JP7405651B2 - Method for controlling the landing of a suspended load in an electric hoist - Google Patents

Description

The present invention relates to control of an electric hoist for moving a suspended load. Among these, the present invention particularly relates to control when a suspended load in an electric hoist lands on the floor. The present invention relates to an electric hoist having a function of assisting the landing operation (lowering operation) of a suspended load regardless of the height of the landing surface.

Conventionally, during the lowering operation of an electric hoist, the landing of the suspended load on the floor was performed by the operator's visual inspection, and the impact of the suspended load was alleviated by performing the lowering operation intermittently. Furthermore, the distance between the suspended load and the floor before the intermittent lowering operation is started depends on the skill of the operator, so there is a problem in that it takes time for the suspended load to land on the floor.

As background technology in this technical field, there are Japanese Patent Application Publication No. 2008-239258 (Patent Document 1) and Japanese Patent Application Publication No. 2019-94205 (Patent Document 2). Patent Document 1 discloses an operation control device for a hoisting machine that is equipped with an induction motor for hoisting and lowering, a motor drive device, and a control device and that lifts and lowers a suspended load. When the suspended load is raised, the hoisting/lowering motor is operated at the first high speed of raising and lowering, and when the load/no-load sensor detects the load of the suspended load, the motor is operated at the first high speed so that no impact occurs at the time of the lifting of the suspended load. A function to decelerate to a low rising speed, a deceleration position calculation function to calculate the deceleration position when descending, and when the hoisting and lowering motor is operated at the first high speed descending speed when lowering the suspended load, and when it reaches the deceleration position, It is described that the device has a function of decelerating the hanging load to a first low descending speed before the load lands on the floor, at which no impact occurs when the suspended load lands on the floor.

Patent Document 2 describes an electric hoisting machine that includes a torque command value calculation section that is calculated inside an inverter, and an output torque detection section that takes in the value of the torque command value calculation section into the inverter control section after a specified time has elapsed. , a detected torque storage section that stores the detected torque by the output torque detection section, a detected torque comparison section that compares the detected torque with the stored detected torque of the previous specified time, and performs hoisting according to the hoisting command, It has a hook position storage section that stores the hook position detected by the encoder when the number of times that the comparison result by the detection torque comparison section matches reaches a specified number of times, and the hook position that is memorized for high-speed lowering is reached by a lowering command. It is described that the machine includes a lowering deceleration determining unit that lowers the speed to low-speed lowering when the hook position is reached at a stored hook position.

JP2008-239258 JP2019-94205

The operation control device for an electric hoist described in Patent Document 1 uses a load/no-load sensor to detect the load, and offsets a predetermined value to determine the deceleration point, so that the landing position is not the same as before transportation. There is a problem in that it can only handle the same height as the suspended load. Further, in Patent Document 2, if the height of the landing position is increased by extending the sampling period or increasing the number of sampling times, a problem arises in that the low-speed operation range until the hook position memorization during hoisting becomes longer. Even when the landing surface is low, there is a problem that the low-speed operation range from the deceleration start point (deceleration start height) becomes long.

The present invention executes a lowering operation for landing a suspended load corresponding to each of the heights of a plurality of landing positions. More specifically, in a method for controlling the landing of a suspended load in an electric hoist that transports a suspended load from a hoisting position to a landing position using a hoisting machine control device, the hoisting machine control device outputting a hoisting command to start hoisting the suspended load from the hoisting position; detecting whether the load in the hoisting operation satisfies a predetermined condition; and upon detecting that the predetermined condition is satisfied; Identifying the height of the suspended load of the hoist using the deviation between the height of the lifting position and the height of the landing position , and the difference between the height of the hook of the electric hoist and the suspended load, Based on the difference between the identified hanging load height and the height of the landing position, deceleration is started in the lowering operation of the hanging load to the landing position according to the height of the landing position. A deceleration start height indicating the height is calculated, and when the hoisting machine detects that the deceleration start height has been reached during the hoisting operation, and outputs a deceleration instruction during the hoisting operation. This is an implantation control method.

