JPH11209065A - Method and device to control swing of hanging cargo of crane - Google Patents

Abstract

PROBLEM TO BE SOLVED: To converge swinging of a hanging cargo in its early stages by controlling so as to return a boom moving speed to a former speed by a prescribed time after being set once at a target speed when changing the boom moving speed, and changing the boom moving speed by the prescribed time according to the size of swinging when converging generated swinging. SOLUTION: A method and a device are provided with a rope length sensor 24, a boom length sensor 25, a rope angle sensor 26, a boom angle sensor 27 and a boom turning sensor 28 to find a time Tp of 1/6 of a hanging cargo swinging period from the rope length L in the first place by sending these detecting signals to a controller. A moving speed of the boom upper end part is set to a target speed V for the time Tp when being different between a horizontal directional moving speed V1 of the boom upper end part at a moment before starting control to restrain swinging and the target speed V2 when trying to move a hanging cargo in the horizontal direction thereafter. Next, the moving speed of the boom upper end part is set again to the target speed V2 after setting the moving speed of the boom upper end part to the moving speed V1 .

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a method and an apparatus for controlling the swing of a suspended load of a crane according to the present invention. For example, a load is lifted by a vehicle-mounted crane attached to a truck, and the boom constituting the crane is turned. When moving the luggage, the luggage is used to prevent the luggage from swinging around the pulley provided at the upper end of the boom at the lower end of a wire rope (hereinafter referred to as a rope) stretched over the pulley.

[0002]

2. Description of the Related Art For example, in the case of a vehicle-mounted crane provided on a truck bed, a lower end of a telescopic boom is supported on a first horizontal axis provided on an upper end of a rotatable support column so as to be able to undulate. A pulley is rotatably supported on a second horizontal shaft provided at the upper end of the boom. The pulley is provided with an intermediate portion of a rope for lifting the load, and a hook for locking the load is provided at the lower end of the rope. Further, the rope can be wound and sent out by the support or a drum supported on a swivel to which the support is fixed.

When the load is horizontally moved by the crane as described above, the load is latched to the hook, and the rope is wound up by an appropriate length by the drum, and the load is lifted. Rotate the column,
The pulley is moved horizontally. When the load hung on the rope is horizontally moved while turning the column in this way, the load often swings around the locking portion to the pulley. That is, since the load hung by the rope tends to maintain the motion state as it is due to inertia, if the speed of horizontally moving the pulley is changed in order to move the load horizontally, the distance between the pulley and the load Is displaced in the inclining direction, and the load swings around the pulley in a pendulum shape. If the luggage shakes for such a reason, it is difficult to move the luggage to a predetermined position. For this reason, conventionally, the operator who operates the crane controls the turning operation of the boom,
As described above, the luggage is prevented from swinging, and when the luggage swings, the swing is suppressed.

[0004]

However, in the past, since the luggage was prevented from swinging or the generated swing was accommodated depending on the intuition of the worker, not only skill was required for the work, but also It was difficult to improve the efficiency of cargo handling work. In view of such circumstances, the method and apparatus for controlling the swing of a suspended load of a crane of the present invention have been invented in order to realize a crane that can prevent the suspended load from swinging without requiring special skills. .

[0005]

SUMMARY OF THE INVENTION Among the methods and apparatuses for controlling the swing of a suspended load of a crane according to the present invention, the first aspect of the present invention relates to a method of hanging a suspended rope from a lower end of a boom constituting a crane. This is a method of suppressing the lowered suspended load from swinging along with the horizontal movement of the upper end of the boom, wherein the time T _P is 1/6 of the period in which the suspended load swings from the length L of the rope. look, the moving speed over the horizontal upper part of the previous in the boom at the moment of starting the control for suppressing the vibration and V _1, tending to move the suspended load after this moment in the horizontal direction and the target speed is a target value of the speed of the V _2, when the the moving speed V ₁ and the target speed V ₂ are different, the time T only during the _P, the moving speed of the above target speed V of the upper end of the boom _2, and only during the subsequent time T _P, the boom After the moving speed of the upper end was the moving speed V ₁ of the, the moving speed of the upper end portion of the boom is a control method of the above target speed V _2.

A second invention is directed to a case where a suspended load suspended on a lower end of a rope hanging from an upper end of a boom constituting a crane swings when the upper end of the boom moves in a horizontal direction. a method to suppress the vibration, determined time T _P of 1/6 of the period of the suspended load swings from the length L of the ropes, the horizontal upper portion of the front and rear of the boom for controlling for suppressing the vibration Assuming that the moving speed in the direction is V ₁ , the maximum value V _max of the hanging load swing speed is obtained, and after the time T _P elapses from the moment when the swing speed of the hanging load reaches the maximum value V _max , the following time T only during the _P, after the moving speed of the upper end portion of the boom and V ₁ + V _max, a control method for controlling a moving speed of the upper end portion of the boom as return to the moving speed V _1.

According to a third aspect of the present invention, a suspended load hung on a lower end of a rope hanging from an upper end of a boom constituting a crane swings as the upper end of the boom moves in a horizontal direction. A drive unit for horizontally moving the upper end of the boom at a desired moving speed, and a control unit for sending a speed command to horizontally move the upper end of the boom to the drive unit. When a rope length sensor for detecting the length L of the rope, calculating means for determining the time T _P of 1/6 of the period of suspension the the length L load of the rope the rope length sensor detects swings The movement speed of the upper end of the boom in the horizontal direction at the moment before the control for suppressing the shake is started is represented by V _1.
Assuming that the target speed, which is the target value of the speed at which the suspended load is to be moved in the horizontal direction after that instant, is V ₂ , if the moving speed V ₁ is different from the target speed V ₂ , the time T Only during _P , a signal for setting the moving speed of the upper end of the boom to the target speed V ₂ is sent to the driving means,
Lasts for the time T _P, after the moving speed of the upper end portion of the boom sent to the drive means a signal to the moving speed V _1, the target speed the speed of movement of the upper end of the boom V ₂
This is a device having a function of sending a command signal to the driving means.

