JP6067387B2 - Synchronous control device for winch for moving heavy objects - Google Patents

Description

  The present invention relates to a synchronous control device for a heavy goods moving winch.

  In general, when a heavy load such as a container crane is loaded on a ship and transported and unloaded on the quay of a port, which is the destination, the heavy load is moved in a horizontal manner by winding a wire with a plurality of winches. Things have been done.

  FIG. 8 shows an example of a conventional heavy goods moving winch, where 1 is a quay of a harbor, 2 is a ship berthing, 3 is a pedestal loaded on the ship 2, and 4 is placed on the pedestal 3. A plurality of winches A and B (two in the example shown in the figure) are arranged at a predetermined interval in the longitudinal direction of the ship 2 berthed on the quay 1 side. The wires 5A and 5B drawn out from B are hung around the sheaves 6A and 6B fixedly arranged on the quay wall 1 and the sheaves 7A and 7B attached to one side surface of the pedestal 3, and the ends thereof are hung. A plurality of (two in the illustrated example) brake winches C and D are fixed at a required position on the quay 1 and arranged in the longitudinal direction of the ship 2 with a required interval therebetween. Wires 5C and 5D fed from winches C and D are舶 2 fixedly arranged on has been sheave 6C, by turning over the 6D, is fixed to the end portion to a predetermined position of the base 3.

  The winches A and B are driven by drive motors 8A and 8B, respectively, and the brake winches C and D are driven by drive motors 8C and 8D, respectively.

  When the winches A and B are driven by the drive motors 8A and 8B and the wires 5A and 5B are wound, the brake winches C and D are driven by the drive motors 8C and 8D, and the wires 5C and 5D are extended. A pedestal 3 on which a heavy object 4 is placed is pulled horizontally from above the ship 2 to the quay 1 side.

  Incidentally, the brake winch C, D that feeds out the wires 5C, 5D, the ends of which are connected to the pedestal 3, is supported by the pedestal 3 on which the heavy object 4 is placed by the rocking or gust of the ship 2 due to the waves or gusts. , 5B is provided as a backup for preventing movement in the direction of loosening.

  In addition, what arrange | positions the winch for moving a heavy article as shown in FIG. 8 is not found in patent literature and non-patent literature, but is a general technique related to a load control method for lifting a suspended load with a plurality of winches. As an example of the level, there is Patent Document 1, for example.

JP 2001-158597 A

  However, in the case of the conventional example as shown in FIG. 8, operators MA and MB for individually operating winches A and B, operators MC and MD for individually operating brake winches C and D, and weight An operator ME that confirms the state of the object 4 and the whole is required, and the tension of the wires 5A and 5B and the wires 5C and 5D and the movement of the heavy object 4 are influenced by the skill of the operator, so that the work is stably performed. It was very difficult.

  In addition, it is indispensable to link the operators MA, MB, MC, MD, and ME by a signal such as a radio or a whistle, so that it takes a long work time and is not efficient.

  The present invention has been made in view of the above-described conventional problems. A heavy object that can move a heavy object stably and reliably without requiring skill by a minimum number of operators and can improve work efficiency. An object of the present invention is to provide a synchronous control device for a moving winch.

The present invention is a synchronous control device for a heavy goods moving winch that moves heavy goods by winding a wire with a plurality of winches,
An inverter for variable speed control of the winch drive motor;
A rotation detector for detecting the rotation of the winch;
A controller that outputs an acceleration / deceleration command to the inverter so that a rotation difference between winches based on a value detected by the rotation detector is within an allowable range ;
A load cell for detecting the wire load of the winch is provided, the initial load difference of the wire load between the winches detected for the first time by the load cell is obtained and stored, and the current wire load between the winches detected by the load cell is stored. When the absolute value of the difference between the load difference at the initial load difference exceeds the set load, the controller is configured to output a command to stop the winch from the controller to the inverter. This is related to the synchronous control device.

Further, in the synchronous control device for the heavy object moving winch, the reflecting plate disposed at equal intervals in the drum circumferential direction of the winch, and the light projected and reflected on the reflecting plate are detected. The rotation detector is composed of a photoelectric sensor that performs
The controller may be configured to determine a rotation difference between the winches in the controller based on the number of times of detection of light detected by the photoelectric sensor per unit time.

