JPS6331995A - Horizontal movement controller for hung load of crane - Google Patents

Abstract

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

Description

[Detailed Description of the Invention] (Industrial Field of Application) The present invention is a method for horizontally transferring a suspended load of a crane! This invention relates to a jJ 1til control device, and particularly improves controllability during startup.

(Prior Art) Conventionally, there has been a system in which the horizontal movement of a suspended load is controlled by controlling the amount of hoisting rope according to the elevation and elevation of the boom (for example, Japanese Patent Application Laid-Open No. 1650/1983). This conventional horizontal movement control device electrically detects the elevation angle of the boom using an angle detector, and also electrically detects the amount of expansion and contraction of the hoisting rope using a rope detector. The amount of change in the vertical direction of the boom is determined based on the angle value detected by the angle detector, and the amount of change in the boom is compared with the value of the rope expansion and contraction amount detected by the rope detector, and the value is determined according to the elevation angle of the boom. The amount of rope expansion and contraction is adjusted by determining the amount of rope expansion and contraction, amplifying the output signal and sending it to the hydraulic servo valve, which operates the hydraulic servo valve to operate the hydraulic cylinder and operate the rope expansion fl?i device. This is to horizontally move the suspended load.

With this conventional device, during steady operation, the horizontal movement of shipping is carried out somewhat smoothly based on the boom elevation angle and the amount of rope expansion/contraction, but the height is 8ft! A response delay occurs in f. In other words, after the boom starts to rise and fall by operating the boom control lever, the detection by each of the above-mentioned detectors, the calculation processing by the control device are performed, and the rope extension and retraction device is activated to adjust the position of the suspended load. This causes a mechanical and hydraulic response delay, which causes a large deviation in control during start-up, resulting in hunting.Furthermore, if the boom control lever is operated suddenly, only the boom moves up and down rapidly, causing the rope extension control to be interrupted. There were problems such as not being able to do it in time and causing the suspended load to swing.

(Purpose of the Invention) The present invention has been made to solve such problems, and improves the stability of control at startup, and enables steady state operation from startup without hunting or shipping delays. An object of the present invention is to provide a horizontal movement control device for shipping a crane, which can horizontally move a suspended load smoothly throughout the entire operation.

(Structure of the Invention) The present invention provides a remote control valve for raising and lowering the boom, a direction control valve for raising and lowering the boom which is switched by secondary pressure from the remote control valve, and a control valve for raising and lowering the boom by switching the direction control valve for raising and lowering the boom. A hoisting drive means, a hoisting remote control valve, a hoisting directional control valve that is switched by secondary pressure from the hoisting remote control valve, and a hoisting directional control valve that winds the hoisting rope by switching the hoisting directional control valve. A hoisting drive means that moves up and down, a means for detecting the elevation angle of the boom, and a switching amount of the hoisting directional control valve is controlled based on the detected value by this detecting means, thereby controlling the hoisting amount of the hoisting rope. a main control means for controlling the operation amount of the remote control valve for elevating and elevating the boom; and a means for detecting the operation amount of the remote control valve for elevating and elevating the boom, and a means for detecting the operation amount of the remote control valve for elevating and elevating the boom, and controlling the elevating speed of the boom and the hoisting rope in priority to control by the main control means at startup based on the detected value of the operation amount. The invention is characterized by comprising an auxiliary control means for suppressing and controlling the winding up and down speed of the winding machine.

With this configuration, when the remote control valve for raising and lowering the boom is operated, the operation amount is detected by the boom operation amount detection means, and the auxiliary control means starts raising and lowering the boom, and the hoisting rope is hoisted and lowered. In particular, during startup, the boom elevation and hoisting rope are raised and lowered almost simultaneously and gradually, so there is little deviation during startup, and even if the boom control lever is suddenly operated, the boom elevation acceleration and hoisting rope are The vertical acceleration of the upper rope is suppressed, the swing of the suspended load is small, and the horizontal movement of shipping can be controlled smoothly.