Further, according to a fourth aspect of the present invention, a suspended load suspended from a lower end of a rope hanging from an upper end of a boom constituting a crane swings as the upper end of the boom moves in a horizontal direction. A device that suppresses this swing in the case
Driving means for horizontally moving the upper end of the boom at a desired moving speed, control means for sending a speed command for horizontally moving the upper end of the boom to the driving means, and detecting the length L of the rope rope length sensor for, calculating means for determining the time T _P of 1/6 of the period of the suspended load above the length L of the rope the rope length sensor detects swings,
Angle detecting means for detecting the angle θ of the rope with respect to the vertical direction, and the maximum speed V of the swing of the suspended load based on the detected values of the angle detecting means and the rope length detecting means.
and a speed calculation means for calculating the _max, the control means, the moving speed over the horizontal upper portion of the front and rear of the boom for controlling for suppressing the vibration in the case of a V _1,
After time T _P elapsed from the moment the swing speed of the suspended load has reached the maximum value V _max, only during the subsequent time T _P, after the moving speed of the upper end portion of the boom and V ₁ + V _max, the boom a command signal for returning the moving velocity of the upper portion to the moving speed V ₁ is a device having a function of sending to the drive means.
In any of the inventions, the movement speed of the upper end of the boom is changed almost instantaneously in a very short time.

[0009]

According to the first and third aspects of the method and apparatus for suppressing the swing of the suspended load of the crane according to the present invention having the above-described configuration, the boom can be started / stopped or the boom can be stopped. When the moving speed of the boom is changed, it is possible to prevent the suspended load suspended by the rope hanging from the upper end of the boom from swinging. According to the second and fourth aspects of the present invention, when the suspended load suspended by the rope hanging from the upper end of the boom swings due to disturbance such as a gust during the movement of the boom, the swing is attenuated or reduced. Can be eliminated.

[0010]

FIG. 1 shows a basic configuration of a crane to which the present invention is applied. FIG. 2 is a perspective view showing an operation section of the crane and corresponding to a left end portion of FIG. FIG.
Schematically shows a state in which a load is lifted by a crane. Although not all are the gist of the present invention, as a premise for explaining the present invention, the structure of a crane (an on-board crane) and an operation method thereof will be described in some detail below. On the upper surface of the swivel 8 that can be swiveled,
The lower end of the column 10 is connected and fixed. The lower end of the telescopic boom 1 is supported on the first horizontal shaft 11 provided at the upper end of the support column 10 so as to be able to undulate. That is, the boom 1 is formed by combining an outer member 12 and an inner member 13 each having a cylindrical shape into a telescope shape. The inner member 13 provided inside the outer member 12 can be freely moved in and out of the upper end of the outer member 12 by a boom extension / contraction cylinder 17 (omitted in FIGS. 1 to 3; see FIG. 4 described later). By doing so, the boom 1 can be extended and contracted. In addition, the lower end of the outer member 12 is pivotally supported on the first horizontal shaft 11, and the outer member 1
Boom hoisting cylinder 21 which can be extended and retracted at the lower end portion of 2
By connecting the upper ends of the booms 1, the boom 1 can be raised and lowered (swingable about the first horizontal axis 11).

The upper end of the inner member 13 (the boom 1)
A pulley 2 is rotatably supported on a second horizontal shaft 9 provided at the upper end of the pulley 2. Then, an intermediate portion of a rope 3 for lifting the load is wrapped around the pulley 2, and a load (hanging load) 4 is attached to a tip portion (a lower end portion in FIGS. 1 and 3) of the rope 3.
Hooks 14 are provided for locking the hooks. The base end of the rope 3 inserted inside the boom 1 is wound around a drum 15 provided inside the support post 10, and the rope 3 is wound by rotating the drum 15.・ It can be sent out freely. The drum 15
Is rotated by the operator operating the input device 7 (wired type in the example shown in FIG. 2, but may be wireless type). That is, the command input to the input device 7 is sent to a control valve 5a constituting a driving device 5 to be described later via the controller 6 to drive the control valve 5a. The drum 15 is rotated by driving the winch hydraulic motor 19 (omitted in FIGS. 1 to 3; see FIG. 4 described later) based on the drive of the control valve 5a. The length L of the rope 3, which is the length associated with the portion hanging below the pulley 2, is adjustable by winding and feeding the rope 3 by the drum 15.