Note that specifying the height of the suspended load of the hoisting machine includes specifying the height of the suspended load holding means including the hook in the hoisting machine, and specifying the height of the suspended load holding means.

The present invention also includes a hoisting machine control device, an electric hoisting machine, and an electric hoisting machine system including the same.

Even if the height of the transport start position, that is, the height of the lifting position (lifting position) and the height of the position where the suspended load lands on the floor (landing position), is different from the height at which deceleration starts during landing work. It is possible to appropriately perform the low-speed operation range during the lowering operation until landing on the floor.

1 is an external front view of an electric hoist in Examples 1 and 2. FIG. It is an example of the functional block diagram of the electric hoist system in Examples 1 and 2. It is an explanatory view showing the state of a hook, a rope, and a hanging load in Examples 1 and 2. It is an example of the flow which discriminate|determines the hanging load height in Examples 1 and 2. 2 is an example flowchart showing processing from lower limit deceleration to stopping in Examples 1 and 2. FIG. It is an example of the structure of the control system of the electric hoist in Examples 1 and 2. It is an example of the structure regarding the correction|amendment of the height of the landing position of the electric hoist in Example 2. It is an example of the structure of the control system of the electric hoist in Example 2. FIG. 6 is a diagram showing the relationship between hook height and time in a conveyance operation using point b in Examples 1 and 2. FIG. FIG. 6 is a diagram showing the relationship between hook height and time in a conveyance operation using point c in Examples 1 and 2. FIG.

Hereinafter, each embodiment of the present invention will be described using the drawings.

First, Example 1 will be explained. FIG. 1 is an external front view showing the external appearance of an electric hoist in this embodiment and a second embodiment to be described later. The electric hoist includes a hook 101, a wire rope 102, an operation input device 103, a limit 104, an induction motor 105, an electromagnetic brake 106, a control device 107, and the like.

The electric hoist receives an operation command from the operation input device 103 for the load (hanging load 302) attached to the hook 101 into the control device 107, and the control device 107 issues a release command to the electromagnetic brake in response to the received input command. send. Then, by controlling the induction motor 105, the wire rope 102 is wound up and unwound, thereby performing a hoisting operation and a hoisting operation. As a result, the suspended load 302 attached to the hook 101 moves in the Z direction (arrows in the +Z direction and -Z direction are shown), that is, in the vertical direction (height direction). As described above, the electric hoist transports the suspended load.

Note that the hook 101 only needs to be able to hold the hanging load 302, and its form does not matter, such as a double hook or a single hook. Further, claws, magnets, splitters, etc. other than hooks may be used.

Next, transport in this embodiment will be explained using FIGS. 2 to 6 and FIG. 9. This conveyance includes deceleration control and stop control during the lowering operation. Furthermore, below, calculation of the height at which deceleration is started taking into account the hanging load 302 and the hanging rope 301 which is the rope of the hanging tool will also be explained. Note that the hanging tool rope 301 is a type of hanging tool, and configurations other than ropes are also included in the hanging tool.

FIG. 2 is an example of a functional configuration diagram of the electric hoisting machine that performs conveyance in this embodiment and the second embodiment, particularly the electric hoisting machine system including the control device 107, the controlled induction motor 105, and the like. The control device 107 includes an inverter 201 that drives the induction motor 105 and an inverter control section 202 that controls the inverter 201 and controls the release of the electromagnetic brake 106 in response to an operation command from the operation input device 103.

Upon receiving a predetermined operation command from the operation input device 103, the inverter control unit 202 generates an inverter control signal based on the operation command, and controls the inverter 201 using the inverter control signal (operation command). In response to this, inverter 201 provides frequency, voltage, and current necessary for driving induction motor 105 to induction motor 105 based on the inverter control signal. The inverter control unit 202 controls the inverter 201 and controls the electromagnetic brake 106 to open so that the load 302 suspended from the hook 101 via the hanging rope 301 is held and moved in the Z direction.

Next, an example of the configuration of the inverter control section 202 will be described using FIG. 6. FIG. 6 shows an example of a control system configuration of the electric hoist in this embodiment.

