JPH07179291A - Automatic winding-out and winding-up device of winch - Google Patents

Abstract

PURPOSE:To precisely carry out winding-out and winding-up work of a winch easily by providing a winch driving means to drive the winch to be at rope speed of a specified accelerating and decelerating pattern previously set when an operating switch is pushed in. CONSTITUTION:A plural number of speed patterns memorized in a target rope speed memory device 32 are selected in accordance with a result of computation by a load computing part 20. A differentiator 34 of a computing element 33 differentiates output L of a rope length sensor 6 and inputs it as rope speed dL/dt to a subtractor 35. The subtractor 35 computes a deviation L of target rope speed dLr/dt output from the target rope speed memory device 32 and the current rope speed dL/dt and outputs it to a controller 31. The controller 31 outputs an electric current instruction in proportion to the input deviation DELTAL to electromagnetic proportional pressure control valves 12, 13 for winding down or winding down. Consequently, a winch hydraulic motor 3 is driven in accordance with an instructed speed pattern.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winch automatic unwinding / winding device for winding a small amount of wire rope by a winch in a crane or the like.

[0002]

2. Description of the Related Art Conventionally, in a crane, an operation of a winch for unwinding and winding a wire rope in which a load is suspended is generally performed manually by an operator. Is. For this reason, it is difficult for an inexperienced operator to perform minute positioning of the load, and it is usual to rely on an expert.

Further, when the suspended load is positioned at a distant place or a blind place, the operator often operates by intuition relying on the operator's signal or hydraulic noise, which causes a problem in accuracy. there were.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an automatic winch unwinding and winding device which can perform the winch unwinding and winding operation easily and accurately. .

[0005]

According to the present invention, in a winch device for unwinding and winding a wire rope, an operation switch for minutely unwinding and winding the wire rope, and when the operation switch is turned on, And a winch drive means for driving the winch so that the rope speed has a predetermined acceleration / deceleration pattern set in advance.

[0006]

According to this invention, when the operation switch is turned on, the winch is driven so that the rope speed has a preset acceleration / deceleration pattern, and the wire rope is automatically unwound or unwound by a predetermined length. To be taken. Also,
A smooth unwinding and winding operation can be performed by adjusting the acceleration pattern.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the embodiments shown in the accompanying drawings.

FIG. 1 shows an embodiment of the present invention. This embodiment applies the present invention to a winch of a mobile crane.

In FIG. 1, 1 is a load, 2 is a wire rope, 3 is a winch hydraulic motor, 4 is a boom, 5 is a boom hoisting cylinder, 6 is a rope length sensor, 7 is a cylinder head side pressure sensor, and 8 is a cylinder. Bottom pressure sensor,
Reference numeral 9 is a boom length sensor, and 10 is a hoisting angle sensor.

The hydraulic drive system of the winch hydraulic motor 3 includes a winch flow control valve 11, a hoisting electromagnetic proportional pressure control valve 12, a hoisting electromagnetic proportional pressure control valve 13, a winch pump 14, a charge pump 15, etc. It is composed of.

The load calculating section 20 receives the respective detection outputs of the cylinder head side pressure sensor 7, the cylinder bottom side pressure sensor 8, the boom length sensor 9, and the hoisting angle sensor 10,
The load calculator 20 detects the suspension load based on these detected values.

The winch hoisting switch SWu commands the hoisting of the wire rope, and when the switch SWu is turned on, the rope is hoisted for a predetermined length according to a predetermined speed pattern. .

The winch hoisting switch SWd is for instructing the hoisting of the wire rope by the winch. When the switch SWd is turned on, the rope is hoisted for a predetermined length according to a predetermined speed pattern. ing.

The outputs of the respective switches SWu and SWd act as trigger signals for starting the rope speed control which will be described later, and the outputs of these switches are the winch control device 30.
Is input to the controller 31 of.

The winch control device 30 includes a controller 3
1, a target rope speed storage device 32 and a calculation unit 33.

The target rope speed storage device 32 stores a plurality of different rope target speed patterns in advance.
That is, each rope target speed pattern is expressed as a function of the rope target speed with respect to the time from when the switch SWu or SWd is turned on, as shown in FIG. have. Figure 2
(b) shows the time-dependent pattern of rope length. 1
The target winding amount for each switch operation is, for example, about 5 mm.

The plurality of speed patterns stored in the target rope speed storage device 32 are selected according to the calculation result of the load calculation section 20. That is, in the target rope speed storage device 32, optimum speed patterns are prepared for various suspension load values, and the speed pattern corresponding to the suspension load value at that time is selected. .

