JPH02163289A - Setting method for interlocking characteristics of crane - Google Patents

Abstract

PURPOSE:To provide complete interlocking of operating sections with each other regardless of the difference in characteristics by calculating the relationship between the first and second command signals which make the first and second operating sections come into action and memorizing this calculation as interlocking characteristics of the first and second operating sections. CONSTITUTION:With visual observation of the interlocking conditions of the first and second operating sections with each other, adjusting work is carried out by an adjuster. When it is judged that the operating conditions are in appropriate interlocking ones each other, by an operator's operation of a setting switch, the interlocking conditions of the first and second operating sections in that moment are stored in a non-volatile memory portion attached to a controller 17 as additional interlocking characteristics available newly. When the interlocking characteristics of the first and second operating sections is mutually set according to the above setting method for crane interlocking characteristics, the set interlocking characteristics includes consideration of individual crane characteristics, thus providing complete interlocking of both the operating sections.

Description

[Detailed description of the invention] (Field of application in industry A) A method for setting interlocking characteristics of a crane according to the present invention is as follows:
In order to prevent the hook suspended from the tip of the lobe from rising or falling too much when the boom of a crane is extended or retracted for handling various types of heavy objects,
It is used to ensure that boom extension and contraction, rope winding, and sending out are carried out in a reliable manner.

(Prior art) In order to carry out cargo handling work for various heavy objects, for example, a second
Lanes are used as shown in the figure.

This crane pivots the base end of a boom 2 to the upper end of a support 1 installed on the top surface of a swivel base (not shown) that can rotate 360 degrees around a vertical axis. By providing a hydraulic cylinder 3 between the boom 2 and the boom 2, the boom 2 can be raised and lowered freely.

The boom 2, which is telescopically telescopic, has a built-in hydraulic cylinder 4, and by supplying and discharging pressure oil to the hydraulic cylinder 4, the boom 2 is made telescopic.

A cable that is pulled out from a drum 5 that is rotatably driven by a hydraulic motor (not shown), which is provided at the upper end of the support column 1 (or the upper surface of the swivel table), and is passed around a pulley 6 that is pivotally supported at the tip of the boom 2. The tip of the boom 7 is connected to the tip of the boom 2, and a hook 9 is suspended between the tip and the pulley 6 via a movable pulley 8.

Such a lane is controlled by a hydraulic circuit as shown in FIG. 3, for example, to rotate the swivel base, raise or lower the boom 2, rotate the drum 5, or raise or lower the hook 9. This allows you to lift and lower heavy objects.

In the hydraulic circuit shown in FIG. 3, a plurality of hydraulic circuit switching valves 10 and 10 are provided, in order from the top of FIG. 2 for raising and lowering, and for turning the swivel base. Each hydraulic circuit switching valve 1o,
The spool 11.11 of 1o is operated by a manually operated handle 29.29 as well as by a hydraulically operated switching cylinder 1.
2.12, and pressure oil is supplied to and discharged from each switching cylinder 12.12 by a solenoid valve 13.14.

Moreover, the position of each switching cylinder 12.12 is determined by the displacement meter 15.
15, and the state of the crane can be detected through the position of the switching cylinder 12.12.

By the way, in the crane configured and used as described above, when the boom 2 is extended or contracted, the distance between the drum 5 and the pulley 6 changes due to the extension or contraction, so if the drum 5 is kept fixed, , the distance 1 between the hook 9 and the pulley 6 changes.

For example, if the boom 2 is retracted while the drum 5 is fixed, the distance a becomes longer, and on the other hand, if the boom 2 is extended while the drum 5 is fixed, the distance 1 becomes shorter.

As the boom 2 contracts, the distance between the hook 9 and the pulley 6 is 1l.
If lIJ2 becomes extremely long, the hook 9 will reach the ground and the cable 7 between the pulley 6 and the movable pulley 8 will
becomes loose, causing the cable 7 to come off from the pulley 6 or movable pulley 8.

Furthermore, if the distance between the hook 9 and the pulley 6 becomes extremely short as the boom 2 extends, the movable pulley 8 and the boom 2 will collide, causing damage to the boom 2 and the like.