(Example) FIG. 1 shows an outline of a crane equipped with a control device of the present invention. In FIG. 1, a boom 2 attached to a crane main body 1 is lifted up and down by a boom lifting and lifting rope 3 wound up and down by a boom lifting and lifting drum 4.

The hook 5 suspended from the tip of the boom 2 via the hoisting row 76 is raised and lowered by the hoisting drum 7 winding the hoisting rope 6 up and down. , 8 is a shipment suspended from the hook 5.

FIG. 2 is a block diagram of a shipping horizontal movement control device.

In FIG. 2, reference numeral 11 denotes a boom angle detector, which is installed near the boom foot of the boom 2 shown in FIG.
The angle θ with respect to the horizontal is detected electrically. Reference numeral 12 denotes a boom-up pressure detector, and 13 a boom-lower pressure detector (operated amount detection means), which detects, for example, the secondary pressure on the boom-up side and the secondary pressure on the boom-down side of the remote control valve for boom elevation in the hydraulic circuit, which will be described later. Each is detected electrically.

In the boom control system, the operating pressure (boom operating type) detected by the pressure detectors 12 and 13 is converted into a digital signal by the △/D converter 14 and taken into the microcomputer, and the boom operating amount is determined by the R hoister. In step 15, the operation 1d of the boom operation lever and the lever operation direction, that is, the boom elevation direction are calculated. Regarding the boom elevation direction, for example, boom raising is positive and boom lowering is negative.

The boom suppression pattern storage means 16 stores information such that the boom elevation acceleration gradually increases during startup from the start of the control to time t1, and after time t1, the boom elevation velocity remains constant (
A control pattern for preventing the speed from exceeding a predetermined speed is stored.

A multiplier 17 multiplies the operation amount of the boom operation lever calculated by the boom operation amount calculator 15 by the boom elevation speed suppression pattern stored in the boom suppression pattern storage means 16 to obtain a control target for boom elevation and elevation. The value (boom elevation) is determined, inputted to the D/A converter 21, and the D/A
The converter 21 converts it into analog data and sends it to the boom output switching circuit 23. In addition, the boom operation amount calculator 15
The boom elevation direction calculated by the digital IO device 2
2 and is sent to the boom output switching circuit 23. The boom output switching circuit 23 switches between an electromagnetic proportional pressure reducing valve 25 for raising the boom or a proportional pressure reducing valve 25 for lowering the boom, depending on the boom elevation direction input from the digital IO device 22 and the boom elevation distance input from the D/A converter 21. A control signal is sent to the electromagnetic proportional pressure reducing valve 26.

By operating the electromagnetic proportional pressure reducing valve 25 or 26, the boom 2 is operated (elevated) in a predetermined direction by a predetermined amount via a hydraulic circuit which will be described later.

On the other hand, in the hoisting control system, the hoisting suppression pattern storage means 18 records that the hoisting acceleration gradually increases at startup in accordance with the boom suppressing pattern, and then the hoisting acceleration exceeds a certain level during subsequent steady operation. A winding suppression pattern that suppresses the winding from occurring is stored.

The multiplier 19 multiplies the operation amount of the boom operation lever calculated by the boom operation amount output device 15 by the hoisting speed suppression pattern stored in the hoisting suppression pattern storage means 18 to determine the boom operation amount. Find the amount of winding up and down according to.

The calculator 20 calculates the feedforward tracking (prediction interval) of hoisting based on the hoisting up/down W corresponding to the operating amount of the boom operating lever inputted from the single multiplier, and also calculates the feedforward tracking (prediction interval) of the hoisting. detected by A/D converter 1
Based on the boom elevation angle θ converted into a digital signal in step 4, the height H of the boom tip from the ground is calculated, and the feedforward amount of the hoist is proportional to the vertical deviation of the height H. The hoisting control target value (winding up/down amount) is determined by adding the feedback value, and the output signal is converted to D/A.
'A converter 21 converts it into analog data and sends it to the hoisting output switching circuit 24.