The inverter control section 202 includes a control section 601, an information storage section 602, and an arithmetic processing section 603. The control unit 601 controls the inverter 201 based on the operation command from the operation input device 103, and drives the induction motor 105.

The control unit 601 determines the load state based on the frequency, voltage, current value, torque command value obtained from the inverter 201, pulse signal obtained from the encoder 203, and the like. The rotation status of the induction motor 105 can be detected by using an encoder 203 attached to the rotation shaft of the induction motor 105 to obtain a pulse signal corresponding to the rotation speed.

The control unit 601 controls the release or braking of the electromagnetic brake 106 in response to an operation command from the operation input device 103. The control unit 601 performs calculation processing and the like to obtain the current hook height of the hook 101 based on the pulse signal obtained from the encoder 203 and information that uses the lower part of the limit 104 as a reference point in advance. Note that the hook height is determined using the lowest part of the hook 101 (the lowest height part in the Z direction) and the reference point. Furthermore, information other than the reference point or the lowest point may be used to specify the hook height.

The height in this embodiment refers to the position in the Z direction, and may include an error. The reference point also indicates the height. Note that the same applies to "points (point b, etc.)" in the following explanation.

Note that acquisition of the hook height is not limited to the value calculated by the encoder 203, and it is sufficient to detect the hook height, and the configuration for this purpose is not limited. Furthermore, the X direction and the Y direction other than the height may also be detected.

The information storage unit 602 stores height information of the reference point, the height of each landing surface, and a predetermined threshold for load detection. The control unit 601 uses this threshold value to detect a load state that satisfies a predetermined condition, which indicates that tension (load) is applied to the lifting rope 301 at the lifting position. This load condition includes the following: Also, a combination of these may be used for determination. That is, each state may be detected, and if at least one of them satisfies the condition, it may be determined that the predetermined condition is satisfied. As described above, these may be determined in combination.
A state in which it is detected that a current greater than a predetermined current is flowing through the inverter 201 when performing a hoisting operation based on an operation command from the operation input device 103 A state in which the slip frequency of the induction motor 105 is greater than a predetermined value A state in which the torque command value calculated within the inverter 201 is greater than a predetermined value. Note that the landing surface is an example of a landing position on which a suspended load is placed. Therefore, the landing position includes a position where the hanging load is supported by a plurality of fulcrums or held by some kind of holding means. In this embodiment, an example will be described in which a landing surface is used as the landing position. Further, this load detection method is not limited to the above method, and any method may be used as long as the load can be determined by comparing it with a predetermined threshold value.

The information storage unit 602 stores the hook height when the load is detected via the control unit 601.

The arithmetic processing unit 603 calculates the suspended load height using the hook height at the time of load detection stored in the information storage unit 602. The suspended load height is information indicating the height of the suspended load 302 to the position closest to the intended landing surface when the above-mentioned load state is detected. Therefore, the calculation processing unit 603 first identifies the difference in height between the hook 101 and the hanging load 302. For this difference, a value accepted by the operation input device 103 or a value stored in advance in the information storage unit 602 can be used. Further, a deviation, which is the difference between the height of the lifting position stored in the information storage unit 602 and the height of the planned landing surface, is specified. Then, using this difference and deviation, the suspended load height is calculated.

Note that in calculating the suspended load height, specifying the hook height and the difference may be omitted. In this case, the height of the suspended load is calculated using the height of the suspended load 302 from the lifting position to the closest position and the deviation. Here, "the position closest to the planned landing surface" refers to the position of the hanging load 302 where the suspended load 302 lands in advance when landing on the floor.

The calculated hanging load height is then stored in the information storage unit 602. Furthermore, by adding the moving distance based on the stored suspended load height and deceleration time to the height of the landing surface selected by the operation input device 103, etc., before the lowering command, the Calculate the deceleration position.

The hook position at the time of load detection stored in the information storage unit 602 and the suspended load height calculated by the arithmetic processing unit can be reset by performing a specific operation on the operation input device 103. Then, by resetting it, an automatic deceleration function can be performed when lifting another suspended load. Note that the reset method is not limited to the above method, and the reset process may be performed when it is determined that there is no load.

