JP5746594B2 - Crane winch motion control device - Google Patents

Description

  The present invention relates to a crane winch motion control device.

  Conventionally, in a crane, a suspended load is suspended from a tip of a hoisting member such as a boom via a suspension rope, and the suspended load is lifted and lowered by winding and unwinding the suspension rope with a winch. Patent Document 1 below discloses a technique for driving a winch that raises and lowers the suspended load and controlling the operation of the winch. In the technique disclosed in Patent Document 1 below, the motor switches the winch or the hydraulic motor drives the winch with a clutch according to the magnitude of the hoisting load of the suspension rope applied to the winch. Yes. Specifically, in Patent Document 1 below, power can be supplied to the winch from both the electric motor and the hydraulic motor, the power transmission path between the electric motor and the winch, and the power between the hydraulic motor and the winch. Each of the transmission paths is provided with a clutch. When a high load is applied to the winch, the clutch on the electric motor side is disengaged and the clutch on the hydraulic motor side is connected to drive the winch so that only a low load is applied to the winch. Then, the clutch on the electric motor side is brought into a connected state and the clutch on the hydraulic motor side is brought into a disengaged state so that the electric motor drives the winch. According to this technique, since the electric motor drives the winch when only a low load is applied to the winch, high torque is not required for the electric motor, and the enlargement of the electric motor can be prevented. Further, since the electric motor has higher driving efficiency than the hydraulic motor, according to this technique, the driving efficiency of the winch can be improved as compared with the configuration in which only the hydraulic motor always drives the winch.

JP 2007-276989 A

  However, in the technique described in Patent Document 1, when a high load is applied to the winch, the hydraulic motor drives the winch alone, so that a high torque is required for the hydraulic motor. It must be enlarged. Further, in the technique described in Patent Document 1, when the load applied to the winch reaches the threshold value between the low load and the high load, there is a possibility that the torque applied to the winch is lost. For example, when performing so-called ground cutting work for lifting a suspended load in contact with the ground, the load applied to the winch is low because the hanging rope is slack and the load of the suspended load is not acting on the winch. When the load of the suspended load acts on the winch by winding the rope, the load applied to the winch increases. Thereafter, when the suspended load leaves the ground, the entire load of the suspended load acts on the winch and a high load is applied to the winch. At this time, at the moment when the load applied to the winch reaches the threshold value from the low load to the high load, switching from the clutch state of the motor side clutch to the disconnected state and from the clutch state of the hydraulic motor side to the disconnected state are performed. Since switching is performed simultaneously, a state where torque is not supplied to the winch from both the electric motor and the hydraulic motor, that is, torque is temporarily lost. In this case, there is a possibility that the lifting speed of the suspended load becomes discontinuous, or the suspended load is shocked and detached.

  In addition, a problem similar to the problem related to the lifting / lowering winch for the suspended load may occur in the lifting / lowering winch of the lifting / lowering member. Specifically, for example, in a state where the undulating member is tilted forward, the tip of the undulating member is in contact with the ground, and the undulating rope that supports the undulating member from the back is slack, The load applied to the hoisting winch that raises and lowers the hoisting member by winding and unwinding the hoisting rope is small, but when the winch winds the hoisting rope and the load of the hoisting member acts on the winch, it is applied to the winch When the load increases and then the tip of the hoisting member leaves the ground, the load applied to the hoisting winch via the hoisting rope increases rapidly, and as a result, a higher load is applied to the hoisting winch. At this time, there is a possibility that the torque applied to the hoisting winch may be lost, as in the case of the winch for raising and lowering the suspended load.

  The present invention has been made to solve the above-described problems, and its object is to impart high torque to a winch when a heavy load is applied to the crane winch without increasing the size of the electric motor and hydraulic motor. It is also possible to provide a crane winch motion control device capable of preventing the torque applied to the winch from coming off.

In order to achieve the above object, a crane winch motion control apparatus according to the present invention includes a winch that lifts and lowers a suspended load by winding and unwinding a rope for hanging the suspended load, and an operating lever for operating the winch. provided a crane equipped with a preparative, a winch operation control device for controlling the operation of the winch, and an electric motor and a hydraulic motor for outputting power for driving the winch, the rope applied to the winch A tension deriving device for deriving a tension, and a control mechanism for controlling the operation of the electric motor and the operation of the hydraulic motor, wherein the control mechanism is preset with the tension of the rope derived by the tension deriving device. If the value is larger than the set value, both the electric motor and the hydraulic motor are supplied with power to the winch to create the winch. Is allowed, together with the torque the motor is output to control the operation of the motor so that the torque corresponding to the operation amount of the operating lever, the flow rate pressure oil corresponding to the operation amount of the operation lever to the hydraulic motor By supplying and controlling the rotational speed of the hydraulic motor, the rotational speed of the winch is set to a rotational speed corresponding to the rotational speed of the hydraulic motor, and the tension of the rope derived by the tension deriving device is equal to or less than the set value. In this case, power is not supplied from the hydraulic motor to the winch, but only the electric motor is supplied with power to the winch to operate the winch, and the rotation speed of the electric motor becomes the operation amount of the operation lever. The operation of the electric motor is controlled so as to obtain a corresponding rotational speed, and the rotational speed of the winch is controlled so that the hydraulic motor does not operate. To the rotational speed corresponding to the rotational speed (claim 1).

A crane winch motion control device according to the present invention includes a hoisting member provided so as to be hoistable and a winch for winding and unwinding a rope for hoisting while supporting the hoisting member from the rear , A winch operation control device for controlling the operation of the winch, provided in a crane having an operation lever for operating the winch, and an electric motor and a hydraulic motor for outputting power for driving the winch And a tension deriving device for deriving the tension of the rope applied to the winch, and a control mechanism for controlling the operation of the electric motor and the operation of the hydraulic motor, the control mechanism being derived by the tension deriving device. When the tension of the rope is larger than a preset value, both the electric motor and the hydraulic motor Power is supplied to the wrench is operated the winch and, together with the torque which the motor is output to control the operation of the electric motor so that the torque corresponding to the operation amount of the operation lever, the operation amount of the operating lever By supplying the hydraulic oil with a flow rate corresponding to the hydraulic motor and controlling the rotational speed of the hydraulic motor, the rotational speed of the winch is set to a rotational speed corresponding to the rotational speed of the hydraulic motor and is derived by the tension deriving device. When the tension of the rope is less than or equal to the set value, power is not supplied from the hydraulic motor to the winch, but only the electric motor is supplied to the winch to operate the winch, and the electric motor The operation of the electric motor is controlled and the hydraulic motor does not operate so that the number of rotations becomes the number of rotations according to the operation amount of the operation lever. To the rotational speed corresponding to the rotational speed of the electric motor the rotation speed of the winch in the (claim 2).

In the above-described winch operation control device for each crane, when the tension of the rope applied to the winch becomes larger than the set value, that is, when a high load is applied to the winch, power is supplied to the winch from both the electric motor and the hydraulic motor. Therefore, high torque can be applied to the winch. On the other hand, when the tension of the rope applied to the winch falls below the set value, that is, when only a low load is applied to the winch, the winch is driven only by the electric motor having better driving efficiency than the hydraulic motor. Efficiency can be improved. In this winch operation control device, when a high load is applied to the winch, the power for driving the winch is shared by the electric motor and the hydraulic motor, so that the winch is driven by the electric motor alone or the hydraulic motor alone. Thus, the torque required for each of the electric motor and the hydraulic motor is reduced. Further, when only a low load is applied to the winch, the winch is driven only by the electric motor, but the torque required for driving the winch at this time is small. Therefore, in this winch operation control device, it is possible to prevent the electric motor and the hydraulic motor from becoming large. Further, in this winch operation control device, the electric motor supplies power to the winch to operate the winch in both cases where the tension of the rope applied to the winch is larger than the set value and below the set value. When the rope tension applied to the winch increases from the set value or less to the set value or when the rope tension decreases from the set value to the set value or less, that is, the load applied to the winch changes from low load to high load or high When changing from a load to a low load, at least torque from the electric motor is always applied to the winch. For this reason, in the winch which raises / lowers the suspended load, it is possible to prevent the torque applied to the winch from dropping when the suspended load is raised / lowered. Moreover, in the winch for raising / lowering the raising / lowering member, it is possible to prevent the torque applied to the winch from falling off when the raising / lowering member is raised / lowered. Further, according to this configuration, when the tension of the rope applied to the winch is larger than the set value and power is supplied from both the electric motor and the hydraulic motor to the winch, the rotation speed of the winch depends on the operation amount of the operation lever. Therefore, it is possible to prevent interference between the rotational speed control of the electric motor and the rotational speed control of the hydraulic motor. If power is supplied to the winch from both the electric motor and the hydraulic motor, and if the rotational speed of the winch is controlled by controlling both the rotational speed of the electric motor and the hydraulic motor, the rotational speed control of the electric motor and the hydraulic pressure are controlled. There are cases where the rotational speed of the winch cannot be effectively controlled due to interference with the rotational speed control of the motor. On the other hand, in this configuration, since the rotational speed of the winch is controlled according to the rotational speed of the hydraulic motor when power is supplied from both the electric motor and the hydraulic motor to the winch, the rotational speed control of the electric motor as described above is performed. And the rotational speed control of the hydraulic motor can be prevented from occurring, and the rotational speed of the winch can be controlled effectively. Furthermore, in this configuration, when power is supplied from both the electric motor and the hydraulic motor to the winch, the motor operation is controlled so that the torque of the electric motor becomes a torque corresponding to the operation amount of the operation lever. It is possible to prevent an excessive torque from being output. Therefore, in this configuration, when power is supplied from both the electric motor and the hydraulic motor to the winch, the loss of torque is reduced, and the rotation speed and driving torque of the winch are adjusted in cooperation with both the electric motor and the hydraulic motor. The value can be controlled according to the operation amount. Also, in this configuration, when the rope tension applied to the winch is less than the set value and power is supplied to the winch only from the electric motor, the hydraulic motor does not operate, and according to the rotational speed of the electric motor according to the operation amount of the operation lever. Since the rotation speed of the winch is controlled, the rotation speed of the winch can be controlled to a rotation speed corresponding to the operation amount of the operation lever.

