JPS5831895A - Controller for horizontal pull-in in jib crane - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a control device for horizontal retraction in a jib crane.

Conventionally, in general jib cranes, when the jib is raised or lowered, a load suspended on a rope is raised and lowered, and problems such as collisions and damage caused by swinging of the load also occur. Therefore, when horizontally pulling in or horizontally pushing out a suspended load using a general jib crane, the operator can raise and lower the suspended load by both raising and lowering the jib and lowering the rope for the suspended load. Adjustments were made to avoid movement, but this made the operation extremely cumbersome and made it difficult to perform accurate horizontal retraction. In addition, there are mechanisms that allow the clay 7 itself to be retracted horizontally using a mechanism such as a double link type or a set of swing levers, but these mechanisms have the disadvantage of being extremely complicated and making the device expensive. In view of the circumstances, while keeping the structure of the jib and drive system simple, the amount of rope for lifting the load from the load drum is automatically controlled in response to the lifting and raising of the jib, making it easy to horizontally pull in or remove the load. Horizontal extrusion can be performed, and in particular, the control operation is performed when the jib is raised or raised in the controlled state, so that the control device does not work unnecessarily, and various detections necessary for such control operation are performed. To provide a horizontal retracting control device that can detect a failure in a container and notify the operator of the failure, thereby further increasing work safety.

Hereinafter, the present invention will be explained with reference to illustrative embodiments.

Figure 1 shows the basic form of a jib crane. In the figure, 1 is the crane main body, 2 is a jib that can be raised and lowered and is equipped on the crane main body 1, 6 is a rope for elevating the jib, and 4 is a rope for lifting loads. . The jib elevating rope rope is guided out from the jib elevating drum 5, and is connected to the rope group 7 at the tip of the mast.
and a group of sheaves (not shown) between the tip of the mast 5 and the tip of the jib 2, so that the jib 2 is raised and raised by the movement of the rope 5 in and out in accordance with the rotation of the drum 5. Moreover, the rope 4 for hanging loads is led out from the drum 8 for hanging loads,
It is hung around the hanging load sheave group 9 at the tip of the jib and the sheave group (not shown) of the bottom block 10 equipped with a hook,
It is adapted to be wound up or down in accordance with the rotation of the drum 8.

The form of the jib crane is not limited to the above example, and various forms can be obtained by changing the attachments. For example, in FIG. 2, in addition to the above-mentioned basic configuration including the main jib 2 and the main hoisting rope 4, an auxiliary jib 11 is connected to the tip of the main jib 2, and this is connected to the auxiliary shib mast 19. It is supported by an auxiliary jib support rope 20.20. Note that one side of the support rope 20' is attached to the main jib 2.

The auxiliary hoisting rope 1 for hoisting a load derived from the auxiliary hoisting hoisting drum 12, the auxiliary jib 7-beam 18 at the bottom of the mast, and the auxiliary jib 1
1, and a hook 14 is attached to the tip.

The main winding system and the auxiliary winding system can be selectively used depending on the suspended load. In addition to the basic configuration described above, the auxiliary sheave group 17, +7' is attached to the tip of the main jib 2 via a bracket 16, and an auxiliary hoisting system derived from the auxiliary hoisting system hoisting drum 12 is shown in FIG. A rope 1 for lifting a load is wound around the auxiliary sheave groups 17 and 17', and a hook 14 is attached to the tip of the rope 1, and this configuration also allows selective use of the main winding system and the auxiliary winding system. . Furthermore, if the auxiliary hoisting system lifting rope 16 is wound around the hoisting sheave group 9 at the tip of the main knob and the attachments at the tips of each hoisting rope 4 and 1 are replaced with those for packet work, the main hoisting system Packet work is also possible through the cooperation of the auxiliary winding system and the auxiliary winding system.

In addition to this, although not shown, there is also a configuration in which the main jib is replaced with a tower jib.

FIG. 4 schematically shows the control device of the present invention used in this type of jib crane. In the same figure, the drive system uses an engine 21 as a drive source, and its driving force is transmitted to the jib elevation drum 5 via a shib elevation operation unit 22, and is transmitted to the jib elevation drum 5 via a drive amount adjustment unit 2. The signal is also transmitted to the drum 8 (or 12). Lo 1 is a jib angle detector;
Reference numeral 62 denotes a detector for the amount of rope coming in and going out, and each detector 31
The detection signal obtained by .degree. 62 is sent to the control circuit 100.

