JPH0356396A - Ceiling crane with oscillation suppressing driving device - Google Patents

Abstract

PURPOSE:To perform the automatic suppression of oscillation generated accompanied by the acceleration/deceleration of a crane without damaging its function at the time of a driver performing normal operation by providing an arithmetic device for memorizing the inching operation of the driver in order to perform short-distance for memorizing the inching operation of the driver in order to perform short-distance oscillation suppressing operation, and performing repeated inching operation at the timing calculated from the runout cycle of a lifted load. CONSTITUTION:An arithmetic device 24 enumerates oscillation cycle for performing the automatic control of oscillation generated accompanied by the travel of a crane 1, and a control device 21 controls its driving speed at the time of short-distance driving, and the arithmetic device 24 memorizes the inching operation of a driver and repeats inching automatically at the timing calculated from the oscillation cycle of a lifted load.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention automatically suppresses the swinging of a suspended load that accompanies acceleration or deceleration without impairing normal operation when the driver controls the operating device. Relating to an overhead crane with a restraining device.

[Conventional technology]

In general, when operating an overhead crane, it is extremely difficult and requires great skill to prevent the suspended load from swinging. In particular, the occurrence of vibration due to acceleration and deceleration during starting and stopping is unavoidable, and Japanese Patent Publication No. 61-31029 is an example of an automatic means for suppressing this. The outline is shown in Fig. 9. The figure shows the relationship between the traveling speed of an overhead crane in one hour. It accelerates at a predetermined acceleration α, then travels at a constant speed, and when it reaches near the end point, it decelerates at the first stage uniform deceleration speed βl. , the engine is operated at a constant speed for some time, and then decelerated to a stop at a constant deceleration speed in the second stage.

[Problem to be solved by the invention]

However, the two-stage deceleration described above has problems such as requiring a lot of effort to operate. Furthermore, the prevention of shaking at the time of start-up is dependent on the driver's operation, and when shake occurs, it is difficult to stop it, which poses problems in terms of driver safety as well as the hanging load falling or colliding.

In view of this, it is an object of the present invention to automatically suppress vibrations caused by acceleration and deceleration when a driver performs normal operations without impairing the functions of the driver.

[Means to solve the problem]

3. In order for the driver to perform swing suppression operation by accelerating and decelerating in accordance with the swing period (nT) of the suspended load. 0) Arithmetic unit that synchronizes acceleration/deceleration time with the swing cycle in order to regulate the constant speed according to the swing cycle (nT) of the suspended load. Memorizes the driver's inching operations for short-distance swing suppression operation. A calculation device is provided that repeatedly operates at a timing calculated from the swing period (nT) of the suspended load. In addition to the normal operating device operation, each of the above devices can be selected and operated.

[For production]

The acceleration/deceleration speed and constant speed are automatically determined based on the swing of the suspended load. Therefore, no vibration occurs during operation.

Furthermore, during short-distance driving, the driver's inching operations are memorized and the above-mentioned inching operations are automatically repeated at timings calculated from the swing period of the suspended load.

〔Example〕

1 to 8 show embodiments of the present invention.

FIG. 1 shows a swing suppressing operation device for an overhead crane 1. The overhead crane 1 has a hanging load W hanging wire 4 on a club 3 running on a girder 2, and a winding drum 6 for winding the wire 4. The winding drum 6 is provided with an encoder 7 that detects the wire winding amount (feeding amount), and a load meter 5 is provided on the club 3. Reference numeral 8 indicates a hanging device side sheave to which a hook 9 is attached, and reference numeral 10 indicates a club drive motor.

Further, 12 is a crane operating device hanging from the club 3, and is equipped with a large number of push buttons and the like, as will be described later.

The swing suppressing operation device 20 for the overhead crane 1 includes a speed control device 21 for each drive motor 10, a device 22 for detecting the lifting position or level of the suspended load W, and a load detecting device 23.
and an arithmetic unit 24. The speed control device 21 is composed of, for example, an inverter, and is connected to the arithmetic device 24 via an output circuit 25.

The level detection device 22 calculates and stores the winding amount of the wire 4, that is, the lifting position of the suspended load W, based on the input signal from the encoder 7. Further, the load detection device 23 detects the load of the suspended load based on the signal from the load meter 5.

The crane operating device 12 includes a signaling device 26 such as a buzzer display or a light emitting device, a function selector 27 for selecting the type of transport operation to be described later, and an acceleration notch 2 for commanding acceleration/deceleration.
8.

The above-mentioned detection devices 22, 23, arithmetic device 24, etc. are incorporated into a circuit 30 such as a sequencer, microcomputer, etc.
A parameter setting device 3l for setting necessary information is connected.

The calculation device 24 calculates the swing period to automatically control the shear that occurs as the crane travels, and controls the operating speed. explain.

