JP2941473B2 - Gondola lift control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a lift control method for a gondola having a plurality of hoists.

[0002]

2. Description of the Related Art Conventionally, in a gondola of this type, that is, a gondola in which a hoisting load is shared by a plurality of hoists to perform an ascending / descending operation, three main control methods have been employed.

[0003] One of the methods is a method in which horizontal control of the gondola floor is not performed, but lift control is performed simply by turning on and off each hoist. When controlled by this method,
In order to maintain the levelness of the floor surface, it is necessary to switch each hoist to an independent operation and manually operate the operator.

Another method is to mount one or more levelers that typically detect the level of the gondola floor, and to control the operation of each hoist using inverter signals. This is a method of controlling the inclination to be within a certain value by continuously changing the speed or changing the apparent speed by ON-OFF.

[0005] Still another method is shown in Figs.
As shown in the flow chart of FIG. 5, a method of controlling the hoisting machine so that each hoisting machine has the same height by detecting the hoisting height of the hoisting machine.

According to the flow charts of FIGS. 4 and 5, FIG.
(In this case, an example using six hoisting machines) will be described below.

First, a method of controlling the raising and lowering of the gondola 9 in the ascending mode will be described. 4 co shown in FIG. 6 (a) - of the Na, is constant speed operation the reference hoisting machine 5 ₁ installed in any one. Other 3 installed in the remaining corners
Hoisting machine 5 _{2-5 4} platform, and 2 are located in the middle portion
Auxiliary hoist 5 _5, 5 ₆ of the platform is also static in each likewise constant speed operation - to bets.

However, in the operating state as it is, speed unevenness is apt to occur due to various factors. Therefore, when the head becomes high, the gondola 9 may shake or tilt. When the swing or inclination is large, the swing or inclination comes into contact with a surrounding building or the like, and hinders ascent.

[0009] Therefore, in particular co - hoisting machine 5 ₁ to 5 of Na portion
_{For 4} , each is provided with a height sensor (not shown). It said reference and height values A detected by the hoisting machine 5 height sensor is attached to ₁ (not shown), each height sensor that respectively attached to the upper other winder 5 _{2-5 4} (not shown ) Is obtained, and an automatic control is performed so that the absolute value of the difference does not exceed a specified value α. Now, if the absolute value of the difference between the value A and the value B is positive, that is, if more of the value A is larger than the value B, the amount corresponding increase in the other of the hoisting machine 5 _{2-5 4} of the difference Increase speed. On the other hand, if the value is negative, that is, if the value B is larger than the value A, the other hoisting machines 5 are similarly similarly set by the difference.
Reducing the rising speed of _{2-5 4} while automatically controlled. By doing so, the gondola 9 can always be kept horizontal.

[0010] At this time the auxiliary hoist 5 _5, 5 ₆ operates to share the load by follow the control. Now, when the auxiliary hoist 5 _5, 5 ₆ to the installed load meter (not shown) the value P is smaller than the allowable lower limit value W _min of the increased rate of rise of the auxiliary hoist 5 _5, 5 ₆ Then, the tension of the suspension wire 10 is increased. Thus, a part's share of the load of the gondola 9 for the auxiliary hoist 5 _5, 5 ₆ (size of burden)
To increase. Conversely, if it is larger than the allowable upper limit _Wmax ,
The rising speed of the auxiliary hoist 5 _5, 5 ₆ decreases, the same procedure, to reduce the part's share of the load of the gondola 9.

As described above, it is easy to hold the gondola 9 horizontally and to share the load uniformly. When reaching the predetermined position in this way, the reference hoisting machine 5
₁ is stopped, the other of the hoisting machine 5 _{2-5 4} and the auxiliary hoist 5
₅ and 5 ₆ also stop.

As shown in FIG. 5, the value A of the height sensor
Is compared with the value B. If the difference is larger than 0, the ascending operation is performed at a low speed (slight rotation) for inclination correction. On the other hand, if the value is smaller than 0, lowering operation is similarly performed at a low speed. In addition, the operation is stopped when the value becomes exactly 0.

In the lowering mode, the control reverse to the above-mentioned raising / lowering control may be performed.

[0014]

In the above-mentioned conventional control method, it is easy to maintain the level of the gondola floor, but it is not possible to equalize the load applied to each hoist (the auxiliary hoist). Can be controlled within a certain value because the load is controlled). The load applied to the hoist at the four corners tends to be unbalanced. In particular, although it is easy to understand when the entire gondola is considered as a flat plate, it is possible to suspend the gondola with only two diagonal hoists among the hoists at each corner. Therefore, due to a slight difference in the hoisting height (even if the height of the hoist is detected, the height is not always uniform in the direction of gravity due to external factors such as extension of the suspension rope). The load tends to be unbalanced.

