JP2004277142A - Hoisted load horizontal direction traveling rate controlling method and device of jib crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for controlling a hoisted load horizontal direction traveling rate capable of making a horizontal traveling rate of a hoisted load constant regardless of a jib boom hoisting angle, improving operability and workability, and reducing swing of the hoisted load. <P>SOLUTION: A calculating device 15 is constituted in a manner as follows. When a jib boom hoisting angle 19 is small, a jib boom hoisting speed is set fast, and when the jib boom hoisting angle 19 is large, the jib boom hoisting speed is set low, based on the jib boom hoisting angle 19 detected by an angle meter 20, so that a jib boom hoisting speed indication 16' making the horizontal traveling speed of the hoisted load constant is inputted to an inverter 17 of a boom hoisting motor 11 of a boom hoisting drive means 5. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a method and an apparatus for controlling a moving speed of a jib crane in a horizontal direction of a suspended load.
[0002]
[Prior art]
In general, as shown in FIG. 3, a jib crane has a revolving unit 3 pivotally mounted on a leg member 2 erected from a support surface 1 serving as a base, and a jib 4 is mounted on the revolving unit 3 by a driving means. The jib 4 is attached so as to be able to move up and down, and a suspended load 7 is suspended from a tip end of the jib 4 via a suspended wire rope 6.
[0003]
As shown in FIGS. 3 and 4, the undulating drive means 5 for raising and lowering the jib 4 winds and undulates an undulating wire rope 8 connected to the tip of the jib 4, and the undulating drum 9. An up / down electric motor 11 that is driven to rotate via an up / down speed reducer 10, and inputs a speed command value 14 by operating a lever 13 of a controller 12 to an arithmetic unit 15 such as a PLC (programmable controller). The jib hoisting speed command 16 corresponding to the speed command value 14 is output to the inverter 17 of the hoisting motor 11. In FIG. 4, reference numeral 18 denotes a rotation speed detector such as an encoder for detecting the rotation speed of the undulating motor 11.
[0004]
The speed command value 14 can be switched from a low speed to a high speed in a plurality of stages (for example, five stages) by operating the lever 13 of the controller 12. It is input to the arithmetic unit 15, and the arithmetic unit 15 determines the jib hoisting speed command 16 corresponding to the speed command value 14 and outputs it to the inverter 17, which inputs it to the hoisting motor 11 of the hoisting drive means 5. By changing the frequency of the electric current, the number of rotations of the electric motor 11 is controlled, and the electric drum 9 is rotated at a required speed via the electric reduction gear 10, and the electric wire rope 8 is wound and unwound. The jib 4 is raised and lowered.
[0005]
Although the type is slightly different from that of the jib crane shown in FIG. 3, Patent Literature 1 discloses a similar crane, for example.
[0006]
[Patent Document 1]
JP 10-218561 A
[Problems to be solved by the invention]
However, in the case of the jib crane as described above, if the same speed command value 14 is used, the hoisting drum 9 is rotated at the same speed regardless of the jib hoisting angle, and the hoisting wire rope 8 is taken up and unwound. As shown in FIG. 5A, the moving speed V1 [m / s] of the suspended load 7 in the horizontal direction decreases near the maximum working radius, while as shown in FIG. 5B, near the minimum working radius. The horizontal moving speed V2 [m / s] of the suspended load 7 increases.
[0008]
Thereby, as the jib 4 comes up from a prone position, the horizontal moving speed of the suspended load 7 increases, and the driver who is not used to the operation may collide the suspended load 7. In addition, there is also a problem that the swing of the suspended load 7 tends to increase.
[0009]
Specific examples of numerical values of the working radius R [m], the undulating motor rotation speed M [rpm], and the suspended load horizontal moving speed V [m / s] are shown in FIG. 6 and are apparent from this figure. Thus, it can be seen that the smaller the work radius R, the faster the horizontal moving speed V of the suspended load.
