JP6791806B2 - Pendulum length setting device used for steady rest control of cranes - Google Patents

Description

The present invention relates to a pendulum length setting device used for steady rest control of a crane, for example, to a pendulum length setting device used for steady rest control of a manually operated crane.

Conventionally, a girder that runs along a traveling rail, a trolley that traverses along the girder, a hoisting device mounted on the trolley, and a hanging tool attached to the hoisting device via a rope are provided. In the crane, various steady rest control technologies have been proposed and put into practical use because the safety and efficiency are lowered due to the occurrence of runout during the transportation of the suspended load (see, for example, Patent Documents 1 to 3). .).

By the way, in the steady rest control technique for determining the transport speed pattern based on the basic model, it is necessary to obtain the pendulum length Ls in order to specify the load swing cycle T.
T = 2π × (Ls / g) ^1/2
Here, T: load swing period, Ls: pendulum length, g: gravitational acceleration.

As shown in FIG. 1, the pendulum length Ls required for the steady rest control is a hoisting device that serves as a fulcrum position of the pendulum when the suspended load 7 is suspended from the hanging tool (hook) 5 via the sling rope 6. The first distance Lf from the unwinding position G0 of the rope 4 of 3 to the center of gravity position Gf of the hanging tool 5, and the hanging load 7 suspended from the center of gravity position Gf of the hanging tool 5 via the slinging rope 6. It is the sum of the second distance Lw to the center of gravity position Gw.

However, unlike large automatic cranes equipped with grab buckets and the like used in waste treatment plants and automatic cranes for coil transportation in steelworks, manually operated cranes and the like are slinged on the hanging tool 5. Since the suspended load 7 suspended via the rope 6 may change for each transport, it is suspended from the center of gravity position Gf of the hanging tool 5 of the pendulum length Ls via the sling rope 6 depending on the packing shape and slinging conditions. The second distance Lw to the position Gw of the center of gravity of the suspended load 7 changes every time the suspended load 7 is transported.
Further, by the hoisting and lowering operations, the first distance Lf from the rope unwinding position G0 of the hoisting device 3 to the center of gravity position Gf of the hanging tool 5 among the pendulum length Ls is the slip when the rope is wound up and down. It will change dynamically under the influence of such factors.

Here, of the pendulum length Ls, the first distance Lf from the unwinding position G0 of the rope 4 of the hoisting device 3 to the center of gravity position Gf of the hanging tool 5 is the angular velocity provided in the rotating portion of the hoisting device 3. While it can be automatically measured by a meter or an encoder, the second distance Lw from the center of gravity position Gf of the hanging tool 5 to the center of gravity position Gw of the suspended load 7 suspended via the sling rope 6 is automatically set. Could not be measured.

For this reason, conventionally, the steady rest control is performed with the first distance Lf as the pendulum length Ls, but the load swing cannot be sufficiently suppressed by the transport speed pattern determined based on the inaccurate pendulum length Ls. There was a problem.

In order to deal with this problem, a crane rope length detection method and a steady rest control method (see Patent Document 4) in which the pendulum length is detected from the fluctuation cycle of the trolley drive torque caused by the load runout, and the steady rest control method. A method for detecting the height of a suspended load of a cable crane (see Patent Document 5) in which the height of the trolley and the length of the pendulum are detected from the length of the rope when the suspended load is off the floor has been proposed. In the case of the disclosed invention, there is a problem that load swing must occur for detecting the pendulum length and it costs a lot to detect the torque fluctuation of the trolley driven by the induction motor, which is disclosed in Patent Document 5. In the case of the invention, there is a problem that the correct pendulum length to the suspension load center cannot be detected (the length from the hook to the lower end of the suspension load is detected).

Japanese Unexamined Patent Publication No. 6-183686 Japanese Unexamined Patent Publication No. 7-300294 Japanese Unexamined Patent Publication No. 8-324962 Japanese Unexamined Patent Publication No. 10-291769 Japanese Unexamined Patent Publication No. 11-209067

The present invention provides a pendulum length setting device used for steady rest control of a crane, which can suppress load runout by appropriately setting the pendulum length in view of the above-mentioned problems in the steady rest control of a conventional crane. The purpose is to do.