In the crane winch operation control device, when the rotation speed of the winch decreases or when the winch extends the rope, the electric power regenerated by the electric motor is stored and the winch rotates. it is preferable or when the winch increases the rate at which further comprises a power storage device for supplying electric power stored into the motor when winding the rope (claim 3).

  According to this configuration, in the winch that lifts and lowers the suspended load, kinetic energy and positional energy obtained when the rotation speed of the winch decreases or when the winch lowers the suspended load is regenerated as electric power, and the electric power is used. The electric motor can drive the winch when the rotational speed of the winch is increased or when the winch raises the suspended load. Further, in the winch for raising and lowering the hoisting member, the kinetic energy and potential energy obtained when the rotation speed of the winch is lowered or when the winch is lowered so as to tilt the hoisting member forward are regenerated as electric power. The electric motor can be used to drive the winch when the rotational speed of the winch is increased or when the winch winds up the hoisting member. Therefore, an energy saving effect can be obtained for both the winch for raising and lowering the suspended load and the winch for raising and lowering the hoisting member.

In the crane winch operation control device, the hydraulic motor can be switched between a power output state that outputs power and a power non-output state that does not output power, and the control mechanism is derived by the tension deriving device. When the tension of the rope is larger than the set value, the hydraulic motor is set to the power output state, and when the tension of the rope derived by the tension deriving device is equal to or less than the set value, it is preferable to the hydraulic motor to the power non-output state (claim 4).

  According to this configuration, when the tension of the rope applied to the winch derived by the tension deriving device is equal to or lower than the set value, the hydraulic motor is brought into a power non-output state, and therefore, regardless of the magnitude of the rope tension applied to the winch. Therefore, it is possible to reduce the power of the hydraulic pump required to supply the pressure oil for driving the hydraulic motor, compared with the case where the power is always output to the hydraulic motor. For this reason, the energy saving effect can be improved.

In this case, the hydraulic motor is of a variable displacement type, and the control mechanism includes a controller that controls the capacity of the hydraulic motor, and the controller is configured so that the tension of the rope derived by the tension deriving device is If it is larger than the set value, the hydraulic motor is brought into the power output state by setting the capacity of the hydraulic motor to a predetermined capacity, and the tension of the rope derived by the tension deriving device is less than the set value. In some cases, the hydraulic motor may be in the power non-output state by setting the capacity of the hydraulic motor to zero (claim 5 ).

  According to this configuration, when the tension of the rope derived by the tension deriving device is larger than the set value, the hydraulic motor is set to the power output state, and the rope tension derived by the tension deriving device is equal to or less than the set value. In this case, a control mechanism for causing the hydraulic motor to be in a power non-output state can be specifically configured.

In the configuration in which the control mechanism causes the hydraulic motor to be in a power output state when the rope tension is greater than a set value, and causes the hydraulic motor to be in a power non-output state when the rope tension is equal to or less than a set value. The hydraulic motor has an output shaft for outputting power from the hydraulic motor, the winch has an input shaft to which power output from the hydraulic motor is input, and the winch motion control device A connection state in which the output shaft and the input shaft are coupled to each other so that the output shaft of the hydraulic motor and the input shaft of the winch rotate integrally; The control mechanism further includes a clutch that switches to a disconnected state in which the output shaft and the input shaft are disconnected so that the input shaft can be relatively rotated. A controller for switching between a connected state and a disconnected state, wherein the controller causes the clutch to be in the connected state when the hydraulic motor is in the power output state, while the hydraulic motor is in the power non-output state. When doing so, the clutch may be in the disengaged state (claim 6 ).

  In this configuration, when the hydraulic motor is in a power non-output state and power is not supplied from the hydraulic motor to the winch but only power is supplied to the winch, the clutch is disengaged and the output shaft and winch of the hydraulic motor are disconnected. Is disconnected from the input shaft. For this reason, when driving a winch only with an electric motor, it can prevent that the load resulting from idling of a hydraulic motor is applied to an electric motor. As a result, the drive efficiency of the electric motor can be improved, and the energy saving effect can be improved.

Further, in the configuration in which the control mechanism causes the hydraulic motor to be in a power output state when the rope tension is greater than a set value, and causes the hydraulic motor to be in a power non-output state when the rope tension is equal to or less than a set value. The hydraulic motor has an output shaft for outputting power from the hydraulic motor, the winch has an input shaft to which power output from the hydraulic motor is input, and the winch motion control device is When the hydraulic motor is in the power output state and the output shaft rotates, the output shaft and the input shaft of the winch are connected to each other so that the output shaft and the input shaft rotate together. When the output shaft does not rotate because the hydraulic motor is in the power non-output state, the input shaft of the winch can be rotated relative to the output shaft. So as to better be provided with a one-way clutch to become disengaged to disconnect the input shaft and the output shaft (claim 7).

  According to this configuration, when the hydraulic motor changes from the power non-output state to the power output state and the output shaft of the hydraulic motor starts to rotate, the one-way clutch automatically switches from the disconnected state to the connected state. If the controller performs clutch disconnection / connection switching control in parallel with the operation control of the hydraulic motor, the timing at which the clutch is engaged is slightly less than the timing at which the output shaft of the hydraulic motor starts rotating. In this case, the rotational speed difference between the winch side of the clutch and the hydraulic motor side increases, and as a result, a shock is generated when the clutch is engaged. In this configuration, when the output shaft of the hydraulic motor starts rotating, the one-way clutch is automatically engaged, so that such a timing shift does not occur and the shock that occurs when the clutch switches to the connected state is suppressed. it can.

  As described above, according to the present invention, it is possible to apply a high torque to a winch when a high load is applied to the winch of the crane without increasing the size of the electric motor and the hydraulic motor, and It is possible to prevent the torque applied to the winch from being lost.

It is a schematic diagram for demonstrating the structure of the winch movement control apparatus of the crane by 1st Embodiment of this invention. It is a flowchart which shows the process of the operation control of the winch for suspended loads by the winch operation control apparatus of 1st Embodiment of this invention. It is a figure which shows the correlation with the operation amount of the operation lever which changes according to the operation amount of an accelerator pedal, and the rotation speed target value of the winch motor for suspended loads. It is a figure which shows the correlation with the operation amount of an accelerator pedal, and an engine speed. It is a schematic diagram for demonstrating the structure of the operation control apparatus of the winch of the crane by 2nd Embodiment of this invention. It is a schematic diagram for demonstrating the structure of the winch movement control apparatus of the crane by 3rd Embodiment of this invention. It is a flowchart which shows the process of the operation | movement control of the winch for suspended loads by the winch operation control apparatus of 3rd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(First embodiment)
First, a winch motion control device 1 according to a first embodiment of the present invention will be described with reference to FIG. The winch motion control device 1 according to the first embodiment is provided in a crane, and controls the operation of the suspended load winch 50. The suspended load winch 50 is mounted on the main body of the crane and is included in the concept of the winch of the present invention. The crane includes a hoisting member provided on the main body so as to be hoistable, and a suspended load is hung by a hook device that is hung from a tip of the hoisting member via a hanging rope. The suspended load winch 50 is mounted on the main body of the crane, and winds and unwinds the suspended rope to raise and lower the suspended load together with the hook device. The suspended load winch 50 decelerates the power (rotational force) output from the suspended load winch drum 50a around which the suspended rope is wound and the suspended load winch motor 2 and transmits it to the suspended load winch drum 50a. It has an electric motor-side speed reducer 50b and a hydraulic motor-side speed reducer 50c that decelerates the power (rotational force) output from the suspended load winch hydraulic motor 8 to be described later and transmits it to the suspended load winch drum 50a. The hanging rope extends from the lifting winch drum 50a toward the tip of the hoisting member, and is hung around the top sheave provided at the tip of the hoisting member and the hook sheave provided in the hook device a plurality of times. Moreover, the crane is equipped with the raising / lowering winch mounted in the main body and raising / lowering the raising / lowering member. The hoisting winch is actuated by the power output from the hoisting hydraulic motor to wind and unwind the hoisting rope connected to the hoisting member, thereby raising and lowering the hoisting member.

  The crane also instructs the engine 52, the power split mechanism 54 that distributes the power output from the engine 52 to the suspension hydraulic pump 10 and the hoisting hydraulic pump 16, which will be described later, and the increase / decrease in the rotational speed of the engine 52. An accelerator device 56 is provided. The accelerator device 56 includes an accelerator pedal 56a and an accelerator device body 56b. The accelerator device main body 56b outputs an accelerator signal indicating the operation amount (depression amount) of the accelerator pedal 56a to the controller 24 described later, and the controller 24 controls the engine 52 according to the operation amount of the accelerator pedal 56a indicated by the accelerator signal. Increase or decrease the rotational speed.

  The crane also includes an operating device 58 for operating the suspended load winch 50. The operating device 58 includes an operating lever 58a and an operating device body 58b. The operating lever 58a is used for operating the suspended load winch 50, and is supported by the operating device main body 58b so as to be tilted from one side to the other side, which is the opposite side. Yes. The operation device main body 58b generates a pilot pressure having a magnitude corresponding to the operation amount (tilt amount) from the neutral position of the operation lever 58a, and the pilot pressure is applied to two pilot ports 22a and 22b of the control valve 22 described later. Among them, the control lever 58a is supplied to the pilot port according to the operation direction (tilt direction) from the neutral posture. A detailed configuration related to the operation of the suspended load winch 50 according to the operation of the operation lever 58a will be described later.