Note that the control unit 601 and the arithmetic processing unit 603 may be integrated or may be configured to be divided for each function. Further, these may execute various functions by calculations according to programs stored in the information storage unit 602.

Next, regarding the deceleration control during lowering and the stop processing until landing on the floor when the height of the lifting position and the height of the landing surface are different for a plurality of landing surfaces in this embodiment, FIGS. 7 and FIG. 9.

First, FIG. 3 is a diagram for explaining part of the processing of this embodiment. (a) is a diagram for explaining the identification of the height of the landing surface, and (b) is a diagram for explaining the determination of the suspended load height. As will be described later, (b) determination of the suspended load height is performed by detecting whether the load state of the electric hoist satisfies a predetermined condition and identifying the suspended load height at the time of detection.

First, in (a), the height of the expected landing surface is acquired during a trial run or periodic inspection after the electric hoist is installed. Therefore, in an unloaded state, the control unit 601 controls the electromagnetic brake 106 to open in response to a lowering command from the operation input device 103, controls the inverter 201, and drives the induction motor 105. As a result, the hook 101 is lowered and stopped when the lower part of the hook swings to the floor (point a). Then, the control unit 601 calculates the hook height at which the hook is stopped from the pulse signal of the encoder 203. The calculated hook height is stored in the information storage unit 602 as the height of the landing surface. Here, the information storage unit 602 creates patterns for each height of the landing surface to be stored (for example, pattern A is above ground, pattern B is a surface lower than the ground such as underground, and pattern C is a surface higher than the ground). It is desirable to memorize it. Furthermore, regarding this pattern, it is preferable that the storage location (patterns A, B, C, etc.) can be selected using the display screen and setting/selection keys mounted on the inverter control unit 202, and the operation input device 103 may be used to select a pattern to be stored. A similar method can be used to initialize a stored pattern.

Next, a processing flow for the transport operation after storing the pattern for each landing surface of this embodiment will be explained. The conveyance operation can be broadly divided into a hoisting operation and a hoisting operation. Furthermore, there are two methods using points b and c, respectively, shown in FIG. 3(b). Therefore, the hoisting operation using point b, the lowering operation using point b, the hoisting operation using point c, and the lowering operation using point c will be explained below in this order. First, the hoisting operation of a suspended load using point b will be explained using FIGS. 4, 7, and 9. FIG. 4 is an example of a flow for determining the height of a suspended load in this embodiment. Moreover, FIG. 9 is a diagram showing the relationship between height and time in a transport operation including hoisting and lowering operations of a suspended load when point b is used.

First, the control unit 601 of the inverter control unit 202 receives selection of a pattern corresponding to the landing surface of the hanging load 302 by the operator via the operation input device 103.

After selecting the pattern, the control unit 601 determines whether there is a hoisting operation command from the operation input device 103 (S401). If there is a hoisting command from the operation input device 103, the process advances to S402; if not, the process of S401 is repeated.

Next, the control unit 601 issues a hoisting command to the inverter 201 to operate at a low speed. In response to this, inverter 201 controls induction motor 105. As a result, the electric hoisting machine performs hoisting at a low speed from the hoisting position (S402). FIG. 9A shows this low-speed operation. In FIG. 9, the hook height is rising at a constant speed (inclination) from the winding position.

During low-speed hoisting, the control unit 601 continuously detects the load condition on the electric hoist. Then, the control unit 601 determines whether this load state satisfies a predetermined condition (S403). This determination includes the following examples as described above.
A state in which it is detected that a current greater than a predetermined current is flowing through the inverter 201 A state in which the slip frequency of the induction motor 105 is greater than a predetermined value A state in which the torque command value calculated within the inverter 201 is greater than a predetermined value As a result, if it is determined that the load state is as described above, the process advances to S404; otherwise, the process continues to S403.

