JPS5852186A - Controller for horizontal drawing 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 occur. Therefore, when horizontally pulling in or pushing out a suspended load using a general jib crane, the operator avoids vertical movement of the suspended load by visually measuring both the lifting and raising of the jib and the hoisting and lowering of the rope for the suspended load. However, it was extremely troublesome to operate, and it was difficult to perform accurate horizontal retraction. Additionally, there are mechanisms that allow the crane itself to be pulled in horizontally using a mechanism such as a double link type or a set of swing levers, but these mechanisms have the drawback of being extremely complex and expensive.

In view of these circumstances, the present invention maintains a simple structure of the jib head and drive system, and automatically controls the amount of lifting and loading ropes from the lifting drum in accordance with the lifting and raising operations of the jib.
It is possible to easily horizontally pull in or push out a suspended load, and in particular, it can be easily and easily carried out by basically continuously raising and lowering the jib and automatically adjusting the amount of rope coming in and going out accordingly. This control is used to efficiently perform horizontal retraction or horizontal extrusion, but when the jib's hoisting speed is too fast and cannot be controlled simply by adjusting the amount of rope in and out, the drive mechanism for raising and lowering the jib is activated. The present invention provides a horizontal retraction control device that can be widely applied to various conditions of use by controlling the horizontal retraction control device.

Embodiments of the present invention will be described below with reference to the drawings.

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 elevation rope 6 is guided out from the jib elevation drum 5, and
``The jib 2 is looped around the sheave group 7 at the tip of the mast 6 and the sheave group (not shown) between the tip of the mast 6 and the tip of the jib 2, and the rope 6 moves in and out according to the rotation of the drum 5.
is looking down. In addition, the hanging load rope 4 is
It is led out from the hanging load drum 8, is hung around the hanging load sheave group 9 at the end of the jib carcass, and the sheave group (not shown) of the bottom block 10 equipped with a hook, and is hoisted up according to the rotation of the drum 8. The form of the jib crane that can be lowered is not limited to the above example, and various forms can be obtained by changing the attachment. For example, the second
In the figure, the main jib 2 and main hoisting rope 4 are shown.
In addition to the basic configuration described above, an auxiliary jib 11 is connected to the tip of the main jib 2, and is supported by an auxiliary jib mast 19 and an auxiliary jib support rope 20, 20'. still,
One side of the support rope 20' is attached to the main jib 2.

The auxiliary hoisting rope 16 derived from the auxiliary hoisting hoisting drum 12 is attached to the sheave 18 at the bottom of the auxiliary jib mast and the auxiliary jib 1.
It is wound around the first auxiliary sheave 15, and a hook 14 is attached to its tip.

The main hoisting system and the auxiliary hoisting system can be selectively used depending on the load to be lifted.In addition to the basic configuration described above, in FIG. The auxiliary sheave groups 17 and 17' are attached, and the auxiliary hoisting rope 15 led out from the auxiliary hoisting hoisting drum 12 is wound around the auxiliary sheave groups 17 and 17, and the hook 14 is attached to the tip of the rope 13. This configuration also allows selective use of the main winding system and the auxiliary winding system. Furthermore, if the auxiliary hoisting system load rope 16 is wound around the hoisting sheave group 9 at the tip of the main jib and the attachments at the tips of each hoisting rope 4, 16 are replaced with those for packet work, the main hoisting system Packet work is also possible through the cooperation of 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 is engine 2.
1. is used as a drive source, and the power is used as a drive mechanism 22 for elevating the jib.
The signal is transmitted to the jib elevation drum 5 via the hoisting drum 5, and is also transmitted to the hoisting drum 8 (or 12) via the hoisting drum drive mechanism 23. As will be described in detail later, the jib elevation drive mechanism 22 is equipped with a clutch mechanism and a brake mechanism that enable raising, lowering, and stopping of the jib, and the hanging load drum drive mechanism 26 is equipped with The engine 21 is equipped with a clutch mechanism, a brake mechanism, etc. that enable hoisting, lowering, and stopping.
061 is a jib angle detector, and 62 is a detector for the amount of loading and unloading rope. The detection signals from each detector 31 and 32 are sent to the control circuit 100. The control circuit 100 includes a storage unit 101 that stores calculation factor setting values, a calculation unit 102 that calculates a theoretical value Lc and an actual value LD of the amount of rope coming in and going out, and a calculation unit 102 that compares the above-mentioned values LC and LD. and the above-mentioned both values L according to the output of the comparison unit 106.
The hanging load drum drive mechanism 23 is moved in the direction of eliminating the difference in CtLD.
a control signal generating section 104 that generates a signal for controlling the control signal; and a control signal generating section 104 that generates a signal to control the load drum drive mechanism when the actual value LD still does not follow the theoretical value Lc even if the hanging load drum drive mechanism is controlled to the limit of the adjustable range by this control signal. It has a jib elevation drive mechanism control section 105 that controls the jib elevation drive mechanism 22.

