JP2022102387A - Automatic crane lowering method and automatic crane lowering system - Google Patents

Abstract

To provide an automatic crane lowering method that ensures safety and automatic operation in lowering a crane, thereby enabling efficient operation without depending on operators.SOLUTION: There is provided an automatic crane lowering method that automatically moves a suspended load from a start point of lowering to an end point of lowering. The crane has a jib that can be raised and lowered, and the load is suspended from an end of the jib by a wire. The automatic crane lowering method sequentially performs: a step a of comparing position information as of when the suspended load is moved to near the start point of lowering, with first reference position information stored in advance; a step b of automatically lowering the suspended load when the comparison result satisfies a pre-stored start point acceptance criterion; a step c of comparing position information as of when the suspended load is moved to near the end point of lowering, with second reference position information stored in advance; and a step d of automatically stop lowering the suspended load when the comparison result satisfies a pre-stored end point acceptance criterion.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic crane unwinding method and an automatic crane unwinding system.

Conventionally, there are a jib (also referred to as a boom) configured to be undulating and a crane called a climbing crane (for example, see Patent Document 1) in which a suspended load is swiveled through the jib. In this type of crane, the work of unloading the suspended load from the unwinding start point to the unwinding end point is repeatedly performed mainly by the manual operation of the operator.

Specifically, by driving the undulation motor to undulate the jib, or by driving the swivel motor to swivel through the jib, the suspended load to be lifted is moved to the unwinding start point, and then the suspended load is suspended. The hoisting motor is driven to move the suspended load to the hoisting end point while appropriately changing the hoisting speed according to the load of the operator.
In such work, the operator often manually moves the suspended load of the same type or load all day long.

Japanese Unexamined Patent Publication No. 2018-184269

However, there are various methods for moving (unwinding) the suspended load from the unwinding start point to the unwinding end point depending on the operator. Specifically, there is a load swing due to an operator's overspeed, sudden start, or sudden stop. In addition, there is a risk of load collapse, collision, or damage to the inside of the crane body. In addition, since the worker is a simple repetitive task, it may induce mistakes due to lack of concentration. Furthermore, inexperienced workers may have longer working hours and inefficiencies than skilled workers.

INDUSTRIAL APPLICABILITY The present invention has been made in view of such circumstances, and is a method for automatically winding a crane so that the crane can be unwound efficiently without depending on an operator by ensuring safety and performing the work automatically. The purpose is to provide.

According to the present invention, there is an automatic hoisting method for a crane that automatically moves a suspended load from a hoisting start point to a hoisting end point.
The crane has an undulating jib and
The suspended load is suspended by a wire from the tip of the jib,
Hereinafter, an automatic crane unwinding method in which steps a to d are sequentially performed is provided.
Step a: The position information when the suspended load is moved to the vicinity of the unwinding start point is compared with the first reference position information stored in advance.
Step b: If the start point pass / fail criteria stored in advance are met, the suspended load is automatically unwound.
Step c: The position information when the suspended load is moved to the vicinity of the unwinding end point is compared with the second reference position information stored in advance.
Step d: If the end point pass / fail criteria stored in advance are met, the automatic unwinding of the suspended load ends.

According to another aspect of the present invention, it is an automatic hoisting system of a crane that automatically moves a suspended load from a hoisting start point to a hoisting end point, and controls a hoisting start point acquisition means and a hoisting end point acquisition means. The crane is equipped with a hoisting device, the hoisting start point acquisition means is configured to be able to acquire position information near the hoisting start point, and the hoisting end point acquisition means is configured to acquire position information near the hoisting end point. The control device includes a storage unit and a control unit, and the storage unit includes a first reference position information that serves as a reference for the position information of the winding start point and a reference for the position information of the winding end point. 2. The unit generates a winding start signal when the position information by the winding start point acquisition means in the suspended load that has moved to the winding start point is within the start point pass / fail criterion, and also acquires the winding end point during automatic winding. When the position information by the means is within the end point pass / fail criterion, a winding end signal is generated, and when the crane receives the winding start signal, the winding device is driven, and when the crane receives the winding end signal, the winding end signal is generated. An automatic unwinding system for cranes is provided that controls the unwinding device to stop.