  According to the synchronous control device for a heavy object moving winch of the present invention, it is possible to move a heavy object stably and reliably without requiring skill by a minimum number of operators, and it is possible to improve work efficiency. Can have an effect.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole schematic block diagram which shows the Example of the synchronous control apparatus of the winch for heavy goods movement of this invention. It is a flowchart which shows the main routine in the Example of the synchronous control apparatus of the winch for heavy goods movement of this invention. It is a flowchart which shows the count routine of winch A and winch B in the Example of the synchronous control apparatus of the winch for heavy goods movement of this invention. It is a flowchart which shows the integrated value comparison routine in the Example of the synchronous control apparatus of the winch for heavy goods movement of this invention. It is a flowchart which shows the load comparison routine in the Example of the synchronous control apparatus of the heavy goods movement winch of this invention. It is a flowchart which shows the deceleration routine of winch A in the Example of the synchronous control apparatus of the winch for heavy goods movement of this invention. It is a flowchart which shows the deceleration routine of winch B in the Example of the synchronous control apparatus of the heavy goods movement winch of this invention. It is a whole schematic block diagram which shows an example of the conventional winch for heavy goods movement.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  FIGS. 1 to 7 show an embodiment of a synchronous control device for a heavy goods moving winch according to the present invention. In the figure, the same reference numerals as those in FIG. 8 is the same as the conventional one shown in FIG. 8, but this embodiment is characterized by an inverter 9A for variable speed control of the drive motors 8A and 8B of the winches A and B as shown in FIGS. , 9B, rotation detectors 10A, 10B for detecting the rotation of the winches A, B, and a rotation difference ΔCNT (see FIG. 4) between the winches A, B based on the detection values by the rotation detectors 10A, 10B A controller 11 (PLC: Programmable Logic Controller) that outputs an acceleration / deceleration command to the inverters 9A and 9B so as to fall within the range is provided.

  In the case of this embodiment, load cells 12A and 12B for detecting the wire loads AF and BF of the winches A and B are provided, and the wire loads AF and BF between the winches A and B detected by the load cells 12A and 12B at the present time. When the absolute value ΔF ′ (see FIG. 5) of the difference between the load difference ΔF and the initial load difference ΔFi exceeds the set load FS (for example, FS = 6 [Ton]), the controller 11 switches to the inverters 9A and 9B. A command to stop the winches A and B is output.

  Further, as shown in FIG. 3, the rotation detectors 10A and 10B include reflection plates 13A and 13B arranged at equal intervals in the drum circumferential direction of the winches A and B, and the reflection plates 13A and 13B. And the photoelectric sensors 14A and 14B for detecting the light reflected and reflected by the controller 11. Based on the number of detections ACNT and BCNT per unit time of the light detected by the photoelectric sensors 14A and 14B, the controller 11 The rotation difference ΔCNT between winches A and B is determined.

  As the main routine of this embodiment, when the operator ME presses a start switch (not shown) to start the winding operation of the winches A and B (see steps S1A and S1B in FIG. 2), the winch A, A count routine of B is performed (see steps S2A and S2B in FIG. 2), and an integrated value comparison routine counted in the count routine is performed (see step S3 in FIG. 2), and a comparison determination in the integrated value comparison routine is performed. Depending on the result, the process proceeds to either the winch A or B deceleration routine or the load comparison routine (see steps S4A, S4B, and S4 in FIG. 2). A stroke end determination is made as to whether or not the object has moved (see step S5 in FIG. 2). If it has not moved, it returns to said step S2A, S2B, and if the said heavy article 4 has moved to the stroke end, the winding operation of winches A, B will be stopped (refer step S6A, S6B of FIG. 2), The synchronization control is terminated.

As shown in FIG. 3, the winch A and B counting routine is performed by detecting rotation of the winches A and B by the rotation detectors 10A and 10B (see steps S2A-1 and S2B-1 in FIG. 3), that is, the reflecting plate 13A. , 13B is detected by the photoelectric sensors 14A, 14B and reflected by the photoelectric sensors 14A, 14B,
ACNT = ACNT + 1
BCNT = BCNT + 1
The number of detections ACNT and BCNT per unit time of light detected by the photoelectric sensors 14A and 14B is obtained (see steps S2A-2 and S2B-2 in FIG. 3), and the integrated value comparison routine is performed. (See step S3 in FIGS. 2 and 3).