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. As shown in FIG. 5, for example, the detector 32 includes a large number of rotation speed detecting pieces 33 provided at regular intervals in the circumferential direction on the outer surface of the sheave 35 in a suitable load sheave group.
and a proximity switch 34 provided on a corresponding fixed part, the switch 34 detects the sheave rotation direction and the hanging load rape rotation speed based on the number of pieces counted, or The rotational direction and rotation speed of the sheave for hanging loads or the drum for lifting loads are detected by other appropriate means. The necessary calculation factors can be obtained by operating a setting switch or the like. Further, the calculation unit 10
2 is based on the signals from the angle detector 31 and the detector 62, and calculates the theoretical value of the amount of rope in and out for hoisting the load for horizontal movement of the hoist depending on the angle change of the jib, and the rope according to the operation of the hoist drum. Calculate the actual value of the amount of input and output. This arithmetic expression will be explained later. The comparison section 103 includes the calculation section 10
The theoretical value Lc of the amount of rope in and out obtained in 2 and the actual value LD
The control signal generating section 104 generates the above-mentioned control signal based on the output of the comparing section 106, and detects when there is a difference between the two values LC1LD.
In this way, the amount of drive of the hanging load drum is controlled.

In addition, the jib elevation drive mechanism control unit 1 [15 detects when the control signal for the suspended load drum drive mechanism 23 reaches a value corresponding to the limit point of the drive amount adjustable range, and based on this, The control unit 1o6 temporarily stops the jib elevation drive mechanism 22, and then [Lc=Lc+n・
A reference value Lc is set by adding a constant value to the above-mentioned theoretical value d within a range where the vertical movement of the suspended load is allowed for accuracy due to the conversion 5107 of ΔL], and this reference value t, c and the above-mentioned A comparison 108 is made with the actual value LD. A control unit 109 receives a signal when the actual value LD exceeds the reference value Lc.
is activated to operate the jib elevation drive mechanism 22 again and return to the original control state.

Here, the factors to be stored in the storage unit 101 and the calculations to be performed by the calculation unit 102 will be shown.

In Fig. 6 showing the outline of the basic form of the jib, the jib angle θ
and θ, the heights from the jib foot 7 to the jib point (rope hanging point) are V and V, respectively, and the length of the main jib, 2 or tower jib is 1M1, the jib point offset is 6, and the center of the jib tip and the jib point are distance)
Let be 6e. If the number of windings of the main hoisting system load rope around the sheave group is nM, then the theoretical value of the amount of main hoisting system load rope going in and out according to the change in the jib angle. is calculated as follows. That is, (-1=l,l,C[=?)M)
, (n-nM), V = n, "(θ-spray?)/l))..." = aasin(θ'-"(σ/l))...・・・
・・◎L(= n * l V −V' l
...=.O In addition, when having the auxiliary jib 11,
In the schematic diagram of FIG. 7, the length of the auxiliary jib is 1!1, the offset angle of the auxiliary jib 11 with respect to the main jib 2 is α, the length of the connecting part from the tip of the main jib to the foot of the auxiliary jib is a,
In addition, if the number of windings of the rope for auxiliary hoisting system is nA, the theoretical value of the amount of rope for auxiliary hoisting system and hoisting load in this case is Cl =
/ + a +l s-Maki α], CO=I J ・a
It can be obtained by substituting m α), [n−nA] into the above equations ① to O. In addition, in the case where the auxiliary sheave is attached to the tip of the main jib 2, in the schematic diagram of FIG. Binding, (e= 1!, 10/A], [0
=6A], (n''nA) into the above equations (1) to (0), the theoretical value of the amount of inflow and outflow of the auxiliary hoisting system suspension rope can be obtained.

On the other hand, the actual value LD of the amount of rope in and out can be determined by using the detector '52 shown in FIG. Assuming that the diameter of the hook is D, the main winding system is expressed as follows. However, mm is the number of pieces detected by the proximity switch 34 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, mA is the number of pieces detected by the proximity switch 64 and counted in the direction of the controlled object when the detector is installed in the auxiliary winding system.

Next, specific examples 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, the hanging load drum drive mechanism '26 includes a drive amount adjustment section 24, a switching clutch mechanism 40 for the main winding system, and a switching clutch mechanism 50 for the auxiliary winding system. Be equipped.

The above-mentioned displacement adjustment unit 24 is capable of adjusting the degree of transmission of power from the engine 21, and in the illustrated example, a variable coupling degree clutch (hereinafter referred to as a "variable clutch") that can change the coupling degree steplessly. 25 and a torque converter 26 are used in combination. According to this, even when a hanging load drum is connected to the output shaft of the torque converter 26 so that the normal rotation direction is the hoisting direction, when the degree of engagement of the variable clutch 25 is large in relation to the load. When the load rope is hoisted up and the degree of engagement of the variable clutch becomes weak and null, the rotation of the output shaft of the torque converter 26 becomes 0, and then reverses and the rope is hoisted down. You can change the lowering speed. The hanging load drums 8 and 12 of the main winding system and the auxiliary winding system are connected to the drive amount adjusting section 24 via the switching clutch mechanisms 40 and 50, respectively. on the other hand,
The jib elevation drive mechanism 22 is a switching mechanism operated by manual operation or automatic control at a specific time as described above.
It is composed of a latch mechanism 60.