If imbalance occurs in the load of each hoist, there is no room in the hoisting capacity of the hoist, or the installation space and the size of the hoist, or the carrying route to the installation space. When there is not enough room in the hoisting capacity of the hoist due to the above restrictions, a load exceeding the hoisting capacity of the hoist acts. Therefore, there is a risk that the suspension rope and the hoist may be damaged, and the structure supporting them may be damaged.
You .

An object of the present invention is to provide a gondola lifting / lowering control method capable of securing the level of the gondola floor while keeping the imbalance of the load acting on the hoist uniform or within a certain value. is there.

[0017]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems and achieve the object, a gondola lifting / lowering control method of the present invention is as follows.
It is configured as described. Installed at each corner of the gondola
The load acting on each of the hoists in the control of raising and lowering the gondler having a plurality of hoists including the corner hoist
Are detected, and each detected load is set to a preset value.
Calculate the difference by comparing with the load within the fixed range, and find the difference between each calculated load.
The load addition and subtraction of the driving speed in each of the hoists according to
And calculate the angle of the gondola floor.
Detects and detects the detected tilt within a preset fixed range.
Obtain the difference by comparing with the slope, and according to the difference of the obtained slope,
The drive speed of the corner hoist
Calculate and apply the load addition / subtraction to each of the hoists
While adding to each speed command,
Each constant speed command for each corner hoist
By adding, the control information for each of the hoisting machines is
Generate a drive speed command in the superimposed state, and
Controlling the hoisting speed of each of the hoists by a command.
Features .

[0018]

[0019]

The following effects are obtained by taking the above measures. Since the detected control information of the two systems is automatically controlled in a superimposed state, the load acting on each hoist is always kept within a constant value, and the level of the floor of the gondola is also maintained.

[0020]

FIG. 1 is a flow chart showing a lifting control method according to an embodiment of the present invention, and FIG. 2 is a drawing showing an example of the configuration of hardware for realizing the control method. FIGS. 3A and 3B are diagrams showing a configuration of a gondola to be controlled.

Hereinafter, description will be made with reference to FIGS. First, the configurations of the hardware and the gondola will be described with reference to FIGS. In FIG. 2, reference numeral 1 denotes a controller, in which a program for realizing the control method of the present invention is incorporated. The gondola 9 shown in FIG. 3, the hoisting machine 5 ₁ to 5 ₆ plurality (six in this embodiment) is equipped. To each hoist 5 ₁ to 5 _6, the load detector 6 for detecting a load acting on each hoist 5 ₁ to 5 _6, as shown in FIG. 2 is incorporated. On the other hand, the floor of the gondola 9, and the reference hoisting machine 5 ₁ as a base point, co - Na hoisting machine 5 ₂ -
5 in the direction corresponding to _4, respectively tilt detector 7 _{2-7 4}
Is attached. A hoisting machine 5 ₁ to 5 _6, hanging wire 10 has been lowered hanging from the top Tsumoto (not shown) extends through, by driving the each hoist 5 ₁ to 5 _6,
The gondola 9 moves up and down along the suspension wire 10. A handrail 11 is provided around the gondola 9 to prevent falling when a person (not shown) performs work or the like.
Etc. are properly established.

The signal of the load detector 6 and tilt detector 7 _{2-7 4,} input Intafe as shown in FIG. 2 - is input to the controller 1 through the scan 2. On the other hand, the speed command calculated inside the controller 1 is sent to the drive speed adjuster 4 via the output interface 3 and is converted into a drive command of a required speed. The hoisting machine 51 _to be based on the converted drive command
₅₆ is driven.

Next, the control method will be described with reference to the flowchart shown in FIG.

[0024] Starting automatic lifting is applied, a constant velocity drive command V ₁₀ of the driving speed regulator 4 to each hoist _{5 1 ~5 6, V 20,} V 50, is delivered. In this case the load W _{1 to 6} which acts on each hoist 5 ₁ to 5 ₆ is detected by the load detector 6. Then, a load W within a predetermined range set in advance.
Exceeds ₀ value or trivial not value W _X1～6 is calculated as _{W x1~6 = (W 1 ~6)} -W 0. The difference W _X1～6 acceleration component ± _x1 driving speed corresponding _to, ± x2~4, ± x5~6 are calculated. Furthermore, co - the hoisting machine 5 _{2-5 4} Na portion,
The signal of the inclination detector 7 _{2-7 4} corresponding to each, if the inclination A _{2 to 4} is, that is greater than the A ₀ predetermined range, the difference _{A y2~4 = (A 2 ~4)} -A _The drive speed _increment / _decrement ± _y2 to _y4 corresponding to ₀ is calculated. Driving speed adjustment corresponding to this load or inclination ± _x1-6 , ±
constant _y2~4 speed command _{V 10, V 20, V 50} , by adding the speed command V ₁ for each hoist 5 ₁ to 5 _6,
V _{2 to 4} and V _{5 to 6} are calculated respectively.