Further, 67 is a jib elevation operation detector that detects when the jib elevation operation section 22 is in an operating state, and a detection signal from this is also input to the control circuit 10o. The control circuit 100 includes a storage section 101 that stores calculation factor setting values, a knob elevation operation discrimination section 102 that receives the detection signal of the jib elevation operation detection type 37, and a discrimination signal and angle of the discrimination section 102. An abnormality detection unit 103 that detects an abnormality in the jib elevation operation detector 7 based on a detection signal from the detector 1, and calculation units 104 and 104' that calculate the theoretical value and actual value of the shipping rope in/out amount. , an abnormality detection unit 105 that detects abnormalities in the angle detector 1 and the detector 2, and a comparison unit 10.
6 and a control I/H signal generation 5107. Also, Ro8
is an abnormality notification means that is activated in response to an abnormality detection signal generated in the abnormality detection s10 or 105, and the notification means 8 may include an alarm means such as a pilot lamp or a buzzer, which will be described later. Good for use.

In the embodiment, the above-mentioned notification means 8 is connected to the abnormality detection section 106.
Although the abnormality detection units 10 and 105 are shared, notification means may be provided individually for each of the abnormality detection units 10 and 105.

The angle detector 1 uses, for example, a potentiometer and is installed at the base of the jib 2 to detect the angle relative to the ground. The detector 62 includes, for example, as shown in FIG. 5, a large number of rotation speed detection pieces 6 provided at regular intervals in the circumferential direction on the outer surface of the sheave filter 5 in a suitable sheave group for hanging loads.
・Proximity switch filter 4 provided on the corresponding fixed part
The switch 64 detects the rotation direction of the sheave and the rotational speed of the sheave for hanging loads based on the number of piece filters 6 to be counted, or detects the sheave for hanging loads or the drum for hanging loads by other appropriate means. Detects the rotation speed. Further, as the jib elevation/elevation operation detector 37, a pressure switch is used, for example, as will be described later.

In the control circuit 100, unique values corresponding to the model and calculation formulas corresponding to the attachments are stored in advance in the storage unit 101, and necessary calculation factors can be obtained by operating a setting switch or the like. In addition, the calculation fm1
04, 104 are the angle detector 31 and the detector 62
Based on the signal from the controller, the theoretical value of the amount of rope coming in and going out for the hoisting load for horizontal movement of the hoisted load according to the change in the angle of the jib and the actual value of the amount of rope coming in and going out due to the operation of the hoisting drum are calculated.

This arithmetic expression will be explained later. On the other hand, when the discriminating section 102 receives the /B elevation operation detection signal, the discriminating section 102 selects the arithmetic section 1o4. The abnormality detection unit +05 and its successor parts are activated, and when the jib elevation operation detection signal is not received, the abnormality detection unit ICI is activated. At this time, the abnormality detection unit 1o5 detects the change in the jib angle if The notification means 68 detects and sends an abnormality detection signal indicated by a two-dot chain line.
I am trying to send it to. In other words, when the jib is not detected due to a failure of the detector 67 even though the jib is being operated to raise or lower, the above-mentioned discrimination section 102 and the abnormality detection section 10 detect this abnormality, and the notification means 68 is activated. be. Also, an abnormality detection section 10 following the calculation section 104
5, the theoretical value of the amount of rope coming in and out determined by the calculation unit 104 becomes O due to a failure of the angle detector 61 or the detector 62, or both the amount of rope unwinding and the amount of rope winding become O. When this happens, it is detected and an abnormality detection signal indicated by a two-point bright line is sent to the notification means 8. The comparison unit 106 compares the theoretical value and the actual value of the amount of rope entry and exit obtained in the calculation unit □104.104,
The control signal generation section 107 generates a control signal based on the output of the comparison section 106, and adjusts the drive amount adjustment section 23 using this control signal to adjust the suspension so that the actual value matches the theoretical value. The configuration is such that the amount of drive of the loading drum is controlled.

Here, the factors to be stored in the storage unit +01 and the calculations to be performed by the calculation units 104 and 104 will be shown. In Fig. 6, which shows the outline of the basic form of the jib, when the jib angles are θ and θ, the heights from the jib foot to the knob point (rope hanging point) are V and V, respectively, and the length of the main jib 2 or tower jib is 1M1 jib point offset length (distance between jib tip center and jib point) is 69.