In the crane automatic hoisting method and the crane automatic hoisting system according to the present invention, it is possible to provide a method and a system capable of efficiently working without depending on an operator by ensuring safety and performing automatically. can.

Schematic overall configuration diagram of the automatic unwinding system. Front view showing an example of a crane. Pre-stage flow chart at the time of landing. Automatic winding flow diagram at the time of landing. Pre-stage flow diagram when hollow. Automatic winding flow diagram when hollow. The schematic whole block diagram which shows the modification of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The various features shown in the embodiments shown below can be combined with each other.

1. 1. Overall Configuration Section 1 describes the overall configuration of the automatic hoisting system 1 of a crane that automatically moves the suspended load from the hoisting start point to the hoisting end point. FIG. 1 is a schematic overall configuration diagram of the automatic unwinding system 1. The solid line arrow in the figure indicates a signal sent to the control device 40, and the broken line arrow indicates a signal sent from the control device 40.
The automatic unwinding system 1 includes a crane 10, a control device 40, an input device for transmitting information obtained to the control device 40, and an output device for executing a command output from the control device 40. It is an electrically connected system.
The automatic hoisting system 1 controls the operation of the crane 10 by processing the signal input to the control device 40 by the control unit 41.
For example, the input devices are a worker operation unit 20, which is a device operated by a worker, and sensors and devices for acquiring or monitoring the state of the crane, such as a load cell 26 and a winding start point acquisition means 50. , The winding end point acquisition means 51 and the like.

<Worker operation unit>
The operator operation unit 20 generates a signal to be sent to the control device by the operation of the operator, and includes an operation device 21, a start point storage button 22, an end point storage button 23, an automatic operation button 24, an input device 25, and the like. Including.
Further, the operator operation unit 20 may appropriately adopt an interface such as a mouse, a keyboard, a touch panel, a voice input device, etc., as needed, as well as a button switch, a lever switch, etc. that can be normally used in the crane 10.

<Operating device>
The operation device 21 corresponds to an operation lever or the like, and an operator arbitrarily gives a speed command to the control device 40 by the operation lever or the like.

<Start point memory button>
When the operator drops the button, the input information of the start point storage button 22 is transmitted to the control device 40. In the present embodiment, when the suspended load is at the reference position of the hanging start point, the position is stored in the storage unit 41 as the first reference position information by dropping the start point storage button 22.

<End point memory button>
When the operator drops the button, the end point storage button 23 transmits the input information to the control device 40. In the present embodiment, when the suspended load is at the reference position of the hanging end point, the position is stored in the storage unit 41 as the second reference position information by dropping the end point storage button 23.

<Automated driving execution button>
The automatic operation execution button 24 automatically moves the suspended load from the unwinding start point to the unwinding end point by the operator dropping the button.

<Input device>
The input device 25 corresponds to a touch panel or the like, and when the operator's input information (command) is received, the input information is transmitted to the control device 40.

<Load cell>
The load cell 26 measures the load of the suspended load. For example, the load cell 26 is attached to the jib top, detects the magnitude of the load of the suspended load suspended from the jib top, and transmits a corresponding control signal to the control device 40.

<Means for acquiring the winding start point>
The winding start point acquisition means 50 is configured to be able to receive the current position information of the suspended load. Specifically, it is the count number of each pulse transmitted from the undulation encoder 33 attached to the undulation motor 32 and the slewing encoder 35 attached to the slewing motor 34. This makes it possible to obtain detailed location information.

<Means for acquiring the winding end point>
The unwinding end point acquisition means 51 is configured to be able to receive the current position information of the suspended load L. Specifically, it is the count number of pulses transmitted from the unwinding encoder 31 attached to the unwinding motor 30 (an example of the unwinding device). This makes it possible to obtain detailed location information.
Preferably, the count number of pulses transmitted from the undulation and swivel encoders 33, 35 may be included.

<Unwinding, undulating, and swivel motor>
The unwinding, undulating, and swivel motors 30, 32, and 34 operate and drive the crane 10 by driving the motors. Strictly speaking, it should be noted that power of arbitrary voltage and frequency is transmitted to each motor via an inverter (not shown). Here, the outline is described including such a concept. Although the operator can transmit a desired value to each motor via the operating device 21, in the automatic winding system 1 of the present embodiment, the desired value is desired for each motor by dropping the automatic operation execution button 24. It is realized by sending the value.