Next, the control unit 601 specifies the hook height at the time of determining the above load state from the pulse signal obtained from the encoder 203, and stores it in the information storage unit 602 (S404). The height of point b, which is the lower surface of hook 101 at this time, is specified based on the reference point. Further, at this time, the hanging rope 301 is in a tensioned state, and the hanging load 302 is in a state where it has landed at the lifting position. In this way, point b is specified as the hook height. The conveyance state in S402 to S404 is as shown in A) of FIG. That is, in (a), the hanging rope 301 is loosened and the hook 101 is raised, and in (b), tension, that is, a load is applied to the hanging rope 301, and the hook height becomes temporarily unchanged. This load and hook height are detected and calculated in S403 and S404.

Next, the calculation processing unit 603 compares the height of the landing surface with the hook height specified in S404. Then, the height of the suspended load 302 (height from point a to point b in FIG. 3) is calculated by adding the height of the hanging rope 301 to this (S405). Then, the calculation processing unit 603 stores the calculated hanging load height in the information storage unit 602. Further, the control unit 601 permits a hoisting command in high-speed operation. In other words, the electric hoisting machine hoists the suspended load 302 at high speed. In other words, the operation c) in FIG. 9 is performed. Thereafter, the electric hoisting machine performs the operation d) in FIG. 9, that is, moves the suspended load 302 in parallel according to the operation on the operation input device 103.Next, in the landing process of the suspended load in this embodiment, The lowering operation will be explained using FIGS. 5 and 9. FIG. 5 is a flowchart showing the process from lower limit deceleration to stop in this embodiment.

During or before the operation in FIG. 9D, the control unit 601 receives the selection of a pattern corresponding to the landing surface on which the suspended load 302 is scheduled to land, by the operator via the operation input device 103. .

Next, the control unit 601 determines whether there is a lowering operation command from the operation input device 103 (S501). As a result, if there is a lowering operation command from the operation input device 103, the process advances to S502. Further, if there is no lowering operation command, S501 is continued.

Next, the arithmetic processing unit 603 acquires the height of the planned landing surface corresponding to the selection pattern stored in the information storage unit 602 and the suspended load height calculated in S405. Then, the arithmetic processing unit 603 calculates a deceleration start height at which deceleration is started from a specified deceleration time (S502). This deceleration start height indicates the height at which the suspended load 302 has landed on the landing surface. When FIG. 3 is a landing surface, the suspended load height is at point a, that is, the hook height is at point b. In FIG. 9, this height is indicated by F). Note that the deceleration start height indicates the place where deceleration starts, and may indicate the position in the Z direction, and may be calculated including the positions in the X direction and the Y direction.

Further, the control unit 601 issues a lowering command to the inverter 201 in high-speed operation. Then, the inverter 201 controls the induction motor 105 to perform a high-speed lowering operation in the electric hoisting machine (S503). That is, the operation shown in (e) in FIG. 9 is executed.

Next, the control unit 601 determines whether the deceleration start height calculated in step S502 has been reached during the high-speed lowering operation (f) of the electric hoist (S504). This can be realized by the control unit 601 continuously determining the hook height based on information from the encoder 203. Here, the hook height shown in F) in FIG. 9 shows an example where the landing surface of the suspended load 302 selected at the time of hoisting and the landing surface of the destination (planned) are the same. That is, this is the case where the landing surface is landing surface A shown in FIG. In this case, the suspended load height at the hook height point b becomes the deceleration start height.

If the height of the suspended load is different from the height of the landing surface, the following correction process is performed in S502.

First, the case where the height of the planned landing surface is higher than the lifting position, that is, the landing surface C in FIG. 7 will be described. In this case, the control unit 601 performs the calculation in F) of FIG. 9 by adding the suspended load height (height from point a to point b) to the height of the landing surface C. From this, the suspended load height when the hook height is as shown in (g) in FIG. 9, that is, the deceleration start height is calculated.

In addition, if the height of the planned landing surface is lower than the lifting position (landing surface B), the control unit 601 adjusts the height of the suspended load (from point a to point b) from point A in FIG. 9 to landing surface B. height to the point). With this, the suspended load height when the hook height is h) in FIG. 9, that is, the deceleration start height is calculated.