Further, as detectors for the amount of rope coming in and out, there are detectors 32a for the main winding system and for the auxiliary winding system.

32b is provided.

FIG. 10 shows the clutch mechanisms 40, 50, 60 and their corresponding hydraulic circuits.
, 61, a lowering clutch 42°52.62, and negative brakes 4'5, 56.6'5. Jib elevation system clutch mechanism 60, hydraulic pump 70, and oil tank 7
Valve 65a, 65b which responds to jib elevation operation lever 64 is interposed in the hydraulic path between 1 and 1.
Solenoid valves 66 and 67 are provided in the hydraulic path for 2. Furthermore, as a detection means for the jib elevation operation, a pressure switch 6 is provided in the oil pressure path for the clutch mechanism 60 and detects a change in oil pressure caused by the operation of the lever 64.
8 is provided.

In addition, each clutch mechanism of the main winding system and auxiliary winding system is 40°50
Also in the hydraulic path for
a, '55b are interposed, and a solenoid valve 46.56 is provided in the hydraulic path for each of these hoisting clutches 41.51, and pressure switches 47.48, 57 for lever position detection are also provided in these systems. .58
is provided. In the main winding system, when the solenoid valve 46 is in a de-energized state, the main winding system lever 4
4 is off, the clutches 41 and 42 are disengaged and the brake 46 is activated, and when the lever 44 is operated to the hoisting side or the hoisting down side, the valve 45a or 45b is switched and the clutch 41 or 42 is engaged, and The hoisting clutch 41 is configured to engage when the solenoid valve 46 is energized. Note that when the hoisting clutch 41 or the hoisting clutch 42 is activated, the brake 43 is in an open state. The auxiliary winding system is also constructed in the same manner. In the jib elevation system, when each of the solenoid valves 66 and 67 is de-energized or when the lever 64 is off, the brake 66 operates and the valve 6
o49,5 is configured so that when the lever 64 is operated to the hoisting side or the hoisting side while the lever 67 is energized, the clutch 61 or 62 is engaged and the brake 63 is released.
9 is a solenoid valve installed in the hydraulic path for each brake 43, 53 of the main winding system and the auxiliary winding system. According to this hydraulic circuit, as will be described later, the solenoid valve 46 or 56 is energized during automatic control. , hoisting clutch 41
Alternatively, the hanging load drum is connected to the drive amount adjusting section 2 via 51.
4, but even in this state, the drive system shown in FIG. 9 allows lowering.

FIG. 11 shows an electrical circuit in which, in the illustrated embodiment, the degree of engagement of the variable clutch 25 can be adjusted using a proportional solenoid 73, which solenoid 76 is connected to a fourth relay 84.
It is switchably connected to the clutch controller 74 for manual operation and the control signal output section of the control circuit 100 via contacts 84a and 84b. The clutch controller 74 changes its output according to the input from the potentiometer 75 that responds to manual operation. The output voltage of the controller 74 and the control output voltage ρ of the control circuit 100 are, for example, It should be adjusted within the range of 0 to 12V. Solenoid valves 46 and 56 for the main winding system and auxiliary winding system clutches in the hydraulic circuit
are the normally open contacts 81a of the first and second relays 81 and 82, respectively.

Also, the solenoid valves 66 and 67 of the jib elevation system are connected to the power supply 76 via the sixth relay 82a.
The relay contacts 15a, 83b are normally closed. In addition, the solenoid valves 49, 59 for each of the negative brakes 43, 53 of the main winding system and the auxiliary winding system in the hydraulic circuit are connected to the power supply 76 via a normally open free fall switch 79, 80 that is manually closed when desired. It is connected.

The first to fourth relays 81 to 84 are operated by the control circuit 100 under predetermined conditions as described later.

Furthermore, the control circuit 100 includes first to fourth pilot lamps 85 to 88 for notifying abnormalities in control operation, etc.
is connected.

