JPS62185697A - Movement controller for hung load of 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]

[Industrial Application Field] The present invention relates to a suspended load movement control device for a crane having a boom that can be raised and lowered. [Prior Art] There are two methods for raising and lowering the boom of a crane: a la mechanical method using a winch, and a hydraulic method using a hydraulic cylinder. Conventionally, in a crane using a rear hydraulic type, a boom hoisting operation lever is mechanically directly connected to a spool of a servo valve of a hydraulic system that drives a boom hoisting cylinder, as shown in Japanese Patent Publication No. 55-20996. For this reason, in the conventional device, the displacement position of the boom 5 (R) control lever is the same as that of the boom (a problem to be solved by the invention). Since it is proportional to the hoisting speed, when moving a suspended load in the radial direction (back and forth direction), the speed of movement in one direction is determined by the operation lever. Even if the shifting position is the same, that is, the hoisting speed is the same, it will vary depending on the boom angle and boom length at the start of hoisting 11.Ij.For example, even if the shifting position of the coal harvesting lever is the same, the boom angle is large. If the boom angle is small, the moving speed of the suspended load will be faster, and if the boom angle is small, it will be slower. By the way, when raising and lowering the boom, the operator should consider the moving speed of the suspended load rather than the raising and lowering speed. Normally, the lever is moved, but as mentioned above in conventional equipment, the moving speed of one load is affected by the boom angle and boom length, so the operator should take these points into account when moving the operating lever. The amount of displacement must be determined, and for this reason, in conventional devices, speed control of 1n (= 1) is greatly influenced by the skill or experience of the driver.
There is 41A. [Means for solving the problem] In this invention, there is a boom height angle step that detects the boom heave angle θ, and a boom length l: A1 that detects the boom length.
11 means, hanging (11) 1'-radial direction L tweet, near) (inputting the command value VlI of the moving speed, the command value input step 1, and the speed command value VlI as the hexagonal) , the above-mentioned angle): sine of the boom angle s in
a calculation means that performs calculations using θ and boom length as divisors and outputs the calculated value (Vh/L-sin θ) as a boom angular velocity command value; and a boom angular velocity command value Vb / ( A one-stage servo control iJT is provided to compare the boom angular velocity (L-sin θ) and the boom angular velocity so that the boom angular velocity becomes zero. [Function] According to this configuration, the suspended load moves in the horizontal direction at a moving speed proportional to the input command value vh, making it easy for the crane to perform zero operation. [Example] First, The present invention will be explained in detail according to Fig. 2. In Fig. 2, the horizontal distance , θ is the boom heave angle. Therefore, the horizontal movement speed Vb of the suspension 6:f is obtained by differentiating the equation (1) with respect to n:, as shown in the following equation (2): dx dx V h--- L-sin θ" dtt...(2) Here, if we transform equation (2), we get 1'-'--V b / (L-sin θ)-
(3) t. That is, in the present invention, the heave angular velocity dθ/dt is expressed as a function of the moving speed Vl+ of the cargo in the water direction Jj, the boom length, and the boom angle θ. Commands to look, drive, and move from - (for example, 1