Then, the number of windings of the main winding system load rope around the sheave group is n
If M is the theoretical value of the amount of rope for hoisting a load in the main hoisting system according to changes in the jib angle. is calculated as follows. That is, [1=1M'': J, (5=oM), [n=nM], V = 5 m sin (θ-Lar'(o/l:
＞ )−・−・−・■V ”” v' 12+ Q2
* sin (θ'−jan−'(σ/ ff
) )・・・−・−・0+Lc−8・l V
-V/l・・・・・・・・・0In addition, in the case of having the auxiliary jib 11, in the schematic diagram of FIG. Assuming that the angle is α, the length of the connection from the main jib tip to the auxiliary jib foot is a, and the number of windings of the auxiliary hoisting system load rope is nA, the theory of the amount of auxiliary hoisting system load rope in and out in this case is The value is Cl:l! M+a+eJ-costy),
It can be obtained by substituting [5=pJ-sin α] and [几=7'LA] into the above calculation formula (2)~θ. In addition, in the form in which the auxiliary sheave is attached to the tip of the main sheave 2, the length of the auxiliary soap bracket is set to I! in the schematic diagram of FIG. A1 auxiliary sheave point offset length is OA, [f-~
-+1. ), [0=G side, [re=to] in the above calculation formula A]
By substituting ~O, the theoretical value of the amount of inflow and outflow of the rope for auxiliary hoisting system can be obtained.

On the other hand, when using the detector filter 2 shown in FIG.
Assuming that the interval between each piece is P, and the sheave rotation speed is N1, and the diameter of the sheave rope hook is D, the main winding system is expressed as follows.

Here, /7LM is the number of pieces detected by the proximity switch 4 and counted in the direction of the controlled object when the detector is installed in the main winding system.

Similarly, the auxiliary winding system is expressed as follows. However, 77'LA is the number of pieces detected by the proximity switch 4 and counted in the direction of the controlled object when the detector is installed in the auxiliary winding system.

Next, a specific example of the apparatus of the present invention will be explained with reference to FIGS. 9 to 16. The specific example shows a device that is versatile for various types and forms of jib cranes.

FIG. 9 shows a drive system, and in the same figure, a variable coupling degree clutch (hereinafter referred to as a "variable clutch") 24, which can change the coupling degree by one step in a stepless manner, and a torque converter 25 are used as the drive amount adjusting section 2. By using these in combination, the transmission amount of the driving force can be changed steplessly according to the degree of engagement of the variable clutch 24. According to this, the torque converter 2
Even if a hanging load drum is connected to the output shaft of No. 5 so that the normal rotation direction is the hoisting direction, due to the relationship with the load,
When the degree of engagement of the variable clutch 24 is high, the load rope is wound up, and as the degree of engagement of the variable clutch 24 becomes weak,
The rotation of the output shaft of the torque converter 24 becomes zero, and then reverses to a state in which the rope is lowered, and the rope hoisting and lowering speed can be changed over these states.

Further, in this drive amount adjusting section 2, each of the hanging load drums 8 and 12 of the main winding system and the auxiliary winding system is connected to a switching clutch mechanism 4, respectively.
0.50, while the jib elevation drum 5
is also connected to the engine 21 via a switching clutch mechanism 60 operated by the operating section 22. Further, as detectors for the amount of rope coming in and going out, detectors 32a and 32b are provided for the main winding system and for the auxiliary winding system, respectively.

FIG. 10 shows each of the clutch mechanisms 40, 50, 60 and their corresponding hydraulic circuits.
．． 61, lowering clutch 42, 52, 62, negative brake 45, 55°6. In the hydraulic path between the clutch mechanism 60 of the jib elevation system, the hydraulic pump 70, and the oil tank 71, there is a valve 65a that responds to the jib elevation operation lever 64, which corresponds to the operating section 22.

65b is interposed, and solenoid valves 66, 67 are provided in hydraulic paths for each of the hoisting and hoisting/lowering clutches 61, 62 in the clutch mechanism 60. Furthermore, as a device corresponding to the jib elevation operation detector 37, the lever 64 is installed in the hydraulic path for the clutch mechanism 60.
A pressure switch 68 is provided to detect changes in oil pressure caused by the operation of the pressure switch 68. In addition, valves 45a and 45 that respond to operating levers 44 and 54 are also provided in the hydraulic paths for each clutch mechanism 40.50 of the main winding system and the auxiliary winding system, respectively.
b, 55a and 55b are interposed, and solenoid valves 46 and 56 are provided in the hydraulic path for each of these hoisting clutches 41.5+, and these systems are also provided with pressure cusp inches 47 and 55 for lever position/shock/detection. 4
8,57°58 is provided. In the main winding system, when the solenoid valve 46 is in a de-energized state,
When the main winding system lever 44 is off, the clutches 41 and 42 are disengaged and the brake 46 is activated. When the lever 44 is operated to the winding up side or the winding down side, the valve 45a or 45b is switched and the clutch 41 or 42 is activated. When the solenoid valve 46 is turned on and the solenoid valve 46 is energized, the hoisting clutch 41 is turned on. Note that when the hoisting clutch 41 or the hoisting clutch 42 is activated, the brake 4 is in an open state. The auxiliary winding system is also constructed in the same manner. In the /brake elevation system, the brake 6 operates when each solenoid valve 66, 67 is de-energized or the lever 64 is off, and the lever 64 operates when the valve 66, 67 is energized.
When the clutch 61 or 62 is operated to the upper or lower side, the clutch 61 or 62 is engaged and the brake 6 is released. 49°59 is each brake 4 of the main winding system and auxiliary winding system,
This is a solenoid valve installed in the hydraulic path for the 5th cylinder.