FIG. 12 shows the inputs to the control circuit 100 and the elements that provide the inputs, as well as the outputs from the control circuit and the elements controlled by the outputs. In the same figure, control circuit 1
00 is set in advance to the theoretical value Lc of the amount of rope for hanging loads.
1 Arithmetic formula for determining actual value LD and reference value Lc,
Also, the values on each model side are programmed and stored. The model-specific values are the main jib point offset length 6M1, the length a of the connection between the main jib and the auxiliary jib (7th
(see figure), auxiliary sheep bracket length l! A1 Auxiliary sheave point offset length OA % Number of auxiliary windings nAs Point Sheave rope hooking part diameter D1 There are diameter d of the piece placement part in the detector 62 shown in Fig. 5, piece spacing P, etc. These unique values are stored in advance. The input to the control circuit 100 includes a signal from a power switch 91, a signal from a crane/packet work changeover switch 92, and a signal from a horizontal retraction switch 93 as inputs based on switch operations such as a toggle switch. The retracting switch 96 can be switched between an off position and each on position for the main winding system and the auxiliary winding system. , the length of the main jib or tower jib I! 8. There are setting signals for the auxiliary jib length l5 and the main winding number nM.Inputs from various detection means include the respective pressure switches 47
．． Each of the above levers 48, 57, 58', and 68
4, 54, and 64) each detector 52a for detecting the John detection signal and the amount of rope coming in and out of the main winding system and the auxiliary winding system;
There are a detection signal from the angle detector 32b and a jib angle detection signal from the angle detector 61. Furthermore, the voltage ρ applied to the proportional solenoid 75 is input to the control circuit 100 as an element indicating the degree of engagement of the variable clutch 25. On the other hand, the control circuit 10
In addition to the control signal for controlling the degree of engagement of the variable clutch 25 by the voltage ρ applied to the proportional solenoid 73I, outputs from the first to fourth relays 81 to
There is an output signal for 84 and an output signal for each of the pilot lamps 85-88. Furthermore, although omitted in the figure, as mentioned above, when it is difficult to achieve horizontal retraction or horizontal extrusion only by controlling the normal amount of rope for lifting and retracting, a control signal for the jib elevation drive mechanism 22 is sent from the control circuit 100. Output.

The control circuit 100 can be configured using a microcomputer or the like, and the specific configuration and operation of the control circuit 100 will be explained with reference to the flowcharts shown in FIGS. 16(a) and 16(b) as follows. It is. Note that Figures 13(a) and 13(b) show a series of flows, and Figure 16 (the parts labeled wa and Q in aJ correspond to the same labeled parts in Figure 13(b)). , FIG. 15 (The portions labeled Q in BL mean that they respectively follow the same labeled portions in FIG. 15(a).

In the figure, reference numeral 111 denotes a reading unit for the model, etc. In the control circuit 100, the reading unit 111 operates first. By operating the digital switch 94 in advance, model-specific values and initial setting values corresponding to the model and configuration to be used are read. As the model-specific value, the value of the model specified by the digital switch operation 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. The determining unit 112
In this case, if the set model is not stored in memory, the output section 113 to the fourth pilot lamp 88 is activated and a signal is generated to repeat the flow from the beginning. Therefore, the pilot lamp 88 is turned on. , and since the control operation is not 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 51, and calculate the number of pieces (ml=mA=
O: ] and read the voltage ρ that determines the degree of engagement of the variable clutch 25.

Following these, there is a jib elevation lever position reading section 117 and a determination section 118.

In this case, it is determined whether or not the position of the jib elevation lever 64 detected by the pressure switch 68 is on, and when it is determined that it is off, the reading section 119# of the elapsed jib angle θ and the jib angle In this case, if [θ=θ], the jib elevation lever 64 is actually off, and in this case, a signal is generated to repeat the flow from the beginning. Also, if it is [θ to θ], the jib elevation lever 64 is turned on in the actual vehicle and the jib is elevated, which means that the pressure switch 68 is malfunctioning. , activates the output section 121 to the second pilot lamp 86 to turn on the lamp 86 and generates a signal to repeat the flow from the beginning, thereby notifying the abnormality.

A subsequent portion that operates when the shift elevation lever position control determining unit 11-8 determines that the jib elevation lever 64 is on includes a horizontal retraction switch position 3 reading unit 122 and a determination unit 5125. Here, when it is determined that the horizontal retraction switch 96 is off, a signal is generated to repeat the flow from the beginning. The subsequent parts that sometimes work include a main winding system lever position reading section 124 and a discriminating section 12.
5, and an auxiliary winding system lever position reading section 126 and a discriminating section 127, which allow the main winding system lever 44 and the auxiliary winding system lever 54 to be detected by the pressure switches 47, 48, 57, and 58. Each of the positivecons is determined. 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 86 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 of FIG. 11 and the hydraulic circuit of FIG. 10, the contacts 83a and 83b of the sixth relay 83 are opened and strained, and the noid valves 66 and 67 are in a de-energized state.
Negative brake 66 is activated. 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. The rope will be rolled up or lowered, which is convenient when it becomes necessary to temporarily raise or lower a 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.

