JP2010222104A - Method and device for controlling swing preventing device for jib of crane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method and a device for controlling a swing preventing device for a jib of a crane capable of surely preventing the jib from being swung backward by a strong wind even during work while taking an influence of disturbance resulting from deflection of the jib due to suspension of a load into consideration, and capable of improving the safety of the crane to a wind. <P>SOLUTION: This device for controlling the swing preventing device includes an urging winch 22 capable of urging the jib 5 to a falling direction, a work radius meter 30 detecting a work radius R by the jib 5, a suspended load weight meter 31 detecting the load weight W of the suspended load suspended from the front end of the jib 5, and a control means 40 outputting control signals A, B to the urging motor 22c and the urging brake 22d of the urging winch 22 based on the work radius R detected by the work radius meter 30 and the load weight W detected by the suspended load weight meter 31. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a control method and a device for a jib-turning prevention device for a crane.

  Generally, a climbing crane is used when constructing a structure such as a building.

  FIG. 5 is a schematic view showing an example of a conventional climbing crane. The climbing crane 1 includes an elevating unit 3 that can be moved up and down along the mast 2 at the top of the mast 2 where a mast block 2a can be sequentially added upward. The swivel body 4 is pivotably disposed via the slidable body, the jib 5 is mounted on the swivel body 4 so as to be able to be raised and lowered, and the counter frame 6 extending backward is integrally provided on the swivel body 4. A hoisting device 9 for hoisting and lowering the hoisting wire rope 8 for suspending the hoisting load hook 7 and an hoisting device 11 for hoisting and lowering the hoisting wire rope 10 of the jib 5 are installed. It has a configuration.

  On the other hand, in addition to the climbing crane 1 of the type in which the mast 2 shown in FIG. 5 is self-supporting from the ground, a climbing crane having a required height is installed inside the planned construction site such as a skyscraper. By constructing a plurality of floors by lifting the building material by supporting the mast of the climbing crane on the beams of the constructed floor, raising the climbing crane and repeating the work of constructing the floor at the top again, There is also a type of climbing crane that has been constructed to construct structures such as skyscrapers.

  In the climbing crane 1 as described above, when a strong wind is expected due to the approach of a typhoon or the like, the jib 5 is raised to a required angle as shown by the phantom line in FIG. By connecting the body 4 to the fixed wire rope 12, the jib 5 is prevented from being crushed backward by a strong wind.

  For example, Patent Document 1 shows a general technical level related to the crane as described above.

JP-A-2005-41675

  However, as described above, connecting the jib 5 and the revolving body 4 with the fixed wire rope 12 prevents the jib 5 from being squeezed backwards by strong wind, which is effective when the climbing crane 1 is in a work pause state. However, since the undulation angle of the jib 5 is limited to a certain angle, it was not possible to cope with a gust of wind or the like during the operation of the climbing crane 1.

  For this reason, the present inventors have been able to reliably prevent the jib 5 from being crushed backward by strong winds even during work, and to develop a device for preventing the rigging of the jib 5 that can improve the stability of the climbing crane 1 against the wind. We are promoting.

  The device for preventing the turn of the jib 5 being developed by the present inventors is that the urging drum of the urging winch in which the urging wire rope connecting the middle part to the jib 5 is wound up when the undulation operation of the jib 5 is stopped. Rotation of the jib 5 is prevented by operating the energizing brake while the energizing motor is stopped. On the other hand, when the jib 5 is in the undulating operation, the energizing motor is driven with the torque determined based on the working radius. At the same time, the urging brake is opened.

  When the working radius by the jib 5 is large, the jib 5 is difficult to be squeezed backwards even if strong winds are blown. Therefore, it is possible to reduce the torque of the urging motor and set the tensile force by the urging winch to be small. In addition, when the working radius by the jib 5 is small, the jib 5 is easily squeezed rearward when a strong wind blows, so that the tensile force by the biasing winch is set to be large.

  However, for example, when the suspended load that has been suspended in the hoisting and lowering operation of the suspended wire rope 8 is lowered, the deflection due to the suspended load of the jib 5 is reduced and the jib 5 is restored in the direction in which it occurs. Since the urging wire rope is pulled by that amount, and the tensile force by the urging wire rope is increased, especially when the working radius by the jib 5 is large, the torque of the urging motor is reduced. When the pulling force by the biasing winch is set small, the biasing drum of the biasing winch is suddenly turned by the increased pulling force of the biasing wire rope at the moment when the biasing brake is released. Therefore, there is a risk of acting as a large disturbance.