[
The displacement position of the movement l/- corresponds to the horizontal movement speed composition Vh, and the 1b command value vh is converted into a command value of undulation B + speed according to the equation (3), and the converted undulation is The purpose is to compare the angular velocity generation command value and the actual hoisting angular velocity and control the boom hoisting operation so that the (-difference) becomes zero. An example will be described. In Fig. 1 and Fig. 21N, the operating lever 1 is operated to control the command value vh of the moving speed of the suspended load in the longitudinal direction (working radial direction).
The displacement of the lever 1 is detected by a potentiometer 2. The boom length detection means 3 detects the boom length,
For example, a wire 5 with one end fixed to the top end of the boom 4,
A reel 6 that winds the wire 5 according to the expansion and contraction of the boom 4
, and a button meter 7 that detects the rotation angle of the rotation reel 6.The metal button meter 7 outputs a signal corresponding to the boom length L (λ1). 3 is the boom support (!!4・M9 rotation (
(By detecting 1, the luffing angle θ of the boom relative to the main body of the crane is detected.) The divider 10 divides the command value Vb using the wave divisor and the boom length as the divisor, The calculation result V h /L is input to the divider 11. -Noj This division; r:; 11
, the IIE chord value s of the boom river θ is determined by the sine generator 12.
inθ is input, and the divider 11 divides Vh/L input from the divider 10, performs an operation using Sinθ input from the sine generator 12 as a divisor, and obtains the yield operation result, that is, horizontal 1 multiplication. The conversion value v11/(L sin θ) from the dynamic velocity general command ~゛h to the heave angular velocity command is input to the limiter 13. The limiter 13 adds a limit of 1; II so that the heave angular velocity (h order V!+/(Lsinθ)) output from the divider 11 falls within a predetermined level range, and when the heave angle θ is small, stnθ−0 Therefore, the heave angular velocity command v
11/(L sin θ) is inserted to prevent it from becoming abnormally large, and the heave angular velocity command Vh/(L
sir+θ) is input to the addition point 15. On the other hand, the value obtained by intercostal differentiation of the heave angle θ by the differentiator 14, that is, the actual heave angular velocity is input to the adder 15.
At the addition point 15, the heave angular velocity command Vb/(Lsinθ) is compared with the actual heave angular velocity O, and the difference is calculated by the amplifier 16.
is input to the voltage/current (V/1) converter 17 via the voltage/current (V/1) converter 17. V/1 conversion 2;]7 converts the deviation voltage outputted from the amplifier 16 into a current value corresponding to the J'lu pressure value,
Second, the converted output is directly output to the control servo valve 18. Note: The control servo valve 18 in this case is a 4-point, 2-position magnet output operation valve, and the output of the ■/I converter 17 is controlled by the boom hoisting cylinder 19. It operates to supply pressure oil proportional to the IS flow. That is, in this embodiment device, the limiter 13
The output Vh / (Lsinθ) is the command value of the heave angular velocity servo system, and the output 6 of the differentiator 14 is the feedback signal of the servo system, and the angular velocity command Vh is determined by the servo system.
/ (Lsinθ) The command value follow-up 1 control is performed in which the raising and lowering operation of the boom is controlled so that the deviation of the feedback signal S becomes 0, and as a result, the horizontal movement speed at the lifting position becomes the command It will correspond directly to the value Vb. In addition, in the above embodiment, the arithmetic section was configured by a combination of 11-ware arithmetic units, or other A/Ware arithmetic units were used.
The device consists of a D converter, a D/A converter, a microprocessor, etc., and the same (
, 1 may be performed. Further, in the embodiment described above, the heave angle θ is detected by the button meter 8, and the heave angular velocity δ is determined by inputting the detected heave angle θ to the differentiator. For example, the pendulum-type inclination can also be detected by a pendulum-type inclination, etc., and the heave angular velocity δ may be outputted by +LIIDI by a tachogenet type angular velocity sensor.
Or boom support! 7 + 91 settings
F/V) conversion may be performed. Further, although the above embodiments show the case where the present invention is applied to a crane that performs hydraulic boom hoisting, it is of course applicable to a mechanical crane that performs boom hoisting using a winch. [Effects of the Invention] As explained above, according to this invention, the suspended load is moved horizontally at a speed proportional to the displacement of the maintenance lever, which greatly facilitates crane operation, which was previously necessary. Long I+! 7 hours of operation training and training etc. is halved, crane operation is not affected by the operator's grip or experience, and acceleration/deceleration is always performed with a sense of distance maintenance regardless of boom length or heave angle. 11. This has excellent effects such as shortening the cycle time for moving suspended loads.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a device according to an embodiment of the present invention, and FIG. 2 is a side view showing a portion of a crane for explaining the device 4 of the embodiment. 1...1 ■ Operation lever, 2, 7.8 ・Potentiometer, 3...Boom length detection 1 step, 4...Boom, 5...
・Wire, 6... Reel, 9... Boom support FM 4,
10°
3...Limiter, 14...Differentiator, 15...Adder, 16...Amplifier, ]7...V/I conversion 2-518
...Original control valve, 19...Boom hoisting cylinder. ”, -12, i Figure 2

Claims (1)

[Claims] (1) A suspended load movement control device for a crane having at least a boom that can be hoisted, which includes a boom angle detection means for detecting the boom hoisting angle, a boom length detection means for detecting the boom length, and a boom length detection means for detecting the boom length, and a command value input means for inputting a command value of a moving speed; and a command value input means for performing a calculation using the speed command value as a dividend and the sine of the detected boom angle and boom length as divisors, and outputting the calculated value as a boom angular speed command value. and servo control means that compares the boom angular velocity command value output from the computing means with the boom angular velocity and controls the hoisting operation of the boom so that the deviation becomes zero. Device.