JP2508102B2 - Jib crane automatic operation controller - Google Patents

Description

TECHNICAL FIELD The present invention relates to a device for automatically controlling a hook position to a target position in a jib crane used for dam placement, construction, etc.

[Conventional technology]

The jib crane has a jib that can be swung and raised and lowered, and various hooks suspended from the jib are used to carry out various cargo handling and transporting work.

In the operation of a conventional jib crane, a hook is moved to a target position by a manual operation of an operator for carrying work.

[Problems to be solved by the invention]

In order to move the hook to the target position in the jib crane, it is necessary to individually control the turning angle of the jib, the undulation angle, and the hoisting height of the hook.However, the jib crane has a long hoisting and hoisting height. It was difficult and time-consuming for the operator to move the hook from the driver's cab to the intended place. Further, when the distance to the target position is considerably large, it takes a long time to reach the position, and the operator has to keep operating during that time, which is burdensome.

The present invention is intended to solve the above-mentioned drawbacks of the prior art and facilitate the operation of the jib crane.

[Means for solving problems]

The present invention is directed to detecting means for respectively detecting the turning angle of the jib, the undulation angle, and the hoisting distance of the hook, and target value output means for giving the respective target values of the turning angle of the jib, the undulation angle, and the height of the hook. Based on the detected values of the swivel angle of the jib, the undulation angle, and the hoisting distance of the hook by the detection means, the swivel, undulation, and hook of the jib are moved so that the difference from the target value by the target value output means moves within substantially equal time. And a control means for controlling the respective winding speed ratios.

[Action]

According to the present invention, when the target value output means gives a target value, the control means makes the turning angle, the undulation angle, and the hook of the jib so that the values detected by the detection means match the target values in a time substantially equal to each other. The hoisting distance is controlled respectively, and the hook reaches the target position.

Since the hook can automatically reach the target position in this manner, accurate and speedy transportation work can be performed, and the labor of the operator is significantly reduced.

〔Example〕

An embodiment of the present invention is shown in FIG. Jib crane 10
A jib 14 is installed on the post 12 so as to be horizontally rotatable and vertically movable. A rope 16 is paid out from the tip of the jib 14, and a hook 18 is suspended at the tip thereof.

 Here, the angles and distances of each part are defined as follows.

θ ₁ : Swiveling angle of jib 14 θ ₂ : Lifting angle of jib 14 l: Length of jib 14 h: Height of hook 18 h ′: Hoisting distance H ₀ : Height to swivel ring H: Jib 14 The height jib 14 is swung by the swivel motor 1 about the post 12 and is swung up and down by the hoisting motor 5. Also rope
The hoisting motor 3 hoists and lowers 16.

The turning angle θ ₁ , the hoisting angle θ ₂ , and the hoisting distance h ′ are detected by the turning angle sensor 2, the hoisting angle sensor 6, and the hoisting distance sensor 4, respectively. A synchro, an encoder, an ultrasonic measuring device, etc. are used as these sensors 2, 6, 4.

The target position setter 11 is composed of a CRT and a keyboard, a digital switch or the like, and inputs the target position of the hook 18. The arithmetic unit 13 is composed of a CPU, etc., and compares the target position with the current position of the hook 18 detected by each of the sensors 2, 4, 6 and turns, undulates, winds up and down to reach the target position. The speed command signal of is output. This speed command signal is input to each control device 7, 8, 9 to drive each motor 1, 3, 5 to cause the hook 18 to reach the target position.

The setting of the target position by the target position setter 11 will be described.

The target position of the hook 18 can be set by the turning angle θ ₁ , the undulation angle θ ₂ , and the hook height h. In this case, the turning angle θ
₁ , the undulation angle θ ₂ can be used as it is because it can be detected directly by the sensors 2 and 6, but the value detected by the sensor 4 is the hook winding distance h ′, so to compare this with the set value h Must be converted to hook height h. Also,
Since the hook height h changes depending on the undulation angle θ ₂ , it is necessary to correct it. That is, the hook height h can be obtained by the following arithmetic expression.

h = H−h ′ = H ₀ + lsin θ ₂ −h ′ In the arithmetic unit 13, the detected values of the hook hoisting distance h ′ and the undulation angle θ ₂ are entered into this equation to obtain the hook height h. Then, the obtained hook height h is compared with the set value h to output the speed command signal of the hoisting motor 3. The speed command signal is output by comparing the set value and the detected value for the turning angle θ ₁ and the undulation angle θ ₂ , respectively.