  As described above, it has been found that the deflection of the jib 5 due to the suspended load acts as a disturbance on the jib 5 warpage prevention device. In particular, when landing a suspended load with a large load, the jib 5 Since the fluctuation of the bending becomes severe and the influence becomes large, it is necessary to make further improvements.

  In view of such circumstances, the present invention can reliably prevent the jib from being squeezed rearward by a strong wind even during work while considering the influence of disturbance due to the deflection of the jib due to the suspended load. It is an object of the present invention to provide a control method and apparatus for a crane jib squeezing prevention device that can improve stability.

The present invention is a control method for a jib leaning prevention device for a crane in which a jib is mounted on a swivel body so as to be freely raised and lowered by operating the raising and lowering device,
When the jib hoisting operation is stopped, the energizing brake is operated with the energizing motor stopped while the energizing drum of the energizing winch around which the energizing wire rope connected to the jib is wound is wound. While blocking by
When raising and lowering the jib, the energizing motor was driven with the torque determined based on the working radius, and the suspended load that had been suspended was unloaded by the lifting operation of the suspended wire rope. A control method for a crane jib overhang prevention device, wherein the urging brake is released in a state in which the torque is increased so that the torque is increased when a variation fluctuation range of the load of the suspended load exceeds a threshold value. It depends on.

Further, the present invention is a control device for a jib leaning prevention device for a crane, in which a jib is mounted on a revolving body so as to be freely raised and lowered by the operation of the raising and lowering device.
An energizing drum wound around an energizing wire rope connected to a jib in the middle, an energizing motor that rotationally drives the energizing drum, and an energizing motor that prevents the energizing drum from rotating when the energizing motor is stopped. An energizing winch that has an energizing brake and is capable of energizing the jib in a downward direction;
A working radius meter for detecting a working radius by the jib;
A suspended load meter for detecting a load of a suspended load suspended from the jib tip;
When the jib hoisting operation is stopped, a control signal for stopping the energizing motor of the energizing winch and operating the energizing brake is output to the energizing motor and the energizing brake, while when the jib is hoisting, the work Based on the working radius detected by the radius meter, the torque of the energizing motor of the energizing winch is obtained and a control signal is output to the energizing motor. The biasing brake is released in a state where the torque is increased so that the torque is increased when the decrease fluctuation range of the load detected by the suspended load meter exceeds a threshold value when the suspended load is lowered. The present invention relates to a control device for a crane jib overturn prevention device, characterized in that it comprises control means for outputting a control signal.

  According to the above means, the following operation can be obtained.

  During crane operation, when the jib hoisting operation is stopped, a control signal for stopping the urging motor of the urging winch and operating the urging brake is output from the control means to the urging motor and the urging brake. The brake is activated, the rotation of the urging drum by the urging motor of the urging winch is locked, and the urging wire rope is held in a tensioned state. Even if is stopped, there is no concern about the jib being beaten backwards by strong winds.

  On the other hand, during the work of the crane, the work radius by the jib is detected by the work radius meter, and the load of the suspended load suspended from the tip of the jib by the suspension load meter is detected and input to the control means. And during the undulation operation of the jib, the torque of the urging motor of the urging winch is obtained based on the working radius detected by the working radius meter, and a control signal is output from the control means to the urging motor, The control of releasing the biasing brake in this state while adjusting the torque of the biasing motor while winding or unwinding the biasing wire rope by the biasing drum of the biasing winch according to the work radius by the jib When a signal is output from the control means and the energizing brake is released, the energizing motor energizing the energizing winch biases the jib in the direction of lying down with a required tensile force. Rukoto is performed.

  Here, when the working radius by the jib is large, the jib is not easily squeezed backwards even if strong winds blow, so the torque of the urging motor is reduced to set the tensile force by the urging winch small. In addition, when the working radius by the jib is small, the jib is easily squeezed backward when a strong wind blows, so that the tensile force by the biasing winch is set to be large.