The subsequent portions that operate when the discriminating sections 125 and 127 determine that both the main hoisting system lever 44 and the auxiliary hoisting system lever 54 are off include a discriminating section 129 for packet work and crane work, and a crane work discriminating section 129. ◇ Both the discriminating units 129 and 130 have a discriminating unit 130 for determining whether work is performed in the main hoisting system or in the auxiliary hoisting system when
When it is determined that packet work is being carried out in response to a signal from When it is determined that
The output section 152 to the relay 81 is activated, and when it is determined that the work is in the auxiliary winding system, the output section 136 to the second relay 82 is activated. That is, in the electric circuit shown in FIG. 11 and the hydraulic circuit shown in FIG. 10, in the case of horizontal retraction during main hoist crane work, the contact 81a of the first relay 81 closes and the solenoid valve 46 is energized. This keeps the hoisting clutch 41 of the main hoisting system in the engaged state, and in the case of horizontal retraction during auxiliary hoisting system crane work, the contact 82a of the second relay 82 closes and the solenoid valve 56 is energized, so that the auxiliary hoisting clutch 41 is kept engaged. The hoisting clutch 51 of the hoisting system is kept in an engaged state, and in the case of horizontal retraction in packet work, the above-mentioned hoisting clutches 41 and 51 are both kept in an engaged state.

Next, a reading unit 134.13 for reading detection signals after time obtained from the angle detector 31 and the detector 52a or 32b.
5, in the case of packet work and main hoisting crane work, the angle detection value θ, the sheave rotation direction and the number of pieces MM obtained from the detector 32a are read, and in the case of auxiliary hoisting crane work, the angle detection value θ is read. Value θ and detector 3
Sheave rotation direction and number of pieces λI obtained from 2b
Load A.

Following the reading units 134 and 135, there are sheave rotation direction determining units 136 and 137, and based on the determination by the determining units 136 and 137, the number of pieces read first is determined by counting units 168 to 141. The number mml or mAl when the sheave is rotating in the unwinding direction and the number mM2 or m when the sheave is rotating in the winding direction.
After the counting section, there is a discriminating section 142' for detecting an abnormality.

146, and here, it is determined whether (mM1=mM2=O) or (mA1=m^2=0]. By 0, the count value and winding when the sheave is rotating in the unwinding direction are determined. When it is determined that both of the count values are 0 when the detectors 32a and 32b are rotating in the direction, there is an abnormality in the detectors 32a and 32b, and in this case, the output section 121 to the second pilot lamp 86 is activated. and generates a signal to cause the lamp 86 to repeat the flow from the beginning.
Lights up to notify you of an abnormality.

A subsequent portion that is activated when either of the count values is determined to be non-zero in the discriminating sections 142 and 143 includes a discriminating section 144 for increasing or decreasing the jib angle.

When the determining unit determines that the jib is not being operated or being raised (θ'≧θ), the piece number calculation unit 145 calculates the piece number value mmM or mA. In the same way, the Jib tax (which has been concealed)
When it is determined that θ′ θ), the piece number calculation unit 146
In the step, the number of pieces mm or mA is calculated.

Following the piece number calculation units 145 and 146, calculation units 147 and 148 corresponding to calculation 5102 in FIG.
The calculation units 147 and 148 calculate the above detected values θ,
From θ′, the number of pieces mm or mA, and the model-specific values and initial setting values read earlier, the above calculation formula [Yes]
- and each calculated value VsV'p L(, Ns
Calculating L
The determining units 149 and 150 determine whether [LC=0] or not. In this case, when the calculated value of the theoretical winding amount is determined to be 0, it means that there is an abnormality in the angle detector 31, and in this case, the output section 121 to the second pilot lamp 86 is activated. A signal is generated to repeat the flow from the beginning, and the lamp 86 is turned on to notify an abnormality.

Calculated value. When it is determined that is not 0, the determination unit 151, 152 for determining whether or not the sixth relay 83 is activated
works. Here, the fact that the sixth relay 86 is on means that the sixth relay 86 operates and its contacts 83a, 83
b opens, thus opening the solenoid valves 66, . 67 means that the jib 2 is in a temporarily stopped state, and in this case, the part corresponding to the jib elevation drive mechanism control section 105 in FIG. 4 operates, but this will be explained later. do.

When the determination units 151 and 152 determine that the sixth relay 86 is not on, that is, the third relay 86
The subsequent parts that operate when the jib 2 is in operation with the contact point 6 closed include determination parts 153, 154 that determine whether or not (LC"LD), and (L("rLl)). Determination units 155 and 156 that determine whether (Lc>LD)
, and a voltage output section 157 and voltage decrease/increase sections 158 and 159 for adjusting the degree of variable clutch engagement in accordance with the determination thereof. These correspond to the comparing section 106 and the control signal generating section 104 in FIG. 4. To explain these functions, the determining unit 153,
When it is determined in step 154 that [Lc=Lo] is negative, it means that horizontal retraction or horizontal extrusion has already been performed, and in this case, the voltage output section outputs the input voltage ρ as it is. In step 157, the voltage ρ read into the variable clutch engagement reading unit 116 is input. In addition, when it is [Lc~LD], the discrimination unit 155 or 156 operates depending on whether the jib is raised or lowered.Here, when the jib is raised, (Lc> LD) or when the jib is lowered, CLc<
Lo E means that the suspended load tends to rise, and in this case, the voltage reduction unit 158 reduces the already read voltage ρ by a certain small value Δρ (ρ=
ρ−Δρ) After changing the number, the voltage is inputted to the voltage output unit 157 via the determination unit 160 that determines whether [ρ≦OV). In addition, when the jib is raised (Lc<LDI) or when the jib is lowered (Lc > Lo), this means that the suspended load tends to descend, and in this case, the voltage increasing part 15
9, after changing the already read voltage ρ to a voltage increased by a constant minute value △ρ (ρ = p + Δρ), [ρ≧12
v] via the determination unit 161 that determines whether
Enter 7.