  The winch motion control device 1 according to the first embodiment controls the lifting and lowering of the suspended load by controlling the operation of the suspended load winch 50. Specifically, the winch motion control device 1 includes a suspended load winch motor 2, a generator 4, a battery 6, a suspended load winch hydraulic motor 8, a suspended load hydraulic pump 10, and a moment limiter 12. The control mechanism 14 is provided.

  The suspended load winch motor 2 operates when electric power is supplied, and outputs power for driving the suspended load winch 50. This suspended load winch motor 2 is included in the concept of the electric motor of the present invention. The suspended load winch motor 2 has an output shaft 2a connected to the motor-side speed reducer 50b. The suspended load winch motor 2 outputs power (rotational force) to the motor-side speed reducer 50b through the output shaft 2a, and the output power is decelerated at a predetermined reduction ratio by the motor-side speed reducer 50b. Is transmitted to the winch drum 50a. The suspended load winch motor 2 lowers the suspended load when the rotational speed of the suspended load winch 50 (the rotational speed of the suspended load winch drum 50a) decreases or when the suspended load winch 50 extends the suspended rope. At times (when the suspended load is unwound), it functions as a generator and regenerates power.

  The suspended load winch motor 2 is electrically connected to the generator 4 via an inverter 25 and a converter 26 described later. The suspended load winch motor 2 is electrically connected to the battery 6 via the inverter 25, and the generator 4 is electrically connected to the battery 6 via the converter 26. The battery 6 is included in the concept of the power storage device of the present invention. The generator 4 is connected to a drive shaft 52a of the engine 52, operates by receiving power output from the engine 52 through the drive shaft 52a, and generates electric power. The electric power generated by the generator 4 is supplied to the hanging load winch motor 2 and a part of the electric power is stored in the battery 6. Further, the battery 6 stores electric power regenerated by the suspended load winch motor 2 functioning as a generator. Then, the battery 6 increases the rotational speed of the suspended load winch 50 (the rotational speed of the suspended load winch drum 50a) or when the suspended load winch 50 winds the suspended rope and raises the suspended load (suspended). At the time of winding the load, the stored electric power is supplied to the hanging winch motor 2 to operate the hanging load winch motor 2. That is, the suspended load winch motor 2 is operated by the electric power supplied from the generator 4 and / or the electric power supplied from the battery 6.

  The suspended load winch hydraulic motor 8 operates when pressure oil is supplied and outputs power for driving the suspended load winch 50. The suspended load winch hydraulic motor 8 is included in the concept of the hydraulic motor of the present invention. The suspended load winch hydraulic motor 8 has an output shaft 8a for outputting power, and the output shaft 8a is connected to the hydraulic motor-side speed reducer 50c. The suspended load winch hydraulic motor 8 outputs power (rotational force) to the hydraulic motor-side speed reducer 50c through the output shaft 8a, and the output power is decelerated at a predetermined reduction ratio by the hydraulic motor-side speed reducer 50c. To the suspended load winch drum 50a. The suspended load winch hydraulic motor 8 has an upper supply port 8b and a lower supply port 8c to which pressure oil is supplied. When the pressurized oil is supplied to the hoisting side supply port 8b, the suspended load winch hydraulic motor 8 operates to generate a rotational force for rotating the suspended load winch drum 50a in the direction of winding the suspended load. The rotational force of the rotational speed according to the flow volume of the pressure oil supplied to the winding side supply port 8b is output. Further, when the pressurized oil is supplied to the lowering supply port 8c, the suspended load winch hydraulic motor 8 generates a rotational force that rotates the suspended load winch drum 50a in the direction of lowering the suspended load. While operating, the rotational force of the rotation speed according to the flow volume of the pressure oil supplied to the lowering side supply port 8c is output.

  Further, the suspended load winch hydraulic motor 8 can be switched between a power output state in which power is output and a power non-output state in which power is not output. Specifically, the suspended load winch hydraulic motor 8 is of a variable capacity type, and when the capacity is set to a predetermined capacity, power is supplied when pressure oil is supplied to the suspended load winch hydraulic motor 8. A power output state in which output is possible, and when the capacity is set to 0, a power non-output state in which no power is output even when pressure oil is supplied to the suspended load winch hydraulic motor 8 is set. The capacity of the suspended load winch hydraulic motor 8 is controlled by a controller 24 described later.

  The suspended load hydraulic pump 10 discharges pressure oil for driving the suspended load winch hydraulic motor 8. The suspended hydraulic pump 10 is connected to the engine 52 via a power split mechanism 54 so as to receive power output from the engine 52. The power split mechanism 54 is connected to the hydraulic pump 16 for undulation that discharges pressure oil for driving the hydraulic motor for undulation. In other words, the power output from the engine 52 is distributed to the suspended hydraulic pump 10 and the hoisting hydraulic pump 16 by the power split mechanism 54, and the suspended hydraulic pump 10 and the hoisting hydraulic pump 16. Operates with the distributed power and discharges the pressure oil. The suspended load hydraulic pump 10 and the hoisting hydraulic pump 16 are both of a variable displacement type.

  The moment limiter 12 is a device that calculates the moment of a suspended load for preventing the crane from toppling over. Since the moment limiter 12 calculates the weight of the suspended load in the process of calculating the moment of the suspended load, in this embodiment, the moment limiter 12 is applied to the suspended load winch 50 based on the calculated weight of the suspended load. Calculate the tension of the suspension rope. Specifically, the moment limiter 12 calculates the tension of the hanging rope applied to the hanging load winch 50 based on the calculated weight of the suspended load and the number of hanging ropes hung around the top sheave and the hook sheave. To do. The data of the hung rope hung around the top sheave and the hook sheave is inputted by an operator or the like by an unillustrated input device provided on the crane, and the moment limiter 12 uses the inputted hull data. The tension of the suspension rope applied to the suspended load winch 50 is calculated. For example, when the number of hanging ropes to the top sheave and hook sheave is 4, the tension of the hanging rope applied to the hanging winch 50 is applied to the hanging winch 50 when the number of hanging ropes is 1. It becomes 1/4 of the tension of the suspension rope. The moment limiter 12 derives the tension of the suspension rope applied to the suspension load winch 50 based on such a relationship. Then, the moment limiter 12 sends the derived tension data of the suspension rope to the controller 24 described later. The moment limiter 12 is included in the concept of the tension derivation device of the present invention.

  The control mechanism 14 controls the operation of the suspended load winch motor 2 and the operation of the suspended load winch hydraulic motor 8 in accordance with the operation of the operation lever 58a, so that the suspended load winch 50 operates the operation lever 58a. The operation of the hanging load winch 50 is controlled so as to perform winding or unwinding of the corresponding hanging rope (winding or unwinding of the hanging load).

  Specifically, when the tension of the suspension rope applied to the suspended load winch 50 derived by the moment limiter 12 is larger than a preset value, the control mechanism 14 and the suspended load winch motor 2 are suspended. Both the load winch hydraulic motor 8 is supplied with power to the load winch 50 to operate the load winch 50, and the tension of the suspension rope applied to the load winch 50 derived by the moment limiter 12 is set as described above. If it is less than the value, power is not supplied from the suspended load winch hydraulic motor 8 to the suspended load winch 50, and only the suspended load winch motor 2 is supplied with power to the suspended load winch 50 for hanging load. The winch 50 is activated. In other words, the control mechanism 14 always operates the suspended winch motor 2 when the suspended load is raised or lowered regardless of the tension of the suspended rope applied to the suspended load winch 50 derived by the moment limiter 12. When power is supplied from the winch motor 2 to the suspended winch 50 and the tension of the suspended rope applied to the suspended winch 50 derived by the moment limiter 12 exceeds the set value, that is, to the suspended winch 50 Only when a high load is applied, the suspended load winch hydraulic motor 8 is operated to supply power from the suspended load winch hydraulic motor 8 to the suspended load winch 50. The suspended load winch 50 is operated by both the power of the suspended load winch motor 2. The set value is set to a value slightly smaller than the tension corresponding to the maximum torque of the suspended load winch motor 2. In addition, when the rope tension applied to the suspended load winch 50 is larger than the set value, the control mechanism 14 causes the suspended load winch hydraulic motor 8 to be in a power output state to thereby remove the suspended load winch hydraulic motor 8. When power is supplied to the suspended load winch 50 and the rope tension applied to the suspended load winch 50 is equal to or less than the set value, the suspended load winch hydraulic motor 8 is set in a power non-output state for suspended load. Power is not supplied from the winch hydraulic motor 8 to the suspended load winch 50.

  Further, when the tension of the suspension rope applied to the suspension load winch 50 derived by the moment limiter 12 is larger than the set value, the control mechanism 14 determines that the torque output from the suspension load winch motor 2 is the operation lever 58a. Torque control of the suspension winch motor 2 for controlling the operation of the suspension load winch motor 2 so as to obtain a torque corresponding to the operation amount from the neutral posture, and the operation amount from the neutral posture of the operation lever 58a. The number of rotations of the lifting winch 50 (the rotation of the lifting load winch drum 50a) is controlled by supplying the hydraulic oil of a corresponding flow rate to the lifting winch hydraulic motor 8 and controlling the rotation speed of the lifting winch hydraulic motor 8. (Number) is the number of revolutions corresponding to the number of revolutions of the lifting winch hydraulic motor 8. On the other hand, when the tension of the suspension rope applied to the suspension load winch 50 derived by the moment limiter 12 is equal to or less than the set value, the control mechanism 14 determines that the rotation speed of the suspension load winch motor 2 is equal to that of the operation lever 58a. The rotational speed of the suspended winch motor 2 is controlled so that the rotational speed of the suspended load winch motor 2 is controlled so that the rotational speed corresponds to the operation amount from the neutral posture, and the suspended load winch hydraulic motor 8 is not operated. Thus, the rotational speed of the suspended load winch 50 (the rotational speed of the suspended load winch drum 50a) is set to a rotational speed corresponding to the rotational speed of the suspended load winch motor 2.

