only a travel command signal to the travel motor and a speed signal command signal corresponding to the traverse command signal to the traverse motor are generated in one inclination range, and the travel crane In the other one inclination range, the travel command signal to the travel motor, the traverse command signal to the traverse motor, and the direction of the front end of the operation casing are upward or downward As a result, an ascending / descending command signal to the lifting motor and a speed command signal corresponding to the command signal are generated, and the traveling crane travels and traverses and moves up and down. Generate a command signal for raising or lowering the lifting motor and a speed command signal corresponding to the command signal depending on whether the direction of the front end of the operation casing is upward or downward, and perform only the lifting operation of the traveling crane. An operation control method for a traveling crane characterized by the above.

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