When the voltage output section 157 outputs the output voltage ρ for variable clutch control according to the input, the output section 162 to the fourth relay 84 is activated.Thus, in the electric circuit shown in FIG. 4 relay 84 is switched, and the output voltage ρ is applied to the proportional solenoid 76 for the variable clutch. Furthermore, this output voltage ρ is newly read into the variable clutch coupling degree reading unit 116, and this new read value Then, the flow from the reading section 116 is repeated. Note that during the horizontal retraction control, the fourth relay 84
remains switched.

Now, in the determination unit 160 for determining whether [ρ≦OV] and the determination unit 161 for determining whether [ρ≧12v], the voltage sent from the voltage reduction unit 158 or the voltage increase unit 159 can be adjusted to the variable clutch. If it is within the range [Ov<ρ<12V], the voltage is sent as is to the voltage output section 157, but if the voltage exceeds the limit of the variable clutch adjustable range,
As explained next, a portion corresponding to the jib elevation drive mechanism control section 105 in FIG. 4 is operated.

That is, in the determination unit 160 or 161, [ρ≦Ov
] or [ρ≧12v], the subsequent voltage setting units 163 and 164 set [ρ=Ov] or [ρ=1
2V). Furthermore, the output section 165 to the sixth relay and the sixth pilot lamp operates, thereby
Contacts 83a and 83b of the sixth relay 83 open and the jib 2
stops, and the sixth pilot lamp 87 lights up to notify this condition. Further, the above set voltage of [ρ-0V) or [ρ=12V] is sent to the voltage output section 157 and applied to the proportional solenoid 75. Then, after this voltage is read into the variable clutch engagement reading section 116, the flow is repeated from the reading section 116. In this case, the determination unit 15 determines whether the sixth relay is on or not.
At 1,152, it is determined that the sixth relay 83 is on.

At this time, following the above-mentioned determining sections 151 and 152, a determining section 1 determines whether or not [ρ=Ov] if the jib raising operation is in progress.
66 is working and the jib is being lowered, [ρ = 12V
) is activated.

When these discrimination units 166 and 167 determine that [ρ; Conversion unit 168.1 that uses the value as reference value Lc for comparison
'69, the above reference value LC and rope in/out amount actual value L
Discrimination units 170 and 171 operate to determine whether (Lc≦LD '3) by comparing with D. Here, the above actual value Lo
If the reference value C has not been reached, the sixth relay and the output section 165 to the sixth pilot lamp are operated and the voltage output section 157 is operated without operating the output section 165 to the sixth pilot lamp. By sending a signal, the contacts 85a a 83 of the third relay 83 are automatically closed.
b is returned to the closed state, and the jib 2 is driven again.

The determination unit 166 for determining whether [ρ=OV] and [ρ=
12V) or not, the determination unit 167 determines that ρ=12V even during the jib raising operation when the jib 2 is once stopped and then redriven by the above control operation, as will be described in detail later.
This is provided on the assumption that ρ=Ov may occur even during the jib lowering operation.4 In these cases, the discrimination unit 166 determines that [ρ=Ov] is not true. Alternatively, the determining unit 167 determines that it is not [ρ=12V]. And in this case, [Lc<LD]−
The determining units 172 and 173 act to determine whether CLc<Lr
If [Lc≧LD], the output unit 165 to the third relay and the sixth nozzle lamp is activated, and if [Lc≧LD], an activation signal is sent directly to the voltage output unit 157.

When using the above-mentioned device, when performing horizontal retraction (or extrusion), after giving predetermined control conditions using the switches 91 to 96 and the digital switch 94, the jib 2 is raised and raised by the jib elevation lever 64. Just by operating it, 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, the force and the 155° 156
This tendency is detected by
, the output voltage ρ of the voltage output section 157 decreases by a minute value Δρ, and the degree of engagement of the variable clutch 25 in the drive amount adjusting section 24 is weakened.
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 △ρ, and by repeating this operation, the actual value LD of the amount of rope in and out for the suspended load will match the theoretical value Lc, and the suspended load will be The degree of engagement of the variable clutch 25 is weakened until a state in which the variable clutch 25 moves horizontally is reached. When the suspended load tends to descend, the voltage increasing section 159 operates and the output voltage ρ of the voltage generating section 157 increases, thereby increasing the degree of engagement of the variable clutch 25 until the suspended load reaches a horizontal movement state. is strengthened. When the suspended load reaches a state of horizontal movement, the degree of engagement of the variable clutch 25 at this time is maintained.Thus, by adjusting the output voltage ρ, the actual value LD of the amount of rope in and out follows the theoretical value Lc. As long as the degree of engagement of the variable clutch 25 can be adjusted to a state in which the load is moved horizontally, the amount of drive of the rope for hanging is controlled so that the load moves horizontally.In other words, the locus of movement of the load in this case is as shown in FIG. As shown by a line 200, the suspended load A moves in the pulling or pushing direction while being maintained at a constant height approximately given by the above-mentioned theoretical value Lc.