In Fig. 2, the upper reference line The distance between the horizontal center line Y passing through the center of 8 (simply referred to as sheave) and the upper reference line X is L]. I, and the distance between the center line Y and the floor surface is L12.

In addition, L2 is the distance between the transport center line Z passing through the center of the sheave 8 during transport and the upper reference line Distance from the bottom surface.

L2 is set arbitrarily depending on the hanging load.

Note that ■ indicates the highest position when the sheave 8 is lifted to the highest position.

In this case, when the suspended load is considered to be a simple pendulum, the following motion system is established.

Pendulum length L −4 = L 2 + L1 2 L
3 Lad ◆ θ 0 go = -Q where θ is the angular velocity θ is the swing angle a of the lobe from the vertical is the angular velocity - 7 - Also, the swing period T is T = 2πH The speed is synchronized with the above-mentioned runout period (T), and its outline is shown in FIG. Figure A) is a one-hour diagram of the crane's running speed, and Figure A) is a one-hour diagram of the swing angle of the suspended load. The acceleration time is the same as the swing period T, and therefore the constant speed Va is Determined by the runout period. However, the acceleration and deceleration times are not necessarily one cycle of swing, and may be two cycles or more. Particularly during deceleration, it may be preferable to have two cycles.

Note that there are cases where the travel distance from the lifting position to the target stop position is a short distance that does not reach twice the distance to the acceleration end point. That is, even if the vehicle immediately shifts to deceleration from the end point of acceleration, the target stop position may be overrun.

In this case, an inching operation is performed, and the procedure for this is shown in Figure 4. In this case, the system is designed to accurately reach the target stop position by accelerating and decelerating twice, including a temporary stop, at the elevator, and accelerates operation (tl. 1 hour) aiming at 1/4 of the required travel distance. immediately perform deceleration operation, memorize this pattern, and temporarily stop. As a result, the swing returns to zero, and then swings in the opposite direction (the direction in which the crane is traveling). In synchronization with this runout, the stored pattern operation is restarted and stopped while suppressing the runout.

In addition, the present invention notifies the driver of the completion of intermediate and long-distance transitions or acceleration transitions automatically, and thereafter enables normal driving. The procedure is shown in Figures 5 to 81! ! The explanation will be based on I.

First, by turning on the lowering push button PBI, the hook 9 is lowered, slinging is performed, and the wire 4 is hoisted up and stopped when the suspended load W reaches the ground.

This is detected by, for example, the load detection device 23 and stopped. As a result, the height Ll2 in FIG. 2 is measured and the distance Lll is stored. Or automatically distance L from the effect and rise of Sheave 8]. 1 is calculated, and then hoisted up to an arbitrary suspended load height L2 by hoisting operation. In addition, the center of gravity G
The height L3 is inputted in advance, and the effective runout length Lef is calculated and stored.

Next, the function selection push button 27 is selected.

First, the operation when switching to non-designation will be explained based on FIGS. 5 and 6. After switching the push button 27, the running (traverse) push button PBS2 is turned on.

At the same time, the acceleration notch 28 is turned on.

The calculation device 24 calculates the runout period T from the effective runout length Lef.
and input a predetermined acceleration into the control device 21,
The crane is accelerated along acceleration line a and reaches a predetermined constant speed operation switching point b. When this switching point b is reached, the vibration has returned to zero as described above, and the signal device 26 is activated to notify the driver.

In addition, switching point b! The time it takes to reach this point is n times the runout period T (
n=1 or 2), but generally when accelerating, n=
Set to 1.

The crane starts traversing or traveling when the push button PBS2 is turned ON, and therefore the acceleration timing due to the switching notch 28 being turned ON causes an error of t01, but a correction value for this is set in advance in the calculation device 24, and after the start of acceleration ( t02)
The switching point is reached in time.

Incidentally, after the signal device 26 is activated, the driver operates the vehicle based on normal manual operation, and turns off the switch PBS2 when approaching the target stop position. Along with this, calculation device 2
4 issues a deceleration command; n. T time (n=1 or 2)
Stop after.

Next, a case will be described in which the function selection button 27 is switched to normal.

In this case as well, the lateral (traveling) push button PBS2 is turned on and the acceleration notch 28 is turned on, as described above. As a result, it accelerates along the acceleration line (tlZ) as described above, and nT
After a period of time, the constant speed operation switching point b is reached. After that, regardless of whether the notch 28 is turned on or off, constant speed operation (
c). After that, press the button PB in the same way as above.
By turning off S2, the mode moves to deceleration operation (d), and n
Stop after T time (n=1 or 2).

Note that there may be cases where a speed change is desired during driving. For example, when accelerating along the acceleration line <a> and wishing to switch to constant speed operation, the function selection push button 27 is turned OFF. However, if the acceleration notch 28 is in the ON state, the vehicle will be accelerated as it is, but by turning this notch 28 OFF, the acceleration will be stopped and the vehicle will move to constant speed operation (e).