The control valve 5a is constituted by an electromagnetic valve, a hydraulic pressure switching valve, and a sensor for sending a feedback signal described later. When the operator operates the input device 7 as described above, the solenoid valve switches the hydraulic switching valve to drive the winch hydraulic motor 19 to rotate the drum 15, and the control valve 5 a rotates the drum 15. Based on a command from the controller 6, the boom 1 can be expanded and contracted by expanding and contracting a boom expansion and contraction cylinder 17 (omitted in FIGS. 1 to 3; see FIG. 4).
Boom hoisting cylinder 21 (omitted in FIG. 3; FIGS. 1, 2,
See 4. ) To expand or contract the boom 1 or to rotate the boom turning hydraulic motor 23 (FIGS. 1, 3).
Omitted. See FIGS. ) Is driven to turn the turntable 8 and the support column 10. This point will be described later using a control circuit shown in FIG. In addition, various levers for manually operating the crane are provided at the rear position of the swivel table 8 (the depth position in FIG. 2) by one left and right with respect to the width direction of the vehicle (the left and right direction in FIG. 2).
Each pair is provided. When operating the crane, these levers are used to manually switch the hydraulic switching valve of the control valve 5a. In FIG. 2, the levers 36, 36 for extending and retracting the boom and the levers 37, 3
7, boom raising / lowering levers 38, 38 and boom turning levers 39, 39.

When moving the load 4 horizontally, the control valve 5a, the boom turning hydraulic motor 23
The pulley 2 supported on the upper end of the boom 1 is horizontally moved by turning the swivel table 8 and the support post 10 by a drive device 5 as a drive unit constituted by the above. The drive device 5 turns the turntable 8 and the support 10 by a predetermined amount in a predetermined direction at a predetermined speed based on a drive signal sent from a controller 6. In the case of the present invention, the drive signal sent from the controller 6 to the drive device 5 is devised to prevent the load 4 from swaying and to attenuate the load when the load 4 sways. Or try to eliminate it.

FIG. 4 shows a control circuit for controlling the driving direction and the driving speed of the crane by the driving device 5. The driving device 5 is configured from the controller 6 (further,
(The control valve 5a of the driving device 5 is configured.)
Command signals S _{1 to} S ₄ for instructing the driving direction and the driving speed are sent to the boom expansion / contraction valve 16, the winch valve 18, the boom raising / lowering valve 20, and the boom turning valve 22, respectively. Then, the command signals S _{1 to} S
By adjusting the opening of the respective valves 16, 18, 20, 22 on the basis of _4, also hydraulic motors 19 and the boom hoist cylinder 21 and the boom boom telescopic cylinder 17 and winch constituting the driving device 5 Each of the turning hydraulic motors 23 can be driven freely. on the other hand,
Feedback signals S _{5 to} S representing the driving direction and the driving speed being executed are sent from the sensors incorporated in the valves 16, 18, 20 and 22 to the controller 6.
Send ₈ . The above-mentioned valves 16, 18, 20, 22 are connected to the above-mentioned respective levers 36, 37, 38 for manual operation,
A command can also be sent directly from 39 (see FIG. 2).

An input device 7 allows the operator to input a drive direction relating to expansion and contraction of the boom 1, elevation of the hook 14, up and down movement of the boom 1, right and left rotation of the boom 1, and the like to the controller 6. And the drive speed can be input freely. Further, the controller 6 sends a signal S ₉ representing the length L of the rope 3 from the rope length sensor 24 to the first horizontal axis 1 which is the length of the boom 1 from the boom length sensor 25.
The signal S ₁₀ representing the length l ₁ from 1 to a second horizontal axis 9,
The signal S ₁₁ representing the angle θ of the turning direction of the rope 3 with respect to the vertical direction from the rope angle sensor 26, a signal S ₁₂ from the boom angle sensor 27 represents the angle of the undulations direction of the boom 1 alpha relative to the horizontal direction, the boom pivot A signal S ₁₃ representing the turning speed of the boom 1 is input from the sensor 28.

As shown in FIG. 1, the rope length sensor 24 is located at the upper end of the boom 1, the boom length sensor 25 is located near the lower end of the boom 1, and the rope angle sensor 26 is located at the lower end of the boom 1. The boom angle sensor 2 is attached to the upper end of the rope 3 hanging below the pulley 2.
Reference numeral 7 denotes an intermediate portion of the boom 1, and the boom swing sensor 28 is provided on a side of the swivel 8.
The rope length sensor 24 includes an encoder 29 disposed concentrically with the pulley 2 outside the inner member 13 constituting the boom 1 as shown in FIG. This encoder 29 has one side (the right side in FIG. 5).
Is connected to the second horizontal shaft 9 which is the center axis of the pulley 2. In the illustrated example, the pulley 2 is fixed to an intermediate portion of the second horizontal shaft 9 and
Both ends of the second horizontal shaft 9 are rotatably supported on both side walls at the upper end of the inner member 13. Therefore, the encoder 29 rotates in synchronization with the pulley 2.

When the rope 15 wound around the pulley 2 is sent by the rotation of the drum 15, the encoder 29 rotates together with the pulley 2. At this time, a sensor (not shown) built in the encoder 29 detects a feed amount of the rope 3 stretched over the pulley 2 based on detecting a rotation amount of the encoder 29. Then, the length L of the rope 3 described above is detected based on the feed amount of the rope 3, and the length L of the rope 3 is detected.
A letter to the controller 6 as the signal S _9. This command signal S
Based on the equation ₉ , the arithmetic means incorporated in the controller 6
A time T _P [= {2π} (L / g)} / 6] of 1/6 of a period in which the suspended load 4 suspended on the hook 14 swings is obtained. The height of the suspended load 4 is larger (higher) than the length L of the rope 3, and the distance from the lower end of the hook to the center of gravity of the suspended load 4 cannot be ignored for this length L. , The operator inputs the length L from the input device 7.
(The distance from the lower end of the hook 14 to the center of gravity of the suspended load 4 is added).