Next, when the hook 101 reaches the deceleration start height, the control unit 601 issues a lowering command to the inverter 201 for low-speed operation. As a result, the induction motor is controlled by the inverter 201 to reduce the speed and perform lowering at a low speed (S505). That is, depending on the height of the planned landing surface, the operations shown in C), C, and C in FIG. 9 are performed. If the deceleration start height has not been reached, the process returns to S503.

Next, during the low-speed hoisting operation shown in q) q) s) in Fig. 9, the control unit 601 performs a no-load determination (S506). As a result, if there is a load, the process returns to S505 and continues the lowering operation at a low speed. If there is no load, the control unit 601 determines that the suspended load 302 has landed on the floor, and outputs a stop command. Note that the no-load determination includes the current flowing through the inverter 201, the slip frequency of the induction motor 105, the torque command value calculated within the inverter 201, and the like. Further, it is not necessarily necessary that there is no load state (zero), and it may be determined that there is no load when at least one of these indicates a value smaller than a predetermined value.

This completes the explanation of the hoisting operation using point b and the lowering operation using point b, that is, the conveyance operation using point b.

Next, the transport operation using point c will be explained separately into a hoisting operation using point c and a lowering operation using point c. In the following description, FIG. 10 will be used in addition to the flowcharts of FIGS. 4 and 5 and FIG. 7.

First, the hoisting operation using point c will be explained, focusing on the differences from the case using point b. Here, point c in FIG. 3(b) indicates the hook position when the suspended load 302 is suspended in the air. Furthermore, the steps up to S402 in FIG. 4 are the same as in the example of using point b described above. Further, the basic idea of S403 is the same as that of point b, which is to "determine whether the load state satisfies a predetermined condition." However, the method of using the predetermined conditions (predetermined current as a threshold value to be used, etc.) is different. In this example, it is determined whether the load state satisfies the above predetermined condition and further satisfies another condition. Another condition indicates that the installed hanging load 302 has been lifted. This other condition includes at least one of the current of the inverter 201, the slip frequency of the induction motor 105, and the torque command value calculated within the inverter 201.

Then, based on the pulse signal obtained from the encoder 203, if another condition is satisfied, the control unit 601 specifies the height at that time (height at point c) as the hook height. Then, this is stored in the information storage unit 602. A') shown in FIG. 9 indicates the hook height in this case.

Next, in S405, the calculation processing unit 603 compares the height of the selected landing surface and the hook height. The height of the suspended load 302 (the height from point a to point c in Fig. 3) is calculated by adding the height of the hanging rope 301 and the difference between points c and b.

calculate. Further, the control unit 601 controls the high-speed hoisting operation and parallel movement of the electric hoist, as in the example at point b. That is, the operations c) and d) in FIG. 10 are performed. This concludes the explanation of the hoisting operation using point c.

Next, S501 in which the lowering operation using point c is explained using FIGS. 5, 7, and 10 is the same as the example using point b.

Next, the arithmetic processing unit 603 acquires the height of the planned landing surface corresponding to the selection pattern stored in the information storage unit 602 and the suspended load height calculated in S405. Then, the arithmetic processing unit 603 calculates a deceleration start height at which deceleration is started from a specified deceleration time (S502). This process is basically the same as the case of using point b, but differs depending on the hook heights of point b and c. For this reason, the deceleration start height is calculated to be a height higher than that in the case of using point b by point c - point b. Therefore, in the case of the landing surface A, the suspended load height when the hook height is C') in FIG. 10 is calculated as the deceleration start height. In addition, landing surfaces B and C are also raised by point c - point b from the example of using point b, and the height of the suspended load when the hook height is ku') ki') starts to decrease. Calculated as height.

Then, in steps S503 to S505, the same processing as in the case of using point b is performed. That is, from the high-speed lowering operation in E) of FIG. 10 to the low-speed lowering operation in accordance with the landing surface, the operations shown in C), G), and S) are executed. This concludes the description of the first embodiment.