According to this hydraulic circuit, as will be described later, the solenoid valve 46 or 56 is energized during automatic control, and the lifting drum is connected to the drive amount adjusting section 2'5 via the hoisting clutch 41 or 51. However, even in this state, the drive system shown in FIG. 9 allows lowering.

FIG. 11 shows an electrical circuit, and in the illustrated embodiment, the degree of engagement of the variable clutch 24 can be adjusted using a proportional solenoid 7, which is connected to the fourth relay 84.
It is switchably connected to the manual operation cool latch controller 74 and the control signal output section of the control circuit 100 via contacts 84a and 84b. The clutch controller 74 includes a potentiometer 75 that responds to manual operation.
The output changes according to the input from the

The output voltage of the controller 74 and the control output voltage ρ of the control circuit 100 are adjusted within a range of 0 to i2V, for example. The slide/id valves 46 and 56 for the main winding system and auxiliary winding system clutches in the hydraulic circuit are connected to the power supply 76 via the normally open contacts 8 i r+ +82a of the first and second relays 81 and 82, respectively. ing. In addition, a solenoid valve 66 with a knob elevation system.
67 is connected to the power supply 76 via each contact 8 a, 8 b of the sixth relay 86, and these relay contacts 83
A and 8 b are always closed. In addition, oil
The solenoid valve 79.59 for the 5-hole is connected to the power supply 7.6 via a normally open □ free fall switch 79.80 which is closed by manual operation when desired.

↓Memories 1 to 4th relays 81 to 84 are connected to control circuit 10 (0
It is operated under predetermined conditions as described below.

Furthermore, first to fourth pilot lamps 85 to 88 are connected to the control circuit 1oo, of which the second pilot lamp 86 corresponds to the notification means'z)8 shown in FIG. Lamps 85, 87 and 88 also notify of malfunctions, etc.

FIG. 12 shows the inputs and input elements to the control circuit 1oo, as well as the outputs and elements controlled by the outputs of the control circuit 1oo. In the same figure, the control circuit T
In OO, the theoretical value Lc of the above-mentioned amount of rope for hanging load is set in advance.
and an arithmetic expression for determining the actual value LD, as well as values unique to each model, are programmed and stored. As a model-specific value, the above-mentioned main knob point off cent length? 5M1
The length of the connecting part between the main jib and the auxiliary knob is a (see Figure 7), the length of the auxiliary knob bracket is lA1, the length of the auxiliary knob point is the length of the auxiliary knob, the number of auxiliary windings is nA1, and the rope hook of the point knob is the diameter of the part D1, as shown in Figure 5. There are the diameter d of the piece arrangement part, the piece interval P, etc. in the detector 62, and these unique values for various models are stored in advance. Control circuit 10
The input □ to 0 includes a signal from the power switch 91, a signal from the crane/bucket work changeover switch 92, and a signal from the horizontal retraction switch 96, as well as inputs based on switch operations using a toggle inch or the like. , the horizontal retraction switch 9 can be switched between an off position and an on position for the main winding system and the auxiliary winding system. In addition, as an input based on the operation of the dental switch 94,
There are a model setting signal, and setting signals for the auxiliary jib offset angle α, the length eM of the main shib or tower jib, the auxiliary jib length, and the number of main windings. Inputs from various detection means include the pressure switches 47, 48, 57, 58.
68, the detection signals from the respective levers 44, 54, 64, the detection signals from the detectors 2a and 2b for detecting the amount of rope coming in and out of the main winding system and the auxiliary winding system, and the angle detector 61. There is a jib angle detection signal. Furthermore, the voltage ρ applied to the proportional current 7B is input to the control circuit 100 as an element indicating the degree of coupling of the variable launch 24. On the other hand, as outputs from the control circuit 100, in addition to a control signal for controlling the coupling degree of the variable clutch 24 by the voltage ρ applied to the proportional solenoid 7, output signals for the first to fourth relays 81 to 84 are provided. , and each of the pilot lamps 85 to 88 has an output signal of χ·j.

