JPH04319173A - Rising and falling control method of gondola - Google Patents

Abstract

PURPOSE:To ensure the horizontal maintenance of the floor of a gondola while keeping unbalance of load acting on winding machines in equalization or within a certain value. CONSTITUTION:In rising and falling control of a gondola equipped with a plurality of winding machines 51-56, in order to make the horizontal maintenance of the floor of the gondola and the operation within capacities (ratings) of the winding machines, output signals of both detectors of a horizontal detector detecting the horizontalness of the floor and load detectors 6 detecting load acting on the winding machines 51-56 are calculated. The horizontal maintenance of the floor of the gondola is made by controlling winding speed of the winding machines 51-56 based on the outcome of the calculation while keeping load of the winding machines 51-56 in a certain value.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the elevation of a gondola having a plurality of hoisting machines.

0002

BACKGROUND OF THE INVENTION Conventionally, three main control methods have been adopted for this type of gondola, that is, a gondola that performs lifting and lowering operations by sharing the lifting load with a plurality of hoisting machines.

One of the methods is to control the gondola's elevation by simply turning on and off each hoisting machine, without horizontally controlling the floor surface of the gondola. When controlled using this method,
In order to maintain the levelness of the floor surface, each hoisting machine must be switched to independent operation and manually operated by the operator.

Another method is to install one or more levels that typically detect the levelness of the gondola floor, and use signals from the levels to control the operation of each hoisting machine using an inverter. This is a method of controlling the slope so that it is within a certain value by continuously changing the speed or changing the apparent speed by turning on and off.

Still another method is shown in FIGS. 4 and 5.
As shown in the flowchart, this is a method of controlling the hoisting machines so that each hoisting machine is at the same height by detecting the hoisting height of the hoisting machine.

According to the flowcharts of FIGS. 4 and 5, FIG.
The control operation for lifting and lowering the gondola shown in (in this case, six hoisting machines are used) is shown below.

First, a method of controlling the gondola 9 in the ascending mode will be explained. The reference hoist 51 installed at any one of the four corners shown in FIG. 6(a) is operated at a constant speed. The other three hoisting machines 52 to 54 installed in the remaining corners and the two auxiliary hoisting machines 55 and 56 located in the middle are also operated at constant speed. Let it start.

[0008] However, under the current operating condition, speed non-uniformity tends to occur due to various factors, and therefore, there is a risk that the gondola 9 will sway or tilt when it reaches a high lift. If this shaking or inclination is large, it may come into contact with or get caught on surrounding buildings, etc., and this will hinder its ascent.

[0009] For this reason, in particular, the hoisting machine 51 at the corner portion
54, a height sensor (not shown) is attached to each of them. The height value A detected by the height sensor (not shown) attached to the reference hoisting machine 51 and each of the height sensors (not shown) attached to the other hoisting machines 52 to 54, respectively. , and the absolute value of the difference is automatically controlled so that it does not exceed a certain prescribed value α. Now, if the absolute value of the difference between value A and value B is positive, that is, if value A is larger than value B, then
The lifting speeds of the other hoisting machines 52 to 54 are increased by the difference. Conversely, if the value is negative, that is, if the value B is larger than the value A, the lifting speeds of the other hoisting machines 52 to 54 are similarly reduced by the difference and are automatically controlled. By doing so, the gondola 9 can always be maintained in a horizontal state.

[0010] At this time, the auxiliary hoisting machines 55 and 56 follow the control and operate to share the load. now,
If the value P of the load cell (not shown) attached to the auxiliary hoisting machines 55, 56 is smaller than the allowable lower limit value Wmin, the rising speed of the auxiliary hoisting machines 55, 56 is increased,
Increase the tension of the hanging wire 10. This increases the proportion (size of burden) of the load of the gondola 9 on the auxiliary hoisting machines 55 , 56 . On the contrary, the allowable upper limit W
If it is larger than max, the rising speed of the auxiliary hoisting machines 55 and 56 is reduced, and in the same manner, the portion of the load borne by the gondola 9 is reduced.

[0011] As described above, it becomes possible to easily hold the gondola 9 horizontally and to distribute its load uniformly. In this way, when the predetermined position is reached, the reference hoist 5
1 stops, and the other hoisting machines 52 to 54 and auxiliary hoisting machines 55 and 56 also stop.

As shown in FIG. 5, the value A of the height sensor
and the value B, and if the difference is larger than 0, an upward operation is performed at a low speed (fine rotation) for inclination correction. If it is smaller than 0, the descending operation is similarly performed at a low speed. Also, it is made to stop when the value reaches exactly 0.