The rope angle sensor 26 as the angle detecting means is configured as shown in FIG. That is, a pivot 33 is provided at the lower end of the first arm piece 32 whose upper end is pivotally supported by the second horizontal shaft 9 in a direction perpendicular to the direction in which the second horizontal shaft 9 is disposed. The pivot 33 is rotatably provided in a circular hole formed at the lower end of the first arm piece 32. Then, one end of the pivot 33 (the left end in FIG. 6)
An inclinometer 31 capable of detecting the angle θ (size and displacement direction) of the rope 3 with respect to the vertical direction, and an upper end of the second arm piece 34 at the other end (right end in FIG. 6). The connection is fixed. A pair of idler pulleys 35, 35 are rotatably supported at the lower end of the second arm piece 34 while holding the upper end of the rope 3 hanging downward from the pulley 2.

When the rope 3 swings in the turning direction of the boom 1 (the front and back direction in FIG. 6A, and the left and right direction in FIG. 6B), the inclinometer 31 moves the second arm piece 34.
It swings (rotates) with it. Thereby, the inclinometer 31
Detecting the angle θ of the ropes 3 is with respect to the vertical direction, and sends the angle θ of the rope 3 to a controller 6 as the signal S _11. FIG. 7 shows, as another example of the structure of the rope angle sensor as described above, a structure in which the first arm piece 32a is fixed in the horizontal direction. In the case of such a structure, the upper end of the second arm piece 34 and the inclinometer 31 are connected to the first arm piece 3.
At the tip of 2a (the right end in FIG. 7), these second arms 3
4 and the inclinometer 31 are supported so as to oscillate (rotate) in synchronization with each other. Other configurations and operations are the same as those of the above-described structure shown in FIG.

Based on the command signal S ₄ indicating the angle θ of the rope 3 detected by the angle sensor 9 as described above, the speed detecting means (not shown) incorporated in the controller 6 controls the speed of the suspended load. The maximum swing speed V _max (the speed when the angle θ detected by the rope angle sensor 26 is 0 degrees) in the turning direction of the boom 1 of No. 4 is calculated from the calculation formula V _max = ωL. However, it is assumed that ω = dθ / dt. Incidentally, in this way, the rope angle sensor 26 for detecting the angle of the rope 3, the speed calculating means for calculating the maximum speed V _max of the deflection of the suspended load 4, the second invention and third It is necessary when damping or eliminating the swing of the suspended load 4 already generated as in the invention of the fourth aspect. As in the first invention and the third invention, it is not necessary to start / stop the boom 1 or to prevent the occurrence of shake when changing the moving speed.

The boom length sensor 25 is configured as shown in FIG. Outer member 12 constituting boom 1
The pivot member 40 provided inside (see FIG. 1)
1 (the upper right end in FIG. 8A, the upper end in FIG. 8B)
Is pivoting. Tip of the swing member 41 (FIG. 8)
At the lower left end of (a) and at the lower end｝ of (b), the encoder 29a and the roller 42 having their central axes connected to each other are rotatably supported, and the outer peripheral surface of the roller 42 is The rope 3 is in contact with the rope 3 inserted inside the outer member 12. Further, a compression spring 43 (or a tension spring) is attached to an intermediate portion of the swing member 41 to give the swing member 41 an elastic force in a direction of pressing the outer peripheral surface of the roller 42 against the rope 3. doing. When the rope 3 is sent by the rotation of the drum 15, the encoder 29a rotates together with the roller 42. At this time, a sensor (not shown) built in the encoder 29a detects the feed amount of the rope 3 based on detecting the rotation amount of the encoder 29.

The length l ₁ of the boom 1 is obtained as follows. First, the boom 1 is most contracted (the inner member 13 constituting the boom 1 is completely housed inside the outer member 12 as well), and the rope 3 is wound up most on the drum 15 (hangs down below the pulley 2). Rope 3
Is set as the initial state. And
From this initial state, when the boom 1 is extended (the inner member 13 projects from the upper end of the outer member 12) and the rope 3 is sent out from the drum 15, the boom length sensor 25 detects the above. The feed amount of the rope 3 is s ₂₅ , and the feed amount of the rope 3 detected by the rope length sensor 24 is s ₂₄ . In this case, the length of the inner member 12 protruding from the upper end of the outer member 12, that is, the length from the upper end of the outer member 12 to the second horizontal axis 9 provided at the upper end of the inner member 13 l ₁₃ is
It is obtained by the relational expression l ₁₃ = s ₂₅ −s ₂₄ . In addition, the length l ₁₂ from the first horizontal axis 11 to the upper end of the outer member 12, which is the length of the outer member 12, is known in advance.
Therefore, the length l ₁ of the boom 1 depends on the outer member 12.
The determined as the sum of the length l ₁₃ of the length l ₁₂ and the inner member 12 projecting from the upper end of the outer member 12. The length l ₁ of the boom 1 obtained in this manner is determined by the signal S
_It is sent to the controller 6 as ₁₁ . Further, the calculating means of the controller 6 calculates the length l ₁ (signal S ₁₀ ) of the boom 1 obtained as described above, the turning speed of the swivel table (signal S ₁₃ ), and the angle α (signal based on the S _12), boom 1 as follows:
Of the moving speed V ₁ over the turning direction of the upper end portion, V ₁ = S ₁₀
Is calculated as · S ₁₃ · cos S _12.