  The control mechanism 14 includes a control valve 22, a hoisting pressure sensor 23 a, a lowering pressure sensor 23 b, a controller 24, an inverter 25, and a converter 26.

  The control valve 22 is a three-position switching valve for switching the direction in which the pressure oil discharged from the suspended load hydraulic pump 10 flows according to the operation state of the operation lever 58a. The control valve 22 is connected to the pressure oil discharge port of the hanging load hydraulic pump 10 through the supply path 27a, and the flow direction of the pressure oil sent from the hanging load hydraulic pump 10 through the supply path 27a. Switch. The supply passage 27a is provided with a check valve 29 for preventing the backflow of pressure oil from the control valve 22 side to the suspended load hydraulic pump 10 side. Further, the control valve 22 is connected to the hoisting-side winch hydraulic motor 8 via the hoisting-side oil passage 27b, and connected to the hoisting-load winch hydraulic motor 8 via the lowering-side oil passage 27c. It is connected to the lower supply port 8c. The control valve 22 is connected to a tank T that stores pressure oil. The control valve 22 includes a hoisting pilot port 22a connected to the operating device main body 58b via the hoisting pilot passage 28a, and a lowering pilot port connected to the operating device main body 58b via the lowering pilot passage 28b. 22b. When the operating lever 58a is operated from the neutral position to the hoisting side, the pilot pressure is supplied to the hoisting pilot port 22a from the operating device body 58b through the hoisting pilot path 28a. When the lever 58a is operated from the neutral position to the lowering side, the pilot pressure is supplied from the operating device body 58b through the lowering side pilot path 28b.

  The control valve 22 is configured such that the spool can move between the neutral position 22c, the winding position 22d, and the winding position 22e. In the control valve 22, the spool is positioned at the neutral position 22c when the operation lever 58a is in the neutral posture and the pilot pressure is not supplied from the operation device body 58b to the pilot ports 22a and 22b. The discharged pressure oil is allowed to flow into the tank T. Further, in the control valve 22, when the operating lever 58a is operated to the winding side and the pilot pressure is supplied from the operating device body 58b to the winding side pilot port 22a, the spool moves to the winding position 22d side accordingly. The suspended load winch hydraulic motor passes through the hoisting oil passage 27b and the oil passage 27d at a flow rate corresponding to the magnitude of the pilot pressure supplied to the hoisting pilot port 22a. 8 is supplied to the upper winding supply port 8b. Further, when the control lever 22 is operated to the lowering side by operating the operating lever 58a and the pilot pressure is supplied from the operating device main body 58b to the lowering side pilot port 22b, the spool is accordingly moved to the lowering position 22e side. The winch hydraulic motor for suspended loads through the unwinding oil passage 27c at a flow rate corresponding to the pilot pressure supplied to the unwinding pilot port 22b of the pressure oil discharged from the suspended load hydraulic pump 10 8 to the lower supply side 8c.

  A counter balance valve 30 is provided in the winding-up oil passage 27b. The counter balance valve 30 is provided with a hoisting-side oil when the hoisting-load winch hydraulic motor 8 is operated in a direction in which the hoisting-load winch hydraulic motor 8 is supplied to the hoisting load winch hydraulic motor 8 through the lowering-side oil passage 27c. A back pressure is generated in the path 27b to generate a braking force against the suspended load in the suspended winch hydraulic motor 8. Further, the oil passage 27 d is connected to the winding-up oil passage 27 b so as to bypass the counter balance valve 30. When pressure oil flows from the control valve 22 to the hoisting side oil passage 27b, the pressure oil flows to the hoisting side supply port 8b of the suspended winch hydraulic motor 8 through the oil passage 27d. The oil path 27d prevents pressure oil from flowing from the hoisting-side winch hydraulic motor 8 to the control valve 22 side from the hoisting-side winch hydraulic motor 8 side, while the hanging winch hydraulic motor 8 from the control valve 22 side. A check valve 27e is provided that allows the pressure oil to flow toward the hoisting supply port 8b.

  The hoisting pressure sensor 23a is connected to the hoisting pilot path 28a, and the pilot supplied from the operating device main body 58b to the hoisting pilot port 22a in response to the operation lever 58a being operated from the neutral position to the hoisting side. Detect pressure. The hoisting pressure sensor 23 a sends the detected pilot pressure data to the controller 24.

  The lowering pressure sensor 23b is connected to the lowering pilot path 28b, and from the operating device main body 58b to the lowering pilot port 22b in response to the operation lever 58a being operated from the neutral position to the lowering side. The supplied pilot pressure is detected. The lowering pressure sensor 23b sends the detected pilot pressure data to the controller 24.

  The controller 24 controls the rotation direction of the output shaft 2a of the suspended load winch motor 2, controls the rotation speed or output torque of the suspended load winch motor 2, and controls the capacity of the suspended load winch hydraulic motor 8. .

  Specifically, the controller 24 controls the operation of the suspended load winch motor 2 by sending a control signal to the inverter 25 and the converter 26 to supply current to the inverter 25 and the converter 26 to the suspended winch motor 2. The frequency is controlled, thereby causing the inverter 25 and the converter 26 to control the operation of the suspended load winch motor 2. Then, when the tension of the suspension rope applied to the suspended load winch 50 derived by the moment limiter 12 is larger than the set value, the controller 24 sends it from the hoisting pressure sensor 23a or the lowering pressure sensor 23b. Based on the pilot pressure data, the output shaft 2a of the suspension load winch motor 2 rotates in a direction corresponding to the operation direction from the neutral posture of the operation lever 58a, and the torque output from the suspension load winch motor 2 is controlled by the operation lever. The suspended winch motor 2 is operated by the inverter 25 and the converter 26 so as to have a torque corresponding to the operation amount 58a. That is, when the operation lever 58a is operated from the neutral posture to the hoisting side and the pilot pressure data is sent from the hoisting pressure sensor 23a, the controller 24 rotates the hoisting load winch drum 50a in the hoisting direction. The winch motor 2 for the suspended load is supplied to the inverter 25 and the converter 26 so that the output shaft 2a rotates in the direction and the suspended winch motor 2 outputs a torque corresponding to the magnitude of the pilot pressure detected by the hoisting pressure sensor 23a. Is activated.

  Further, when the operation lever 58a is operated from the neutral position to the lowering side and the pilot pressure data is sent from the lowering pressure sensor 23b, the controller 24 reverses the rotation direction of the output shaft 2a. Except for the above, the inverter 25 and the converter 26 are operated to operate the suspended winch motor 2 in the same manner as when the operation lever 58a is operated to the winding side. When the rope tension applied to the suspended load winch 50 is larger than the above setting, the controller 24 sets the capacity of the suspended load winch hydraulic motor 8 to a predetermined capacity set in advance. The winch hydraulic motor 8 is brought into a power output state. As a result, when the operating lever 58a is operated and pressure oil having a flow rate corresponding to the operation amount of the operating lever 58a is supplied to the supply port 8b or 8c of the hanging winch hydraulic motor 8 corresponding to the operating direction, The suspended load winch hydraulic motor 8 operates in a direction corresponding to the operation direction of the operation lever 58a, and can operate at a rotation speed (rotational speed) corresponding to the operation amount from the neutral posture of the operation lever 58a. .

  Further, when the tension of the suspension rope applied to the suspension load winch 50 derived by the moment limiter 12 is equal to or lower than the set value, the controller 24 sends the controller 24 from the winding-up pressure sensor 23a or the rolling-down pressure sensor 23b. Based on the pilot pressure data, the output shaft 2a of the suspended load winch motor 2 rotates in a direction corresponding to the operation direction from the neutral posture of the operation lever 58a and the rotation speed (rotational speed) of the suspended load winch motor 2 is reached. Causes the inverter 25 and the converter 26 to actuate the suspended winch motor 2 so that the number of revolutions corresponds to the amount of operation of the operation lever 58a. The operation control of the suspended load winch motor 2 in this case is performed except that the rotational speed of the suspended load winch motor 2 is controlled instead of controlling the output torque of the suspended load winch motor 2. This is the same as the operation control of the suspended load winch motor 2 when the rope tension applied to 50 is larger than the set value. Further, when the rope tension applied to the suspended load winch 50 is equal to or less than the set value, the controller 24 sets the capacity of the suspended load winch hydraulic motor 8 to 0 so that the suspended load winch hydraulic motor 8 is Turn off the power. Thus, even if the operating lever 58a is operated and pressure oil is supplied to the suspended load winch hydraulic motor 8, the suspended load winch hydraulic motor 8 does not operate, and the suspended load winch hydraulic motor 8 does not operate. Is not powered.