In order to achieve the above object, the pendulum length setting device used for the steady rest control of the crane of the present invention is mounted on the girder traveling along the traveling rail, the trolley traversing along the girder, and the trolley. In a pendulum length setting device used for steady rest control of a crane having a hoisting device and a hanging tool attached to the hoisting device via a rope, the hoisting device is suspended from the rope unwinding position. The rope length detecting means for specifying the first distance to the center of gravity position of the tool and the second distance from the center of gravity position of the hanging tool to the center of gravity position of the suspended load suspended via the sling rope are input. It is characterized by comprising an input means for visually displaying the pendulum length calculated by adding up the first distance and the second distance.

In this case, a push button provided on the portable operator can be used as the input means.

Further, as the display means, one that displays a combination of lighting, extinguishing, and blinking states of the indicator lamp according to the pendulum length can be used.

According to the pendulum length setting device used for the steady rest control of the crane of the present invention, the rope length detecting means for specifying the first distance from the unwinding position of the rope of the hoisting device to the center of gravity of the hanging tool, and The input means for inputting the second distance from the position of the center of gravity of the hanging tool to the position of the center of gravity of the suspended load suspended via the sling rope, and the first distance and the second distance are added together. Since it is equipped with a display means for visually displaying the calculated pendulum length, the suspended load suspended from the hanging tool via the slinging rope changes for each transport, and the pendulum length depends on the packing shape and slinging conditions. Even if the second distance from the position of the center of gravity of the hanging tool to the position of the center of gravity of the suspended load suspended via the sling rope changes with each transport of the suspended load, the pendulum length depends on the operator. Can be set appropriately, and the set pendulum length can be confirmed, so that load swing can be suppressed.

Further, by using the push button provided on the portable operator as the input means, the operator can easily set an appropriate pendulum length.

In addition, the set pendulum length can be easily confirmed by using a display means that displays a combination of lighting, extinguishing, and blinking states of the indicator lamp according to the pendulum length.

It is a schematic diagram of the basic model of the crane to which the pendulum length setting device used for the steady rest control of the crane of this invention is applied. It is explanatory drawing of the portable operator. It is explanatory drawing of an indicator light.

Hereinafter, embodiments of the pendulum length setting device used for steady rest control of the crane of the present invention will be described with reference to the drawings.

FIG. 1 shows a schematic diagram of a basic model of a crane to which the pendulum length setting device used for the steady rest control of the crane of the present invention is applied.
This crane is attached to a girder 1 traveling along a traveling rail, a trolley 2 traversing along the girder 1, a hoisting device 3 mounted on the trolley 2, and a hoisting device 3 via a rope 4. It is configured to have a hanging tool (hook) 5.

Then, as a pendulum length setting device used for the steady rest control of the crane, this crane is the first from the unwinding position G0 of the rope 4 of the hoisting device 3 which is the fulcrum position of the pendulum to the center of gravity position Gf of the suspending tool 5. To input the rope length detecting means for specifying the distance Lf of 1 and the second distance Lw from the center of gravity position Gf of the hanging tool 5 to the center of gravity position Gw of the suspended load 7 suspended via the sling rope 6. The input means 8 of the above and the display means 9 for visually displaying the pendulum length Ls calculated by adding up the first distance Lf and the second distance Lw are provided.
Here, the pendulum length Ls calculated by adding up the first distance Lf and the second distance Lw is input to a conventional crane steady rest control device and determined based on the pendulum length Ls. By operating the crane according to the transport speed pattern, it is possible to reliably suppress load runout.

In this case, the rope length detecting means for specifying the first distance Lf from the unwinding position G0 of the rope 4 of the hoisting device 3 which is the fulcrum position of the pendulum to the center of gravity position Gf of the hanging tool 5 has been conventionally used. It can be automatically measured by a general-purpose measuring means using an angular velocity meter or an encoder provided in the rotating portion of the hoisting device 3.
Then, this rope length detecting means makes it possible to measure the first distance Lf, which is dynamically changed by the influence of the slip of the rope or the like by the hoisting and lowering operations, in real time.