The sub-control circuit 100 described in fZ can be configured using a microcomputer or the like, and the specific configuration and operation of this control circuit 100 will be explained with reference to the flowchart shown in FIG. 16(a) and 1)1. street 0
Note that FIG. 16(a) and 1'b) show a series of flows, and the portions labeled wa and wa in FIG. 16 1a) are the same labeled portions in FIG. Figure 16 1a
) The portions marked as ``inside'' and ``wa'' mean that they respectively follow the same portions in FIG. 15; a).

In the same figure, reference numeral 111 denotes a reading section for the model, etc. In the control circuit 100, the reading section 111 is first activated, and by operating the digital switch 94 in advance, a model-specific value corresponding to the model and form to be used is read. and default values are read. As the model-specific value, that of the model specified by operating the differential switch is read from among the various models stored in advance. Following the reading section 111, there is a determining section 112 that determines whether the set model is included in the pre-stored models. If the set model is not stored in the memory, the determining unit 112 activates the output unit 11 to the fourth pilot lamp 88 and generates a signal that causes the flow to be repeated from the beginning. Therefore,
When the pilot lamp 88 lights up and no control operation is performed, the operator can know that the model setting is inappropriate.

Following this determination unit, an initial jib angle θ reading unit 114,
It has a setting section 115 for setting the initial value of the number of pieces, and a reading section 116 for reading the degree of variable clutch engagement.

These operate sequentially when the set model is the model in memory, read the initial jib angle θ detected by the angle detector 31, and calculate the number of pieces (/71H=I
n), = 0, I, and read the voltage ρ that determines the degree of engagement of the variable clutch 24.Following these, the jib elevation lever position reading section corresponding to the jib elevation operation determination section 102 in FIG. 117 and the same discrimination section 1
It has 18. These determine whether the position of the jib elevation lever 64 detected by the pressure switch 68 is on or not, and when it is determined that it is off, the jib angle reading section 119 and the jib angle The change determination unit 120 is activated. The reading unit 119 and the determining unit 120 correspond to the abnormality detecting unit 103 in FIG. (Jib elevation operation detector) 68 is out of order. In this case, the output section 121 to the second pilot lamp 86 is activated to light the lamp 86, and the flow is repeated from the beginning. Generate a signal to do so.

Also, if [θ=θ], the jib elevation lever 64 is actually
The fact that the pressure switch 68 is not operated does not mean that the pressure switch 68 is malfunctioning; in this case, it simply generates a signal to repeat the flow from the beginning.

The subsequent part that operates when the jib elevation lever position determination unit 118 determines that the jib elevation lever 64 is on includes a horizontal retraction switch reading unit 122.
and a discrimination section 126. If it is determined that the horizontal retraction switch 9 is off, a signal is generated to repeat the flow from the beginning.

The subsequent parts that operate when the above-described discriminating section 123 determines that the horizontal retraction switch 9 is on include a main winding system lever bonnoyon reading section 124 and a discriminating section 125.
and an auxiliary winding system lever position reading section 126 and a discriminating section 127, which allow the position of the main winding system lever 114 and the auxiliary winding system lever 54 to be detected by the pressure switches 47.48 and 57.58. are determined respectively. When it is determined that either one or both of the main winding system lever 44 and the auxiliary winding system lever 54 are on, the output section 128 to the sixth relay 85 and the first pilot lamp 85 is activated, and , generates a signal that causes the flow to repeat from the beginning. As a result, in the electric circuit shown in FIG. 11 and the hydraulic circuit shown in FIG. . Therefore, even during automatic horizontal retraction work, if the main hoisting system lever 44 or the auxiliary hoisting system lever 54 is operated, this manual operation will take priority and the jib will stop, and the hoisted load will be stopped at will by operating the lever. This will be convenient if it becomes necessary to temporarily raise or lower the suspended load during automatic horizontal retraction. However, in order to distinguish this temporary manual operation from normal manual operation, the first pilot lamp 85 is turned on as described above.

If the first pilot lamp 85 does not light up when the main winding system lever 44 or the auxiliary winding system lever 54 is operated, it means that there is an abnormality in the pressure switch 47, 48, 57, 58.