In FIGS. 3 and 4, the controller 6 has the following functions in addition to the above-described time T _P based on the length L of the rope 3. Of these functions, the functions are necessary to implement the first and third inventions, and the functions are necessary to implement the second and fourth inventions. The traveling speed V ₁ over the turning direction of the upper end portion of the in the previous instant of starting the control (immediately before) the boom 1 for suppressing vibration, tending to move the load 4 suspended after said moment above the turning direction Target speed V ₂ which is the target value of the speed
If the bets are different, only during the time T _P, the moving speed of the upper end of the boom 1 sends a signal to the target speed V ₂ to the drive unit 5, only during the subsequent time T _P, the boom after a signal to the moving speed of the first upper portion and the moving speed V ₁ sent to the drive unit 5, the drive unit a command signal to the moving speed of the upper end of the boom 1 and the target speed V ₂ 5 Send to The above-mentioned boom 1 before and after performing control for suppressing run-out
Of the moving speed over the turning direction of the upper end when the V _1, after deflection speed of the suspended load 4 is time T _P elapsed from the moment it reaches the maximum value V _max, only during the subsequent time T _P, After setting the moving speed of the boom 1 to V ₁ + V _max , a command signal for returning the moving speed of the upper end of the boom 1 to the moving speed V ₁ is sent to the driving means.

Therefore, first, as in the first and third aspects of the present invention, the operation for preventing the boom 1 from starting and stopping and preventing the occurrence of runout when changing the moving speed (as described above). The function will be described with reference to FIGS. First, the length L of the rope 3 detected by the rope length sensor 24 in step 1 of the flowchart shown in FIG.
Is calculated. Next, in step 2, a time T _P that is １ ／ of the cycle in which the suspended load 4 swings is determined. Then, in Step 3, the moving speed over the previous moment turning direction of the upper end portion of at the (immediately before) the boom 1 to start control for suppressing vibration and V _1. This V ₁ is obtained from the feedback signals S ₁₀ , S ₁₂ , and S ₁₃ (see FIG. 4) as described above. For example, when starting the crane,
The V ₁ is 0. Then, in step 4, the target speed is a target value of the velocity tending to move the suspended load 4 after the moment the horizontally V _2. This V
₂ is a value operator is input to the input unit 7, for example, when stopping the crane, the V ₂ is zero.
When these two speeds V ₁ and V ₂ are determined and taken into the judgment circuit of the controller 5, the following two speeds V ₁ and V ₂ are compared in step 5. Then, these two speeds V ₁ , V
_{When 2} is equal, that is, when the moving speed of the boom 1 does not change as it is, the process returns to the step 1. In contrast, the in the case where the moving speed V ₁ and the target speed V ₂ are different, proceeds to the next step 6-8, regardless of the change in the moving speed of the boom 1, the suspended load 4 shake Not to be.

First, in step 6, the moving speed of the upper end of the boom 1 is set to the target speed V ₂ only for the time T _P obtained based on the length L of the rope 3 as described above.
Then, in step 7, only during the subsequent time T _P, the moving speed of the upper end of the boom 1 and the moving speed V _1. Furthermore, in step 8, the moving speed of the upper end of the boom 1 and the target speed V _2. These steps 6 to
As a result of sequentially performing the control shown in FIG. 8, the moving speed of the upper end of the boom 1 in the turning direction coincides with the moving speed of the suspended load 4 in the turning direction, and the suspended load 4 does not swing.

As described above, when the moving speed of the upper end portion of the boom 1 is changed, the state in which the swing of the suspended load 4 is prevented from occurring is shown in FIGS. This will be described with reference to FIGS. First, FIG.
Are the speed V _C of the suspended load 4 (solid line a), the speed V _B of the upper end of the boom 1 (dashed line b), and the amount of load deflection (the turning direction of the rope 3 with respect to the vertical direction) when the crane is started. (Displacement amount) θ (dashed line c). In step 6, the upper end of the boom 1, starts moving the turning direction at the target speed V _2. At this time, the target speed V
The speed conversion (increase) to ₂ is performed almost instantaneously.
That is, the moving speed of the boom 1 which is driven by the boom swing hydraulic motor 23 is immediately increased, in a short time a substantially negligible, reaching the target speed V _2. On the other hand, since the suspended load 4 tries to stay at the same position due to inertia, the speed V _{B at} the upper end of the boom 1 is V
₂ (even when V _B = V ₂ ), the horizontal movement is not immediately started, and the rope 3 is pulled by the rope 3 after the displacement amount θ of the rope 3 in the turning direction with respect to the vertical direction increases. Starts horizontal movement in the same manner. Therefore, at the stage of the step 6, the speed V _C of the suspended load 4 becomes lower than the speed V _B of the upper end of the boom 1 (V _C <V).
_B ).

Therefore, in the case of the present invention, in the following step 7, the moving speed of the upper end of the boom 1 is changed to the moving speed V ₁ corresponding to the moving speed V ₁ before the start, only during the following time T _P. 0 (stop state). During this time, the suspended load 4
Catches the upper end of the boom 1 forward in the moving direction based on the swing of the rope 3. Then, after the start of step 7, that is, after a lapse of T _P after the re-stop of the boom 1,
The hanging load 4 is located directly below the boom 1 and
Moving speed of the suspended load 4 has reached to the target speed V _2.

[0028] Therefore, In step 8, by restarting the boom 1, the moving speed of the upper end of the boom 1 and the target speed V _2. As described above, the moving speed of the boom 1 is nearly instantaneously rises, in short time a substantially negligible, since reaching the target speed V _2, in a state in which after the step 8, the upper end of the boom 1 The moving speed of the portion in the turning direction coincides with the moving speed of the suspended load 4 in the turning direction, so that the suspended load 4 does not swing. In other words, the suspended load 4 is located immediately below the upper end of the boom 1 (the displacement amount θ of the rope 3 in the turning direction with respect to the vertical direction becomes 0), and the suspended load 4 and the upper end of the boom 1 They move in the same direction and at the same speed. Incidentally, to that 1/6 of the period in which load 4 hanging the time T _P swings are those present inventor has an optimum value from the results of experiments performed.