  However, for example, when a suspended load that has been suspended in the lifting operation of the wire rope for suspended load is unloaded, the deflection due to the suspended load of the jib is reduced and the jib is restored in the direction in which it occurs. Since the urging wire rope is pulled and the pulling force by the urging wire rope is increased, particularly when the working radius by the jib is large, the urging winch is reduced by reducing the torque of the urging motor. If the pulling force due to is set to a small value, the moment when the biasing brake is released, the biasing drum of the biasing winch is suddenly turned by the increased pulling force of the biasing wire rope, resulting in a large disturbance. There is a risk of acting as.

  However, in the present invention, the load fluctuation range detected by the suspended load meter exceeds the threshold when the suspended load that has been suspended in the hoisting operation of the suspended wire rope is unloaded. In this case, correction is performed to increase the torque, and in this state, a control signal for releasing the urging brake is output, so that even if the tensile force by the urging wire rope is increased, Even when the urging brake is released, it is avoided that the urging drum of the urging winch is suddenly turned by the increased tensile force of the urging wire rope and the disturbance is eliminated. It becomes possible.

  As a result, unlike conventional methods, connecting the jib and swivel body with a fixed wire rope prevents the jib from being crushed backwards by strong winds, limiting the undulation angle of the crane jib to a fixed angle. It is possible to cope with a gust of wind and the like during the operation of the crane as well as the operation pause state, and it is possible to prevent the influence of fluctuations in the jib deflection from reaching the sag prevention device as a disturbance.

  According to the control method and apparatus of the crane jib warp prevention device of the present invention, it is ensured that the jib is beaten backwards by a strong wind even during work while considering the influence of disturbance due to the deflection of the jib due to the suspended load. It is possible to prevent this, and it is possible to achieve an excellent effect that the stability of the crane against wind can be improved.

It is a principal part schematic diagram which shows the Example of this invention. It is a block diagram which shows the urging | biasing winch as a fall urging | biasing means in the Example of this invention, and its control system. It is a diagram which shows the relationship between the working radius at the time of the rolling operation stop of the jib in the Example of this invention, and the torque of a biasing brake. It is a diagram which shows the relationship between the working radius at the time of the jib raising / lowering driving | operation in the Example of this invention, and the torque of an energizing motor. It is a whole schematic diagram showing an example of the conventional climbing crane.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  1 to 4 show an example of an embodiment of the present invention. In the figure, the same reference numerals as those in FIG. 5 denote the same components, and the basic configuration is the conventional configuration shown in FIG. The features of the present embodiment are the same as those described above, but as shown in FIGS. 1 to 4, as shown in FIGS. 1 to 4, the urging biasing means 20 capable of urging the jib 5 in the direction to lie down, and the working radius by the jib 5. A working radius meter 30 for detecting R, a suspended load meter 31 for detecting a load W of a suspended load suspended from the tip of the jib 5, a working radius R detected by the working radius meter 30 and the suspended load. And a control means 40 for outputting control signals A and B to an urging motor 22c and an urging brake 22d of an urging winch 22 to be described later based on the load W detected by the total 31. It is in the point.

  In the case of the present embodiment, as shown in FIGS. 1 and 2, the above-mentioned urging urging means 20 is provided on the revolving body 4 so as to wind the urging wire rope 21 whose middle part is connected to the jib 5 with a required torque Tm. The urging winch 22 installed in

  The biasing winch 22 includes a pair of biasing drums 22a and 22a around which the biasing wire rope 21 is wound, a biasing motor 22c that rotates the biasing drum 22a via a biasing speed reducer 22b, The urging wire 22 is constituted by an urging brake 22d for preventing the urging drum 22a from rotating when the urging motor 22c is stopped, and is fed from one of the urging drums 22a and 22a. As shown in FIGS. 1 and 2, the connecting sheave 23 disposed at one end in the width direction in the middle portion in the longitudinal direction of the jib 5 and the one end in the width direction at the tip portion of the swivel body 4 are disposed. The base sheave 24, the equalizer sheave 25 disposed at one end in the width direction in the middle portion of the jib 5, and the other end in the width direction in the middle portion of the jib 5 The collaborative sheave 25, the base sheave 24 disposed at the other end in the width direction at the tip of the revolving body 4, and the connecting sheave 23 disposed at the other end in the width direction at the intermediate portion in the longitudinal direction of the jib 5 sequentially. It is wound around and wound around the other urging drum 22a of the pair of urging drums 22a, 22a.