<crane>
The form of the crane 10 is not particularly limited, but for example, the climbing crane shown in FIG. 2 can be adopted. FIG. 2 is a front view showing an example of a crane. Specifically, in the crane 10, the mast main body 12 is mounted on the base frame 11, and the crane main body 13 is mounted on the top thereof. Preferably, the mast body 12 is composed of a plurality of masts and is configured in a state of being detachably connected to each other in the vertical direction.

The crane main body 13 is mainly composed of a swivel body 14, a jib 15, a hook 16, and the like.
The swivel body 14 is rotatably supported by a swivel bearing (not shown) provided on the top of the mast body 12 via a swivel motor 34.
The jib 15 is supported by the swivel body 14 so as to be undulating by the undulating motor 32.
The hook 16 is attached to one end of a wire r hanging from the tip 15a of the jib 15.
The wire r winds up or unwinds the hook 16 or the suspended load suspended from the hook 16 by the unwinding motor 30 fixed to the swivel body 14. Specifically, the other end of the wire r is attached to the unwinding drum (not shown), and is hung vertically from the unwinding drum via the relay sheave 17 from the tip 15a of the jib 15 to unwind. By driving the motor 30, the wire r is wound around the unwinding drum or unwound from the unwinding drum.

<Control device>
The control device 40 has a storage unit 41 and a control unit 42, and these components are electrically connected inside the control device 40. Hereinafter, each component will be further described.

<Memory unit 41>
The storage unit 41 is a volatile or non-volatile storage medium for storing various information. This is, for example, as a storage device such as a solid state drive (SSD), or a random access memory (Random Access Memory:) that stores temporarily necessary information (arguments, arrays, etc.) related to program operations. It is implemented as a memory such as RAM), or may be a combination thereof.

In particular, the storage unit 41 stores information transmitted from the input device. For example, the information received from the load cell 26, the unwinding encoder 31, the undulating encoder 33, the swivel encoder 35, and the like is stored.

Further, when the operator drops the start point storage button 22 at a position that serves as a reference for the position information of the winding start point, the pulse counts of the undulating encoder 33 and the swivel encoder 35 at that time are stored as the first reference position information. To.

Similarly, when the operator drops the end point storage button 23 at a position that serves as a reference for the position information of the unwinding end point, the count number of the pulse of the unwinding encoder 31 at that time is stored as the second reference position information.

Further, it should be noted that the storage unit 41 stores the start point pass / fail criterion G1 and the end point pass / fail criterion G2 in advance. The start point pass / fail criteria G1 and the end point pass / fail criteria G2 can be changed as appropriate depending on the size of the crane, the operating speed, or the surrounding conditions (for example, if the site site is small, the start point pass / fail criteria need to be strict). be.

As an example, the start point pass / fail criterion G1 of the present embodiment is the difference between the first reference position information and the current position information when the suspended load moves to the unwinding start point due to repeated work within a predetermined value. It is a standard used for determining whether or not it is present, and the predetermined value is within ± 3000 pulses.

Similarly, the end point pass / fail criterion G2 is whether or not the difference between the current position information when the suspended load moves to the unwinding end point and the second reference position information is within the specified value due to repeated work. It is a standard used for the determination of, and the specified value is 10000 pulses.

<Control unit>
The control unit 42 processes and controls the overall operation related to the control device 40, and is, for example, a central processing unit (CPU) (not shown). The control unit 42 realizes various functions related to the control device 40 by reading out a predetermined program stored in the storage unit 41.

Specifically, the control unit 42 has the undulation and swivel encoder 33, which is the first reference position information, the count number of pulses of the undulation and swivel encoders 33, 35, and the current undulation and swivel encoder 33 when the suspended load moves to the winding start point. The difference from the count number of the pulse of 35 is calculated, and if the difference is within the range of ± 3000 pulses, the pass is determined and the control signal for controlling the drive of the unwinding motor 30 is generated. On the other hand, if it is out of the ± 3000 pulse range, a failure is determined and an error signal is generated.

Further, the control unit 42 subtracts the pulse count of the unwinding encoder 33, which is the second reference position information, from the current pulse count of the unwinding encoder 33 when the suspended load moves to the unwinding end point. A value is calculated, and if the value is 10,000 pulses or less, a pass determination is made, and a control signal for stopping the drive of the unwinding motor 30 is generated. On the other hand, if the value is larger than 10000 pulses, it is determined to be rejected, and a signal for hoisting the suspended load is generated by the unwinding motor 30.