The hoisting output switching circuit 24 switches the hoisting electromagnetic proportional pressure reducing valve 2 according to the boom elevation direction inputted from the digital 10 unit 22 and the hoisting up/down direction inputted from the D/A converter 21.
7 or send a control signal to the lowering electromagnetic proportional pressure reducing valve 28. By the operation of the electromagnetic proportional pressure reducing valve 27 or 28, the hoisting rope is actuated (raised or lowered) by a predetermined amount in a predetermined direction depending on the boom elevation via a hydraulic circuit to be described later. A horizontal movement is performed.

FIG. 4 is a hydraulic circuit diagram for performing the above control. In FIG. 4, 31 is the main hydraulic pump, 32 is a boom elevation directional control valve, 33 is a hoisting directional control valve, 34 is a boom elevation hydraulic motor that drives the boom elevation drum 4;
Reference numeral 5 denotes a hoisting hydraulic motor that drives the hoisting drum 7, and a secondary side circuit 35. 36 and 37.38 are connected.

41.42 is an electromagnetic switching valve, 43, 44.45°46 is a check valve, 50 is a pilot hydraulic pump, 5 is a primary side circuit, 52 is a remote control valve for boom elevation, 53 is a boom operation lever, 56 is a hoisting 57 is a hoisting operation lever.

The boom elevation remote control valve 52 has a pair of variable pressure reducing valves (not shown), and the secondary pressure guided to the secondary circuit 54 or 55 is controlled according to the operating direction and operating amount of the lever 53. The secondary side circuit 54.55 is connected to the primary side of the electromagnetic proportional pressure reducing valve 25.26. Further, pressure detectors 12 and 13 are provided in the secondary side circuits 54 and 55 of this remote control valve 52, respectively.
The operation of the boom operation lever 53 is detected by detecting the secondary pressure of the secondary side circuit 54, 55 by 13.

On the other hand, the hoisting amount remote control valve 56 has a pair of variable pressure reducing valves (not shown) similarly to the boom elevation remote control valve 52, and depending on the operating direction and amount of the lever 57, the secondary side circuit 58 or 5 The secondary pressure leading to is controlled by L+J, and the secondary side circuit 58.59 and the above-mentioned negative side circuit 51 are connected to the electromagnetic proportional pressure reducing valves 27 and 28 via the electromagnetic switching valve 41.42. Switchably connected to the primary side.

In the above hydraulic circuit, when the boom operating lever 53 is operated in the boom raising direction with the mode changeover switch (not shown) switched to the horizontal movement control mode, the boom raising/lowering remote control valve 52 is connected to the secondary side circuit 54 on the boom raising side. Secondary pressure is guided, the pressure is detected by the pressure detector 12, and the detection signal is inputted to the boom operation amount calculator 15 via the A/D converter 14 in FIG.
The boom raising height corresponding to the operation amount of the boom operation lever 52 is calculated.

Next, the boom lifting amount calculated by the calculator 15 is multiplied by the suppression signal based on the suppression pattern stored in the boom suppression pattern storage means 16 by the multiplier 17, and a boom lifting control signal including the suppression value is obtained. This boom raising control signal is inputted to the boom output switching circuit 23 via the D/A converter 21, and the boom elevation direction, that is, the boom raising signal calculated by the calculator 15 is outputted via the digital 10 unit 22. sent to the switching circuit 23,
An actuation signal is sent from this output switching circuit 23 to the boom raising electromagnetic proportional pressure reducing valve 25.

At this time, secondary pressure corresponding to the lever operation amount is guided to the secondary side circuit 54 of the remote control valve 52, but the secondary pressure is guided to the primary side of the electromagnetic proportional pressure reducing valve 25, and the secondary pressure is guided to the primary side of the electromagnetic proportional pressure reducing valve 25. The boom is suppressed according to the above boom elevation suppression pattern (
(reduced pressure), and this reduced secondary pressure is transferred to the secondary circuit 35.
It is guided to the pilot section on the boom raising side of the boom elevation direction control valve 32. As a result, the direction control valve 32 is gradually switched to the boom-up position, and pressure oil from the hydraulic pump 31 is gradually supplied to the boom elevation hydraulic motor 34, so that the motor 34 is gradually accelerated in the hoisting direction. At the same time, the boom elevation drum 4 shown in FIG. 1 is gradually accelerated in rotation, and the boom elevation rope 3 is gradually wound up to smoothly raise the boom. In this case, even if the boom operating lever 53 is suddenly operated in the boom-raising direction, the boom is raised gradually by the above-mentioned suppression control, and the boom is raised smoothly with less shock at startup.