In the discriminating sections 125 and 127, the main winding system lever 44
The subsequent part that operates when it is determined that both the and auxiliary hoisting system lever 54 are off includes a section 129 that discriminates between bucket work and crane work, and a section 129 that distinguishes between work in the main hoisting system and supplementary hoisting system in the case of crane work. It has a section 130 for determining whether the work is in the winding system or not. This discrimination section 129, 130
Bucket work changeover switch 92 and horizontal retraction switch? 3, when it is determined that the work is bucket work, the output parts 1 and 1 to both the second relay 82 and the first relay 81 are activated, and the crane work is determined to be the main work. When it is determined that the work is on the winding system, output parts 1 and 2 to the first relay 81 are activated, and when it is determined that the work is on the auxiliary winding system, the second relay 8 is activated.
The output section 13 to 2 is activated. In other words, in the electric circuit shown in FIG. 11 and the hydraulic circuit shown in FIG.
When the first contact 81a closes and the solenoid valve 46 is energized, the hoisting clutch 41 of the main hoisting system is kept in an engaged state, and in the case of horizontal retraction during auxiliary hoisting system crane work, the second relay 82 is By closing the contact 82a and energizing the solenoid valve 56, the hoisting clutch 51 of the auxiliary hoisting system is kept engaged, and in the case of horizontal retraction in bucket work, both of the hoisting clutches 41 and 51 are engaged. The state will be as follows.

Following these, a reading section 154 reads the detection value θ' after time from the angle detector rotor 1 and the detector rotor 2 or the rotor, the sheave rotation direction, the number of pieces MM or θ', the sheave rotation direction and the number of pieces N1A, It has 155. Following the reading units 134 and 435, a sheave rotation direction determining unit 13
6,167. The number of pieces read first by the discrimination section is determined by the following counting section as the number of pieces when the sheave is rotating in the unwinding direction/71M, +40 or rrL
All 38 and the number when the sheave is making one turn in the winding direction are counted separately, 771M2141 or >71A2139.

Following the counting section, an abnormality detection section 105 shown in FIG.
Discrimination units 142 and 143 for abnormality detection corresponding to
t f: Ha (rrLMt = rn-M2 = 0)
Determine whether or not. If it is determined that both the count value when the sheave is rotating in the unwinding direction and the count value when the sheave is rotating in the winding direction are O, there is an abnormality in the detector filters 2a and 32b. In this case, the output section 121 to the second pyrola 1υ pipe 86 is activated, a signal is generated to repeat the flow from the beginning, and the lamp 86 is turned on to notify the abnormality.

The discriminating sections 142 and 143 have a jib angle increase/decrease discriminating section 144 in a subsequent section that operates when it is determined that one of the counted values is not 0.

When the determining section determines that the knob is not being operated or being raised (θ≧θ), the piece number calculating portion 145 calculates the piece number value /71M or 9. In the same way, the jib is operated face down (θ
When it is determined that the number of pieces is θ), the piece number calculation unit 146 calculates the number of pieces? ? IM or mother is calculated.

A calculation section 147 is provided subsequent to the piece number calculation section.

From the reading sections 164 and 135, the calculation section 147 calculates the detected value θ' and the crane rotation direction 1 MM in the case of packet work and main hoisting crane work according to the work discrimination signal.
In addition, in the case of auxiliary hoisting crane work, the detected value θ', the rotation direction of the crane, and MA are read in to make the above abnormality judgment, and this detected value, the model-specific value read earlier, the initial setting value, and bj etc. , each calculation value V + V F shown in the above calculation formula in calculation units 1 and 6 according to the main winding system and the auxiliary winding system.
Calculate L(+N+LD.

After the calculation unit 147, there is also a determination unit 148 for determining whether the calculation value LC is O or not, as a part corresponding to the abnormality detection unit 105 shown in the fourth figure. Then, when it is determined that the calculated value k is O, the output section 121 to the second pilot lamp 86 is activated and a signal is generated to repeat the flow from the beginning. That is, as mentioned above, when the calculated values t and c become O, it is a case where the angle detector filter 1 is out of order, and in this case, the control operation depending on the subsequent part number is not performed, and The second Il lot lamp 86 is turned on.0 In the discriminating section 148, the calculated value t, □IJ(O)
The subsequent part that operates when it is determined that
A determining unit 149 determines whether (L(+LD
”, the determination unit 15 determines whether [Lc>Lo] or not.
0, jib angle increase/decrease determination unit 151, 152,
A voltage output section 153 and a voltage reduction/increase section 15 for adjusting the variable clutch engagement degree according to the determination by these discrimination sections.
4,155. These correspond to the comparison section 106 and the control signal generation section 107 in FIG. 4 described above. To explain these functions, when the determination unit 149 determines that it is [Q-LD], it means that horizontal retraction has already been performed;
In this case, the variable clutch coupling degree reading section 1
Input the voltage ρ read into 16. Also, [LC broom L
D], the determining unit 150 determines whether [LC>Lo:], and the determining unit 151 or 152 further determines whether [θ>θ]. be done. At this time, even if [Lc>LD] or (Lc<LD), the jib is operated in a raised position (θ>θ) and when it is operated in a down position (θ<θ
), the difference is whether the suspended load tends to rise or fall.