Now, for example, as shown in FIG. 2, the turning angle, the undulation angle, and the hook height at the current position and the target position are (θ ₁₀ , θ
₂₀ , h ₀ ), (θ ₁₁ , θ ₂₁ , h ₁ ). At this time, the arithmetic unit 13 calculates a path for linearly moving the hook 14 from the current position to the target position as shown by the arrow, and controls each motion (turning, undulation, winding up and down) along this path. . That is, in order to follow this path, the turning angle difference θ ₁₁ −θ ₁₀ and the undulation angle difference θ ₂₁ −θ 10
₂₀ and the height difference between hook heights h ₁ -h ₀ may be controlled so that they move within the same time. Therefore, the turning speed v _s (rad / sec) and the undulation speed v are set so that the following equation is satisfied. _d (rad / s
ec) may be controlled and a speed ratio of the hook winding vertical velocity v _h (m / sec).

However, v _s , v _d , and v _h are set within a range that does not exceed any of the maximum allowable speeds. t is the arrival time, and α is a value for correcting an error caused by the deflection of the jib 14 peculiar to the jib crane, the extension of the rope 16, etc., which is calculated in advance and held in the memory as a value. The above speed ratio should be maintained when performing soft start and soft stop.

When the speed of each motion is determined, a speed command is given to each drive control device 7, 8, 9 to drive each motor 1, 3, 5. While moving, capture the detection information of each motion moment by moment,
Slow down near your destination. The timing to decelerate is
For example, in the case of turning, the vehicle decelerates when the difference becomes smaller than a certain value, such as | θ ₁₁ −θ ₁₀ | ≦ ε, and then stops. That is, ε is the distance that progresses from deceleration to stop, and is determined according to the moving speed.

Further, when there is an obstacle in the middle as shown in FIG. 3, an intermediate target position (θ ₁₁ , θ 21, h1) for removing the obstacle is automatically determined and the intermediate target position is passed. The path is automatically calculated, and each motion is controlled along the path as described above.

The setting of the target position by the target position setter 11 is, for example, x, y, with the turning center of the jib 14 as the origin, in addition to the above method.
It can be set as the position on the Cartesian coordinate axis or the position on the polar coordinate axis. In this case, the target position is calculated to be converted into target values of the turning angle θ ₁ , the undulation angle θ ₂ and the hook height h, and the target value is compared with the detected value for control.

In the above embodiment, the detected value of the hoisting distance was converted into the detected value of the hook height and compared with the set value of the hook height. It is also possible to convert the value into a value and compare it with the detected value of the winding distance.

〔The invention's effect〕

As described above, according to the present invention, when the target value output means gives a target value, the control means causes the jib to turn so that the values detected by the detection means coincide with the target values at substantially equal times. Since the angle, the undulation angle, and the hoisting distance of the hook are controlled, the hook can automatically reach the target position. Therefore, accurate and quick transportation work can be performed, and the labor of the operator can be significantly reduced.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention. 2 and 3 are diagrams showing the operation of the apparatus of FIG. 1, respectively. 10 …… Jib crane, 14 …… Jib, 18 …… Hook.

Claims (2)

(57) [Claims] 1. A detecting means for respectively detecting a turning angle of a jib, a hoisting angle and a hoisting distance of a hook, and a target value outputting means for giving respective target values of a turning angle of the jib, a hoisting angle and a height of the hook. Based on the detected values of the swivel angle, the undulation angle, and the hook winding distance of the jib by the detection means, the swivel, undulation, and hook of the jib are moved so that the difference from the target value by the target value output means moves within substantially the same time. An automatic operation control device for a jib crane, comprising: a control unit that controls each of the winding speed ratios. 2. The target value output means, when there is an obstacle in the middle up to the target value, also provides an intermediate target value for avoiding the obstacle, according to claim 1. Automatic operation control device for jib crane.