The integrated value comparison routine compares the detection times ACNT and BCNT per unit time of light detected by the photoelectric sensors 14A and 14B, as shown in FIG.
ACNT ≠ BCNT
(See step S3-1 in FIG. 4), and if ACNT ≠ BCNT, the absolute value of the difference is ΔCNT = | ACNT−BCNT |
(See step S3-2 in FIG. 4),
ΔCNT> 1
(See step S3-3 in FIG. 4), and when ΔCNT> 1,
ΔCNT <3
(See step S3-4 in FIG. 4), and when ΔCNT <3,
ACNT> BCNT
Is determined (see step S3-5 in FIG. 4). If ACNT> BCNT, the process proceeds to the winch A deceleration routine (see step S4A in FIGS. 2 and 4), and ACNT> BCNT. If not, it is inevitable that ACNT <BCNT because ACNT ≠ BCNT already in step S3-1.
Therefore (see step S3-6 in FIG. 4), the routine proceeds to a winch B deceleration routine (see step S4B in FIGS. 2 and 4). If ACNT ≠ BCNT is not satisfied in step S3 (that is, ACNT = BCNT), and if ΔCNT> 1 is not satisfied (that is, ΔCNT ≦ 1) in step S3-3, the routine proceeds to a load comparison routine ( (See step S4 in FIGS. 2 and 4). If ΔCNT <3 is not satisfied in step S3-4 (that is, ΔCNT ≧ 3), winches A and B are stopped as a large error (see step S3-7 in FIG. 4).

As shown in FIG. 5, the load comparison routine detects the wire loads AF and BF of the winches A and B by the load cells 12A and 12B (see FIG. 1) (see steps S4-1A and S4-1B in FIG. 5). ), It is determined whether or not the load comparison routine is the first time (see step S4-2 in FIG. 5). If it is the first time, the initial load difference ΔFi is set to ΔFi = AF−BF.
(See step S4-3 in FIG. 5), and then the current load difference ΔF is expressed as ΔF = AF−BF
(See step S4-4 in FIG. 5), and the absolute value ΔF ′ of the difference between the current load difference ΔF and the initial load difference ΔFi is obtained as follows: ΔF ′ = | ΔF−ΔFi |
(See step S4-5 in FIG. 5), and the ΔF ′ is compared with a set load FS (for example, FS = 6 [Ton]),
ΔF '> FS
(See step S4-6 in FIG. 5), and if ΔF ′> FS, winches A and B are stopped as an error (step S4-7 in FIG. 5). reference). If ΔF ′> FS is not satisfied in step S4-6 (that is, ΔF ′ ≦ FS), the routine proceeds to stroke end determination of the main routine (see step S5 in FIGS. 2 and 5). When the main routine shifts to the stroke end determination and then shifts to the load comparison routine again (that is, when the load comparison routine is not the first time), the initial load difference ΔFi is stored (see step S4-3 in FIG. 5). Are skipped and the current load difference ΔF is calculated (see step S4-4 in FIG. 5). The reason why the initial load difference ΔFi is stored as described above is that the wire loads AF and BF of the winches A and B do not always coincide with each other, and there may be a difference from the initial stage. It is monitored how much the initial load difference ΔFi changes at the present time.

As shown in FIG. 6, the winch A deceleration routine stores the current frequency Bf of winch B (see step S4A-1 in FIG. 6), and sets the frequency Af of winch A for a set time t (for example, t = 0.2 [sec]) and subtracting a gain G (for example, G = 0.05 × Af) and Af = Af−G
(See step S4A-2 in FIG. 6), and the absolute value of the difference between the frequencies Af and Bf of the winches A and B is Δf = | Af−Bf |
(See step S4A-3 in FIG. 6), and the Δf is compared with a preset allowable range value α,
Δf <α
(See step S4A-4 in FIG. 6). If Δf <α is not satisfied (that is, Δf ≧ α), the subtraction of the frequency Af of winch A in step S4A-2 is repeated, When Δf <α, the routine proceeds to stroke end determination of the main routine (see step S5 in FIGS. 2 and 6).

The winch B deceleration routine stores the current frequency Af of the winch A as shown in FIG. 7 (see step S4B-1 in FIG. 7), and the frequency Bf of the winch B is set to a set time t (for example, t = Every 0.2 [sec]) by subtracting a gain G (for example, G = 0.05 × Bf) and Bf = Bf−G
(See step S4B-2 in FIG. 7), and the absolute value of the difference between the frequencies Af and Bf of the winches A and B is Δf = | Af−Bf |
(See step S4B-3 in FIG. 7), and the Δf is compared with a preset allowable range value α,
Δf <α
(See step S4B-4 in FIG. 7). If Δf <α is not satisfied (that is, Δf ≧ α), the subtraction of the frequency Bf of winch B in step S4B-2 is repeated, If Δf <α, the routine proceeds to stroke end determination of the main routine (see step S5 in FIGS. 2 and 7).