Therefore, if the suspended load tends to rise, in other words, [
, : Lc>x−DJ, Cθ>θ], or (Lc<I−I)]+(θ<θ), the voltage reduction unit 154 reduces the already read voltage ρ by a certain small amount. Change the voltage Cρ−ρ−Aρ by the value Δρ,
This reduced voltage signal is input to the voltage output section 15 via a determination section 156 that determines whether [ρ≦CIV,).

In addition, if the suspended load tends to descend, that is, CL
c>LD], Cθ×θ] or [Lc<L
D], [θ>θ], the voltage increase unit 155 changes the already read voltage ρ to a voltage increased by a constant minute value Δρ (ρ=ρ+Δρ), and this increased voltage signal is The voltage is inputted to the voltage output unit 1565 via the determination unit 1.57 which determines whether [ρ≧12v]. When the voltage output section 156 outputs the variable clutch control output voltage ρ according to any of the above inputs, the fourth relay
By actuating the output section 161 to 84, the 11th
In the electric circuit shown in the figure, the fourth relay 84 is switched and the output voltage ρ is applied to the proportional solenoid 7 for the variable clutch. Further, this output voltage ρ is newly read into the variable clutch coupling degree reading section 116, and the flow from the reading section 116 is repeated with this new read value. Note that the fourth relay 84 remains switched during the horizontal retraction control.

The above-mentioned determining unit 156 for determining whether [ρ≦0] and [ρ≧1
2V] is used to detect when a situation occurs in which horizontal retraction control becomes impossible. For example, if the jib elevation speed is too high, the variable clutch engagement degree is set to the minimum or maximum. [ρ≦D] or [ρ≧
12V]. and,
At this time, the voltage regulators 158 and 159
ρ=0] or [ρ=12V], the output section 160 to the pilot lamp 87 is operated, and the voltage (ρ=0 or ρ=12V) is input to the voltage generation section 153. There is.

As a result, when a situation in which horizontal retraction control is not possible occurs, the sixth pilot lamp 87 lights up to inform you of this situation.

Therefore, when horizontal retraction (or extrusion) is to be performed, the switches 91 to 9 and the digital switch 9 are
After providing the predetermined control conditions in step 4, the jib 2 is simply raised and raised by the jib elevation lever 64, and the suspended load is automatically controlled to move horizontally. That is, when the hoisted load tends to rise, for example, while the jib is being raised and raised, each discriminating section 1 constituting the calculating section t' 4-7 and the comparing section
49° 15-0 and 151 or 152, and the voltage reduction section 154 operates to reduce the output voltage ρ of the voltage output sections 1 and 53 by a minute value Δρ, thereby reducing the drive amount adjustment section. The degree of engagement of the variable clutch 24 at 26 is weakened. Correspondingly, the lowering or hoisting speed of the hanging load drum 8 (or 12) changes in a direction that suppresses the lifting of the hanging load. If the suspended load still tends to rise, the output voltage will further decrease by a small value Δρ, and by repeating this operation, the actual value LD of the amount of rope coming in and going out for the suspended load will match the theoretical value Lc, and the suspended load will increase. The degree of engagement of the variable clutch 24 is weakened until a state of horizontal movement is reached. When the suspended load tends to move downward, the voltage increasing section 155 operates, and the output voltage ρ of the voltage generating section 15 increases, so that the variable clutch 24 is engaged until the suspended load reaches a horizontal movement state. The degree is strengthened. When the suspended load reaches a state in which it moves horizontally, the degree of engagement of the variable clutch 24 at this time is maintained. In this way, the drive amount adjusting section 2'5 is automatically controlled and adjusted so that the suspended load is horizontally moved.

Now, in this control operation, if there is a failure in the angle detector filter 1 or the detectors 32a, 32b, the normal control operation will not be performed. Subsequent discriminator 1
48 (that is, the abnormality detection section 105 in FIG. 4) operates and lights up the second pilot trap 86. In addition, in order to appropriately perform the above-mentioned automatic control in response to the jib elevation/elevation operation and the above-mentioned abnormality detection, the above-mentioned pressure switch 68/knob elevation/elevation operation detector 7) and the discriminator 11 that receives the signal thereof are required.
8 (knob elevation/elevation operation determination unit 1o2), and in this case, if a failure occurs in the pressure switch 68, the control circuit 1
The successor part j) in 00 does not perform any control operation, but
At this time, the knob angle change reading section 1192 discrimination section + 201 abnormality detection section 10) operates to turn on the second pilot lamp 86. Thus, any failure of each of these detectors and pressure switches can be immediately noticed in the operating sounds.