The arithmetic unit 33 includes a differentiator 34 and a subtractor 3
It is composed of 5. The differentiator 34 is the rope length sensor 6
The output L of the differential signal is differentiated to obtain the rope speed dL / dt as the subtracter 35.
To enter. The subtractor 35 calculates the deviation ΔL between the target rope speed dLr / dt output from the target rope speed storage device 32 and the current rope speed dL / dt, and outputs the deviation ΔL to the controller 31.

The controller 31 receives the input deviation ΔL.
A current command proportional to is output to the hoisting electromagnetic proportional pressure control valve 12 or the hoisting electromagnetic proportional pressure control valve 13.

As a result, the winch hydraulic motor 3 is driven according to the commanded speed pattern.

FIG. 3 shows another embodiment of the present invention, in which a speed pattern adjusting volume switch 40, an A / D converter 41, and a comparison operation section 42 are added to the previous embodiment.

That is, when the volume switch 40 is appropriately operated, the comparison operation unit 42 causes the inclination of the acceleration section, the inclination of the deceleration section, and the length of the constant speed section of the target speed pattern read from the storage device 32 according to the operation mode. Etc. are changed, and the changed target speed pattern is output to the subtractor 35. By changing the speed pattern, the winding length and the unwinding length can be adjusted.

Although a plurality of target speed patterns are stored in the embodiment, one kind of speed pattern may be stored. Further, a plurality of different slopes may be combined in the acceleration section and the deceleration section, or a smooth curve may be adopted.

In the embodiment, the rope length is detected and the detected value is differentiated to obtain the rope speed. However, the rope acceleration is detected by an accelerometer attached to a hook or a suspended load, and the acceleration is calculated. You may make it integrate. Furthermore, the rotation angle of the winch drum may be detected.

Further, although inching control is performed in the embodiment, the present invention may be used for winch control with a long unwinding amount by lengthening the constant speed section of the speed pattern. . In this case, the target value of the winding length may be set.

[0026]

As described above, according to the present invention,
When a predetermined operation switch is turned on, the winch is driven according to a predetermined acceleration / deceleration pattern, and the wire rope is automatically unwound or wound up for a predetermined length. You will be able to perform with high accuracy.

[Brief description of drawings]

FIG. 1 is a diagram showing an embodiment of the present invention.

FIG. 2 is a diagram showing an example of a target rope speed pattern.

FIG. 3 is a diagram showing another embodiment of the present invention.

[Explanation of symbols]

 1 ... Hanging load 2 ... Wire rope 3 ... Winch hydraulic motor 4 ... Boom 5 ... Boom hoisting cylinder 6 ... Rope length sensor 7 ... Pressure sensor 8 ... Pressure sensor 9 ... Boom length sensor 10 ... Hoisting angle sensor 11 ... Winch flow control Valve 12 ... Electromagnetic proportional pressure control valve for hoisting 13 ... Electromagnetic proportional pressure control valve for hoisting 30 ... Winch control device 31 ... Controller 32 ... Target rope speed storage device 33 ... Computing unit

Claims (6)

[Claims] 1. A winch device for unwinding and winding a wire rope, wherein an operation switch for minutely unwinding and winding the wire rope and a predetermined acceleration / deceleration set when the operation switch is turned on. An automatic winch unwinding and winding device, comprising: a winch driving means for driving the winch to achieve a rope speed of a pattern. 2. The winch driving means includes: a memory means for storing a wire rope acceleration / deceleration pattern; a speed detecting means for detecting a speed of the wire rope; and an output of the memory means and an output of the speed detecting means. 2. An automatic winch unwinding and winding device according to claim 1, further comprising means for obtaining a deviation and drivingly controlling the winch so that the deviation becomes zero. 3. The automatic winch winding system according to claim 2, wherein the memory means stores a plurality of different acceleration / deceleration patterns and further comprises selection means for selecting a plurality of acceleration / deceleration patterns of the memory means. Unwinding device. 4. The automatic unwinding and winding device for a winch according to claim 3, wherein the selecting means is an operation switch operated by an operator. 5. The automatic unwinding and winding device for a winch according to claim 3, wherein said selecting means is a load detecting means for detecting a load related to the winch, and an acceleration / deceleration pattern is selected according to a load value. 6. The automatic unwinding and winding device for a winch according to claim 1, further comprising adjusting means for adjusting each state quantity of the set acceleration / deceleration pattern.