JP2858607B2 - Electric hoist operation control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric hoist operation control device applied to a hoist of a lifting product.

[0002]

2. Description of the Related Art Conventionally, the operation of an electric hoist is ON, O
A method of manually controlling the FF switch or several-stage speed changeover switch to control the speed of the lifted material (one to several stages) is used. I was relying on.

[0003]

In the above-mentioned prior art, in an assembling operation or a fitting operation in which positioning of a lifting object is required, the lifting operation is performed by winding down to a rough position, and thereafter, performing an intermittent operation called inching. If it is difficult to perform delicate operations and work is not done well, there is a risk of damaging the lifted material and the partner parts and making them unusable, so the operator needs skill and caution, A lot of effort and time was spent. Further, in the case of a fragile lifting material such as a mold, there is a problem that an impact at the time of landing is applied and the mold is broken.

[0004] In order to solve the above-mentioned problems, a work that requires fine adjustment of the position requires a chain block or a balancer (usually a pneumatic type) that balances the weight of the load and handles the load by manpower. Although the work is carried out in combination, the chain block has the advantage of being able to finely adjust the speed, but it requires manual labor, and long hours of work are fatigued. In addition to the worker who performs the work (the operator of the chain block), a work assistant who instructs and performs the alignment is required, which is inefficient.

[0005] In the case of a balancer, it is necessary to adjust the air pressure according to the weight of the load, and the adjustment range of the balancer function is narrow (usually about 1/2 to the rated capacity). Each time the weight of the load differs, adjustment or replacement of the balancer model is required, which is troublesome. Furthermore, due to the lifting height of the electric hoist, there is a case where there is no space for mounting a chain block or a balancer, and the electric hoist cannot be used together.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to perform the same or more functions without using a chain block or a balancer, and It is an object of the present invention to provide an electric hoist operation control device that allows an operator to easily and delicately operate a lifting object by one person.

[0007]

An electric hoist operation control device according to the present invention includes a lifting mechanism for lifting and lowering a load.
A hoist body, a driving device for driving the lifting mechanism,
Speed commander for inputting speed command and hoist control mode
A control mode selector for switching the load, a force detector for detecting the load of the lifting object, a position detector for detecting the position of the lifting object, a storage unit for storing operating conditions of the hoist,
A control mode determination unit that determines a control mode based on a control mode selection signal from a control mode selector and outputs an operation command signal to each control routine, and a speed command unit based on an operation command signal from the control mode determination unit. The speed command calculation unit that obtains the speed target value by taking in the speed command, compares the speed target value obtained by the speed command calculation unit with the position detection value from the position detector, and outputs the deviation value between the two. a speed comparing unit that, by the operation command signal from the control mode judgment unit, and a force command calculation unit for obtaining the force target value by captures and detection value of the force detector, the force output from the power calculation unit A force comparison unit that compares a target value with a force detection value of the force detector and outputs a deviation value between the two, and a deviation value obtained by the speed comparison unit and the force comparison unit and stored in the storage unit. See operating conditions Determining whether ist operation, in proportion to the deviation value when the condition is satisfied hoist operation enabled
The drive command output to the above drive unit
Otherwise, the drive signal is not output and the brake operation
And an operating state determining unit that outputs a command to stop the hoist .

[0008]

The following operation of the electric hoist is performed by the control mode selection signal. (1) Speed control

A speed command value is input and a speed target value is calculated. This value is compared with the position detection value of the hoist, and the deviation value between the two is output to the operation state determination unit. If the operating condition determination unit satisfies the condition by referring to the operating condition data set or input in advance, the driving condition determining unit outputs a drive command value proportional to the deviation value to the motor driving device. Thereby, the hoist speed can be operated from a very low speed to a high speed. (2) Force control When an operation command signal for force control is input from the control mode determination unit to the force command calculation unit, the calculation unit samples a force detection value at the time of input and sets a force target value.

The target force value and the detected force value are compared with each other, and the difference between the two is output to the operating state determination unit. The operation state determination unit refers to the operation condition data set or input in advance, and if the conditions are satisfied, outputs a drive command value proportional to the deviation value to the motor driving device, and the deviation value = 0 (force target value). = Force detection value), hoist stationary operation, deviation value = + (force target value> force detection value), hoist hoisting operation, deviation value-(force target value <force detection value), hoist lowering operation, operation Perform (3) The operation of (1) or (2) is selected and used according to the work situation.