For this reason, conventionally, when extending and retracting the boom 2, a worker manually rotates the drum 5 and sends out or winds up the cable 7 in an amount commensurate with the amount of expansion and contraction of the boom 2. I tried not to change. Furthermore,
A detection means for detecting an excessive rise of the hook 9 is provided at the tip of the boom 2, and when this detection means detects an excessive rise of the hook 9, the extension work of the boom 2 is stopped and , a warning was issued using a buzzer, etc.

However, manually maintaining the distance 1 between the pulley 6 and the hook 9 is not only troublesome and requires skill, but also ensures that the hook 9 does not rise excessively if the detection means fails. cannot be prevented.

In order to eliminate such inconveniences, the present inventor first expanded and contracted the boom 2 and took up the robe 7 on which the hook 9 was suspended.
He made an invention (Utility Application No. 133416/1983) relating to a crane with a function for adjusting the position of a hook that is linked to feeding.

This crane with a hook position adjustment function has a configuration as shown in the block diagram of FIG. 4, and functions as shown in the flowchart of FIG. 5.

A control signal sent from a control panel 16 (such as a remote control box for a television, etc.) operated by a worker to a crane controller 17 is further transmitted from this controller 17 to a hydraulic cylinder 4 that extends and retracts the boom 2. A telescopic control unit 18 for controlling the supply and discharge of pressure oil; and a hook vertical control unit 19 for controlling the supply and discharge of pressure oil to the hydraulic motor for rotating the drum 5 and moving the hook 9 up and down. , an elevation control section 20 for controlling the supply and discharge of pressure oil to the hydraulic cylinder 3 and for raising and lowering the boom 2
, a swing control section 21 that controls the supply and discharge of pressure oil to a hydraulic motor for swinging the swing table, and each of the above-mentioned control sections 18 to 21.
and an accelerator control section 22 for controlling the rotational speed of an engine for driving a pressure oil pump that supplies pressure oil to the engine.

Of the above-mentioned control units, the control units 18 to 21 each include a servo cylinder 24.24 that moves by switching the solenoid valve 13.14, and a switching spool 23.24 that is driven by the servo cylinder 24.24 and switches the hydraulic circuit.
23 (corresponding to the aforementioned spools 11 and 11), and is configured to send a predetermined hydraulic pressure to a predetermined hydraulic cylinder or hydraulic motor.

Further, the accelerator control section 22 has an accelerator cylinder 27 that is moved by switching solenoid valves 25 and 26, and the accelerator cylinder 27 directly drives the accelerator.

A displacement meter 15.28 is attached to the cylinder 24.27 of each control section 18-22, and the control state of each control section 18-22 is detected through the displacement of each cylinder 24.27.

When carrying out cargo handling work using the crane with the hook position adjustment function of the earlier invention configured as described above, first, the controller 1 is
7 is turned on, and in step 1, the program of the controller 17 is initialized, such as initializing variables.

Next, in step 2, a command signal from the control panel 16 is detected, and this command signal is A/D converted.
stored in the memory of the controller 17;

Further, as step 3, the feedback signals from each displacement meter 15.28 are detected, this signal is A/D converted, and then stored in the memory of the controller 17 as a signal representing the control state of each controller 18 to 22. Remember it.

From this state, it is detected whether or not the hook 9 is being moved up and down as the drum 5 rotates (step 4), and whether the boom 2 is being extended or retracted (step 5). If the vertical operation is being performed, and if neither the hook 9 is being vertically operated nor the boom 2 is being extended or retracted, the process directly proceeds to step 7, and the command signal stored in the memory of the controller 17 in step 2 is , the state of each part (
deviation from the target based on the command) is detected, and the controller 17
stored in memory.

In addition, if the hook 9 is not moved up or down but the boom 2 is extended or retracted, the position of the hook 9 is automatically adjusted in step 6 (the distance 111 between the hook 9 and the pulley 6 is adjusted). In order to maintain a substantially constant value), from the command No. 48 for extending and retracting the boom 2 or the feedback signal indicating the control state of the boom 2, the hydraulic motor for rotating the drum 5 in order to raise and lower the hook 9 is controlled. A control signal is determined and stored in the memory of the controller 17.

Based on the command signal for raising and lowering the hook 2 obtained in step 6, the solenoid valves 13 and 14 of the hook vertical control section 19 are controlled in step 8, and as a result, the boom 2 is extended. When the boom 2 is retracted, the drum 5 rotates in a direction to send out the cable 7, and when the boom 2 is retracted, the drum 5 rotates in a direction to wind up the cable 7.