The input means 8 for inputting the second distance Lw from the center of gravity position Gf of the hoisting tool 5 to the center of gravity position Gw of the suspended load 7 suspended via the sling rope 6 is visually or actually measured by an operator. This is for inputting the second distance Lw measured by the above, and is a push button provided on a portable operator such as a wireless operator or a wired pendant switch operated by a worker on the ground or in the cab of a crane (not shown). In addition to the crane and changeover switch, an operation panel (touch panel) can be used.

Further, the display means 9 for visually displaying the pendulum length Ls calculated by adding up the first distance Lf and the second distance Lw is in a state in which the indicator lamp is turned on, off, and blinking according to the pendulum length Ls. (See Fig. 3. When using a plurality of indicator lights, the visibility can be improved by using colored light bulbs.) And the actual length of the pendulum length Ls. A number indicator to display can be used. Here, the display means 9 is installed under the stairs in the cab of the crane or in the cab of the crane so that the operator can easily see it, but it can be installed not only at one place but also at a plurality of places.
If these indicators are not provided, the actual length of the pendulum length Ls can be displayed on the operation panel, for example.

Then, specifically, the input means 8 and the display means 9 can set ON-OFF of the steady rest control and the second distance Lw (sling length). Depending on the form, No. 1 in Table 1 1-No. Various aspects as shown in 10 can be adopted.

Here, No. 1 in Table 1. The fourth aspect will be described in more detail.
The input means 8 for inputting the second distance Lw from the center of gravity position Gf of the hanging tool 5 to the center of gravity position Gw of the suspended load 7 suspended via the sling rope 6 is as shown in FIG. Using the two push buttons A and B of the portable controller (wireless controller), it is possible to set the steady rest control ON-OFF and the second distance Lw (sling length). There is.
Specifically, by pressing and holding the two push buttons A and B at the same time, for example, for 5 seconds or longer, it is possible to set (switch) ON-OFF of the steady rest control.
Further, by pressing and holding the push button A for 2 seconds or longer, the length is shortened by 0.1 m every second, and by pressing and holding the push button B for 2 seconds or longer, the push button B is shortened by 0.1 m every second. The second distance Lw can be set so as to be 0.1 m longer.