That is, in the case of a lifting operation, for a hoisting machine in which the load exceeds a predetermined range and becomes large, the driving speed is controlled to be reduced. For the hoisting machine that does not reach the predetermined range, the driving speed is controlled to be increased. Thus, the load acting on each hoist is controlled to fall within a predetermined range. On the other hand, the inclination, the three co in this embodiment - seeking slope value for each hoist 5 _{2-5 4} reference hoist 51 positioned in na unit, hoisting slow towards the slope value is high, low The drive speed is controlled to increase or decrease the speed.

The present invention is not limited to the above embodiment. For example, in the above embodiment, three tilt detectors 7 are used.
₂ to 7 _4, each co - has been arranged so as to correspond to the hoisting machine 5 _{2-5 4} three Na portion, increasing or decreasing the number range slope detectable in the floor of the gondola 9 and calculates the height of the floor of the gondola 9 by the control unit 1, so that the each hoist 51 _to
5 ₆ it is also possible to drive speed command. In addition, it goes without saying that various modifications can be made without departing from the spirit of the present invention.

[0027]

According to the present invention, the load imbalance on the hoisting machine of a gondola driven up and down by a plurality of hoisting machines is equalized or maintained within a certain value while the gondola floor surface is maintained. It is possible to provide a gondola lifting / lowering control method capable of ensuring horizontal maintenance. By adopting the control method of the present invention, the load applied to each hoist can be equalized, so that the hoisting capacity of one hoist can be relatively reduced. As a result, it contributes to downsizing and cost reduction. In other words, if the load applied to each hoist is not equalized , the gondola may act on each hoist in extreme cases.
2 to 3 hoisting functions so that it can receive the full load
Will be required. However, according to the present invention,
Since the load applied to the hoist is equalized, the total load must be 5-6.
All that is needed is the ability to be received by one hoist
You . Also, by ensuring the levelness of the floor surface, work can be performed with the same feeling as on a horizontal ground. Therefore, the safety of the worker is ensured, and the work efficiency is improved.

[Brief description of the drawings]

FIG. 1 is a flowchart showing a gondola elevating control method according to an embodiment of the present invention.

FIG. 2 is an exemplary view showing a configuration of hardware for realizing the gondola control method according to the embodiment.

FIG. 3 is a diagram showing a configuration of a gondola as a control target according to the embodiment.

FIG. 4 is a flowchart showing a part of a gondola lift control method according to a conventional example.

FIG. 5 is a flowchart showing another part of the gondola lifting control method according to the conventional example.

FIG. 6 is a diagram showing a configuration of a gondola as a control target according to the conventional example.

[Explanation of symbols]

1 ... controller, 2 ... input Intafe - scan, 3 ... Output Intafe - scan, 4 ... driving speed regulator, 5 ₁ to 5 ₆ ... hoist,
6 ... load detector, 7 _{2-7 4} ... tilt detector, 9 ... gondola, 10 ... hanging wire, 11 ... handrail.

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroshi Shimoyama 2-1-1, Shinhama, Arai-machi, Takasago-shi, Hyogo Pref. Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. No. 1 Inside the Takasago Research Laboratory, Mitsubishi Heavy Industries, Ltd. (72) Katsuhiro Koga 1-1, Wadazakicho, Hyogo-ku, Kobe-shi, Hyogo Prefecture Inside Kobe Shipyard, Mitsubishi Heavy Industries, Ltd. (56) References JP-A-58-11364 ( JP, A) Hikaru 3-14243 (JP, U) (58) Fields investigated (Int. Cl. ⁶ , DB name) E04G 1/36

Claims (1)

(57) [Claims] 1. Corners installed at each corner of a gondola
In lifting control of a gondola equipped with a plurality of hoists including a hoist, the loads acting on the respective hoists are detected and detected.
Each load is compared with the load within a preset range.
The difference is obtained, and each of the above-mentioned hoisting machines is
Of the gondola floor surface is detected, and the detected inclination is predicted.
To determine the difference by comparing
Drive in each corner hoist according to the difference in inclination
Calculate the slope increment and decrement of the speed, and calculate the load increment and decrement by each constant speed command
And add the inclination
To the constant speed command for the hoisting machine
In this way, the drive in a state where the control information for each of the hoists is superimposed
A hoisting / lowering control method for a gondola, wherein a speed command is generated, and the hoisting speed of each of the hoists is controlled by the driving speed command .