Next, FIG. 11 shows the speed V _C '(solid line a') of the suspended load 4, the speed V _B '(dashed line b') of the upper end of the boom 1, and the load when the crane is stopped. 6 shows the relationship with the amount of deflection (the amount of displacement of the rope 3 in the turning direction with respect to the vertical direction) θ ′ (chain line c ′). When the operator inputs 0 (stop) as the turning speed of the boom 1 from the input device 7,
In step 6, the speed V _B of the upper end of the boom 1 is
'Is in a stopped state (speed 0) the a target speed V _2. When the supply and discharge of the hydraulic oil to and from the hydraulic motor 23 for boom rotation is stopped, the moving speed of the boom 1 immediately decreases, and reaches a substantially negligible short time from the moving state to the stopped state. On the other hand, the suspended load 4 keeps moving horizontally due to inertia. Therefore, even if the boom 1 stops (even when V _B ′ = V ₂ = 0), it does not stop immediately. After the absolute value of the displacement amount θ ′ in the turning direction of the rope 3 with respect to the vertical
To start deceleration. Therefore, at the stage of the step 6, the speed V _C ′ of the suspended load 4 becomes higher than the speed V _B ′ of the upper end of the boom 1 (V _C).
'> V _B '). Then, the suspended load 4 moves forward in the moving direction from the upper end of the boom 1.

For this reason, in the case of the present invention, the moving speed of the upper end of the boom 1 is set to the moving speed V ₁ before stopping in the following step 7 only for the next time T _P. Then, after the start of step 7, that is, after a lapse of T _P after the restart of the boom 1, the suspended load 4 is located immediately below the boom 1 and the moving speed of the suspended load 4 is equal to the target speed V. ₂ , that is, a stop state.

Therefore, in the following step 8, the boom 1 is stopped again. As described above, since the moving speed of the boom 1 immediately decreases and stops in a substantially negligible short time, in a state after step 8, the boom 1 and the suspended load 4 are stopped, and 4 is located immediately below the upper end of the boom 1. In this state, if the rope 3 is wound and sent out by the drum 15, the suspended load 4 can be lifted or lowered to a desired position.

Next, FIG. 12 shows a state in which the moving speed of the suspended load 4 which has been horizontally moved at the speed of V ₁ is once increased to V ₂ and then stopped. 12 (A) shows the target speed of the suspended load 4, and FIG.
The moving speed of the upper end of the boom 1 for making the moving speed of the suspended load 4 the target speed without causing the swing
The solid line in (C) represents the actual moving speed of the suspended load 4, and the broken line represents the deflection angle of the suspended load 4 (the displacement θ of the rope 3 in the turning direction with respect to the vertical direction).
As is clear from FIG. 12, according to the first invention and the third invention, even when the moving speed of the suspended load 4 is changed on the way (not only when the moving speed is increased as shown in FIG. 12, it is lowered). In this case, the hanging load 4 can be prevented from swinging.
Note that in the above-mentioned control, a feedback signal S ₈ in place of the moving speed V _1, the command signal S ₄ in place of the target speed V _2, it may be used respectively. That is, since the time T _p becomes determined only by the length L of the rope 3, the control can be done if you know the turning operation is and the operation amount and turning direction that took place. In this case, the boom angle sensor 25, the boom length sensor 27, and the boom swing sensor 28 can be omitted.

Next, as in the second invention and the fourth invention,
The operation (the above-mentioned function) when attenuating or eliminating the swing of the suspended load 4 already generated by a disturbance such as a gust will be described with reference to FIGS. First, FIG.
Is the speed V _C ″ (solid line a ″) of the suspended load 4 and the velocity V at the upper end of the boom 1 when the swing of the suspended load 4 is suppressed.
The relationship between _B ″ (dashed line b ″) and the amount of load deflection (the amount of displacement of the rope 3 in the turning direction with respect to the vertical direction) θ ″ (chain line c ″) is shown.

In step 1 of the flowchart shown in FIG. 13, it is determined whether or not the upper end of the boom 1 is moving at a constant speed. Task of attenuating or eliminating the deflection of the suspended load 4, the upper end portion of the boom 1 is performed only when in the constant speed moves at a speed V _1, if and only if during constant speed movement, the next step 2 Move on. In the state of Step 1, as is apparent from the left part of the boom 1 upper portion of FIG. 14 despite moving at a constant speed moves at a speed V _1, the suspended load 4 are deflection.

[0035] In Step 2, the timer of the controller 6 is initialized, on the basis of the signal S ₁₁ from the rope angle sensor 26, calculates a shake velocity V _D of the suspended load 4. The swing speed V _D is the product of the angular speed ω (= dθ / dt) based on the value detected by the angle sensor 9 and the length L of the rope 3 obtained based on a signal from the rope length sensor 24 ( ω · L). In addition, the above-mentioned suspended load 4
Time T _P of 1/6 of the period in which the swing is determined in advance on the basis of the signal S ₉ from the rope length sensor 24. still,
The timer is provided in step 3 described below to determine the timing at which the shake speed in one cycle of the shake becomes maximum (+ direction or-direction).