2. 2. Automatic Crane Unwinding Method Section 2 describes an automatic crane unwinding method for automatically moving a suspended load from the unwinding start point to the unwinding end point. FIG. 3 is a pre-stage flow diagram at the time of landing.
The unwinding here means unwinding until the suspended load of the first embodiment lands on the floor.
Hereinafter, each step in FIG. 3 will be described.

[start]
(Step S101)
The operator operates the operating device 21 (driving the unwinding, undulating, and swiveling motors 30, 32, 34) to move the lifted load to the unwinding start point (following step S102).

(Step S102)
Subsequently, the operator drops the start point memory button 22 at that position (continuation to step S103).

(Step S103)
Subsequently, the storage unit 41 stores the pulse count number (first reference position information) of the undulation and swivel encoders 33 and 35 and the load of the suspended load (following step S104).

(Step S104)
Subsequently, the operator drops the automatic unwinding button (following step S105). At this time, the undulation and the driving of the swivel motors 32 and 34 are stopped, and the lowering motor 30 is driven to lower the suspended load. Here, it is preferable that the operator sets the speed of the input device 25 in advance so that the speed is low.

(Step S105)
Subsequently, it is determined whether or not the load is released during winding. Whether or not the load is released may be determined based on the value acquired from the load cell 26. If the value acquired from the load cell 26 is equal to or less than the reference value (Yes), the process continues to step S6. On the other hand, if the load is not released (No), it is determined that the landing has not been completed yet, and the winding is continued. Here, by judging by the load, it is possible to adjust how much the suspended load wire is loosened when it lands on the ground.

(Step S106)
Subsequently, it is considered that the vehicle has landed, the winding is completed, and the driving of the winding motor 30 is stopped. Further, this position is set as the winding end point, and the storage unit 41 stores the pulse count number (second position information) of the winding encoder 31.

After passing through the steps of the previous stage, the operation of automatically operating the suspended load that has been repeatedly lifted to the hoisting start point to the hoisting end point will be described with reference to FIG. FIG. 4 is an automatic unwinding flow diagram at the time of landing.
Here, the means for moving the suspended load to the unwinding start point may be manual work by an operator or movement by automatic operation. On the other hand, when the suspended load is moved to the unwinding start point, it is difficult to repeatedly move the suspended load to the same position due to the weight of the suspended load and the influence of disturbance even by manual operation or automatic operation, and a slight error occurs. The error is expressed as "nearby" and may be referred to as "near the winding start point".

[start]
(Step S111)
The operator operates the operating device 21 (driving the unwinding, undulating, and swiveling motors 30, 32, 34) to move the lifted load to the vicinity of the unwinding start point (following step S112).

(Step S112)
Subsequently, it is determined whether or not the position near the current winding start point is within the start point pass / fail criterion. Specifically, the count number of the pulses of the undulation and swivel encoders 33 and 35, which is the first reference position information, and the pulse count of the current undulation and swivel encoders 33 and 35 when the suspended load moves to the winding start point. Each difference from the number is calculated, and if the difference is within the starting point pass / fail criteria (for example, within the range of ± 3000 pulses each), a pass determination is made (Yes), and the process continues to step S113. On the other hand, if it is out of the ± 3000 pulse range, a failure is determined (No), and the process is returned to step S111 by manual correction by the operator in step S114.

(Step S113)
Subsequently, the operator drops the automatic operation execution button (following step S115). At this time, the undulation and the driving of the swivel motors 32 and 34 are stopped, and the lowering motor 30 is driven to lower the suspended load. Here, it is preferable that the operator determines the winding speed in advance using the input device 25. Further, it is preferable to set the speed so as to gradually decrease when the predetermined distance is reached.

The process of step S113 is divided into two routes. The route A is a route determined from the load (step S115), and the route B is a route determined whether or not the second position information has been reached (step S118). Hereinafter, they will be explained in order.