Next, as a second embodiment, an example regarding selection of a landing surface pattern different from that of the first embodiment will be described. FIG. 8 is an example showing the configuration of the control system for the electric hoist in this embodiment. The configuration shown in FIG. 8 differs from that of the first embodiment (FIG. 6) in that it includes an ID transmitter 701 and an ID receiver 702.

Each ID transmitter 701 has a unique ID, and this unique ID is also stored in the information storage unit 602. The distance to the landing surface is then linked to the pattern of the landing surface that is stored. Further, the ID transmitter 701 is installed on the wall of the workplace (see 701a, 701b, and 701c in FIG. 7). On the other hand, the ID receiver 702 is attached to the hook 101. Then, the unique ID transmitted from the ID transmitter 701 is acquired, and the acquired information is transmitted to the control unit 601. As a result, the control unit 601 identifies the pattern (distance to the landing surface) from the transmitted ID. Furthermore, it is determined from the acquired radio wave information (strength) whether or not there has been an erroneous detection.

Note that instead of the unique ID, information indicating the pattern or height of the corresponding landing surface may be transmitted and received between the ID transmitter 701 and the ID receiver 702.

Thereby, the process from the lower limit deceleration to the stop shown in the first embodiment can be performed on each landing surface without the operator selecting a pattern.

101: Hook 102: Wire rope 103: Operation input device 104: Limit 105: Induction motor 106: Electromagnetic brake 107: Control device 201: Inverter 202: Inverter control unit 203: Encoder 301: Hanging rope 302: Hanging load 601: Control Section 602: Information storage section 603: Arithmetic processing section 701: ID transmitter 702: ID receiver

Claims (15)