Also, even if the jib hoisting speed is high and the variable clutch engagement is at the minimum or maximum, the actual value LD of the rope entry and exit amount remains the theoretical value. If it is not possible to follow the jib 2, the operation of the jib 2 is controlled. That is, for example, in a jib raising operation, if the suspended load still tends to rise even if the degree of engagement of the variable clutch is minimized, the voltage setting section 166 sets [ρ=Ov] based on the determination by the discriminating section 160. At the same time, the output section 165 to the sixth relay and the sixth pilot lamp is activated, so that the jib 2 is stopped.
The suspended load begins to descend. A determination unit 151 determines whether the sixth relay is on, a determination unit 166 determines whether [ρ=OV], a conversion unit 168 determines the reference value Lc, [LJ≦LD,
The jib 2 is stopped and the suspended load is lowered until the actual value LD becomes equal to or exceeds the reference value -Lc, and the actual value LD becomes the reference value. When it becomes equal to or exceeds t, c, the jib 2 is operated again, and the actual value LD is compared with the theoretical value LC to return to the normal ρ control operation in which the degree of variable clutch engagement is controlled. If the suspended load still rises after reaching the theoretical value Lc, the jib 2 will stop again and this operation will be repeated. Therefore, the movement locus of the suspended load A in this case is as shown by the line 300 in FIG. 15(a), with the theoretical value t,
After a trajectory 301 that rises above the height given by c occurs, a trajectory 30 that descends linearly until it becomes slightly lower than the height corresponding to the reference value LC with the jib 2 stopped
2, a trajectory 303 that gradually rises from this point to the height determined by the theoretical value Lc, and a trajectory 604 that further increases somewhat from the height determined by the theoretical value Lc are repeatedly repeated.

However, from the height determined by the reference value LC to the height determined by the theoretical value Lc, the output voltage ρ for adjusting the degree of variable clutch engagement gradually increases and the suspended load is raised. ρ≧12v], and in this case, a discriminating unit that compares the theoretical value Lc and the actual value LD operates via the discriminating unit 166 that determines whether [ρ=Ov]. Therefore, in this case, as shown in FIG. 15(b), in the movement trajectory 300' of the suspended load A, the trajectory 306' gradually rises from the height of the reference value c'. A trajectory 305 that rises to the height of the theoretical value LC is obtained, but the trajectory as a whole is almost the same as that in FIG. 15(a).

If the suspended load still tends to descend even when the degree of engagement of the variable clutch is maximized during the jib lowering operation, the determination unit 161 determines that [ρ≧12v] and the circuit that responds to the determination is activated. Based on this, the suspended load is controlled to move along a trajectory that is a vertical inversion of the trajectory shown in FIGS. 15(a) and 15(b).

In this way, when controlling the operation of the jib, the comparison value with respect to the actual value LD is changed from the theoretical value Lc to the reference value Lc by a constant value n within the range allowed for the accuracy of horizontal retraction.
- By changing only △L, relatively smooth horizontal retraction is possible. In other words, if the jib is repeatedly operated and stopped while keeping Lc as the comparison value with respect to the actual value LD, the movement locus of the suspended load will become as shown by the line 400 at the 160th point,
The jib has to be raised and stopped frequently, and there is a risk that the jib and the suspended load will hunt, making it impossible to expect smooth horizontal retraction. On the other hand, according to the present invention, the first
In the case shown in Fig. 6, the jib does not move or stop frequently, and horizontal retraction or horizontal extrusion can be performed without causing hunting.

As explained above, the control device of 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 suspended load by the detector to determine whether the suspended load is to be hoisted for horizontal movement. As long as the theoretical value and the actual value of the load rope entry/exit amount can be made to follow the theoretical value within the adjustable range of the lifting drum drive mechanism, the above-mentioned Since the actual value is compared with the theoretical value and the drive amount of the suspended load drum is controlled so as to match this value, the suspended load can be automatically and accurately horizontally pulled in or pushed out in response to the jib elevation operation. I can do it. Furthermore, if the jib hoisting speed is too fast and it is not possible to make the above actual value follow the theoretical value by controlling the lifting drum drive amount alone, the jib will be automatically stopped once and the A reference value is set within the range that is higher than the theoretical value by a certain value, and the jib is operated again when the actual value reaches or exceeds this reference value. In this case, the suspended load can be automatically pulled in or pushed out horizontally, and even in this case, the jib or the loaded load can be pulled in or pushed out smoothly without hunting, resulting in many excellent effects. It is something that plays.