Route A (step S115)
Subsequently, it is determined whether or not the load is released during winding. Whether or not the load is released may be determined based on the value acquired from the load cell 26. If the value acquired from the load cell 26 is equal to or less than the reference value (Yes), the process continues to step S116. On the other hand, if the load is not released (No), it is determined that the landing has not been completed yet, and the winding is continued. Here, by judging by the load, it is possible to adjust how much the suspended load wire is loosened when it lands on the ground.

(Step S116)
Then, it is determined whether or not the current position during winding is within the end point pass / fail criterion. Specifically, the value obtained by subtracting the pulse count of the unwinding encoder 33, which is the second reference position information, from the current pulse count of the unwinding encoder 33 when the suspended load moves to the unwinding end point. The calculation is performed, and if the value is within the end point pass / fail criterion (for example, 10000 pulses or less), a pass determination is made (Yes), and the process continues to step S117. On the other hand, if the value is larger than 10000 pulses, a rejection determination is made (No), and the process of step S119 is performed. Specifically, the winding is temporarily stopped and the winding is performed. Here, the 10000 pulse can determine whether or not the suspended load is caught at a position different from the unwinding end point position (landing position). If it is set to a pulse with a large value, it cannot be determined whether it is different from the landing position, while if it is set to a pulse with a small value, it may be determined to be an erroneous landing even though it is the landing position. Therefore, it is preferable to appropriately change the value of the set pulse in consideration of the surrounding environment (whether or not there is something that is likely to get caught around the suspended load).
Then, following step S120, it is determined whether or not the load is normal. Here, the determination is regarded as normal when the difference between the current load and the load of the suspended load stored in step S103 is within ± 0.2 t (YES), and is returned to the process of step S113. On the other hand, when the difference deviates from ± 0.2t, it is not considered to be normal yet (No), and the process is returned to the process of step S119 and wound up. As a result, even if the crane shakes during work, an accurate judgment can be made.

(Step S117)
Subsequently, it is considered that the vehicle has landed, the winding is completed, and the driving of the winding motor 30 is stopped.

Route B Route B is an avoidance route because it is dangerous to continue unwinding when the load cannot be removed for some reason. Specifically, it is prevented from rolling down below the set position.
(Step S118)
Then, it is determined whether or not the current position during winding is within the end point pass / fail criterion. Specifically, the value obtained by subtracting the pulse count of the unwinding encoder 33, which is the second reference position information, from the current pulse count of the unwinding encoder 33 when the suspended load moves to the unwinding end point. The calculation is performed, and if the value is within the end point pass / fail criterion (for example, 3000 pulses or less), a pass determination is made (Yes), and the process continues to step S117. On the other hand, if the value is larger than 3000 pulses, the rejection is determined (No), and the process returns to the process of step S113.
Note that in step S116, the determination value is 10000, whereas in step S118, the determination value is 3000. As a result, accurate determination can be made without determining that the landing is erroneous.

3. 3. The second embodiment Section 3 describes the control method of the crane 10 according to the second embodiment. The description of common points with the control method of the crane 10 according to the first embodiment will be omitted. FIG. 5 is a pre-stage flow diagram in the hollow state.
The unwinding here means that the suspended load of the first embodiment is unwound until it lands, whereas the suspended load is lowered to a predetermined position in the hollow.
Hereinafter, each step in FIG. 5 will be described.

[start]
(Step S201)
The operator operates the operating device 21 (driving the unwinding, undulating, and swiveling motors 30, 32, 34) to move the lifted load to the unwinding start point (following step S202).

(Step S202)
Subsequently, the operator drops the start point memory button 22 at that position (continuation to step S203).

(Step S203)
Subsequently, the storage unit 41 stores the count number (first reference position information) of the pulses of the undulation and swivel encoders 33 and 35 (following step S204).

(Step S204)
Subsequently, the operator drops the automatic unwinding button (following step S205). At this time, the undulation and the driving of the swivel motors 32 and 34 are stopped, and the lowering motor 30 is driven to lower the suspended load. Here, it is preferable that the operator sets the speed of the input device 25 in advance so that the speed is low. As a result, the worker can safely wind down while checking whether there is a problem such as an obstacle in the surrounding state or the route.

(Step S205)
Then, it is determined whether or not the target position for delivering the suspended load is reached. If the target position is reached (Yes), the process continues to step S206. On the other hand, if the target position has not been reached (No), the process returns to the process of step S204.