  The controller 24 controls the rotational speed of the engine 52 in accordance with the operation amount of the accelerator pedal 56a indicated by the accelerator signal sent from the accelerator device body 56b. When the rope 24 tension applied to the suspended load winch 50 derived by the moment limiter 12 is larger than the set value, the controller 24 operates both the suspended load winch motor 2 and the suspended load winch hydraulic motor 8. In the case where the rotational speed of the engine 52 is controlled in accordance with the operation amount of the accelerator pedal 56a, the rope tension applied to the suspended load winch 50 is less than the set value, and only the suspended load winch motor 2 is operated. The rotational speed of the engine 52 is reduced. In addition, the controller 24 sets a rate of increase / decrease in the rotation speed of the suspension winch motor 2 with respect to increase / decrease in the operation amount of the operation lever 58a according to the operation amount of the accelerator pedal 56a indicated by the accelerator signal sent from the accelerator device body 56b. adjust. Specifically, when the operation amount of the accelerator pedal 56a is large, the rate of increase / decrease of the rotation speed of the suspension winch motor 2 with respect to the increase / decrease of the operation amount of the operation lever 58a is increased, and the operation amount of the accelerator pedal 56a is small. In this case, the rate of increase / decrease in the rotation speed of the suspended load winch motor 2 with respect to increase / decrease in the operation amount of the operation lever 58a is reduced.

  Next, a process for controlling the operation of the suspended load winch 50 by the winch operation control device 1 according to the first embodiment of the present invention will be described.

  First, the moment limiter 12 derives the tension (winch line pull) of the suspension rope applied to the suspended load winch 50 (step S2 in FIG. 2).

  Next, the controller 24 determines whether or not the rope tension applied to the suspended load winch 50 derived by the moment limiter 12 is larger than the preset value (step S4). If the controller 24 determines that the rope tension applied to the suspended load winch 50 is greater than the set value, the controller 24 performs torque control of the suspended load winch motor 2 (step S6).

  In the torque control of the suspended load winch motor 2, the controller 24 sets a target value of the torque to be output to the suspended load winch motor 2, and the torque actually output by the suspended load winch motor 2 is the set torque. The inverter 25 and the converter 26 are caused to control the operation of the suspended load winch motor 2 so as to reach the target value. At this time, the controller 24 sets the torque target value as follows.

  First, when hoisting a suspended load at a constant speed, the controller 24 uses the torque target value of the suspended load winch motor 2 as a torque target value to balance the load torque of the suspended load winch motor 2 (hereinafter referred to as the motor load torque). Ask for. The controller 24 multiplies the rope tension applied to the suspended load winch 50 by the effective radius of the suspended load winch 50 (the rope winding radius of the suspended load winch drum 50a) and divides it by the reduction ratio of the motor-side speed reducer 50b. Thus, the motor load torque is calculated. The power running direction torque is a forward torque with respect to the rotation direction of the suspended load winch motor 2.

  Further, since the inertial force in the acceleration direction acts when accelerating the lifting of the suspended load, the controller 24 adds the power running direction torque corresponding to the inertial force to the motor load torque calculated as described above, thereby generating a torque target. Find the value. Here, when the controller 24 detects that the operation lever 58a is suddenly operated to the hoisting side based on the pilot pressure data sent from the hoisting pressure sensor 23a, the controller 24 adds it to the motor load torque. The torque target value may be obtained by increasing the power running direction torque.

  Further, at the time of deceleration of lifting the suspended load, the controller 24 obtains a torque target value by subtracting a torque corresponding to the inertial force in the deceleration direction from the motor load torque calculated as described above. The torque target value obtained in this way is a torque target value that causes the suspended winch motor 2 to regenerate electric power when the suspended load is decelerated, and the output torque of the suspended load winch motor 2 is the torque target value. The controller 24 causes the inverter 25 and the converter 26 to control the operation of the hanging winch motor 2 so that the value becomes a value, so that the kinetic energy of the hanging winch motor 2 is regenerated into electric power in the hanging winch motor 2. The

  When the suspended load is lowered at a constant speed, the controller 24 obtains a regenerative direction torque that balances the rope tension applied to the suspended load winch 50 as the torque target value of the suspended load winch motor 2. This regenerative direction torque is a torque in the opposite direction to the rotational direction of the suspended load winch motor 2. Further, at the time of deceleration of the suspension of the suspended load, the controller 24 obtains a torque target value by adding a torque corresponding to the inertia force in the deceleration direction to the regeneration direction torque. The torque target value obtained in this way is a torque target value that causes the suspended load winch motor 2 to regenerate electric power when unwinding the suspended load at a constant speed and when decelerating the suspended load. The controller 24 causes the inverter 25 and the converter 26 to control the operation of the suspension winch motor 2 so that the output torque of the winch motor 2 becomes the torque target value, so that the potential energy of the suspension load in the suspension winch motor 2 is increased. Alternatively, the kinetic energy of the suspended load winch motor 2 is regenerated into electric power.

  When accelerating the hanging of the suspended load, the controller 24 obtains a torque target value by subtracting a torque corresponding to the inertia force in the acceleration direction from the regeneration direction torque. When it is desired to rapidly accelerate the hanging of the suspended load, the controller 24 may obtain the torque in the power running direction instead of the torque in the regeneration direction as the torque target value of the suspended load winch motor 2.

  Next, the rotational speed control of the suspended load winch hydraulic motor 8 is performed in accordance with the operation amount of the operation lever 58a (step S8). Specifically, the operation of the suspended load winch hydraulic motor 8 is controlled so that the number of rotations of the suspended load winch hydraulic motor 8 becomes the number of rotations according to the operation amount from the neutral posture of the operation lever 58a. At this time, the controller 24 sets the capacity of the suspended load winch hydraulic motor 8 to a predetermined capacity. In this state, the pilot pressure of the magnitude corresponding to the operation amount from the neutral posture of the operating lever 58a is supplied from the operating device main body 58b to the upper pilot port 22a or the lower pilot port 22b of the control valve 22, Reference numeral 22 denotes a hoisting load supply port 8b or lowering side of the hoisting load winch hydraulic motor 8 at a flow rate corresponding to the pilot pressure supplied to the control valve 22 with the hydraulic oil discharged from the hoisting load hydraulic pump 10. When supplied to the supply port 8c, the suspended load winch hydraulic motor 8 operates at a rotational speed corresponding to the flow rate of the supplied pressure oil. As a result, the suspended load winch hydraulic motor 8 is driven such that the number of rotations thereof increases or decreases according to the increase or decrease of the operation amount from the neutral posture of the operation lever 58a.

  As described above, when the suspended load winch motor 2 is torque-controlled, and the suspended load winch hydraulic motor 8 is driven by being supplied with pressure oil having a flow rate corresponding to the operation amount of the operation lever 58a. Is a hydraulic circuit (winding upper oil passage 27b, lowering) connected to the lifting winch hydraulic motor 8 when the torque output from the lifting winch motor 2 is insufficient with respect to the load torque of the lifting winch 50. The pressure oil in the side oil passage 27c and the control valve 22) is compressed according to the shortage of the torque, and a holding pressure corresponding to the shortage of the torque is generated in the hydraulic circuit. As a result, the total torque of the output torque of the suspended load winch motor 2 and the output torque of the suspended load winch hydraulic motor 8 (torque for driving the suspended load winch 50) and the suspended load winch 50 are automatically set. Balance with the rope tension applied to the cable. On the other hand, the rotational speed of the suspended load winch drum 50 a is controlled to a speed according to the rotational speed of the suspended load winch hydraulic motor 8.

  Next, the controller 24 controls the rotational speed of the engine 52 in accordance with the operation amount of the accelerator pedal 56a (step S10). Specifically, the controller 24 rotates the engine 52 at a rotation speed corresponding to the operation amount of the accelerator pedal 56a according to the correlation between the operation amount of the accelerator pedal 56a and the rotation speed of the engine 52 indicated by a solid line in FIG. The engine 52 is controlled so as to be a number.

  On the other hand, if the controller 24 determines in step S4 that the rope tension applied to the suspended load winch 50 is not greater than the set value, that is, less than or equal to the set value, then the suspended load winch. Speed control (rotational speed control) of the electric motor 2 is performed (step S12). Specifically, the controller 24 detects the operation amount from the neutral posture of the operation lever 58a based on the pilot pressure data sent from the hoisting pressure sensor 23a or the lowering pressure sensor 23b and The inverter 25 and the converter 26 are controlled to operate the suspended winch motor 2 so that the rotational speed of the winch motor 2 becomes the rotational speed corresponding to the detected operation amount of the operating lever 58a. At this time, based on the correlation shown in FIG. 3, the controller 24 obtains the rotation speed target value of the suspended load winch motor 2 according to the operation amount of the operation lever 58 a and the operation amount of the accelerator pedal 56 a, The inverter 25 and the converter 26 are allowed to control the operation of the suspended load winch motor 2 so that the actual rotation number of the suspended load winch motor 2 becomes the calculated rotation number target value. Note that the correlation shown in FIG. 3 is such that the rate of increase / decrease in the rotation speed target value with respect to increase / decrease in the operation amount of the operation lever 58a increases as the operation amount of the accelerator pedal 56a increases.

  Next, the suspended load winch hydraulic motor 8 is controlled so that the power output from the suspended load winch hydraulic motor 8 becomes zero (step S14). Specifically, the controller 24 sets the capacity of the suspended load winch hydraulic motor 8 to 0, and even if the operating lever 58a is operated and pressure oil is supplied to the suspended load winch hydraulic motor 8, the controller 24 The winch hydraulic motor 8 is prevented from operating. As a result, the suspended load winch 50 is driven only by the suspended load winch motor 2. At this time, the controller 24 minimizes the capacity of the suspended load hydraulic pump 10 to minimize the power required to drive the suspended load hydraulic pump 10.

  Next, the controller 24 determines whether or not there is a combined operation of another hydraulic actuator, for example, a hoisting hydraulic motor (step S16). If the controller 24 determines that there is a combined operation of another hydraulic actuator, the controller 24 controls the rotational speed of the engine 52 in accordance with the operation amount of the accelerator pedal 56a in step S10.

  On the other hand, if the controller 24 determines that there is no combined operation of the other hydraulic actuators, it performs a reduction control of the rotational speed of the engine 52 (step S18). At this time, the controller 24 controls the driving of the engine 52 so that the rotational speed of the engine 52 becomes a constant low speed regardless of the operation amount of the accelerator pedal 56a, as shown by the broken line in FIG.