[0010]
The present invention has been made in view of the above circumstances, and a jib crane capable of keeping a horizontal moving speed of a suspended load constant regardless of a jib undulation angle, improving operability and workability, and reducing swing of a suspended load. It is an object of the present invention to provide a method and apparatus for controlling the horizontal moving speed of a suspended load.
[0011]
[Means for Solving the Problems]
The present invention is a method for controlling the horizontal movement speed of a suspended load of a jib crane having a jib attached to a revolving body so as to be able to undulate and suspend a suspended load from a tip, and an up-and-down driving means for raising and lowering the jib.
The jib undulation angle is detected, and based on the jib undulation angle, the jib undulation speed is set higher as the jib undulation angle is smaller, and the jib undulation speed is set lower as the jib undulation angle is larger. The present invention relates to a method for controlling a horizontal moving speed of a jib crane in which a hoisting load is moved so that the moving speed is constant.
[0012]
In the method for controlling the horizontal movement speed of a suspended load of a jib crane, an acceleration time from a stop state of the jib at a certain elevation angle to a jib elevation speed set based on the jib elevation angle, and the jib elevation angle It is effective to control the hoist driving means so that the deceleration time from the jib hoisting speed set based on the jib to the stop of the jib is constant regardless of the jib hoisting angle.
[0013]
Further, in the method for controlling the horizontal movement speed of a suspended load of a jib crane, the up-and-down driving means includes a hoisting drum for winding and unwinding an up-and-down wire rope connected to a jib tip, and an up-and-down motor for rotating and driving the up-and-down drum. And the number of rotations of the undulating motor of the undulating drive means can be controlled by an inverter.
[0014]
Further, the present invention is a suspended load horizontal direction moving speed control device for a jib crane, which is provided with a jib which is attached to the revolving body so as to be able to move up and down and suspends a load from a tip thereof, and an up-and-down driving means for raising and lowering the jib. ,
A goniometer that detects the jib undulation angle,
Based on the jib hoisting angle detected by the goniometer, the lower the jib hoisting angle, the faster the jib hoisting speed, and the larger the jib hoisting angle, the slower the jib hoisting speed. And a calculating device for outputting a command to make the speed constant to the up-and-down driving means.
[0015]
In the lifting load horizontal movement speed control device of the jib crane, the acceleration time from the stop state of the jib at a certain elevation angle to reach the jib elevation speed set based on the jib elevation angle, and the jib elevation angle It is effective to output a command to make the deceleration time until the jib stops from the jib hoisting speed set based on the jib hoisting angle from the arithmetic unit to the hoisting drive means regardless of the magnitude of the jib hoisting angle. .
[0016]
Further, in the hoist horizontal movement speed control device for a jib crane, the hoist driving means includes a hoist drum for winding and unwinding the hoist wire rope connected to the jib tip, and a hoist electric motor for rotating and driving the hoist drum. And a command can be output from the arithmetic unit to the inverter that controls the rotation speed of the undulating motor of the undulating drive means.
[0017]
According to the above means, the following effects can be obtained.
[0018]
During the operation of the jib crane, the jib up / down angle is detected by the goniometer and input to the arithmetic unit.In the arithmetic unit, based on the jib up / down angle detected by the goniometer, the jib up / down speed decreases as the jib up / down angle decreases. By setting the jib up / down speed to be faster and the jib up / down angle to be larger, a command to keep the horizontal moving speed of the suspended load constant is output to the up / down driving means, thereby raising the jib from the downed state. It is avoided that the moving speed of the suspended load in the horizontal direction is increased as the distance increases, and the moving speed of the suspended load in the horizontal direction is reduced when the jib undulation angle is small and the work radius is large, and when the jib undulation angle is small. Since it is constant without changing when the working radius is large and small, even a driver who is not used to operation does not have to worry about hitting a suspended load, and operability and operability are improved. With Kunar, so that the deflection of the suspended load is also reduced.