  Next, the operation of the above embodiment will be described.

When the operator ME pushes a start switch (not shown) and the winding operation of the winches A and B is started (see steps S1A and S1B in FIG. 2), the winch A and B counting routine (step S2A in FIG. 2). , S2B), rotation detection of winches A and B by rotation detectors 10A and 10B (see steps S2A-1 and S2B-1 in FIG. 3), that is, the light is projected and reflected on the reflection plates 13A and 13B. The light is detected by the photoelectric sensors 14A and 14B,
ACNT = ACNT + 1
BCNT = BCNT + 1
The number of detection times ACNT and BCNT per unit time of the light detected by the photoelectric sensors 14A and 14B is obtained (see steps S2A-2 and S2B-2 in FIG. 3), and the integrated values are compared. The routine proceeds (see step S3 in FIGS. 2 and 3).

In the integrated value comparison routine, as shown in FIG. 4, the detection times ACNT and BCNT of light detected by the photoelectric sensors 14A and 14B per unit time are compared,
ACNT ≠ BCNT
Is determined (see step S3-1 in FIG. 4), and if ACNT ≠ BCNT, the absolute value of the difference is ΔCNT = | ACNT−BCNT |
(See step S3-2 in FIG. 4),
ΔCNT> 1
Is determined (see step S3-3 in FIG. 4), and when ΔCNT> 1,
ΔCNT <3
Is determined (see step S3-4 in FIG. 4), and if ΔCNT <3,
ACNT> BCNT
Is determined (see step S3-5 in FIG. 4), and if ACNT> BCNT, the process proceeds to the winch A deceleration routine (see step S4A in FIGS. 2 and 4).

In the deceleration routine of the winch A, as shown in FIG. 6, the current frequency Bf of the winch B is stored (see step S4A-1 in FIG. 6), and the frequency Af of the winch A is set to a set time t (for example, t = 0.2 [sec]) is subtracted by a gain G (for example, G = 0.05 × Af). Af = Af−G
(See step S4A-2 in FIG. 6), and the absolute value of the difference between the frequencies Af and Bf of the winches A and B is Δf = | Af−Bf |
(See step S4A-3 in FIG. 6), and Δf is compared with an allowable range value α.
Δf <α
Is determined (see step S4A-4 in FIG. 6). If Δf <α is not satisfied (that is, Δf ≧ α), the subtraction of the frequency Af of winch A in step S4A-2 is repeated. If Δf <α, the routine proceeds to stroke end determination of the main routine (see step S5 in FIGS. 2 and 6).

  If ΔCNT <3 is not satisfied in step S3-4 in FIG. 4 (that is, ΔCNT ≧ 3), winches A and B are stopped as an error (see step S3-7 in FIG. 4).

On the other hand, if ACNT> BCNT is not satisfied in the determination in step S3-5 in FIG. 4, ACNT <BCNT inevitably because ACNT ≠ BCNT in step S3-1.
(See step S3-6 in FIG. 4), the process proceeds to the winch B deceleration routine (see step S4B in FIGS. 2 and 4).

In the deceleration routine of the winch B, as shown in FIG. 7, the current frequency Af of the winch A is stored (see step S4B-1 in FIG. 7), and the frequency Bf of the winch B is set to a set time t (for example, t = 0.2 [sec]) is subtracted by a gain G (for example, G = 0.05 × Bf) and Bf = Bf−G
(See step S4B-2 in FIG. 7), and the absolute value of the difference between the frequencies Af and Bf of the winches A and B is Δf = | Af−Bf |
(See step S4B-3 in FIG. 7), and Δf is compared with an allowable range value α.
Δf <α
Is determined (see step S4B-4 in FIG. 7). If Δf <α is not satisfied (that is, Δf ≧ α), the subtraction of the frequency Bf of winch B in step S4B-2 is repeated. If Δf <α, the routine proceeds to stroke end determination of the main routine (see step S5 in FIGS. 2 and 7).

  If ACNT ≠ BCNT is not satisfied in step S3 (that is, ACNT = BCNT), and if ΔCNT> 1 is not satisfied (that is, ΔCNT ≦ 1) in step S3-3, the routine proceeds to a load comparison routine (FIG. 2). And step S4 of FIG. 4).