  When the jib 5 is stopped in the hoisting operation, the control means 40 stops the urging motor 22c of the urging winch 22 and stops the urging brake 22d to operate the urging brake 22d. On the other hand, during the up-and-down operation of the jib 5, the torque Tm of the urging motor 22c of the urging winch 22 is obtained based on the working radius R detected by the working radiometer 30 to the urging motor 22c. While the control signal A is output, the load W detected by the suspended load meter 31 is decreased by the unloading of the suspended wire rope 8 when the suspended load is lowered. When the width exceeds the threshold value, the control signal B for releasing the urging brake 22d is output in a state corrected to increase the torque Tm.

  Here, FIG. 3 is a diagram showing the relationship between the working radius R at the time of stopping the hoisting operation of the jib 5 and the torque Tb of the urging brake 22d in the embodiment of the present invention. The urging brake 22d is operated with a constant torque (Tb = Tb1) regardless of the working radius R while the urging motor 22c is stopped.

  On the other hand, FIG. 4 is a diagram showing the relationship between the working radius R during the hoisting operation of the jib 5 and the torque Tm of the urging motor 22c in the embodiment of the present invention. When the decrease fluctuation range of the load W detected by the load meter 31 is equal to or less than the threshold value, as shown by a solid line in FIG. 4, the working radius R by the jib 5 is small, and the load of the hoisting device 11 for raising the jib 5 is small. In the region (0 <R ≦ R1), the torque Tm of the urging motor 22c is increased (Tm = Tm3), and the tensile force by the urging winch 22 as the above-described urging urging means 20 is set to be large. In the region where the working radius R is large and the load of the hoisting device 11 for raising the jib 5 is large (R2 <R ≦ Rmax), the torque Tm of the urging motor 22c is reduced (Tm = Tm1), and the above-mentioned urging biasing means 20 Pulling with an energizing winch 22 as In a region where the working radius R by the jib 5 is intermediate (R1 <R ≦ R2), the torque Tm of the urging motor 22c is changed from Tm3 according to the change (increase / decrease) of the working radius R. It is designed to change (decrease / increase) in the range of Tm1.

  In addition, the decrease fluctuation width of the load W detected by the suspended load meter 31 exceeds the threshold value due to the unloading of the suspended load in the hoisting operation of the suspended wire rope 8. In this case, in the region where the working radius R by the jib 5 is small and the load of the hoisting device 11 for raising the jib 5 is small (0 <R ≦ R1), the decrease fluctuation range of the load W detected by the suspended load meter 31 As in the case where the value is equal to or less than the threshold value, the torque Tm of the urging motor 22c is increased (Tm = Tm3), and the tensile force by the urging winch 22 as the above-described urging urging means 20 is set to be large. In a region where the radius R is large and the load of the hoisting device 11 for raising the jib 5 is large (R2 <R ≦ Rmax), the torque Tm of the urging motor 22c is smaller than Tm3 and smaller than Tm1 as shown by the broken line in FIG. Increase (Tm = Tm2, Tm1 <Tm2 <Tm3) The tensile force by the urging winch 22 as the above-mentioned urging urging means 20 is set larger than the case where the decrease fluctuation range of the load W detected by the suspended load meter 31 is equal to or less than a threshold value, 5, the torque Tm of the urging motor 22c is changed (decreased / decreased) in the range from Tm3 to Tm2 according to the change (increase / decrease) of the work radius R. Increase).

  In the example of FIG. 4, Rmax is the maximum radius, R2 = Rmax / 2, and R1 = Rmax / 4.

  Next, the operation of the above embodiment will be described.