[0019]
Here, simply controlling the horizontal moving speed of the suspended load as described above simply sets the jib undulation speed higher as the jib undulation angle is smaller, and sets the jib undulation speed lower as the jib undulation angle is larger. With the acceleration time from the stop state of the jib at a certain undulation angle to reach the jib undulation speed set based on the jib undulation angle, and from the jib undulation speed set based on the jib undulation angle The deceleration time before stopping the jib tends to be longer as the jib undulation angle is smaller, and shorter as the jib undulation angle is larger. In this state, the acceleration or deceleration of the suspended load in the horizontal direction becomes smaller as the jib undulation angle is smaller, and becomes larger as the jib undulation angle is larger. The acceleration time required to reach the jib undulation speed set based on the jib undulation angle from the state, and the deceleration time required to stop the jib from the jib undulation speed set based on the jib undulated angle, If it is configured to output a command to make the angle device constant regardless of the magnitude of the angle from the arithmetic device to the hoisting drive means, the acceleration or deceleration of the suspended load in the horizontal direction is also a case where the jib hoisting angle is small and the working radius is large. When the jib undulation angle is large and the work radius is small, the operation is constant without change, and the driving sensation can be made constant regardless of the work radius.
[0020]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0021]
FIGS. 1 and 2 show an example of an embodiment of the present invention. In the drawings, portions denoted by the same reference numerals as those in FIGS. 3 to 6 represent the same components, and the basic configuration is shown in FIGS. This embodiment is the same as the conventional one shown in FIG. 6, but the features of this example are as shown in FIGS. 1 and 2, a goniometer 20 for detecting a jib An A / D converter 21 for A / D converting the jib undulation angle 19 and inputting it to the arithmetic unit 15, wherein the smaller the jib undulation angle 19, the faster the jib undulation speed and the jib undulation. An arithmetic circuit based on a speed table that sets the jib undulation speed to be slower as the angle 19 is larger. In the arithmetic unit 15, based on the jib undulation angle 19 detected by the goniometer 20, the smaller the jib undulation angle 19, the smaller the jib. Fast hoisting speed, jib hoisting angle By setting the jib hoisting speed to be slower as 19 is larger, a jib hoisting speed command 16 ′ for keeping the horizontal moving speed of the suspended load constant is output to the inverter 17 of the hoisting motor 11 of the hoisting drive means 5. It is in the point which did.
[0022]
Further, in the case of the illustrated example, the acceleration time from when the jib 4 is stopped at a certain undulation angle to the jib undulation speed set based on the jib undulation angle 19, and the jib undulation angle 19 are used. An inverter 15 of the hoisting motor 11 of the hoisting drive means 5 sends an acceleration / deceleration time command 22 for keeping the deceleration time from the set jib hoisting speed to stopping the jib 4 constant regardless of the jib hoisting angle 19. 17 is output.
[0023]
Although only one speed table is shown in FIG. 1, a plurality of speed tables are actually stored in the arithmetic unit 15 in advance in correspondence with a plurality of speed command values 14.
[0024]
Next, the operation of the above illustrated example will be described.
[0025]
During operation of the jib crane, the jib hoisting angle 19 is detected by the goniometer 20, A / D converted by the A / D converter 21, input to the arithmetic unit 15, and the speed command value 14 selected by the driver is transmitted to the controller. 12 is input to the computing device 15, and in the computing device 15, based on the jib up / down angle 19 detected by the goniometer 20, the smaller the jib up / down angle 19, the faster the jib up / down speed and the larger the jib up / down angle 19. By setting the jib hoisting speed to be slower, a jib hoisting speed command 16 ′ for keeping the horizontal moving speed of the suspended load 7 constant is obtained and output to the inverter 17 of the hoisting electric motor 11 of the hoisting drive means 5, The frequency of the current input to the up / down motor 11 of the up / down driving means 5 is changed by the inverter 17 to control the rotation speed of the up / down motor 11. The hoisting drum 9 is rotated at a required speed via the hoisting speed reducer 10, and the hoisting wire rope 8 is taken up and unwound, and the jib 4 is hoisted.