In an electric hoisting machine transporting a hoisted load from a hoisting position to a landing position using a hoisting machine control device, a hoisting load landing control method includes:
The hoisting machine control device includes:
outputting a hoisting command to start hoisting the suspended load from the hoisting position;
Detecting whether the load in the hoisting operation satisfies a predetermined condition,
The height of the suspended load of the electric hoist when it is detected that the predetermined condition is satisfied is determined by the deviation between the height of the hoisting position and the height of the landing position , the hook of the electric hoist and the height of the hoist. Identified using the difference in the height of the suspended load,
Based on the difference between the identified hanging load height and the height of the landing position, deceleration is started in the lowering operation of the hanging load to the landing position according to the height of the landing position. Calculate the deceleration start height indicated by the height,
During the lowering operation, it is detected that the deceleration start height has been reached;
A method for controlling landing of a suspended load in an electric hoist, comprising outputting a deceleration instruction in the lowering operation. In the method for controlling the landing of a suspended load in an electric hoist according to claim 1,
A method for controlling landing of a suspended load in an electric hoist, characterized in that in calculating the deceleration start height, the deceleration start height is further calculated using a deceleration time in the lowering operation. The method for controlling the landing of a suspended load in an electric hoist according to claim 1 or 2,
In calculating the deceleration start height, the deceleration start height may be calculated using information that can specify the height of the landing position transmitted from the ID transmitter during the lowering operation. Features: A method for controlling the landing of a suspended load in an electric hoist. The method for controlling the landing of a suspended load in an electric hoist according to claim 1 or 2,
Further, moving the suspended load holding means of the electric hoist to the landing position and specifying the height of the landing position,
A method for controlling landing of a suspended load in an electric hoist, characterized in that the height of the specified landing position is used to calculate the landing height of a suspended load in an electric hoist. The method for controlling the landing of a suspended load in an electric hoist according to claim 1 or 2,
In determining the height of the suspended load holding means of the electric hoist, (1) the height at which a load is applied or (2) the height at which the suspended load is suspended,
In calculating the deceleration start height, (1) a position obtained by adding a predetermined value to the height difference between the position when a load is applied and the landing position is calculated as the deceleration start height, or (2) A method for controlling landing of a suspended load in an electric hoist, characterized in that a difference in height between the suspended position of the suspended load and the landing position is calculated as the deceleration start height. In a hoisting machine control device that controls an electric hoisting machine that transports a suspended load from a lifting position to a landing position,
means for outputting a hoisting command to start hoisting the suspended load from the hoisting position;
means for detecting whether the load in the hoisting operation satisfies a predetermined condition;
The height of the suspended load of the electric hoist when it is detected that the predetermined condition is satisfied is determined by the deviation between the height of the hoisting position and the height of the landing position , the hook of the electric hoist and the height of the hoist. A means for identifying using the difference in the height of the suspended load;
Based on the difference between the identified hanging load height and the height of the landing position, deceleration is started in the lowering operation of the hanging load to the landing position according to the height of the landing position. means for calculating a deceleration start height indicated by the height;
means for detecting that the deceleration start height has been reached during the lowering operation;
A hoisting machine control device comprising means for outputting a deceleration instruction in the hoisting operation. The hoisting machine control device according to claim 6,
The hoisting machine control device is characterized in that the means for calculating the deceleration start height further calculates the deceleration start height using a deceleration time in the lowering operation. The hoisting machine control device according to claim 6 or 7,
The means for calculating the deceleration start height calculates the deceleration start height using information transmitted from an ID transmitter that can specify the height of the landing position during the lowering operation. A hoisting machine control device characterized by: The hoisting machine control device according to claim 6 or 7,
Further, it has means for moving the suspended load holding means of the electric hoist to the landing position and specifying the height of the landing position,
The hoisting machine control device is characterized in that the means for calculating the deceleration start height calculates the deceleration start height using the identified height of the landing position. The hoisting machine control device according to claim 6 or 7,
The means for specifying the height of the suspended load holding means of the electric hoist includes (1) specifying the height when a load is applied or (2) the height at which the suspended load is suspended;
The means for calculating the deceleration start height includes (1) calculating, as the deceleration start height, a position obtained by adding a predetermined value to the difference in height between the position when a load is applied and the height of the landing position; 2) The hoisting machine control device is characterized in that the difference in height between the suspended position and the landing position of the suspended load is calculated as the deceleration start height. In an electric hoisting machine system that includes an electric hoisting machine that transports a suspended load from a lifting position to a landing position, and a hoisting machine control device that controls the electric hoisting machine,
The hoisting machine control device includes:
means for outputting a hoisting command to start hoisting the suspended load from the hoisting position;
means for detecting whether the load in the hoisting operation satisfies a predetermined condition;
The height of the suspended load of the electric hoist when it is detected that the predetermined condition is satisfied is determined by the deviation between the height of the hoisting position and the height of the landing position , the hook of the electric hoist and the height of the hoist. A means for identifying using the difference in the height of the suspended load;
Based on the difference between the identified hanging load height and the height of the landing position, deceleration is started in the lowering operation of the hanging load to the landing position according to the height of the landing position. means for calculating a deceleration start height indicated by the height;
means for detecting that the deceleration start height has been reached during the lowering operation;
means for outputting a deceleration instruction in the lowering operation,
The electric hoist system is characterized in that the electric hoist has means for transporting the suspended load according to an output from the hoist control device. The electric hoist system according to claim 11,
The means for calculating the deceleration start height further uses the deceleration time in the lowering operation,
An electric hoist system characterized in that the deceleration start height is calculated. The electric hoist system according to claim 11 or 12,
The means for calculating the deceleration start height calculates the deceleration start height using information transmitted from an ID transmitter that can specify the height of the landing position during the lowering operation. An electric hoist system characterized by: The electric hoist system according to claim 11 or 12,
Further, it has means for moving the suspended load holding means of the electric hoist to the landing position and specifying the height of the landing position,
An electric hoist system, wherein the means for calculating the deceleration start height calculates the deceleration start height using the identified height of the landing position. The electric hoist system according to claim 11 or 12,
The means for specifying the height of the suspended load holding means of the electric hoist includes (1) specifying the height when a load is applied or (2) the height at which the suspended load is suspended;
The means for calculating the deceleration start height includes (1) calculating, as the deceleration start height, a position obtained by adding a predetermined value to the difference in height between the position when a load is applied and the height of the landing position; 2) An electric hoist system characterized in that the difference in height between the suspended position and the landing position of the suspended load is calculated as the deceleration start height.

Images