  In the winch motion control device 1 according to the first embodiment, the series of control steps as described above are repeatedly performed.

  In the first embodiment, when the tension of the suspension rope applied to the suspended load winch 50 becomes larger than a set value, that is, when a high load is applied to the suspended load winch 50, the suspended load winch motor 2 and Since power is supplied from both the suspended load winch hydraulic motor 8 to the suspended load winch 50, a high torque can be applied to the suspended load winch 50. On the other hand, when the tension of the suspension rope applied to the suspended load winch 50 is lower than the set value, that is, when the suspended load winch 50 is applied only with a low load, the suspended load has better driving efficiency than the hydraulic motor. Since the suspended load winch 50 is driven only by the winch motor 2, the drive efficiency of the suspended load winch 50 can be improved. In the first embodiment, when a heavy load is applied to the suspended load winch 50, power for driving the suspended load winch 50 is supplied by the suspended load winch motor 2 and the suspended load winch hydraulic motor 8. Compared with the case where the suspended load winch motor 2 and the suspended load winch hydraulic motor 8 are driven alone, the suspended load winch motor 2 and the suspended load winch hydraulic motor 8 are respectively compared with each other. The required torque becomes smaller. Further, in this first embodiment, when only a low load is applied to the suspended load winch 50, the suspended load winch 50 is driven only by the suspended load winch motor 2, but the suspended load winch 50 at this time The torque required for driving is small. Therefore, in the first embodiment, it is possible to prevent the suspension load winch motor 2 and the suspension load winch hydraulic motor 8 from being enlarged.

  Furthermore, in this first embodiment, the suspended winch motor 2 is suspended in both cases where the tension of the suspended rope applied to the suspended load winch 50 is larger than the set value and below the set value. In order to supply power to the working winch 50 to operate the suspended load winch 50, when the tension of the suspension rope applied to the suspended load winch 50 becomes larger than the set value from below the set value or from the state larger than the set value. When the load is lowered below the set value, that is, when the load applied to the suspended load winch 50 changes from a low load to a high load or from a high load to a low load, at least the torque from the suspended load winch motor 2 is always suspended. It is given to the cargo winch 50. For this reason, it is possible to prevent the torque applied to the suspended load winch 50 during lifting / lowering of the suspended load from occurring. For this reason, when the grounding operation of the suspended load is performed, the suspended load is separated from the ground, and the entire load of the suspended load is applied to the suspended load winch 50 via the suspension rope. As a result, the load applied to the suspended load is reduced. Even when the load changes from low to high, the torque applied to the suspended winch 50 is prevented from coming off, and the lifting speed of the suspended load becomes discontinuous or the suspended load is shocked and suspended. It is possible to prevent the load from coming off.

  Further, in the first embodiment, the rope tension applied to the suspended load winch 50 derived by the moment limiter 12 becomes larger than the set value, and the suspended load winch motor 2 and the suspended load winch hydraulic motor 8 are suspended. When power is supplied to the load winch 50, the rotational speed of the suspended load winch 50 is controlled by the rotational speed of the suspended load winch hydraulic motor 8 according to the operation amount from the neutral posture of the operation lever 58a. Thus, it is possible to prevent interference between the rotational speed control of the suspended load winch motor 2 and the rotational speed control of the suspended load winch hydraulic motor 8. If power is supplied from both the suspended load winch motor 2 and the suspended load winch hydraulic motor 8 to the suspended load winch 50, the rotation speed of the suspended load winch motor 2 and the rotation of the suspended load winch hydraulic motor 8 will be described. If the number of rotations of the suspended load winch 50 is controlled by controlling both of the numbers, the rotation number control of the suspended load winch motor 2 and the rotation number control of the suspended load winch hydraulic motor 8 interfere with each other. In some cases, the rotational speed of the suspended load winch 50 cannot be effectively controlled. In this case, cavitation may occur in the hydraulic circuit (winding upper oil passage 27b, lowering oil passage 27c and control valve 22) connected to the suspended load winch hydraulic motor 8. In contrast, in the first embodiment, the rotation of the suspended winch hydraulic motor 8 is performed when power is supplied from both the suspended load winch motor 2 and the suspended load winch hydraulic motor 8 to the suspended load winch 50. Since the rotational speed of the suspended load winch 50 is controlled in accordance with the number, the interference between the rotational speed control of the suspended load winch motor 2 and the rotational speed control of the suspended load winch hydraulic motor 8 occurs. Thus, the rotational speed of the suspended load winch 50 can be effectively controlled, and cavitation can be prevented from occurring in the suspended load winch hydraulic motor 8.

  In the first embodiment, when power is supplied from both the suspended load winch motor 2 and the suspended load winch hydraulic motor 8 to the suspended load winch 50, the torque of the suspended load winch motor 2 is controlled by the operating lever 58a. Since the operation of the lifting winch motor 2 is controlled so that the torque corresponds to the operation amount from the neutral posture, it is possible to prevent the unnecessary lifting torque from being output to the lifting winch motor 2. it can. Therefore, in the first embodiment, when power is supplied from both the suspended load winch motor 2 and the suspended load winch hydraulic motor 8 to the suspended load winch 50, the loss load is reduced while the torque is reduced. Both the winch motor 2 and the suspended load winch hydraulic motor 8 can control the rotation speed and drive torque of the suspended load winch 50 to values corresponding to the operation amount from the neutral posture of the operation lever 58a.

  In the first embodiment, when the tension of the suspension rope applied to the suspended load winch 50 is equal to or lower than the set value and power is supplied from only the suspended load winch motor 2 to the suspended load winch 50, The winch hydraulic motor 8 does not operate, and the rotational speed of the suspended load winch 50 is controlled according to the rotational speed of the suspended load winch motor 2 in accordance with the operation amount from the neutral posture of the operation lever 58a. The rotational speed of the suspended load winch 50 can be controlled to a rotational speed corresponding to the operation amount of the operation lever 58a.

  In the first embodiment, the battery 6 stores the electric power regenerated by the suspension winch motor 2 when the rotational speed of the suspension load winch 50 decreases or when the suspension load winch 50 lowers the suspension load. When the rotational speed of the suspended load winch 50 increases or when the suspended load winch 50 winds up the suspended load, the stored electric power is supplied to the suspended load winch motor 2, so that the rotational speed of the suspended load winch 50 decreases. The kinetic energy and positional energy obtained when the suspended load winch 50 lowers the suspended load is regenerated as electric power, and the electric power is used to increase the rotational speed of the suspended load winch 50 or the suspended load winch 50. When the suspended load is wound up, the suspended load winch motor 2 can be driven by the suspended load winch motor 2. For this reason, the energy saving effect can be acquired.

  In the first embodiment, when the rope tension applied to the suspended load winch 50 derived by the moment limiter 12 is equal to or less than the set value, the capacity of the suspended load winch hydraulic motor 8 is set to 0 and the suspended load is In order to make the winch hydraulic motor 8 in a power non-output state, for example, compared to a configuration in which power is always output to the suspended winch hydraulic motor 8 regardless of the magnitude of the rope tension applied to the suspended load winch 50, The power of the suspended load hydraulic pump 10 required to supply pressure oil for driving the suspended load winch hydraulic motor 8 can be reduced. For this reason, the energy saving effect can be improved.

  In the first embodiment, when the suspended load winch 50 is driven only by the suspended load winch motor 2, the engine 52 is controlled to reduce the number of revolutions, so that the fuel consumption of the engine 52 can be reduced. The energy saving effect can be enhanced.

(Second Embodiment)
Next, a crane winch motion control apparatus 1 according to a second embodiment of the present invention will be described with reference to FIG.

  In the second embodiment, the suspension load hydraulic pump 10 and the undulation hydraulic pump 16 are not driven by the power of the engine, but the suspension load hydraulic pump 10 and the undulation hydraulic pump 16 are driven by an electric motor. Different from the embodiment.

  Specifically, in the second embodiment, the crane 31 has a hydraulic pump drive motor 31 for hoisting load, a hydraulic pump drive motor 32 for hoisting load, a hydraulic pump side inverter 34 for hoisting load, and a hoisting hydraulic pump side. An inverter 36 is provided. The power output shaft 31a of the suspension load hydraulic pump drive motor 31 is connected to the suspension load hydraulic pump 10, and the suspension load hydraulic pump drive motor 31 is connected to the suspension load hydraulic pump through the output shaft 31a. Power is supplied to 10, and the suspended load hydraulic pump 10 is operated. The power output shaft 32a of the undulating hydraulic pump driving motor 32 is connected to the undulating hydraulic pump 16, and the undulating hydraulic pump driving motor 32 is connected to the undulating hydraulic pump 16 through the output shaft 32a. Power is supplied and the hydraulic pump 16 for undulation is operated.

  In the second embodiment, the suspended load winch motor 2 is electrically connected to an external power source via the inverter 25 instead of the battery. Moreover, in this 2nd Embodiment, the generator and converter are not provided in the crane. In the second embodiment, the controller 24 controls the rotation direction, torque control, and speed of the suspended load winch motor 2 by causing the inverter 25 to control the frequency of the current supplied from the external power source to the suspended load winch motor 2. Control (rotational speed control) is performed. The suspension load hydraulic pump drive motor 31 is electrically connected to an external power source via the suspension load hydraulic pump side inverter 34, and the undulation hydraulic pump drive motor 32 is connected to the undulation hydraulic pump side. The inverter 36 is electrically connected to an external power source. The controller 24 controls the number of rotations of the suspension hydraulic pump drive motor 31 by causing the suspension hydraulic pump side inverter 34 to control the frequency of the current supplied from the external power source to the suspension hydraulic pump drive motor 31. It can be controlled. Further, the controller 24 controls the number of rotations of the undulation hydraulic pump drive motor 32 by causing the undulation hydraulic pump side inverter 36 to control the frequency of the current supplied from the external power source to the undulation hydraulic pump drive motor 32. It can be done.