[0026]
As a result, it is possible to prevent the moving speed of the suspended load 7 in the horizontal direction from being increased as the jib 4 comes up from the prone position, and the moving speed of the suspended load 7 in the horizontal direction is reduced by the jib hoisting angle. 19 is small and the working radius is large, and the jib hoisting angle 19 is large and the working radius is small. Is eliminated, the operability and workability are improved, and the swing of the suspended load 7 is reduced.
[0027]
Specific examples of the numerical values of the working radius R [m], the undulating motor rotation speed M [rpm], and the suspended load horizontal moving speed V [m / s] are shown in FIG. 2 and are apparent from this figure. Thus, it can be seen that as the working radius R becomes smaller, the undulating motor rotation speed M is suppressed, and the suspended load horizontal moving speed V is always substantially constant.
[0028]
Here, simply controlling the horizontal movement speed of the suspended load 7 as described above simply increases the jib up-and-down speed as the jib up-and-down angle 19 is small, and increases the jib up-and-down speed as the jib up-and-down angle 19 is large. Along with the setting, the acceleration time ([sec]) from the stop state of the jib 4 at a certain elevation angle to the arrival of the jib elevation speed set based on the jib elevation angle 19, and the jib elevation angle The deceleration time ([sec]) from the jib hoisting speed set based on 19 until the jib is stopped tends to be longer as the jib hoisting angle 19 is smaller and shorter as the jib hoisting angle 19 is larger.
[0029]
Specifically, as shown in FIG. 2, when the working radius is R = 18 [m], the undulating motor rotation speed is M = 1778 [rpm], and temporarily, from the state of M = 0 [rpm], M = 1778. In the case where an acceleration time of 3 [sec] is required until [rpm] is reached, when the working radius is R = 2 [m], the undulating motor rotation speed is M = 600 [rpm], which is approximately 1 at 1778 [rpm]. Since the rotation speed is / 3, only about 1 [sec] of acceleration time is required from the state of M = 0 [rpm] to the state of M = 600 [rpm].
[0030]
That is, in this state, the acceleration or deceleration ([m / s ² ]) of the suspended load 7 in the horizontal direction is smaller as the jib up / down angle 19 is smaller (the work radius is larger), and the jib up / down angle 19 is larger (workup). (The smaller the radius, the larger the radius), the more the driving sensation shifts. However, in the illustrated example, the jib up / down speed set based on the jib up / down angle 19 is reached from the stop state of the jib 4 at a certain up / down angle. The acceleration / deceleration time command 22 for making the acceleration time until the jib rise and fall and the deceleration time until the jib 4 is stopped from the jib up / down speed set based on the jib up / down angle 19 constant regardless of the magnitude of the jib up / down angle 19. Is output from the arithmetic unit 15 to the inverter 17 of the hoisting motor 11 of the hoisting drive means 5, so that the acceleration or deceleration of the suspended load 7 in the horizontal direction is also And when derricking angle 19 is small working radius is large, if the jib derricking angle 19 is large working radius is small and becomes constant without variation in, and can be made constant irrespective of the driving feel to the working radius.
[0031]
Thus, the moving speed of the suspended load 7 in the horizontal direction can be constant regardless of the jib undulation angle 19, the operability and the workability can be improved, the swing of the suspended load 7 can be reduced, and the suspended load 7 can be reduced. The horizontal acceleration or deceleration can be constant irrespective of the jib undulation angle 19, and a shift in driving feeling can be eliminated.
[0032]
It should be noted that the method and the apparatus for controlling the horizontal movement speed of the suspended load of the jib crane according to the present invention are not limited to the above-described example, but may be applied to a type in which a revolving unit is pivotably mounted on a traveling unit. It goes without saying that various modifications can be made without departing from the gist of the present invention, such as being applicable.
[0033]
【The invention's effect】
As described above, according to the method and apparatus for controlling the horizontal movement speed of the load of the jib crane of the present invention, the horizontal movement speed of the load can be made constant regardless of the jib hoisting angle, and the operability and workability can be improved. It can be improved, the swing of the suspended load can be reduced, and the acceleration or deceleration of the suspended load in the horizontal direction can be kept constant regardless of the jib up-and-down angle. The effect can be obtained.