  During operation of the climbing crane 1, when the raising / lowering operation of the jib 5 is stopped, control signals A and B for controlling the urging brake 22 d by stopping the urging motor 22 c of the urging winch 22 as the urging urging means 20 are controlled. As shown in FIG. 3, the urging brake 22d operates with a constant torque (Tb = Tb1) regardless of the working radius R, and the urging motor 22c is output from the means 40 to the urging motor 22c and the urging brake 22d. Because the rotation of the urging drum 22a of the urging winch 22 via the urging speed reducer 22b is locked and the urging wire rope 21 is held in a tensioned state, the climbing crane 1 is temporarily operated during the operation. Even if the raising / lowering operation of the jib 5 is stopped, there is no concern that the jib 5 will be beaten backward by the strong wind.

  On the other hand, during the work of the climbing crane 1, the work radius R by the jib 5 is detected by the work radius meter 30, and the load W of the suspended load suspended from the tip of the jib 5 is detected by the suspended load meter 31. Are respectively input to the control means 40, and during the up-and-down operation of the jib 5, the torque Tm of the urging motor 22c of the urging winch 22 is obtained based on the working radius R detected by the working radius meter 30. A control signal A is output from the control means 40 to the urging motor 22c, and the urging wire rope 21 is wound or unwound by the urging drum 22a of the urging winch 22 in accordance with the working radius R by the jib 5. The torque Tm of the urging motor 22c is adjusted while the control signal B is released from the control means 40 to release the urging brake 22d in this state. By rake 22d is opened by urging the motor 22c of the biasing winch 22 be biased in a direction to fall down the jib 5 in the required tensile force is performed.

  Here, in addition to the presence or absence of a suspended load, when the variation fluctuation range of the load W detected by the suspended load meter 31 is equal to or less than a threshold value, the working radius R by the jib 5 is small as shown by the solid line in FIG. In a region where the load of the hoisting device 11 for raising the jib 5 is small (0 <R ≦ R1), the torque Tm of the energizing motor 22c is increased (Tm = Tm3), and the energizing winch as the above-described inclining energizing means 20 In the region where the pulling force is set to be large and the working radius R of the jib 5 is large and the load of the hoisting device 11 for raising the jib 5 is large (R2 <R ≦ Rmax), the torque Tm of the urging motor 22c is reduced. (Tm = Tm1) In the region where the working radius R by the jib 5 is set to be small and the working radius R by the jib 5 is intermediate (R1 <R ≦ R2), the working radius R change (increase / decrease) It is made to vary in the range of Tm3 of Tm1 torque Tm of the biasing motor 22c (reduction-increase) depending on the.

  That is, when the working radius R by the jib 5 is large, the jib 5 is difficult to be squeezed backwards even if a strong wind blows, so the torque Tm of the urging motor 22c is reduced to reduce the tensile force by the urging winch 22. When the working radius R by the jib 5 is small, the jib 5 is easily squeezed backward when strong wind blows, so that the tensile force by the urging winch 22 can be set large. That is why.

  However, for example, when the suspended load that has been suspended in the hoisting and lowering operation of the suspended wire rope 8 is lowered, the deflection due to the suspended load of the jib 5 is reduced and the jib 5 is restored in the direction in which it occurs. Since the urging wire rope 21 is pulled by that amount, and the tensile force by the urging wire rope 21 increases, particularly when the working radius R by the jib 5 is large, the torque of the urging motor 22c. If Tm is made small and the tensile force by the urging winch 22 is set to be small, the moment when the urging brake 22d is released, the tensile force of the urging wire rope 21 increases the force of the urging winch 22. There is a possibility that the urging drum 22a is suddenly turned and acts as a large disturbance.

  However, in the present embodiment, the fluctuation range of the load W detected by the suspended load meter 31 when the suspended load that has been suspended in the hoisting and lowering operation of the suspended wire rope 8 is lowered. When the working radius R of the jib 5 is in the region where R1 <R ≦ Rmax, the correction is performed to increase the torque Tm of the urging motor 22c as shown by the broken line in FIG. The tensile force by the urging winch 22 as the urging urging means 20 is set to be larger than the case where the decrease fluctuation range of the load W detected by the suspended load meter 31 is equal to or less than a threshold value. In this state, the urging brake Since the control signal B for releasing 22d is output, even if the tension force by the biasing wire rope 21 increases, the moment when the biasing brake 22d is released, the biasing wire Rope 2 The increased tensile force of, it is inevitable that the biasing drum 22a of the biasing winch 22 will be turned rapidly, it is possible to eliminate the disturbance.