(Step S206)
Subsequently, it is considered that the hollow target position has been reached, the winding is completed, and the driving of the winding motor 30 is stopped. Further, this position is set as the winding end point, and the storage unit 41 stores the count number (second position information) of the pulse of the winding encoder.

After passing through the steps of the previous stage, the operation of automatically operating the suspended load that has been repeatedly lifted to the hoisting start point to the hoisting end point will be described with reference to FIG. FIG. 6 is an automatic winding flow diagram at the time of landing.
Here, the means for moving the suspended load to the unwinding start point may be manual work by an operator or movement by automatic operation. On the other hand, when the suspended load is moved to the unwinding start point, it is difficult to repeatedly move the suspended load to the same position due to the weight of the suspended load and the influence of disturbance even by manual operation or automatic operation, and a slight error occurs. The error is expressed as "nearby" and may be referred to as "near the winding start point".

[start]
(Step S211)
The operator operates the operating device 21 (driving the unwinding, undulating, and swiveling motors 30, 32, 34) to move the lifted load to the vicinity of the unwinding start point (following step S212).

(Step S212)
Subsequently, it is determined whether or not the position near the current winding start point is within the start point pass / fail criterion. Specifically, the count number of the pulses of the undulation and swivel encoders 33 and 35, which is the first reference position information, and the pulse count of the current undulation and swivel encoders 33 and 35 when the suspended load moves to the winding start point. Each difference from the number is calculated, and if the difference is within the starting point pass / fail criteria (for example, within the range of ± 3000 pulses each), a pass determination is made (Yes), and the process continues to step S213. On the other hand, if it is out of the ± 3000 pulse range, a failure is determined (No), and the process is returned to step S211 by manual correction by the operator in step S214.

(Step S213)
Subsequently, the operator drops the automatic operation execution button (following step S215). At this time, the undulation and the driving of the swivel motors 32 and 34 are stopped, and the lowering motor 30 is driven to lower the suspended load. Here, it is preferable that the operator determines the winding speed in advance using the input device 25. Further, it is preferable to set the speed so as to gradually decrease when the predetermined distance is reached. As a result, it is possible to suppress the runout when the target position is reached, and it is possible to safely reach the target position.

(Step S215)
Then, it is determined whether or not the current position during winding is within the end point pass / fail criterion. Specifically, the value obtained by subtracting the pulse count of the unwinding encoder 33, which is the second reference position information, from the current pulse count of the unwinding encoder 33 when the suspended load moves to the unwinding end point. The calculation is performed, and if the value is within the end point pass / fail criterion (for example, 3000 pulses or less), a pass determination is made (Yes), and the process continues to step S216. On the other hand, if the value is larger than 3000 pulses, the rejection is determined (No), and the process returns to the process of step S213.

(Step S216)
Subsequently, it is considered that the hollow target position has been reached, the winding is completed, and the driving of the winding motor 30 is stopped.

4. Modification Example Section 4 describes a modification of the schematic overall configuration diagram of the automatic unwinding system 1 of FIG. The description of common points with the automatic winding system 1 according to the present embodiment will be omitted.
In the automatic winding system 1 of FIG. 1, as input devices, a winding start point acquisition means 50 and a winding end point acquisition means 51 are provided.
The winding start point acquisition means 50 is, for example, the count number of each pulse transmitted from the undulation encoder 33 attached to the undulation motor 32 and the slewing encoder 35 attached to the slewing motor 34.
On the other hand, the winding end point acquisition means 51 is, for example, the count number of pulses transmitted from the winding encoder 31 attached to the winding motor 30.
On the other hand, FIG. 7 shows a modification of FIG. 1. The difference is another example of the winding down start point acquisition means 50 and the winding down end point acquisition means 51. Specifically, the winding down start point acquisition means 50 has undulations in FIG. 1 and pulses from the swivel encoders 33 and 35. In FIG. 7, it is composed of the position information from the GNSS receiver 27 or the position information from the jib undulation angle meter 28 and the jib turning angle clock 29.
Further, the winding end point acquisition means 51 is the count number of the pulse from the winding encoder 31 in FIG. 1, whereas the position information from the GNSS receiver 27 or the jib undulation angle meter 28 and the jib turning are shown in FIG. It is composed of position information from the square clock 29.