Next, a method of using the pendulum length setting device used for the steady rest control of this crane will be described.
1. 1. Switching to with steady rest control By pressing and holding the two push buttons A and B at the same time, for example, for 5 seconds or longer, the steady rest control is set to ON-OFF and the steady rest control is enabled.
When switching to the steady rest control, for example, the indicator light installed under the stairs in the cab of the crane lights up or blinks.
At this time, as shown in FIG. 3, the on / off state and the blinking state of the indicator lamp are displayed in combination according to the pendulum length Ls which is the control rope length.
2. 2. Winding the hanging tool 5 to the upper limit The first distance from the winding position G0 of the rope 4 of the hoisting device 3 which is the fulcrum position of the pendulum to the center of gravity position Gf of the hanging tool 5 by winding the hanging tool 5 to the upper limit. Lf is preset to a predetermined value, and in the example of FIG. 1, the measured value is preset to 1.5 m.
If it is already at the upper limit and cannot be wound any further, wind it down and then wind it up.
3. 3. Setting the second distance Lw (slinging length) When the hanging load 7 suspended from the hanging tool 5 via the slinging rope 6 changes for each transport, the hanging load 7 of the pendulum length Ls is suspended depending on the packing style and slinging conditions. The second distance Lw (sling length) from the center of gravity position Gf of the tool 5 to the center of gravity position Gw of the suspended load 7 suspended via the sling rope 6 is set (corrected) for each transport of the suspended load 7. ..
When push button A or push button B is pressed and held for 2 seconds or longer, it increases or decreases by 0.1 m every second.
As a result, the pendulum length Ls, which is the set (corrected) control rope length, is displayed in combination with the on / off state and the blinking state of the indicator lamp, as shown in FIG.
Example (1): In the case of only the hanging tool 5, press and hold the push button A after winding up to the upper limit. Since only the first indicator lamp blinks, wait for 3 seconds to release the operation of the push button A.
Example (2): When there is a suspended load 7, the distance Ls from the unwinding position G0 of the rope 4 of the hoisting device 3 which is the fulcrum position of the pendulum to the floor (measured value 9.7 m in the example of FIG. 1) If the distance h from the floor to the center of gravity position Gw of the suspended load 7 is subtracted, an accurate pendulum length Ls can be obtained. Therefore, check the lighting state of the indicator lamp and lengthen the push button A or push button B as necessary. You can press to match the pendulum length Ls.
In the example of FIG. 1, when the top three indicator lights are lit, the set value of the pendulum length Ls is 5.6 to 6.8 m, and the load 7 is suspended from the floor up to the center of gravity position Gw. Assuming that the distance h is 2.0 m, the exact pendulum length Ls is 9.7-2.0 = 7.7 m. Therefore, press and hold the push button B, and after the bottom indicator light blinks, 9 By waiting for a second and canceling the operation of the push button A, the set value of the pendulum length Ls is increased.
Here, for the purpose of preventing a setting error, etc., regarding the second distance Lw (sling length) from the center of gravity position Gf of the hanging tool 5 to the center of gravity position Gw of the suspended load 7 suspended via the slinging rope 6. As a result, the assumed minimum value, maximum value, and initial value (mode) can be set in advance. In the example of FIG. 1, the minimum value is 0 m, the maximum value is 5 m, and the initial value is 2 m, which reduces the labor of the correction operation by the worker and prevents setting mistakes.
4. Pendulum length Ls calculated by adding up the first distance Lf and the second distance Lw while operating the crane by the operator, that is, traversing, traveling, winding up and down, and operating with steady rest control. Is input to the steady rest control device of the crane, and by operating the crane according to the transport speed pattern determined based on the pendulum length Ls, the load swing can be surely suppressed.
When the winding up and down is repeated, it is affected by the sliding of the rope and the like, and the first distance Lf from the unwinding position G0 of the rope 4 of the hoisting device 3 which is the fulcrum position of the pendulum to the center of gravity position Gf of the hanging tool 5 Since the error becomes large and the load swing becomes large, in this case, the hanging tool 5 is wound up to the upper limit, and the hanging tool 5 is wound from the unwinding position G0 of the rope 4 of the hoisting device 3 which is the fulcrum position of the pendulum. The first distance Lf to the center of gravity position Gf of is reset to a predetermined value, 1.5 m as described above.
5. Switching without steady rest control By pressing and holding the two push buttons A and B at the same time, for example, for 5 seconds or longer, the steady rest control is set to ON-OFF and no steady rest control is performed.
When switching without steady rest control, for example, all the indicator lights installed under the stairs in the cab of the crane are turned off.

The pendulum length setting device used for the steady rest control of the crane of the present invention has been described above based on the embodiment, but the present invention is not limited to the configuration described in the above embodiment, and the gist thereof is described. The configuration can be changed as appropriate within a range that does not deviate.

The pendulum length setting device used for the steady rest control of the crane of the present invention can suppress load runout by appropriately setting the pendulum length, and thus can be used in various applications other than manually operated cranes. It can be widely used in the applications of cranes used.

1 girder 2 trolley 3 hoisting device 4 rope 5 hanging tool (hook)
6 Sling rope 7 Suspended load 8 Input means (portable manipulator)
9 Display means (display)
G0 rope unwinding position (pendulum fulcrum position)
Gf Center of gravity position of the hanging tool Gw Center of gravity position of the suspended load Ls Pendulum length Lf First distance Lw Second distance

Claims (2)

A crane having a girder running along a traveling rail, a pendulum traversing along the girder, a hoisting device mounted on the trolley, and a hanging tool attached to the hoisting device via a rope. In the pendulum length setting device used for the steady rest control of the crane, the rope length detecting means for specifying the first distance from the unwinding position of the rope of the hoisting device to the center of gravity of the hanging tool, and the hanging tool. A pendulum calculated by adding the input means for inputting the second distance from the center of gravity position to the center of gravity position of the suspended load suspended via the sling rope and the first distance and the second distance. length Ri Na and display means for visually displaying a said display means, in accordance with the pendulum length, lighting of the display lamp, characterized Rukoto such from which displays a combination of off and blinking A pendulum length setting device used to control the steady rest of a crane. The pendulum length setting device used for steady rest control of a crane according to claim 1, wherein the input means uses a push button provided on a portable operator.

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