According to the embodiment, automatic control is possible for each of the main hoisting system, auxiliary hoisting system crane work, and packet work. That is, the work determination section 129.1'50
etc., depending on the above-mentioned work, the state in which the main hoisting system lifting drum 8 is connected to the drive amount adjustment section 23, the state in which the auxiliary hoisting system hoisting drum 12 is connected, or both drums 8
, 12 are connected and driven synchronously. In this state, the drum operation part is automatically switched, and the calculation section 147 also performs calculations for the main winding system or the auxiliary winding system according to each work. Accordingly, control operations corresponding to each are performed.

As explained above, the present invention uses the amount of variation in the jib angle detected by the angle detector and the detected value of the amount of rope coming in and going out for the hoisted load, which is determined by the detector l, to adjust the level of the hoisted load in accordance with the elevating and raising operations of the jib. The theoretical value and the actual value of the amount of rope coming in and going out for the hanging load for movement are calculated and compared, and based on this, the driving amount of the lifting drum is controlled so that the above actual value matches the theoretical value. Therefore, during the work of pulling in or pushing out a suspended load, the suspended load can be automatically and accurately horizontally moved simply by raising and raising the jib. In addition, in particular, the system includes an abnormality detection section that detects when each of the above-mentioned detectors malfunctions, and a control operation that is performed when the jib is being raised or raised in response to detection signals from the jib elevation operation detector. A control circuit is provided with a determination section and an abnormality detection section that detects when a failure occurs in the jib elevation/elevation operation detector, and when an abnormality is detected in each of the above abnormality detection sections, a notification means is activated. As a result, the equipment is not used in an abnormal state, and workers can immediately know about the various abnormalities listed above, which greatly improves work safety. It is something that plays.

[Brief explanation of the drawing]

The figures show embodiments of the present invention. Figures 1 to 6 are general views of various types of jib cranes, Figure 4 is a block diagram showing the schematic configuration of the control device of the present invention, and Figure 5 is a diagram of the detector. A perspective view showing an example, FIGS. 6 to 8 are explanatory diagrams showing calculation factors, and FIG. 9 is a block diagram showing a drive system in a specific example.
Figure 10 is a hydraulic circuit diagram, Figure 11 is an electrical circuit diagram, and Figure 12 is a hydraulic circuit diagram.
The figure is an explanatory diagram showing the input and output of the control circuit, and FIGS. 16(a) and 16(b) are flowcharts of the control circuit. 2...Jib, 4.13...Rope for hanging loads, 8,12
... Hanging load drum, 21... Engine, 22...
Jib elevation operation section, 26... Drive amount adjustment section, 61...
Angle detector, 32... Rope in/out amount detector, 67.
・・Knob elevation/elevation operation detector, +00 river control circuit, 1o2・
... Jib elevation operation discrimination section, 1oro... Abnormality detection section, 1
o4゜104... Calculation unit, 105... Abnormality detection unit,
1o6... Comparison section, 107... Control signal generation section, 58
...Notification means. Patent Applicant Kobe Steel Co., Ltd. Representative Patent Attorney Etsushi Kotani Koo, δ Ku (Yabu Yabu Ku Ku ii Ajisha)

Claims (1)

[Claims] 1. In a jib crane equipped with a lifting rope led out from a lifting drum on a jib that can be lifted up and down, a jib angle detector, a detector for the amount of rope coming in and out from the lifting drum, and a jib lifting/raising operation section are installed. It is equipped with a jib elevation operation detector that detects when the jib is in an operating state, a control circuit, and a notification means for reporting an abnormality of each of the above detectors, and the control circuit is equipped with a jib elevation operation detector that detects when the knob is in an operating state. A determination section that receives a detection signal and determines whether or not a shib elevation operation is being performed; and a determination section that operates when the jib elevation operation section is in an operating state according to the determination by the determination section, and is detected by the angle detector. an arithmetic unit that calculates a theoretical value of the amount of rope coming in and going out for a hoisting load for horizontal movement of the hoisted load in response to a change in the jib angle to which the load is to be moved; a comparison section that compares the two values; and a control signal generation section that generates a signal to control the load rope driving amount in a direction to eliminate the difference when a difference occurs between the two values according to the output of the comparison section. , detects when the jib angle is changing even though the jib elevation operation detection signal is not generated in the jib elevation operation detector based on the discrimination signal from the discrimination section and the signal from the angle detector. an abnormality detection section that operates the above-mentioned notification means; and a rope that is obtained based on the theoretical value determined based on the detection signal from the angle detector becomes 0 or the detection signal of the above-mentioned rope entry/exit amount detector. 1. A control device for horizontal retracting in a jib crane, comprising: an abnormality detection section that detects when both the unwinding amount and the winding amount become 0 and activates the above-mentioned notification means.