On the other hand, in the hoisting IT, 11 control system, the boom operation lever operation R calculated by the boom operation amount calculator 15 is multiplied by the hoisting speed suppression pattern stored in the hoisting suppression pattern storage means 18. The operator 19 multiplies the hoisting amount according to the operation amount of the boom raising operation to determine the hoisting amount of the rope, and the arithmetic unit 20 calculates the feedforward m (predicted speed) of the hoisting system based on the hoisting lower m, Angle detector 11
The height l of the boom tip from the ground based on the boom elevation angle θ detected by A feedback amount proportional to the deviation of the height H is added to obtain the hoisting control target value (hoisting amount). Then, the output signal from the arithmetic unit 20 is inputted to the hoisting output switching circuit 24 via the D/A converter 21, and the digital 10
A boom raising signal is inputted through the hoisting control system 22, and in conjunction with this, a control signal is sent from the hoisting output switching circuit 24 to the lowering electromagnetic proportional pressure reducing valve 28 of the hoisting control system.

At this time, each of the electromagnetic switching valves 41, 42 in FIG.
4, and the primary pressure from the pilot hydraulic pump 50 is guided to the primary side of each electromagnetic proportional pressure reducing valve 27, 28. Therefore, even if the hoisting operation lever 57 is not operated, secondary pressure is guided to the secondary side circuit 38 of the opposite valve by the operation of the electromagnetic proportional pressure reducing valve 28, and the secondary pressure is transferred to the hoisting directional control valve. The direction control valve 33 is automatically and gradually switched to the lower hoisting position (lower position) under the guidance of the pilot section on the lower hoisting side of the hoisting hydraulic pump 33, and the pressure oil from the hydraulic pump 31 is transferred to the hoisting hydraulic motor 35. The hoisting drum 7 shown in FIG. 1 is gradually accelerated in the hoisting direction, and the hoisting Kawaguchi-76 is gradually lowered. The suspended load 8 suspended by the hook 5 is gradually lowered in proportion to the boom raising, and thereby the suspended load 8 is horizontally moved (horizontal retraction) in a state in which the suspended load 8 is maintained at a predetermined height h from the ground surface. is carried out smoothly.

By operating the boom operation lever 53 in the hoisting direction in this way, secondary pressure is guided to the secondary circuit 54 on the hoisting side of the boom remote control valve 52, and at the same time, the secondary pressure is transmitted to the pressure detector 12. Based on the detection, control of the boom control system and the hoisting control system are started almost simultaneously, and the boom is raised and lowered almost simultaneously. Therefore, the deviation at startup is reduced, and startup is performed smoothly. Furthermore, even if the lever 53 is suddenly operated, the boom raising and lowering speeds are suppressed based on the suppression patterns stored in the boom suppression pattern storage means 16 and the hoisting suppression pattern storage means 18. Raising and lowering are started gradually, and smooth horizontal movement is performed without swinging of the suspended load 8. Furthermore, during steady operation, the acceleration of boom raising and the acceleration of lowering of hoisting are respectively suppressed from exceeding predetermined values based on the suppression patterns stored in the respective storage means, and smooth horizontal movement is achieved.

In addition, when horizontally pushing out the suspended load 8, the boom operating lever 53 may be operated to the boom lowering side in the horizontal movement control mode.

When performing manual operation, each electromagnetic switching valve 4 can be operated by switching the mode changeover switch mentioned above to manual operation mode.
1.42 is held in the illustrated position, and each electromagnetic proportional pressure reducing valve 25, 26, 27° 28 is held in a full-on state, and the boom and hoisting levers 53 and 57 are operated. are operated independently of each other.