[0011]

An embodiment of the present invention will be described below with reference to the drawings. First, an overall configuration of an electric hoist operation control device according to an embodiment of the present invention will be described with reference to FIG.

In FIG. 1, reference numeral 100 denotes a central processing unit (C
PU), the central processing unit 100 has a detection value B of the force (weight of the lifting material) from the force detector 1 and a detection value A of the position (for example, the hook position of the hoist) by the position detector 2.
A control mode selection signal M (speed,
Force control), hoist hoist from speed commander 4,
The speed command value V of the lowering speed is input.

The central processing unit 100 is connected with an operating condition storage unit 5 in which operating conditions of the hoist are set, a motor driving device 12, and a hoist body 20. The hoist body 20 includes a brake device 21, a drum 22, a wire 23 wound around the drum 22, and a hook 24 attached to the wire 23.
3 driven. The motor 13 is driven by the motor driving device 12.

As shown in FIG. 2, the central control unit 100 includes a control mode determining unit 6, a speed command calculating unit 7, a speed comparing unit 8, a force command calculating unit 9, a force comparing unit 10, and an operating state determining unit 11, as shown in FIG. It is configured.

The control mode determining section 6 determines the control mode from the control mode selection signal M selected by the control mode selector 3 and sends the operation command signals C, C to the speed command calculating section 7 or the force command calculating section 9. 'Is output.

The speed command calculating section 7 includes a control mode determining section 6
The speed command value V from the speed command device 4 is integrated by the operation command signal C input from the controller 3 and the speed target value P is output to the speed comparator 8.

The speed comparing section 8 compares the speed target value P, which is the integration result from the speed command calculating section 7, with the detected value A from the position detector 2, and outputs PA to the operating state determining section 11. Output. The force command calculation unit 9 samples the detection value B of the force from the force detector 1 based on the operation command signal C ′,
The target force value F is set and output to the force comparison unit 10.
The force comparing unit 10 compares the target force value F with the detected value B of the force from the force detector 1, and compares FB with the operating state determining unit 11.
Output to

The operating condition determining unit 11 includes an operating condition storing unit 5
Is determined with reference to the operating condition data X and X 'in the above. If the determination is "OK", a brake opening signal is output to the brake device 21 of FIG. Or the deviation value (F−A) that is the comparison result from the force comparison unit 10.
A drive command value R proportional to B) is output to the motor drive device 12. In the case of "No", a signal for closing the brake is output to the brake device 21. Next, the operation of the above embodiment will be described with reference to the flowchart shown in FIG.

In the central control unit 100, the detected value B of the force (weight of the lifting object) from the force detector 1 and the detected value A of the position (hook position of the hoist) by the position detector 2 are used to select the control mode. The control mode selection signal M is output from the speed command device 4
Further, speed command values V of hoist hoisting and hoisting speeds are input.

First, the control mode selector 3 selects a control mode of speed control or force control. By this selection operation, the control mode signal M is input to the central controller 100 (step A1). The central control unit 100 determines the control mode from the control mode selection signal M in the control mode determination unit 6 (step A2), and the speed control operation command signal C or the force control operation command which is the operation command of each control routine. A signal C 'is output and the following controls are performed.
The control operation command signals C and C ′ are input to the operating condition storage unit 5. When each control is not selected, that is, when the hoist is not operated, the control mode signal M is kept on waiting. (1) Speed control

In response to the speed control operation command signal C, a speed command value V is input to the speed command calculation section 7 (step A).
3) and integrate this value (P = P + V · Δt, where Δ
t: sampling time), speed target value P (exactly,
Although it is a position target value, to match the dimension with the detection value,
Also, since the sampling time is on the order of several milliseconds, it has the same meaning as the speed. ) Is output (step A4).

The speed comparing section 8 takes in the position detection value A from the position detector 2 (step A4), performs a comparison operation with the above-mentioned speed target value P, and obtains a deviation value (PA) to operate. The data is output to the state determination unit 11 (step A5).

The operating state determination unit 11 determines the position detection value A and the deviation value (PA) and the condition X set or input in the operating condition storage unit 5 (for example, the following (i) to (iii) )
(Steps A6 and A7). (I) The speed control operation command signal C is input. (ii) The position detection value A is in the range of UP ≦ A ≦ LP. (UP: Upper limit position of hook, LP: Lower limit position of hook,
It is set in advance. (Iii) The absolute value of the speed deviation is in the range of | PA | ≦ Q. (Q: Position change allowable value, which is set in advance.)