4. Conclusion As described above, according to the present embodiment, the automatic hoisting method of the crane and the automatic hoisting system of the crane ensure safety and perform the work efficiently without depending on the operator. The methods and systems that can be provided can be provided.

The automatic hoisting method of a crane may be provided in each of the following embodiments.
A method of automatically hoisting a crane, wherein the first reference position information is position information that serves as a reference for the hoisting start point, and the second reference position information is position information that serves as a reference for the hoisting end point.
A method of automatically unwinding a crane, wherein the load of the suspended load is determined during the automatic unwinding in step b, and when the value is equal to or less than a predetermined value, step c is executed.
A method of automatically unwinding a crane, wherein the automatic unwinding of step b is performed by gradually reducing the speed.
In the automatic hoisting method of a crane, the position information near the hoisting start point is the count number of pulses of the undulation and swivel encoder, and the position information during automatic hoisting and near the hoisting end point is the hoisting encoder. How to count the number of pulses.
Of course, this is not the case.

Finally, various embodiments of the present invention have been described, but these are presented as examples and are not intended to limit the scope of the invention. The novel embodiment can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. The embodiment and its modifications are included in the scope and gist of the invention, and are included in the scope of the invention described in the claims and the equivalent scope thereof.

1 Automatic unwinding system 10 Crane 15 Jib 15a Jib tip 21 Operating device 24 Automatic operation execution button 26 Load cell 30 Unwinding motor (Unwinding device)
31 Roll-down encoder 32 Undulating motor 33 Undulating encoder 34 Swing motor 35 Swing encoder 40 Control device 41 Storage unit 42 Control unit r Wire

Claims (6)

It is a method of automatically unwinding a crane that automatically moves the suspended load from the unwinding start point to the unwinding end point.
The crane has an undulating jib
The suspended load is suspended by a wire from the tip of the jib.
An automatic crane unwinding method in which the following steps a to d are sequentially performed.
Step a: The position information when the suspended load is moved to the vicinity of the unwinding start point is compared with the first reference position information stored in advance.
Step b: If the start point pass / fail criteria stored in advance are met, the suspended load is automatically unwound.
Step c: The position information when the suspended load is moved to the vicinity of the unwinding end point is compared with the second reference position information stored in advance.
Step d: If the end point pass / fail criteria stored in advance are met, the automatic unwinding of the suspended load ends. The first reference position information is the position information that serves as a reference for the winding start point.
The second reference position information is the position information that serves as a reference for the winding end point.
The method for automatically winding a crane according to claim 1. During the automatic unwinding in step b, the load of the suspended load is determined, and if the value is equal to or less than a predetermined value, step c is executed.
The method for automatically winding a crane according to claim 1 or 2. The automatic unwinding of step b is performed by gradually reducing the speed.
The method for automatically winding a crane according to any one of claims 1 to 3. The position information near the winding start point is the count number of the pulse of the undulation and turning encoder.
The position information during automatic winding and near the winding end point is the number of pulse counts of the winding encoder.
The method for automatically winding a crane according to any one of claims 1 to 4. It is an automatic hoisting system for cranes that automatically moves the suspended load from the hoisting start point to the hoisting end point.
It is equipped with a winding start point acquisition means, a winding end point acquisition means, and a control device.
The crane is equipped with a hoisting device.
The winding start point acquisition means is configured to be able to acquire position information in the vicinity of the winding start point.
The winding end point acquisition means is configured to be able to acquire position information in the vicinity of the winding end point.
The control device includes a storage unit and a control unit.
The storage unit includes a first reference position information that is a reference for the position information of the winding start point, a second reference position information that is a reference for the position information of the winding end point, and a pass / fail criterion of the position information by the winding start point acquisition means. The start point pass / fail criteria and the end point pass / fail criteria, which are the pass / fail criteria for position information by the winding end point acquisition means, are stored in advance.
The control unit generates a winding start signal when the position information by the winding start point acquisition means in the suspended load that has moved to the winding start point is within the start point pass / fail criterion, and the winding end point during automatic winding. When the position information by the acquisition means is within the end point pass / fail criteria, a winding end signal is generated.
When the crane receives the unwinding start signal, the unwinding device is driven, and when the crane receives the unwinding end signal, the unwinding device is controlled to stop.
Automatic crane unwinding system.

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