For this reason, the hook 9 suspended by the cable 7,
The distance 111J2 from the pulley 6 pivotally supported at the tip of the boom 2 does not change significantly, and the hook 9 is prevented from hitting the ground or colliding with the tip of the boom 2.

(Problems to be Solved by the Invention) However, even with the above-mentioned crane with a hook position adjustment function according to the earlier invention, the following problems still occur.
There are problems that need to be resolved.

In other words, the formula for determining the signal for synchronizing the extension and contraction of the boom 2 and the rotation of the drum 5 is determined through experiments and stored in advance in the storage section of the arithmetic processing circuit built into the control panel, but Hydraulic circuit switching valve 10 constituting the circuit.
Since the flow resistance of 10 and the resistance value of each hydraulic cylinder and hydraulic element are slightly different, if the same equation is stored in the arithmetic processing circuit that controls different cranes (even if the cranes are the same model) ), the expansion and contraction of the boom 2 and the rotation of the drum 5 are not necessarily synchronized.

The method of setting the interlocking characteristics of a crane according to the present invention eliminates such inconveniences.

(Means for Solving the Problems) A method for setting the interlocking characteristics of the crane of the present invention is to use a hydraulic cylinder for extending and retracting the boom of the crane and a hydraulic motor for driving the drum around which the cable from which the hook is suspended is wound. The first, each driven by hydraulic pressure,
In a crane that has a second operating part, and in addition to operating the first and second operating parts independently, the first and second operating parts can be operated in conjunction with each other. This is to set the characteristics of interlocking operation parts of the .

The method of the present invention for setting lane interlocking characteristics in this way is such that after the control panel of the crane is switched to the state where setting work is performed, the first and second operating parts operate independently of each other, and then By making one operating part perform a predetermined operation and adjusting the operating speed of the second operating part using the regulator installed in the control panel, the first and second operating parts can be brought into an appropriate interlocking state. By operating the setting switch when the first and second operating parts are properly linked, the first command to operate the first operating part at that moment is issued. The relationship between the signal and the second command signal for operating the second operating section is calculated, and this calculated value is stored in a non-volatile storage section as the interlocking characteristic between the first operating section and the second operating section. to be memorized.

(Function) When the interlocking characteristics of both the first and second operating parts are set by the method of setting the interlocking characteristics of the crane of the present invention configured as described above, the set interlocking characteristics are Since the individual characteristics are taken into consideration, the above-mentioned two operating parts can be reliably linked to each other.

(Example) Next, the present invention will be described in more detail with reference to the flowchart of FIG. 1 showing the setting method of the present invention.

When setting the interlocking characteristics between the first operating part (for example, the telescopic part of the boom 2) and the second operating part (for example, the elevating part of the hook 9) by the method of the present invention, the control panel of the crane is set. Switch to state. This switching operation is performed by turning on a setting mode switch provided on the control panel.

In this way, when the control panel is switched to the state where setting work is performed and crane operation is started, first, as step 1, initialize the controller program such as initializing variables, and then as step 2, the first In order to operate the operating section of the controller, a command signal sent from the control panel is detected, the command signal is A/D converted, and then stored in the memory of the controller.

After going through these steps 1.2, in step 3, it is determined whether the control panel is in a setting mode (a mode for resetting the interlocking characteristics of the first and second operating parts). If you are not in configuration mode, proceed directly to step 7.
Using the already stored interlocking characteristics as is, calculate the interlocking amount for operating the second operating section, and step 8
In Step 9, the feedback signal from the displacement meter that measures the displacement of the hydraulic switching valve in the hydraulic circuit for driving each operating part is detected, and in the subsequent Step 9, this signal is compared with the command signal to determine the difference between the two. The deviation e is determined, and in step 10.11, the solenoid valves in the control hydraulic circuits of each operating section are adjusted so that the deviation e is below the reference value (so that the operating section status is as per the command). Control.

Note that the operation in the case where steps 1, 2, 7, 8, 9, 10, and 11 are continued is the same as in the case of the first mover described above, so a detailed explanation will be omitted.

Also, if it is determined that the control panel is in the setting mode in step 3 (in this case, the setting mode switch provided on the control panel is turned on as described above, so it is determined that the control panel is in the setting mode. ), in step 4.5.6, the interlocking characteristics are set using the setting method of the present invention.