[Brief explanation of the drawing]

Figures 1 to 6 are general views of various types of jib cranes,
FIG. 4 is a block diagram showing a schematic configuration of the control device of the present invention, FIGS. 4 to 16 show specific examples of the device of the present invention, and FIG. 5 shows an example of the detector. Perspective view,
Figures 6 to 8 are explanatory diagrams showing calculation factors, Figure 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 control diagram. Explanatory diagram showing the input and output of the circuit, FIGS. 16(a) and 16(b)
14 is a flowchart of the control circuit, FIG. 14 is an explanatory diagram showing the movement locus of the suspended load according to the basic control operation of the device of the present invention, and FIGS. 15(a) and 15(b) are the flowchart of the device of the present invention. An explanatory diagram showing the locus of movement of the suspended load due to control operations in special situations. Fig. 16 shows the locus of movement of the hoisted load when no means for changing the comparison value is provided in the control means of the jib elevation drive mechanism. It is an explanatory diagram. 2... Jib, 4.15... Rope for hanging loads, 8.12
... Hanging load drum, 21... Engine, 22...
Shift elevation drive mechanism, 23... Drum drive mechanism for hanging load, 31... Angle detector, 32... Rope in/out amount detector, 100... Control circuit, 1o2... Arithmetic unit, 1o
6... Comparison section, 104 river control signal generation section, 1o5...
・Jib elevation drive mechanism control unit. Patent Applicant Kobe Steel Co., Ltd. S-Russia Procedural Amendment (Own Ship 1. Indication of Case 1982 Patent Application No. 150071 2, Name of Invention Horizontal Retracting Control Device for Jib Crane 3, Person Making Amendment) Related Patent Applicant Name (119) Kobe Steel, Ltd. 4, Agent Address 1-10-3 Nishihonmachi, Nishi-ku, Oi City, 59
No. Shin Matsuoka Building Showa Year Month Day (Voluntary correction)
6. In the specification subject to amendment [Claims j, Column 17 Contents of amendment (1) The claims are amended as shown in the attached sheet. (2; Figures 4, 10 and 16 in the drawings (
Correct a) as shown in the attached drawing. 2. Claim 1 # In a jib crane equipped with a hoistable jib and a hoisting rope led out from a hoisting drum, a shipping drum drive that drives the hoisting drum so that the amount of the hoisting rope coming in and out can be adjusted. mechanism, a jib elevating drive mechanism, a jib angle detector, a detector for the amount of rope coming in and out from the lifting drum, and the lifting drum drive mechanism and the jib in response to detection signals from each of the above detectors. A control circuit for controlling the elevating drive mechanism; A calculation unit that calculates the theoretical value of the amount of input and output and the actual value of the amount of input and output of the rope for hanging loads, and a control that generates a signal that controls the load drum drive mechanism in a direction to eliminate the difference when a difference occurs between the two values. When the actual value of the amount of shipping rope coming in and going out does not follow the theoretical value even though the load drum drive mechanism is controlled to the limit of its adjustable range by this control signal, the signal generator is activated to drive the jib elevation. Once the mechanism is stopped, the above-mentioned lobe inflow and outflow amount for the hoisted load is adjusted to the standard value, which is the logical value plus a certain value, and the above-mentioned hoisting lobe amount, within the range where the vertical movement of the hoisted load is permissible due to the accuracy of the horizontal pull-in or push-out of the hoisted load. A jib crane, characterized in that it is provided with a jib elevation drive mechanism release unit that compares the actual value of the loading/unloading amount of a load rope and operates the jib elevation drive mechanism when the actual value exceeds a reference value. Control device for horizontal retraction in.

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, there is a lifting drum drive mechanism that drives the lifting drum so that the amount of rope coming in and out can be adjusted, and a jib lifting mechanism. a jib angle detector, a detector for the amount of rope coming in and out from the lifting drum, and a lifting drum drive mechanism and a jib elevating drive mechanism in response to detection signals from each of the above detectors. Equipped with a control circuit table, the control circuit is equipped with a theoretical value of the amount of rope in and out of the rope for horizontal movement of the hoisted load and the hoisted load based on the detection signals from each of the above-mentioned detectors. a control signal generating section that generates a signal to control the lifting drum drive mechanism in a direction to eliminate the difference when there is a difference between the two values; When the actual value of the loading/unloading rope amount still does not follow the theoretical value even after the lifting drum drive mechanism is controlled to the limit of its adjustable range by the signal, the jib elevation driving mechanism is temporarily stopped, and , within the range where the vertical movement of the lifted load is allowed due to the accuracy of horizontal pulling in or pushing out the suspended load, the reference value obtained by adding a certain value to the above theoretical value of the amount of rope in and out of the rope for lifting, and the actual value of the amount of rope in and out of the above mentioned hanging load. 1. A control device for horizontal retraction in a jib crane, comprising: a jib elevation drive mechanism control unit that compares the actual value and operates the jib elevation drive mechanism when the actual value exceeds a reference value.