  The other configuration of the crane in the second embodiment is the same as that of the crane in the first embodiment, and the configuration of the winch motion control device 1 applied to the crane of the second embodiment is the same as that in the first embodiment. It is the same as that of the structure of the winch operation control apparatus 1 of 1 embodiment.

(Third embodiment)
Next, with reference to FIG. 6, the winch movement control apparatus 1 by 3rd Embodiment of this invention is demonstrated.

  The winch motion control device 1 according to the third embodiment has a state in which the output shaft 8a of the power of the suspended load winch hydraulic motor 8 and the input shaft 50d of the power of the suspended load winch 50 are connected and disconnected by the clutch 40. Is different from the winch motion control device 1 according to the first embodiment in that it is configured to be switched to.

  Specifically, the winch motion control device 1 according to the third embodiment includes a power output shaft 8 a of the suspended load winch hydraulic motor 8 and a power input shaft 50 d of the hydraulic motor side speed reducer 50 c of the suspended load winch 50. And a clutch 40 provided between the two. The input shaft 50d is included in the concept of the input shaft of the winch to which power output from the hydraulic motor of the present invention is input. The clutch 40 has a connection state in which the output shaft 8a and the input shaft 50d of the suspended load winch hydraulic motor 8 and the input shaft 50d of the suspended load winch 50 are coupled together so that the output shaft 8a and the input shaft 50d rotate together. The output shaft 8a of the suspended load winch 50 is switched to a disconnected state in which the input shaft 50d is separated from the output shaft 8d so that the input shaft 50d of the suspended load winch 50 can rotate relative to the output shaft 8a of the suspended load winch hydraulic motor 8. It is configured as follows.

  The controller 24 of the control mechanism 14 controls the clutch 40 to be switched between a connected state and a disconnected state. Specifically, when the rope tension applied to the suspended load winch 50 derived by the moment limiter 12 is greater than the set value and the controller 24 sets the suspended load winch hydraulic motor 8 to the power output state, the controller 24 A control signal instructing 40 to be in a connected state is sent to clutch 40, thereby causing clutch 40 to be in a connected state. On the other hand, the controller 24 disengages the clutch 40 when the rope tension applied to the suspended load winch 50, which is derived by the moment limiter 12, becomes equal to or lower than the set value and causes the suspended load winch hydraulic motor 8 to be in a power non-output state. A control signal instructing to enter the state is sent to the clutch 40, thereby causing the clutch 40 to be disengaged.

  The other configuration of the crane and winch motion control device 1 according to the third embodiment is the same as that of the crane and winch motion control device 1 according to the first embodiment.

  Next, with reference to FIG. 7, the process of operation control of the lifting winch 50 by the winch operation control device 1 of the third embodiment will be described.

  In the operation control of the suspended load winch 50 in the third embodiment, steps S22, S24, which are the same as the processes in steps S2, S4, S6, S8, S10, S12, S14, S16, and S18 in the first embodiment. The processes of S26, S28, S30, S32, S34, S36 and S38 are performed. However, in this third embodiment, after the rope tension applied to the suspended load winch 50 becomes larger than the set value and the torque control of the suspended load winch motor 2 is performed (step S26), the controller 24 performs the clutch operation. 40 is connected (step S27), and thereafter, the rotational speed control of the suspended load winch hydraulic motor 8 is performed according to the operation amount of the operation lever 58a (step S28). In the third embodiment, the rope tension applied to the suspended load winch 50 becomes equal to or lower than the set value, and the speed control of the suspended load winch motor 2 is performed (step S32). Is cut (step S33), and thereafter, the power output from the suspended load winch hydraulic motor 8 is controlled to 0 (step S34).

  The other configuration of the operation control process of the suspended load winch 50 according to the third embodiment is the same as that of the operation control process of the suspended load winch 50 according to the first embodiment.

  In the third embodiment, when the rope tension applied to the suspended load winch 50 becomes equal to or lower than the set value and the suspended load winch 50 is driven only by the suspended load winch motor 2, the clutch 40 is suspended in the disconnected state. Transmission of power between the load winch hydraulic motor 8 and the suspended load winch 50 is cut off. For this reason, when the suspended load winch 50 is driven only by the suspended load winch motor 2, it is possible to prevent a load resulting from idling of the suspended load winch hydraulic motor 8 from being applied to the suspended load winch motor 2. As a result, the drive efficiency of the suspended load winch motor 2 can be improved, and the energy saving effect can be improved.

  The other effects of the winch motion control device 1 of the third embodiment are the same as the effects of the winch motion control device 1 of the first embodiment.

  The embodiment disclosed this time should be considered as illustrative in all points and not restrictive. The scope of the present invention is shown not by the above description of the embodiments but by the scope of claims for patent, and further includes meanings equivalent to the scope of claims for patent and all modifications within the scope.

  For example, in the third embodiment, the clutch 40 provided in the power transmission path between the suspended load winch hydraulic motor 8 and the suspended load winch 50 is a one-way clutch, and the controller 24 connects / disconnects the clutch. The clutch connection / disconnection may be automatically switched according to the presence / absence of power output from the suspended winch hydraulic motor 8 without performing the switching control. In this configuration, when the suspended load winch hydraulic motor 8 is in a power output state and its output shaft 8a rotates, the one-way clutch is input to the output shaft 8a and the hydraulic motor side speed reducer 50c of the suspended load winch 50. The output shaft 8a and the input shaft 50d are connected to each other so that the shaft 50d rotates integrally, and the power of the suspended load winch hydraulic motor 8 is transmitted to the hydraulic motor-side speed reducer 50c. On the other hand, in the one-way clutch, when the suspended load winch hydraulic motor 8 is in a power non-output state and the output shaft 8a does not rotate, the hydraulic motor side speed reducer 50c of the suspended load winch 50 does not rotate relative to the output shaft 8a. The input shaft 50d is in a cut state in which the output shaft 8a and the input shaft 50d are separated so as to be relatively rotatable.

  According to this configuration, the one-way clutch is automatically activated when the suspended load winch hydraulic motor 8 changes from the power non-output state to the power output state and the output shaft 8a of the suspended load winch hydraulic motor 8 starts to rotate. Switch from disconnected state to connected state. If the controller 24 controls the disconnection / connection switching of the clutch 40 in parallel with the operation control of the suspension load winch hydraulic motor 8, the timing at which the clutch 40 is brought into the connected state is the suspension load winch hydraulic motor. 8 is slightly later than the timing at which the output shaft 8a starts to rotate. In this case, the output shaft 8a of the suspended load winch hydraulic motor 8 and the input shaft 50d of the hydraulic motor-side speed reducer 50c As a result, a shock occurs when the clutch 40 is engaged. On the other hand, in this configuration, when the output shaft 8a of the suspended load winch hydraulic motor 8 starts to rotate, the one-way clutch is automatically connected, so that such a timing shift does not occur and the clutch is connected. The shock that occurs when switching to the state can be suppressed.

Further, in the above embodiment, the torque control of the suspended load winch motor when supplying power from both winch motor and of the suspended load winch hydraulic motor suspended load to suspended load winch, instead, reference example The operation of the suspended load winch motor may be controlled so that the suspended load winch motor outputs a constant torque.

  In the above embodiment, the moment limiter derives the rope tension applied to the suspended load winch. However, the rope tension applied to the suspended load winch may be obtained by other means. For example, the weight of a suspended load is detected by a load cell provided in the hook device, and a controller is obtained from the weight of the suspended load detected by the load cell and information on the multiplication between the top sheave and the hook sheave of the suspended rope that has been input in advance. The rope tension applied to the suspended load winch may be calculated.

  Further, instead of the battery 10, a capacitor may be used as a power storage device.

  In addition, the crane includes a lower body and an upper swing body mounted on the lower body so as to be freely rotatable. A swing hydraulic motor for rotating the upper swing body is another hydraulic actuator. It may be provided as. In this case, the swing hydraulic pump that supplies pressure oil to the swing hydraulic motor is connected to the power split mechanism that distributes the engine power and is operated by the engine power distributed by the power split mechanism. It may be. Further, instead of the turning hydraulic motor, a turning electric motor for turning the upper turning body may be provided.

  In addition, when controlling the rotation speed of the suspended load winch hydraulic motor according to the operation amount of the operation lever, the controller loads the suspended load according to the increase or decrease of the flow rate of the pressure oil supplied to the suspended load winch hydraulic motor. The capacity of the hydraulic pump may be increased or decreased. In this case, when the load of the suspended load applied to the suspended load winch is small, the capacity of the suspended load winch hydraulic motor is reduced. Therefore, the rotational speed of the suspended load winch hydraulic motor is larger than that when the suspended load is large. The operation of the hydraulic motor is controlled so as to increase.

  In addition, when hoisting a suspended load at a constant speed and when accelerating the lifting of the suspended load, the controller sets a target torque for torque control of the suspended load winch motor to a torque equal to the maximum torque in the power running direction of the suspended load winch motor. May be set.

  In addition, when the suspended load is lowered at a constant speed and when the suspended load is decelerated, the controller equals the target torque for torque control of the suspended load winch motor to the maximum torque in the regeneration direction of the suspended load winch motor. The torque may be set.

  In the third embodiment, when the rope tension applied to the suspended load winch derived by the moment limiter is equal to or less than the set value, the controller sets the suspended load winch hydraulic motor to a power non-output state. Specifically, power may be prevented from being supplied from the suspension winch hydraulic motor to the suspension winch by disengaging the clutch without setting the suspension capacity to zero.