In this case, first, the interlocking characteristic is detected in step 4, and as the setting mode switch is turned on, the first and second operating sections operate independently of each other.

In this state, while causing the first operating part to perform a predetermined operation (for example, extending the boom 2 by the hydraulic cylinder 4), the adjuster (for example, the dial for adjusting the accelerator) provided on the control panel can be used. , in this case, the dial and accelerator control section are separated) to control the operating speed of the second operating section (for example, by rotating the drum 5 with a hydraulic motor,
By adjusting the speed at which the cable 7 on which the hook 9 is suspended is fed out, the first and second operating parts are brought into an appropriate interlocking state. At this time, a pair of mutually independent signals sent to both operating sections are always checked by the controller, and the interlocking characteristics of both operating sections are detected from this pair of signals.

While visually observing the interlocking state of the first and second operating parts, the worker made adjustments using the above-mentioned adjuster, and the re-operating parts were brought into an appropriate interlocking state (regardless of whether the boom was extended or not). , the distance between the hook 9 and the pulley 6 @It does not change.), in step 5 the worker can use a setting switch (for example, a button on an alarm horn), but in this case, ), the interlocking characteristics of the first operating section and the second operating section at that moment are set as the new interlocking characteristics to be used in step 6. , is stored in a non-volatile storage unit attached to the controller 17 (FIG. 4).

In this way, when the interlocking characteristics of the first and second reoperating parts are set by the method of setting the interlocking characteristics of the crane of the present invention, the set interlocking characteristics take into account the characteristics of each crane. Therefore, the above-mentioned reoperation parts can be reliably interlocked with each other.

Once the interlocking characteristics have been updated as described above, the process proceeds to the next step 8.9.10.11 using a signal representing the interlocking amount obtained based on the updated interlocking characteristics.

(Effects of the Invention) The method for setting the interlocking characteristics of the crane of the present invention is structured and operates as described above, so that the distance between the pulley and the hook, which is pivotally supported at the tip of the boom that expands and contracts, The characteristics of each individual crane are used to prevent the hook from coming off the cable or colliding with the boom. This can be done reliably regardless of the difference between the two.

[Brief explanation of the drawing]

Fig. 1 is a flowchart showing a method for setting interlocking characteristics of a crane according to the present invention, Fig. 2 is a schematic side view showing an example of a crane, and Fig. 3 is a hydraulic circuit diagram showing an example of a hydraulic control circuit of a crane. , FIG. 4 is a block diagram showing a control section of a crane with a function of adjusting the hook position for use in advance, and FIG. 5 is a flowchart showing the operation of this control section. 1: Strut, 2: Boom, 3.4; Hydraulic cylinder, 5 Ni drum, 6: Pulley, 7: Cable, 8; Moving pulley, 9: Hook, lO: Hydraulic circuit switching valve, 11 Nisbourg, 12:
Switching cylinder, 13.14: Solenoid valve, 15: Displacement meter, 1
62 control panel, 17: controller, 18: expansion/contraction control section, 19:
Hook vertical control section, 20; undulation control section, 21: turning control section, 22: accelerator control section, 23: switching spool, 24
: Servo cylinder, 25.26: Solenoid valve, 27: Accelerator cylinder, 28: Displacement meter, 29: Handle.

Claims (1)

[Claims] (1) Each has first and second operating parts driven by hydraulic pressure, and in addition to operating the first and second operating parts independently, the first and second operating parts can also be driven. A method for setting the interlocking characteristics of a crane in which the first and second operating parts of the crane are set to interlock with each other in a freely movable crane, the control panel of the crane being switched to a state where setting work is performed. After that, while the first and second operating sections operate independently of each other, while causing the first operating section to perform a predetermined operation,
By adjusting the operating speed of the second operating section using the regulator installed on the control panel, the first and second operating sections can be brought into an appropriate interlocking state, and the first and second operating sections can be adjusted to suit each other. By operating the setting switch when the linked state is reached, the first command signal to operate the first operating part at that moment and the second command signal to operate the second operating part at that moment are generated. A method for setting interlocking characteristics of a crane, in which the relationship between the first and second command signals is calculated, and this calculated value is stored in a non-volatile storage unit as the interlocking characteristics between the first operating section and the second operating section.