Only when all of the above conditions are satisfied, a brake open signal is output (step A8), and a drive command value R proportional to the deviation value (PA) is output (step A9). Returning to A2, the above routine is repeated again. On the other hand, if the condition is not satisfied, a signal to close the brake is output (step A10), and the hoist is stopped.

With the above operation, the speed control of the hoist according to the speed command value V (accurately, the position is controlled every sampling, but the same effect as controlling the speed is obtained).
And changing the speed command value V, it is possible to operate from a very low speed (including stationary) to a high speed.

As shown in FIG. 4, a force limit value Fmin is set in the operating condition storage unit 5 (step B1).
), And input the force detection value B from the force detector 1 (step B2).
), A function (step B3) for determining whether or not the condition of B ≧ Fmin is satisfied is added to the operation state determining unit 11, so that the weight of the lifted material to the mating part can be limited. As described above, various conditions can be added to the operation state determination unit. (2) Force control

In the case of force control, the force command operation unit 9 receives the force detection value B from the force detector 1 in response to the force control operation command signal C 'from the control mode determination unit 6 (step A11). This value B is sampled for a certain period of time, and the average value (F = ΣB / N; where N: the number of times of sampling) is calculated and output to the force comparison unit 10 as the force target value F (step A12).

The force comparator 10 receives the force detection value B from the force detector 1 (step A13), compares the force detection value B with the target force value F, and calculates a deviation value (FB). ) Is obtained (step A14) and output to the operating state determination unit 11.

The above-mentioned position detection value A and deviation value (FB) are input to the operation state determination unit 11 (step A15), and the condition X 'set or input to the operation condition storage unit 5 (for example, (i) to (iii)) (steps A16 and A17), and (i) a force control operation command signal C 'is input. (ii) The position detection value A is in the range of UP ≦ A ≦ LP. (iii) The absolute value of the deviation value of the force | FB | (S: Force change allowable value, which is set in advance.)

Only when all of the above conditions are satisfied, a brake opening signal is output (step A18), and a drive command value R proportional to the deviation value (FB) is output (step A19). Returning to A13, the above routine is repeated. On the other hand, when the condition is not satisfied, the brake closing signal is output and the hoist is stopped similarly to the speed control. By applying the operation force f by a person to the lifting object by the above operation, as shown in FIG. 5, F = B... Stationary F> B... Hoisting operation F <B. Can be performed, and the speed can be changed in proportion to the operation force f by a human, so that the delicate operation of the lifting object can be performed by the human power. In addition, each code | symbol in FIG. f: human operating force. F: Force target value, same as the weight of the load. N, N ': Lowering and hoisting speeds are proportional to f. It is. (3) Work example

By selecting and using the above (1) speed control and (2) force control according to the work situation, the hoist is operated with necessary functions according to the work as shown in the following work example. be able to. (i) Assembly work (fitting work)

The speed control mode is selected by switching the control mode selector 3. In this case, the control mode determination unit 6
, The speed control operation command signal C is output, and the speed control routine is started.

By operating the speed commander 4 (changing the speed command value V), the lifting and lowering of the load can be performed at the speed required by the operator, and the speed is controlled to the target position. Temporarily position the lifting object (from low speed to high speed). That is, by setting the speed command value V to 0, the lifting object stops at that position.

The control mode selector 3 is switched to end the speed control mode. By switching the control mode selector 3, the input of the speed control operation command signal C, which is an operation condition, is lost, and the operation state judgment unit 11 judges "No",
The brake close signal is output and the hoist stops.

Next, the control mode selector 3 is switched to the force control mode. In this case, the control mode determination section 6 outputs the force control operation command signal C ', and the force control routine starts.

When the operator applies an operation force f to the load, the load can be handled in accordance with the direction and magnitude of the operation force f. Up and down operations can be performed. Further, even if the positioning fails, only the force of the operation force f is applied to the mating component, so that the mating component is not damaged. When the positioning of the lifted material is completed, the control mode selector 3 is switched to the speed control mode again, the lowering is performed at a very low speed, and the assembling work (fitting work) of the lifted material is completed. (ii) Land cutting and landing work

At the time of ground breaking and landing work of a fragile lifting material, the speed control mode is selected by the control mode selector 3 and the lifting and lowering operations are performed at a very low speed to give an impact force to the lifting material. Work can be performed without the need.