The following step 3, it is determined whether the vibration velocity V _D becomes the maximum value V _max (becomes V _D = V _max). In practice, that this vibration velocity V _D becomes the maximum value V _max, the detection value of the rope angle sensor 26 becomes 0 (rope 3 is positioned in the vertical direction) is instantaneous. With respect to the above-mentioned deflection velocity V _D in the present specification, when the moving direction of the upper end portion of the swing direction and the boom 1 is the same as +
(Positive), otherwise-(negative).

Therefore, in the example shown in the figure, the above-mentioned deflection speed V _D
To There from the moment it reaches the maximum value V _max after the elapsed time T _P (Step 4), in the next step 5, only during the time T _P, the moving speed of the upper end of the boom 1 and V ₁ + V _max . By changing the moving speed of the upper end of the boom 1 in step 5 in relation to the swing speed of the suspended load 4, the moving speed of the upper end of the boom 1 is set to V ₁ + V _max.
After the elapse of the time T _P , the suspended load 4 is located immediately below the boom 1 and the moving speed of the suspended load 4 is equal to the speed V ₁ of the upper end of the boom 1 in the state of Step 1 described above. Matches. Therefore, in the next step 5, if the moving speed of the upper end of the boom ₁ is returned to the moving speed V1,
The moving speed of the upper end of the boom 1 in the turning direction coincides with the moving speed of the suspended load 4 in the turning direction, and the suspended load 4 does not swing. In other words, the suspended load 4 is located immediately below the upper end of the boom 1 (the displacement amount θ of the rope 3 in the turning direction with respect to the vertical direction becomes zero),
The suspended load 4 and the upper end of the boom 1 move at the same speed in the same direction.

The reason why the moving speed of the upper end of the boom 1 is set to V ₁ + V _max as described above is that the time T _P elapses from the moment when the swing speed V _D reaches the maximum value V _max . It does not have to be later. Even if the timing at which the moving speed is set to V ₁ + V _max is delayed, the vibration can be attenuated. Therefore, by repeating the control in FIG. 13 (the time until the vibration can be eliminated is delayed by that amount), Attenuation or cancellation is possible. Further, the maximum value V _max of the vibration velocity V _D is a and when + - behavior, the boom 1 and the suspended load 4 between in the case where, until damping to the deflection of the suspended load 4 is eliminated Will be different. The behavior in the case 15 is the maximum value V _max of the vibration velocity V _D is +,
FIG. 16 shows the behavior in the case of-, respectively. In these figures 15 and 16, the (A) is a target speed V _A to move the suspended load 4, (B) is the moving speed V _B of the upper end of the boom 1 to be changed in order to solve the above-described deflection,
(C) shows the moving speed V _C of the suspended load 4, and (D) shows the swing speed V _D (solid line a) and the swing angle θ (broken line b) of the suspended load. Maximum value V _max of the vibration velocity V _D and a case where + - any case the case is, by properly controlling the moving velocity V _B of the upper end of the boom 1, the vibration generated Attenuation or cancellation is possible.

FIG. 17 shows the behavior of the rope 3 and the suspended load 4 between the time when the boom 1 is started and the time when it is stopped, in comparison with the case of the present invention and the conventional case. (A) (a) and (b) according to the present invention,
(B) (a) and (b) respectively show the cases according to the prior art. (A) and (B), the solid line a shown in (b) shows the speed V _C of the suspended load 4, the broken line b shows the speed V _B of the upper end of the boom 1, the dashed line c shows the load deflection θ, Each is shown. As apparent from FIG. 11, according to the present invention, it is possible to effectively prevent the suspended load 4 from swinging during the operation of moving the suspended load 4 by the crane. As described above, the input device 7 is used to prevent the occurrence of load fluctuation or to automatically perform the action of attenuating or eliminating the generated load fluctuation.
In addition, a mode setting device for selecting the load fluctuation prevention mode or the load fluctuation elimination mode can be additionally provided.

[0040]

As described above, the method and the apparatus for suppressing the swing of the suspended load of the crane according to the present invention are constructed and operated as described above, so that the work of moving the load by the crane can be performed safely and efficiently.

[Brief description of the drawings]

FIG. 1 is a side view of a crane to which the present invention is applied.

FIG. 2 is a perspective view showing an operation unit of the crane and corresponding to a left end portion of FIG.

FIG. 3 is a schematic view showing a crane to which the present invention is applied.

FIG. 4 is a block diagram of a part for controlling the movement of the boom.

FIG. 5 is a view showing a rope length sensor and corresponding to an AA cross section in FIG. 1;

6A and 6B show a rope angle sensor, wherein FIG. 6A is a side view, and FIG. 6B is a view seen from the right side of FIG.

FIG. 7 is a view similar to FIG. 6, showing another example of the structure of the rope angle sensor.

8A and 8B show a boom length sensor, in which FIG. 8A is a side view, and FIG. 8B is a partially cutaway view of FIG.

FIG. 9 is a flowchart showing an operation when preventing the occurrence of load swing.

FIG. 10 is a diagram showing the behavior of the boom and the suspended load when preventing the occurrence of load swing at the time of starting the boom.

FIG. 11 is a diagram showing the behavior of the boom and the suspended load in preventing the occurrence of load deflection when the boom stops.

FIG. 12 is a diagram showing the behavior of the boom and the suspended load in preventing the occurrence of load run-out in the process of stopping after increasing the moving speed of the boom.

FIG. 13 is a flowchart showing an operation of suppressing generated load deflection.

FIG. 14 is a diagram showing the behavior of a boom and a suspended load in suppressing generated load deflection.