By the way, in the above embodiment, the secondary side circuit 54.5 of the boom elevation remote control valve 52 serves as the boom operation amount detection means.
5 is equipped with pressure detectors 12 and 13, but the amount of operation (operation angle) of the lever 53 is determined at the pivot portion of the boom operation lever 53, etc.
An angle detector that detects the angle may also be used. Also, the primary side of the boom proportional electromagnetic pressure reducing valve 25.26 is connected to the second side of the boom elevation remote control valve 52 via an electromagnetic switching valve (not shown) in the same way as the hoisting electromagnetic proportional pressure reducing valve 27.28. Next circuit 5
4.55 and the above-mentioned negative side circuit 51 in a switchable manner.

The control device of the present invention is not limited to controlling the boom 2 and the hoisting rope 6 of the main hoist as shown in the figure, but can also control horizontal movement by controlling the boom and auxiliary hoist, or by controlling the jib and auxiliary hoist as in a jib crane. Needless to say, it can also be applied to

(Effects of the Invention) As described above, the present invention detects the amount of operation of the boom control lever by operating it, starts control of the boom control system and the hoisting control system almost simultaneously, and controls boom elevation and elevation. Winding up and down can be done almost simultaneously, reducing deviation at startup and allowing smooth startup. Furthermore, even if the lever is operated suddenly, the suppression control based on the suppression pattern can suppress the boom elevation and hoisting/up/down speeds, and gradually start the boom elevation, hoisting/up/down, and prevent the shipment from being blurred. , the suspended load can be moved horizontally smoothly. Further, during steady operation, the acceleration of the boom elevation and the acceleration of the hoisting up and down can be suppressed so that they do not exceed predetermined values, and the suspended load can be moved horizontally smoothly.

[Brief explanation of drawings]

Fig. 1 is a side view showing an example of a crane equipped with the control device of the present invention, Fig. 2 is a block diagram of the horizontal movement control 611, and Fig. 3 is a boom elevation suppression pattern storage means and hoisting suppression pattern storage. FIG. 4 is a diagram showing a suppression pattern stored in the means, and is a hydraulic circuit diagram showing an embodiment of the present invention. 1... Crane body, 2... Boom, 3... Rope for elevating the boom, 4... Drum for elevating the boom, 5...
・Hook, 6... Hoisting rope, 7... Hoisting drum, 8... Hanging load, 11... Angle detector, 12.13
...Pressure detector (boom operation detection means), 14...
・A/D converter, 15...Boom operation calculator, 16
... Boom suppression pattern storage means, 17... Ride bell, 18... Hoisting suppression pattern storage means, one...
n multiplier, 20... arithmetic unit, 21... D/A converter,
22...Digital 10 device, 23...Boom output switching circuit, 24...Hoisting output switching circuit, 25.26.27
．． 28... Electromagnetic proportional pressure reducing valve, 31... Main hydraulic pump, 32... Boom elevation directional control valve, 33... Hoisting directional control rJI+ valve, 34... Boom elevation hydraulic motor, 35... Hydraulic motor for hoisting, 50... Pilot hydraulic pump, 52... Remote control valve for boom elevation, 5
3...Boom operation lever, 56...Hoisting operation lever, 57...Hoisting operation lever.

Claims (1)

[Claims] 1. A boom elevation remote control valve, a boom elevation direction control valve that is switched by secondary pressure from the remote control valve, and a boom elevation drive means that raises and lowers the boom by switching the boom elevation direction control valve; A hoisting remote control valve, a hoisting directional control valve that is switched by secondary pressure from the hoisting remote control valve, and a hoisting directional control valve that hoists and lowers a hoisting rope by switching the hoisting directional control valve. a driving means, a boom elevation angle detecting means, and a main control means for controlling the switching amount of the hoisting directional control valve based on the detected value by the detecting means to control the hoisting amount of the hoisting rope. , an operation amount detection means for the remote control valve for elevating and elevating the boom, and based on the detected value of the operation amount, at startup, the elevating and elevating speed of the boom and the hoisting and lowering speed of the hoisting rope are suppressed, giving priority to control by the main control means. A horizontal movement control device for a crane, characterized in that it is equipped with an auxiliary control means for controlling the horizontal movement of a crane.