As shown in the above embodiment, by using the electric hoist operation control device according to the present invention, even an unskilled operator can easily and easily use the electric hoist without using a chain block or a balancer. Even humans can perform delicate operations of lifting materials. That is,

(1) By selecting the speed control mode, (i) the hoisting and lowering operation can be performed in a stepless manner from a very low speed (including stationary) to a high speed, so that the inching operation is unnecessary.
Since it can be easily carried out without applying an impact force in the ground separation and landing work of the fragile lifting material, the lifting material is not broken. (ii) Slight speed adjustment can be operated by one person.

(2) By selecting the force control mode, (i) the lifting and lowering operations of the lifting object can be performed by the operation force of a person. No force is applied, so there is no damage to the mating parts. Or, it does not break the load. (ii) Since the force target value is calculated by automatically sampling the weight of the lifted material, it is not necessary to adjust the air pressure or the like according to the weight of the lifted material. (iii) Wide adjustment range of balancer function (0 to rated)
Therefore, the replacement work of the balancer, which was conventionally required, is unnecessary. (3) By selecting the above (1) speed control mode and (2) force control mode, it is not necessary to use a chain block and a balancer together.

(4) Since it has an operating state determination unit,
The electric hoist can be automatically stopped even in an abnormal state (for example, an operation at a set speed or more, or an operation in which the weight change of the lifted material is large).

[0042]

As described above in detail, according to the present invention, it is possible to perform the same or more functions without using a chain block or a balancer, and even an unskilled operator can easily perform Moreover, even a single person can perform a delicate operation of the lifting material.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an electric hoist operation control device according to one embodiment of the present invention.

FIG. 2 is a control block diagram of the embodiment.

FIG. 3 is a flowchart showing the operation of the embodiment.

FIG. 4 is a flowchart of a force limit in the embodiment.

FIG. 5 is an operation diagram of force control in the embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Force detector, 2 ... Position detector, 3 ... Control mode selector, 4 ... Speed commander, 5 ... Operating condition storage part, 6 ... Control mode determination part, 7 ... Speed command calculation part, 8
... speed comparison unit, 9 ... force command calculation unit, 10 ... force comparison unit, 11 ... operation state determination unit, 12 ... motor drive unit, 13 ... motor, 20 ... hoist body, 21
... Brake device, 22 ... Drum, 23 ... Wire, 2
4 ... hook, 100 ... central control unit, B ... force detection value,
M: control mode selection signal, C: speed control operation command signal, C ': force control operation command signal, V: speed command value, A
... Position detection value, P ... speed target value, F ... force target value,
PA: deviation value of speed, FB: deviation value of force, X:
Operating conditions during speed control, X ': Operating conditions during force control, R: Drive command value.

──────────────────────────────────────────────────続 き Continuation of front page (56) References JP-A-63-315497 (JP, A) JP-A-1-133900 (JP, A) JP-A-1-303295 (JP, A) JP-A-1- 303296 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) B66D 1/46 B66D 3/18 B66D 3/20 B66F 19/00

Claims (1)

(57) [Claims] 1. A hoist having a lifting mechanism for lifting and lowering a load.
And strike the body, a drive unit for driving the elevating mechanism, a speed command unit for inputting a speed command, and control mode selector for switching the control mode of the hoist, the force detector for detecting a load of Agekasane was fried A control mode is determined by a position detector for detecting the position of a heavy object, a storage unit for storing operating conditions of the hoist, and a control mode selection signal from the control mode selector, and an operation command to each control routine is issued. a control mode judgment unit for outputting a signal, the speed by the operation command signal from the control mode judgment unit
A speed command calculation unit that obtains a speed target value by taking in a speed command from a degree command device , and compares the speed target value obtained by the speed command calculation unit with the position detection value from the position detector to compare the two. a speed comparing unit for outputting the deviation, the operation command signal from the control mode judgment unit, and a force command calculation unit for obtaining the force target value by captures and detection value of the force detector, from the force command calculation section A force comparison unit that compares the output force target value with the force detection value of the force detector and outputs a deviation value between the two, and a deviation value obtained by the speed comparison unit and the force comparison unit and the storage unit. Whether the hoist operation is possible or not is determined with reference to the stored operating conditions.If the condition for enabling the hoist operation is satisfied, a drive command proportional to the deviation value is sent to the drive device.
Output when the operating conditions are not met.
Do not apply force and output a brake operation command to stop the hoist.
An electric hoist operation control device, comprising: an operation state determination unit for stopping the operation.