In the load comparison routine, as shown in FIG. 5, the wire loads AF and BF of winches A and B are detected by the load cells 12A and 12B (see FIG. 1) (steps S4-1A and S4- in FIG. 5). 1B), it is determined whether or not the load comparison routine is the first time (see step S4-2 in FIG. 5). If it is the first time, the initial load difference ΔFi is ΔFi = AF−BF.
Is obtained and stored (see step S4-3 in FIG. 5), and then the current load difference ΔF is ΔF = AF−BF
(See step S4-4 in FIG. 5), and the absolute value ΔF ′ of the difference between the current load difference ΔF and the initial load difference ΔFi is ΔF ′ = | ΔF−ΔFi |
(See step S4-5 in FIG. 5), the ΔF ′ is compared with a set load FS (for example, FS = 6 [Ton]),
ΔF '> FS
(See step S4-6 in FIG. 5), and if ΔF ′> FS, winches A and B are stopped as a large error (see step S4-7 in FIG. 5). .

  If ΔF ′> FS is not satisfied in step S4-6 (that is, ΔF ′ ≦ FS), the routine proceeds to stroke end determination of the main routine (see step S5 in FIGS. 2 and 5).

  In step S5 of FIG. 2, it is determined whether or not the heavy load 4 has moved to the stroke end by a limit switch (not shown). If the heavy load 4 has not moved to the stroke end, the above step is performed. Returning to S2A and S2B, if the heavy object 4 has moved to the stroke end, the winding operation of the winches A and B is stopped (see steps S6A and S6B in FIG. 2), and the synchronization control is terminated.

  As a result, as in the conventional example shown in FIG. 8, the operators MA and MB for operating the winches A and B and the operator ME for confirming the overall state of the heavy load 4 and others are not separately provided. If at least only the operator ME that operates the controller 11 is deployed, the winches A and B can be synchronously controlled, so that the number of personnel can be reduced, and the wires 5A and 5B and the wires 5C and 5D can be reduced depending on the skill of the operator ME. Thus, it is possible to avoid the influence of the tension and the movement of the heavy object 4 from being influenced, and to perform the work stably.

  Incidentally, the brake winches C and D are similarly provided with an inverter for variable speed control of the drive motors 8C and 8D and a rotation detector for detecting the rotation of the brake winches C and D, and output from the controller 11. It is possible to control the inverters for the drive motors 8C and 8D by the acceleration / deceleration command. In this way, the tension of the wires 5C and 5D can be controlled appropriately, and the brake winches C and D are individually set. Needless to say, the number of operators MC and MD to be operated can be further reduced.

  Further, as in the conventional example shown in FIG. 8, it is not necessary to link the operators MA, MB, MC, MD, and ME by a signal such as a radio or a whistle, thereby shortening the work time. Is possible and efficiency is improved.

  In this way, the heavy load 4 can be moved stably and reliably without the need for skill by the minimum number of operators ME, and the working efficiency can be improved.

  The synchronous control device for the heavy object moving winch according to the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

4 Heavy Object 5A Wire 5B Wire 8A Drive Motor 8B Drive Motor 9A Inverter 9B Inverter 10A Rotation Detector 10B Rotation Detector 11 Controller 12A Load Cell 12B Load Cell 13A Reflector 13B Reflector 14A Photoelectric Sensor 14B Photoelectric Sensor A Winch B Winch Δ Winch B Winch AF wire load BF wire load ΔF current load difference of wire load ΔFi absolute value of difference from initial load difference ΔF ′ absolute value of difference between current load difference of wire load and initial load difference FS set load α tolerance Range value

Claims (2)

A heavy duty moving winch synchronous control device for moving a heavy article by winding a wire with a plurality of winches,
An inverter for variable speed control of the winch drive motor;
A rotation detector for detecting the rotation of the winch;
A controller that outputs an acceleration / deceleration command to the inverter so that a rotation difference between winches based on a value detected by the rotation detector is within an allowable range ;
A load cell for detecting the wire load of the winch is provided, the initial load difference of the wire load between the winches detected for the first time by the load cell is obtained and stored, and the current wire load between the winches detected by the load cell is stored. When the absolute value of the difference between the load difference at the initial load difference exceeds the set load, the controller is configured to output a command to stop the winch from the controller to the inverter. Synchronous control device. The rotation detector is constituted by a reflector arranged at equal intervals in the drum circumferential direction of the winch, and a photoelectric sensor that detects light reflected and projected on the reflector,
Synchronous control apparatus for heavy mobile winch according to claim 1, wherein configured to determine a rotation difference between the winch in the controller based on the detected count per unit time of the light detected by the photoelectric sensor.

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