FIG. 15 is a diagram showing the behavior of the boom and the suspended load when the generated load deflection is suppressed and the swing direction of the suspended load and the moving direction of the boom are the same.

FIG. 16 is a diagram showing the behavior of the boom and the suspended load when the generated load deflection is suppressed and the swing direction of the suspended load and the moving direction of the boom are opposite.

FIG. 17 is a schematic diagram and diagram showing the behavior of the rope and the suspended load together with the behavior of the boom and the suspended load during the period from when the boom in the stopped state is started to when it is stopped in order to horizontally move the suspended load. .

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Boom 2 Pulley 3 Rope 4 Luggage (hanging load) 5 Drive device 6 Controller 7 Input device 8 Swivel table 9 Second horizontal axis 10 Support 11 First horizontal axis 12 Outer member 13 Inner member 14 Hook 15 Drum 16 Boom Telescopic valve 17 Boom telescopic cylinder 18 Winch valve 19 Winch hydraulic motor 20 Boom raising and lowering valve 21 Boom raising and lowering cylinder 22 Boom turning valve 23 Boom turning hydraulic motor 24 Rope length sensor 25 Boom length sensor 26 Rope angle sensor 27 Boom angle sensor 28 Boom rotation sensor 29, 29a Encoder 30 Central axis 31 Inclinometer 32, 32a First arm piece 33 Axis 34 Second arm piece 35 Idler pulley 36 Boom extending / retracting lever 37 Winch lever 38 Boom raising / lowering lever 39 Boom swivel Lever 40 pivot 41 swing member 42 roller 43 compression spring

Claims (4)

[Claims] 1. A method for restraining a suspended load suspended from a lower end of a rope hanging from an upper end of a boom constituting a crane from swinging as the upper end of the boom moves in a horizontal direction. obtains the time T _P of 1/6 of the period of the suspended load swings from the length L of the rope, over the horizontal upper part of the in the boom before the moment of starting the control for suppressing the vibration The moving speed is V _1, and after this moment, the target speed which is the target value of the speed at which the suspended load is to be moved in the horizontal direction is V ₂ , and the moving speed V ₁
And the target speed V ₂ is different, only during the time T _P ,
The moving speed of the upper end portion of the boom and the target speed V _2, only during the subsequent time T _P, after the moving speed of the upper end portion of the boom and with the moving speed V _1, the moving speed of the upper end of the boom Is set to the target speed V ₂ ,
A method of controlling the swing of a crane's suspended load. 2. A method for suppressing a swing of a suspended load suspended on a lower end of a rope hanging from an upper end of a boom constituting a crane when the upper end of the boom moves in a horizontal direction. there are, seek time T _P of 1/6 of the period of the suspended load swings from the length L of the rope, the movement speed over the horizontal upper portion of the front and rear of the boom for controlling for suppressing the vibration and V _1, the maximum value V _max of the swing speed of the suspended load, swing speed of the suspended load is after the elapsed time T _P from the moment it reaches the maximum value V _max, only during the subsequent time T _P, the after the moving speed of the upper end portion of the boom and the V ₁ + V _max, the speed of movement of the upper end of the boom, characterized in that the return to the moving speed V _1, a method of controlling the deflection of the suspended load in a crane. 3. An apparatus for suppressing a suspended load suspended on a lower end of a rope hanging from an upper end of a boom constituting a crane from swinging as the upper end of the boom moves in a horizontal direction. Driving means for horizontally moving the upper end of the boom at a desired moving speed, control means for sending a speed command for horizontally moving the upper end of the boom to the driving means, and detecting the length L of the rope. rope length sensor and the time T _P of 1/6 of the period of the suspended load above the length L of the rope the rope length sensor detects swings for
And an arithmetic means for obtaining said control means, the moving speed over the horizontal upper part of the in the boom before the moment of starting the control for suppressing the vibration and V _1, the after that moment hanging the the speed target speed which is a target value of tending to move in a horizontal direction load and V _2, when the the moving speed V ₁ and the target speed V ₂ are different, only during the time T _P, the boom The moving speed of the upper end of the
A signal to _second feed to the drive means, lasts during the time T _P, the upper end moving speed the moving velocity V of the boom
After sending the signal to ₁ to the drive means, characterized in that it has a function to send a command signal to the moving speed of the upper end of the boom and the target speed V ₂ to the drive means, the suspended load of the crane A device that controls the run-out. 4. When a suspended load suspended from a lower end portion of a rope hanging from an upper end portion of a boom constituting a crane swings due to a horizontal movement of an upper end portion of the boom, the swing is suppressed. A drive means for horizontally moving the upper end of the boom at a desired moving speed; a control means for sending a speed command for horizontally moving the upper end of the boom to the drive means; A rope length sensor for detecting the length L, and 1 / (1) of the period in which the suspended load swings from the length L of the rope detected by the rope length sensor.
6, calculating means for obtaining the time T _P , angle detecting means for detecting the angle θ of the rope with respect to the vertical direction, and swinging of the suspended load based on the detected values of the angle detecting means and the rope length detecting means. and a speed calculation means for calculating a maximum value V _max of the velocity, the control means, the moving speed over the horizontal upper portion of the front and rear of the boom for controlling for suppressing the vibration in the case of a V ₁ After a lapse of time T _P from the moment when the swing speed of the suspended load reaches the maximum value V _max , the moving speed of the upper end of the boom is set to V ₁ + V _max only for the following time T _P. a command signal for returning the moving speed of the upper end of the boom to the moving speed V _1, characterized in that it has a function of sending to the drive means, for controlling the deflection of the suspended load of the crane device.