[Brief description of the drawings]
FIG. 1 is a control configuration diagram of an example of an embodiment of the present invention.
FIG. 2 is a table showing specific examples of numerical values of a working radius, an undulating motor rotation speed, and a horizontal moving speed of a suspended load in an example of an embodiment of the present invention.
FIG. 3 is an overall view of a general jib crane.
FIG. 4 is a control configuration diagram of a conventional example.
FIG. 5 is a schematic diagram schematically showing a relationship between a jib hoisting angle and a suspended load horizontal moving speed in a conventional example, and (a) shows a suspended load horizontal moving speed near a maximum working radius of the jib. It is a figure and (b) is a figure showing the horizontal moving speed of the suspended load in the vicinity of the minimum working radius of a jib.
FIG. 6 is a table showing specific examples of numerical values of a working radius, an undulating motor rotation speed, and a horizontal moving speed of a suspended load in a conventional example.
[Explanation of symbols]
Reference Signs List 3 revolving superstructure 4 jib 5 up / down driving means 7 hanging load 8 up / down wire rope 9 up / down drum 10 up / down reduction gear 11 up / down electric motor 15 arithmetic unit 16 'jib up / down speed command (command)
17 Inverter 19 Jib hoisting angle 20 Angle meter 22 Acceleration / deceleration time command (command)

Claims (6)

A jib crane provided with a jib attached to a revolving body so as to be able to undulate and suspend a suspended load from a tip thereof, and an up-and-down driving means for raising and lowering the jib, a method of controlling a suspended load horizontal movement speed of a jib crane,
The jib undulation angle is detected, and based on the jib undulation angle, the jib undulation speed is set higher as the jib undulation angle is smaller, and the jib undulation speed is set lower as the jib undulation angle is larger. A method for controlling a moving speed of a jib crane in a horizontal direction, wherein said hoist driving means is controlled so that the moving speed is constant. The jib is stopped from the acceleration time required to reach the jib hoisting speed set based on the jib hoisting angle from the stop state of the jib at a certain hoisting angle, and the jib hoisting speed set based on the jib hoisting angle. 2. The method for controlling the moving speed of a jib crane in the horizontal direction according to claim 1, wherein the hoist driving means is controlled so that the deceleration time until the jib hoist angle becomes constant regardless of the magnitude of the jib hoist angle. An up-down driving unit is constituted by an up-down drum for winding and unwinding the up-down wire rope connected to the jib tip, and an up-down motor for rotating the up-down drum. 3. The method of controlling a moving speed of a jib crane in a horizontal direction according to claim 1, wherein the moving speed is controlled. A jib crane provided with a jib that is attached to a revolving body so as to be able to undulate and suspends a suspended load from a tip thereof, and an up-and-down driving device that raises and lowers the jib.
A goniometer that detects the jib undulation angle,
Based on the jib hoisting angle detected by the goniometer, the lower the jib hoisting angle, the faster the jib hoisting speed, and the larger the jib hoisting angle, the slower the jib hoisting speed. A calculating device for outputting a command to make the speed constant to the up-and-down driving means. The jib is stopped from the acceleration time required to reach the jib hoisting speed set based on the jib hoisting angle from the stop state of the jib at a certain hoisting angle, and the jib hoisting speed set based on the jib hoisting angle. 5. The apparatus for controlling the horizontal movement speed of a jib crane according to claim 4, wherein a command to make the deceleration time until the constant, regardless of the magnitude of the jib hoist angle, is output from the arithmetic unit to the hoist driving means. The undulation drum is configured to wind up and wind out the undulating wire rope connected to the tip of the jib, and the undulating motor is configured to rotate the undulating drum. The undulating drive unit controls the number of rotations of the undulating motor. 6. The apparatus according to claim 4, wherein a command is output from the arithmetic unit to the inverter that performs the operation.

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