[0013] In the descending mode, the control that is opposite to the above-mentioned elevation control may be performed.

[0014]

[Problems to be Solved by the Invention] With the conventional control method described above, it is easy to ensure that the gondola floor remains level, but it does not have a function to equalize the load acting on each hoisting machine.
As for the auxiliary hoisting machine, since the load is controlled, it can be controlled within a certain value), and the loads acting on the hoisting machine at the four corners tend to become unbalanced. especially,
It is easy to understand if you think of the entire gondola as a flat plate, but each corner
It is possible to hang a gondola with only two diagonal winding machines among the winding machines in the corner. Therefore, due to slight differences in hoisting height (even if the height of the hoist is detected, it is difficult to achieve a uniform height in the direction of gravity due to external factors such as the stretching of the lifting rope), The load tends to become unbalanced.

[0015] If an unbalance occurs in the load on each hoisting machine, there may be a case where there is insufficient hoisting capacity of the hoisting machine, a problem with the installation space and the size of the hoisting machine, or a problem with the delivery route to the installation space. If the hoisting machine cannot afford the hoisting capacity due to the above restrictions, a load exceeding the hoisting capacity of the hoisting machine will be applied. Therefore, there is a risk of damage to the suspension rope and the hoisting machine, as well as damage to the structure that supports them, and in extreme cases, they may be cut or destroyed, leading to personal injury.

[0016] An object of the present invention is to provide a gondola elevation control method that can ensure that the gondola floor remains horizontal while equalizing or keeping the unbalance of the load acting on the hoisting machine within a certain value. be.

[0017]

[Means for Solving the Problems] In order to solve the above problems and achieve the objects, the present invention takes the following measures. When controlling the elevation of a gondola that has multiple hoisting machines, in order to maintain the level of the gondola floor and operate within the capacity (rated) of each hoisting machine, a horizontal detector that detects the levelness of the floor surface and each hoisting machine are used. By calculating the output signals of two detectors, a load detector that detects the load acting on the upper machine, and controlling the hoisting speed of each hoist based on the calculation results,
The gondola floor was kept level while keeping the load on each hoisting machine within a certain value.

That is, each hoisting machine is provided with a load detector,
The hoisting speed of each hoisting machine is controlled so that the output values of these load detectors are within a certain range. For example, when a load that exceeds a certain range is applied during a climb, the speed is controlled to be reduced (slowed down) by an amount corresponding to the excess value from the reference speed. Furthermore, the inclination is controlled to a constant value by the output signal of a horizontal detector installed on the gondola floor. For example, when rising,
For the lower slope, a speed corresponding to the amount of slope is added to the standard hoisting speed to increase the hoisting speed.

[0019]

[Effects] By taking the above measures, the following effects occur. Since the detected control information of the two systems is automatically controlled in a superimposed state, the load acting on each hoisting machine is always kept within a constant value, and the levelness of the floor surface of the gondola is also maintained.

[0020]

[Embodiment] FIG. 1 is a flowchart showing an elevation control method according to an embodiment of the present invention, and FIG. 2 is a diagram showing an example of a hardware configuration for realizing the control method. 3 (a
) and (b) are diagrams showing the configuration of a gondola to be controlled.

[0021] This will be explained below with reference to FIGS. 1 to 3. First, the configuration of the hardware and gondola will be explained with reference to FIGS. 2 and 3. In FIG. 2, reference numeral 1 denotes a controller, in which a program for implementing the control method of the present invention is incorporated. The gondola 9 shown in FIG. 3 is equipped with a plurality of (six in this embodiment) hoisting machines 51 to 56. Each of the hoisting machines 51 to 56 has a built-in load detector 6 for detecting the load acting on each of the hoisting machines 51 to 56, as shown in FIG. On the other hand, gondola 9
Inclination detectors 72 to 74 are respectively installed on the floor surface of the vehicle in directions corresponding to the corner hoisting machines 52 to 54 with reference to the reference hoisting machine 51 as a base point. Hoisting machine 51
A hanging wire 10 suspended from an upper hanging base (not shown) passes through each of the hoisting machines 51 to 5.
By driving the gondola 6, the gondola 9 is raised and lowered along the hanging wire 10. Further, handrails 11 and the like are appropriately installed around the gondola 9 to prevent a person (not shown) from falling when performing work or the like.

Load detector 6 and tilt detectors 72 to 74
The signal is input to the controller 1 via the input interface 2 as shown in FIG. On the other hand, the speed command calculated inside the controller 1 is sent to the drive speed regulator 4 via the output interface 3, and is converted into a drive command of the required speed. Then, the hoisting machine 51
~56 is driven.