  As a result, unlike the conventional case, connecting the jib 5 and the revolving body 4 with the fixed wire rope 12 prevents the jib 5 from being crushed backward by a strong wind. It is possible to cope with a gust of wind or the like during the operation of the climbing crane 1 as well as a work pause state in which the angle is limited to a fixed angle, and the influence due to fluctuations in the bending of the jib 5 is a disturbance prevention device as a disturbance. Can be prevented.

  In the example of FIG. 4, Rmax is the maximum radius, R2 = Rmax / 2, R1 = Rmax / 4, and the decrease fluctuation range of the load W detected by the suspended load meter 31 is less than or equal to the threshold value. The torque Tm of the urging motor 22c is controlled in two steps according to the work radius R by the jib 5 when the decrease fluctuation range of the load W exceeds the threshold value. In addition, it is possible to control to a plurality of stages of three or more stages, or to increase or decrease the torque Tm of the urging motor 22c smoothly according to the increase or decrease of the work radius R by the jib 5.

  Further, when the fluctuation range of the load W detected by the suspended load meter 31 exceeds the threshold value, as shown by the broken line in FIG. 4, correction is made to increase the torque Tm of the urging motor 22c. The energizing drum 22a of the energizing winch 22 is prevented from rotating suddenly, but the torque Tm is increased for a certain time from the time when the energizing brake 22d is released, and then the torque Tm is restored to the original value. It is also possible to control to return to.

  Thus, while considering the influence of disturbance due to the deflection of the jib 5 due to the suspended load, it is possible to reliably prevent the jib 5 from being squeezed rearward by strong wind even during work, and to improve the stability of the climbing crane 1 against the wind. It can be planned.

  In addition, the control method and apparatus of the jib rolling prevention device for a crane according to the present invention are not limited to the above-described embodiments, and are not limited to climbing cranes. Needless to say, various changes can be made without departing from the gist of the present invention.

1 Climbing crane (crane)
2 Mast 4 Revolving body 5 Jib 7 Lifting hook 8 Lifting wire rope 9 Lifting device 10 Lifting wire rope 11 Lifting device 20 Falling biasing means 21 Biasing wire rope 22 Biasing winch 22a Biasing drum 22b Force reducer 22c Energizing motor 22d Energizing brake 23 Connecting sheave 24 Base sheave 25 Equalizer sheave 30 Working radius meter 31 Suspended load meter 40 Control means R Working radius W Load A Control signal B Control signal

Claims (2)

A control method for a jib leaning prevention device for a crane in which a jib is mounted on a swivel body so that it can be raised and lowered freely by operating the hoisting device,
When the jib hoisting operation is stopped, the energizing brake is operated with the energizing motor stopped while the energizing drum of the energizing winch around which the energizing wire rope connected to the jib is wound is wound. While blocking by
When raising and lowering the jib, the energizing motor was driven with the torque determined based on the working radius, and the suspended load that had been suspended was unloaded by the lifting operation of the suspended wire rope. A control method for a crane jib overhang prevention device, wherein the urging brake is released in a state in which the torque is increased so that the torque is increased when a variation fluctuation range of the load of the suspended load exceeds a threshold value. . A control device for a jib overturning prevention device for a crane in which a jib is mounted on a revolving body so as to be freely raised and lowered by operating the raising and lowering device.
An energizing drum wound around an energizing wire rope connected to a jib in the middle, an energizing motor that rotationally drives the energizing drum, and an energizing motor that prevents the energizing drum from rotating when the energizing motor is stopped. An energizing winch that has an energizing brake and is capable of energizing the jib in a downward direction;
A working radius meter for detecting a working radius by the jib;
A suspended load meter for detecting a load of a suspended load suspended from the jib tip;
When the jib hoisting operation is stopped, a control signal for stopping the energizing motor of the energizing winch and operating the energizing brake is output to the energizing motor and the energizing brake, while when the jib is hoisting, the work Based on the working radius detected by the radius meter, the torque of the energizing motor of the energizing winch is obtained and a control signal is output to the energizing motor. The biasing brake is released in a state where the torque is increased so that the torque is increased when the decrease fluctuation range of the load detected by the suspended load meter exceeds a threshold value when the suspended load is lowered. And a control means for outputting a control signal.

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