  In each of the above-described configurations, the suspended winch hydraulic motor is brought into a non-power output state by setting the capacity of the suspended winch hydraulic motor to 0. However, the suspended winch hydraulic motor is not powered by any other method. You may be in the output state. For example, the hydraulic oil discharged from the hanging load hydraulic pump is caused to flow to the tank through the control valve so that the pressurized oil is not supplied to the hanging load winch hydraulic motor so that the hanging load winch hydraulic motor is in a power non-output state. Good. In this case, the control valve is configured such that the upper oil passage and the lower oil passage communicate with each other in the control valve, or the communication that connects the upper oil passage and the lower oil passage outside the control valve. Means may be provided.

  Further, a large capacity battery or a fuel cell may be used instead of the battery or the external power source.

In addition, the control mechanism controls the electric motor so that the torque output by the electric motor becomes a torque corresponding to the operation amount of the operation lever when the rope tension derived by the tension deriving device is larger than a preset set value. Instead of controlling, as a reference example, the motor may be controlled so that the motor outputs a constant torque, and the motor is configured so that the motor outputs a torque having a magnitude corresponding to the rotational speed of the engine. May be controlled.

  Moreover, although each said embodiment demonstrated the example which applied this invention to the winch operation control apparatus for controlling operation | movement of the winch for suspended loads, this invention is not limited to such an application example. For example, the present invention can be applied to a winch motion control device for controlling the motion of a hoisting winch for hoisting the hoisting member. As the hoisting member, for example, a boom that can be raised and lowered in the crane main body (upper turning body), a jib that can be raised and lowered at the tip of the boom, and the like are applicable. The crane main body is provided with a boom hoisting winch that winds and feeds the hoisting rope for hoisting while supporting the boom from the rear. In addition, when a jib is provided at the tip of the boom, a jib hoisting winch for winding and unwinding a hoisting rope for hoisting while supporting the jib from the rear is provided in the main body of the crane. . In such a configuration, a winch operation control device for controlling the operation of the boom hoisting winch and a winch operation control device for controlling the operation of the jib hoisting winch are provided in the crane body, and these winches The present invention may be applied to at least one of the operation control devices. That is, as such a winch motion control device, a control device having substantially the same configuration as that of the winch motion control device according to the embodiment or the modification may be applied. Specifically, the hoisting winch in the embodiment and the modified example is a hoisting winch, the hoisting rope is an hoisting rope, and the hoisting winch motor and the hoisting winch hydraulic motor are driven by the hoisting winch. The hoisting winch electric motor and the hoisting winch hydraulic motor that output the motive power for this purpose may be used. In this case, the lifting of the suspended load is read as the lifting of the standing member in the direction of raising the hoisting member, and the lowering of the hanging load is lowered in the direction of lowering the hoisting member. And shall be read as

  According to this configuration, for the same reason as in the above-described embodiment, a large torque is applied to the hoisting winch when a heavy load is applied to the hoisting winch without increasing the size of the hoisting winch motor and the hoisting winch hydraulic motor. Can be granted. Further, according to this configuration, when the load applied to the hoisting winch changes from a low load to a high load for the same reason as in the above embodiment, at least torque from the hoisting winch motor is always applied to the hoisting winch. Therefore, it is possible to prevent the torque applied to the hoisting winch when the hoisting member is hoisted from coming off. For this reason, even if the load applied to the hoisting winch is changed from a low load to a high load when the hoisting member whose tip is in contact with the ground is lifted away from the ground, the torque applied to the hoisting winch is reduced. It is possible to prevent the rising speed of the hoisting member from becoming discontinuous and to prevent the hoisting member from being shocked.

  The operational effects other than those described above in the configuration include the hoisting winch, the hoisting rope, the hoisting winch motor, and the hoisting winch hydraulic motor in the hoisting and hoisting ropes described in the embodiment and the modified example. The operational effect is the same as that of the hoisting winch motor and the hoisting winch hydraulic motor.

1 Winch motion control device 2 Winch motor for suspended loads (electric motor)
8 Winch hydraulic motor for suspended loads (hydraulic motor)
8a Output shaft 10 Battery (power storage device)
12 Moment limiter (tension derivation device)
14 Control Mechanism 24 Controller 40 Clutch 50 Suspended Winch (Winch)
50d Input shaft 58a Operation lever

Claims (7)

A winch for controlling a movement of the winch, provided on a crane having a winch that lifts and lowers the suspended load by winding and unwinding a rope for hanging the suspended load, and an operation lever for operating the winch. An operation control device comprising:
An electric motor and a hydraulic motor that output power for driving the winch;
A tension deriving device for deriving the tension of the rope applied to the winch;
A control mechanism for controlling the operation of the electric motor and the operation of the hydraulic motor;
The control mechanism causes the winch to supply power to the winch from both the electric motor and the hydraulic motor when the tension of the rope derived by the tension deriving device is larger than a preset set value. And the operation of the electric motor is controlled so that the torque output from the electric motor becomes a torque corresponding to the operation amount of the operation lever, and the hydraulic oil having a flow rate corresponding to the operation amount of the operation lever is The number of rotations of the winch is set to the number of rotations according to the number of rotations of the hydraulic motor by supplying to the motor and controlling the number of rotations of the hydraulic motor, and the tension of the rope derived by the tension deriving device is the setting If it is less than or equal to the value, power is not supplied from the hydraulic motor to the winch, and power is supplied only from the electric motor to the winch. Actuating the serial winch, the rotation speed of the winch as the hydraulic motor does not operate with the rotating speed of the electric motor to control the operation of the electric motor such that the rotational speed corresponding to the operation amount of the operating lever A crane winch motion control device that sets the number of rotations according to the number of rotations of the electric motor . A hoisting member provided so as to be hoistable, a winch that winds and unwinds a rope for raising and lowering the hoisting member while supporting the hoisting member, and an operation lever for operating the winch . A winch operation control device for controlling the operation of the winch provided in a crane,
An electric motor and a hydraulic motor that output power for driving the winch;
A tension deriving device for deriving the tension of the rope applied to the winch;
A control mechanism for controlling the operation of the electric motor and the operation of the hydraulic motor;
The control mechanism causes the winch to supply power to the winch from both the electric motor and the hydraulic motor when the tension of the rope derived by the tension deriving device is larger than a preset set value. And the operation of the electric motor is controlled so that the torque output from the electric motor becomes a torque corresponding to the operation amount of the operation lever, and the hydraulic oil having a flow rate corresponding to the operation amount of the operation lever is The number of rotations of the winch is set to the number of rotations according to the number of rotations of the hydraulic motor by supplying to the motor and controlling the number of rotations of the hydraulic motor, and the tension of the rope derived by the tension deriving device is the setting If it is less than or equal to the value, power is not supplied from the hydraulic motor to the winch, and power is supplied only from the electric motor to the winch. Actuating the serial winch, the rotation speed of the winch as the hydraulic motor does not operate with the rotating speed of the electric motor to control the operation of the electric motor such that the rotational speed corresponding to the operation amount of the operating lever A crane winch motion control device that sets the number of rotations according to the number of rotations of the electric motor . When the rotation speed of the winch decreases or when the winch extends the rope, the electric power regenerated by the motor is stored and the rotation speed of the winch is increased or when the winch is electrically connected to the motor. the power stored when the winding the rope further comprising a power storage device supplying to said electric motor, winch operation control apparatus for a crane according to claim 1 or 2. The hydraulic motor can be switched between a power output state that outputs power and a power non-output state that does not output power,
The control mechanism causes the hydraulic motor to be in the power output state when the tension of the rope derived by the tension deriving device is larger than the set value, and the rope of the rope derived by the tension deriving device. The crane winch operation control device according to any one of claims 1 to 3 , wherein when the tension is equal to or less than the set value, the hydraulic motor is brought into the power non-output state. The hydraulic motor is a variable capacity type,
The control mechanism includes a controller that controls the capacity of the hydraulic motor;
When the tension of the rope derived by the tension deriving device is greater than the set value, the controller sets the hydraulic motor to a predetermined capacity by setting the capacity of the hydraulic motor to a power output state. If the tension of the rope which has been derived by the tension deriving device is less than the set value, the hydraulic motor and the power non-output state by the capacity of the hydraulic motor to 0, to claim 4 The crane winch motion control device described. The hydraulic motor has an output shaft for outputting power from the hydraulic motor,
The winch has an input shaft to which power output from the hydraulic motor is input,
The winch motion control device includes a connection state in which the output shaft and the input shaft are coupled to each other so that the output shaft of the hydraulic motor and the input shaft of the winch rotate integrally, and the output of the hydraulic motor. A clutch that switches to a disconnected state that separates the output shaft and the input shaft so that the input shaft of the winch can rotate relative to the shaft;
The control mechanism includes a controller that switches and controls the clutch between the connected state and the disconnected state;
The controller is the one for the clutch to the connected state the hydraulic motor when said power output state, causes the clutch to the disengaged state when the hydraulic motor and the power non-output state, to claim 4 The crane winch motion control device described. The hydraulic motor has an output shaft for outputting power from the hydraulic motor,
The winch has an input shaft to which power output from the hydraulic motor is input,
The winch motion control device includes an output shaft and an input shaft so that when the hydraulic motor is in the power output state and the output shaft rotates, the output shaft and the input shaft of the winch rotate integrally. When the hydraulic motor is in the power non-output state and the output shaft does not rotate, the input shaft of the winch can be rotated relative to the output shaft. The crane winch motion control device according to claim 4 or 5 , further comprising a one-way clutch that is in a disconnected state that separates the output shaft and the input shaft.

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