Next, the control method will be explained using the flow diagram shown in FIG.

When automatic lifting is started, drive commands V10, V20, V50 at constant speeds are sent from the drive speed regulator 4 to each of the hoisting machines 51 to 56. At this time, loads W1 to 6 acting on each hoisting machine 51 to 56
is detected by the load detector 6. Then, a value W that exceeds or falls short of the load W0 within a preset certain range.
x1-6 is Wx1-6 = (W1-6)-W0
It is calculated as Additions and subtractions of the drive speed according to the differences Wx1 to Wx6 are calculated, respectively. Furthermore, the hoisting machine 52 at the corner part
54, the corresponding tilt detectors 72 to
When the slope A2~4 becomes larger than A0 within a certain range due to the signal of 74, the increase/decrease of the driving speed according to the difference Ay2~4=(A2~4)−A0 is calculated. Ru. Adjustment of drive speed corresponding to this load and inclination ±x1~6, ±y2~
By adding 4 to the constant speed commands V10, V20, V50, speed commands V1, V2 to 4, V5 to 6 for each hoisting machine 51 to 56 are calculated, respectively.

That is, taking an example of a lifting operation, the drive speed of a hoist whose load exceeds a predetermined range is controlled to be reduced. Further, for hoisting machines that do not reach the predetermined range, the drive speed is controlled to be increased. In this way, the load acting on each hoisting machine is controlled to fall within a predetermined range. On the other hand, regarding the inclination, in this embodiment, the inclination value of each hoisting machine 52 to 54 located at the three corners is determined with respect to the reference hoisting machine 51, and the one with the higher inclination value is hoisted more slowly, and the one with the lower inclination value is hoisted more slowly. The drive speed is controlled to increase or decrease the winding speed.

Note that the present invention is not limited to the above embodiments. For example, in the embodiment, there are three tilt detectors 7.
2 to 74, and three hoisting machines 52 to 5 at each corner.
4, but the number of gondolas 9 is increased or decreased within the range where the inclination of the floor surface of the gondola 9 can be detected, the height of the floor surface of the gondola 9 is calculated by the controller 1, and the result is sent to each It is also possible to set it as a driving speed command for the upper machines 51 to 56. It goes without saying that various other modifications can be made without departing from the gist of the present invention.

[0027]

According to the present invention, the unbalance of the loads acting on each hoisting machine of a gondola driven up and down by a plurality of hoisting machines can be equalized or kept within a certain value, and the gondola floor surface can be improved. It is possible to provide a gondola elevation control method that can also ensure horizontal maintenance. By adopting the control method of the present invention, the load on each hoisting machine is equalized, so it is possible to relatively reduce the hoisting capacity of one hoisting machine. As a result, it contributes to miniaturization and cost reduction. That is, if the loads applied to each hoisting machine are not equalized, each hoisting machine will be required to have the ability to absorb the entire load acting on the gondola with two to three hoisting machines in extreme cases. However, according to the present invention, since it is equalized, it is sufficient to have the ability to receive it with 5 to 6 hoisting machines. Additionally, by ensuring the levelness of the floor surface, you can work as if you were on a level ground. Therefore, worker safety is ensured and work efficiency is also improved.

[Brief explanation of drawings]

FIG. 1 is a flow diagram showing a gondola elevation control method according to an embodiment of the present invention.

FIG. 2 is a diagram showing a hardware configuration for realizing the gondola control method according to the embodiment.

FIG. 3 is a diagram showing the configuration of a gondola as a controlled object according to the same embodiment.

FIG. 4 is a flow diagram showing part of a conventional gondola elevation control method.

FIG. 5 is a flowchart showing another part of the gondola elevation control method according to the conventional example.

FIG. 6 is a diagram showing the configuration of a gondola as a controlled object according to the conventional example.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1... Controller, 2... Input interface, 3... Output interface, 4... Drive speed regulator, 51 to 56... Hoisting machine, 6... Load detector, 72 to 74... Inclination detector, 9...
Gondola, 10... hanging wire, 11... handrail.

Claims (1)

[Claims] [Claim 1] In the elevation control of a gondola having multiple hoisting machines, the levelness of the floor surface is detected in order to maintain the gondola floor horizontally and operate within the capacity (rating) of each hoisting machine. It is characterized by calculating the output signals of two detectors, a horizontal detector and a load detector that detects the load acting on each hoisting machine, and controlling the hoisting speed of each hoisting machine based on the calculation result. A gondola lift control method.