Also, if you wish to further increase the speed during constant speed operation (CL), similarly turn off the function selection button 27.However, the acceleration notch 2
If 8 is off, the train will continue to operate at high speed, but
By turning on the acceleration notch 28, the speed can be increased along the acceleration line (f).

For safety reasons, the function selection button 27 can be set only when the speed of the crane is zero, that is, when the crane is started.

1l Next, the inching procedure for short-distance driving will be explained based on FIGS. 5 and 8.

First, switch the function selection button 27 to short range.

Then, turn the lateral (traveling) push button PBS2 ONL in the same way as above.
/, and the acceleration notch 28 is set to ONL/, the speed is increased to a target of 1/4 of the required travel distance, and when that position (g) is reached, the vehicle is decelerated and stopped. This results in 1/1/2 of the required mileage.
This means that you have traveled 2.

However, the acceleration operation time and the deceleration operation time are the same and are indicated by tll.

This driving pattern (actually ON time tl. of the acceleration notch 28) is stored in the arithmetic device 24.
As mentioned above, from the time T when the swing of the suspended load W returns to zero, to the stop time t. ] Calculate 3.

Next, the arithmetic unit 24 accelerates, decelerates and stops the crane according to the above-described stored operation pattern.

However, t 12 = t 11 In the above embodiment, the operation is performed by operating a push button attached to the operating device 12 suspended from the club 3, but instead of operating the push button, remote control by wireless or It is also possible to use voice instructions, and it goes without saying that these can be changed without departing from the spirit of the present invention.

In addition, since the distance L12 between the floor surface and the sheave 8 on the lifting equipment side is not constant and changes depending on the condition of the suspended load, the operating device 12 is provided with a suspended load height setting device 29 as shown in FIG. You can also.

This hanging load height setting device 29 is designed so that the height of the hanging load can be set by turning a knob 30.

〔Effect of the invention〕

According to the present invention, the acceleration, deceleration, and constant speed are automatically determined based on the swing pattern of the suspended load, and the vehicle is operated based on this, so the driver can drive normally. It is possible to suppress and shift the swing by using a chisel, and it is possible to prevent the danger caused by the swing of the suspended load and to ensure safety.

In addition, in the case of short-distance cutting transfer, the operator simply performs an inching operation for a predetermined distance, memorizes this, and repeats this operation with a temporary stop according to the vibration cycle, so the operation is easy.

Furthermore, the driver can switch to a constant speed or increase speed if necessary, and this can be done easily by switching the mechanism selection button, without disturbing normal manual operability. The crane can be operated while restraining its steady rest.

[Brief explanation of drawings]

Figures 1 to 8 relate to embodiments of the present invention; Figure 1 is an overall block diagram of an overhead crane with a swing suppressing operation device of the present invention; Figure 2 is an explanatory diagram of the effective swing length calculation procedure; Figure 3 4 is an explanatory diagram of the principle of the driving procedure for suppressing vibration of the present invention, FIG. 4 is an explanatory diagram of the short distance driving procedure, and FIG. 5 is a driving operation flowchart.
Fig. 6 is an explanatory diagram of the driving pattern during non-designated driving, Fig. 7 is an explanatory diagram of the driving pattern during normal driving, Fig. 8 is an explanatory diagram of the driving pattern during short distance driving, and Fig. 9 is an explanatory diagram of the driving pattern during normal driving. FIG. 10, an explanatory diagram of the swing suppression pattern, is a diagram showing an example of a hanging load height setting device. The construction is an overhead traveling crane, 12 is an operating device, 20 is a swing suppressing operation device, 21 is a speed control device, 22 is a suspended load level detection device, 23 is a load detection device, 24 is a calculation device, 26 is a signal device, 27 is a Function selection push button, 28 is acceleration notch, 2
9 is a hanging load height setting device. Figure 6 Figure 7 Figure 9 Date and time Figure 8

Claims (1)

[Scope of Claim] An overhead crane operated by an operating device, comprising a speed control device capable of obtaining a substantially constant acceleration/deceleration, a device for detecting the level and weight of a suspended load, and a calculation device, (a) A signal device using a buzzer, indicator light, etc. to notify the driver of the timing for switching to constant speed operation (b) for the driver to perform swing suppression driving by accelerating and decelerating in accordance with the swing period (nT) of the suspended load. A calculation device that synchronizes the acceleration/deceleration time with the swing period (nT) of the hanging load in order to regulate the constant speed operation according to the swing period (nT) of the suspended load. It has an arithmetic device that memorizes and repeatedly operates at a timing calculated from the swing period (nT) of the suspended load, and is equipped with a function selector for switching operation so that each of the above devices can be selectively operated in addition to normal operating device operation. An overhead crane with a swing suppressing operation device, which is characterized by: