JPWO2018211739A1 - Hoist - Google Patents

Abstract

Trolley conveyed by self-propelled means, hoisting motor mounted on trolley, hoisting drum attached to hoisting motor, rope attached to hoisting drum, hook attached to rope, trolley conveying speed And a control unit that specifies the transport speed of the trolley based on the center-of-gravity distance between the predetermined position and the position of the center of gravity of the suspended load hung on the hook.

Description

The present invention relates to a winding machine.

For hoisting machines, it is required to reduce load fluctuation during transportation in order to transport suspended loads safely and efficiently. As a technique for reducing the load shake, a load shake suppression control technology is known, in which a suspended load hung on a rope is regarded as a pendulum, and based on the shake of the pendulum, that is, a model of the load shake, the transport speed is controlled. There is.

This load shake suppression control is roughly divided into feedforward control and feedback control. The feed-forward control is a method of suppressing the shake of goods by determining a conveyance speed command based on a model of shake of goods.

The feedback control is a method of suppressing the load shake by detecting or estimating the load shake in real time and feeding it back to determine a conveyance speed command. Further, in the two-degree-of-freedom load shake suppression control, feedforward control and feedback control are performed together.

The feedback control can generally deal with the error of the shake model, but has a slower response than the feedforward control. Although the feedforward control generally has a quicker response than the feedback control, it cannot deal with the error of the shake model. That is, if a highly accurate load shake model can be obtained, it is possible to suppress the load shake with high response and with high accuracy, and the effect of suppressing the shake is improved even in the two-degree-of-freedom control.

Here, the load shake model needs a pendulum length which is a length from the fulcrum of the shake to the center of gravity of the pendulum in order to estimate the oscillating period of the pendulum. Generally, the rope length from the winding drum to the hook is used as the pendulum length. However, since the suspended load is hung under the hook, the pendulum length is different from the rope length. As a technique for accurately obtaining this pendulum length, there are Patent Document 1 and Patent Document 2.

In Patent Document 1, the load sensor placed on the floor on which the suspended load is placed detects the leaving of the suspended load, and the distance from the lower hook to the lower end of the suspended load is determined from the floor surface height of the trolley and the rope length at the time of leaving the floor. The required technology is described.

Patent Document 2 describes a technique in which the pendulum length is the rope length when there is no suspended load, and when there is a suspended load, the pendulum length is obtained from the correction value and the rope length that are obtained in advance.

JP, 11-209067, A Japanese Patent Laid-Open No. 2000-177985

According to the technique described in Patent Document 1, the distance from the winding drum to the lower end of the suspended load can be defined as the pendulum length. As a result, it is possible to more accurately suppress the shake of the load as compared with the case where the rope length is the pendulum length. However, since the center of gravity of the suspended load and the position of the lower end of the suspended load are different, the swing model has an error, and the swing may remain.

According to the technique described in Patent Document 2, the pendulum length is corrected using the position of the center of gravity of the suspended load that is obtained in advance. As a result, it is possible to more accurately suppress the shake of the load as compared with the case where the rope length is the pendulum length. However, since the correction value is changed only depending on whether or not there is a suspended load, it is not possible to deal with various suspended loads.

An object of the present invention is to reduce load fluctuation in a hoist.

A hoisting machine according to one aspect of the present invention includes a trolley that is conveyed by self-propelled means, a hoisting motor that is mounted on the trolley, a hoisting drum that is attached to the hoisting motor, and a rope that is attached to the hoisting drum. A hook attached to the rope, and a control unit that specifies a transport speed of the trolley, the control unit having a center of gravity between a predetermined position and a position of a center of gravity of a load suspended on the hook. The transport speed of the trolley is specified based on the distance.

According to one aspect of the present invention, it is possible to reduce load fluctuations in a hoist.

It is an example of the schematic of a winding machine. It is an example of the schematic diagram which shows the parameter of a pendulum. It is a schematic diagram showing an example of a parameter which can be inputted. It is an example of the schematic of the winding machine which has a marker. It is an example of a schematic diagram showing a center-of-gravity distance input unit. It is another example of the schematic diagram which shows a gravity center distance input part. It is a schematic diagram showing an example of a relation between pendulum length, rope length, and the distance of the center of gravity. It is a schematic diagram showing another example of a hoisting machine.

Examples will be described below with reference to the drawings.

The present invention mainly relates to a hoist that conveys a load hoisted by a rope, and particularly relates to a hoist that suppresses the shake of the load during conveyance by determining the transfer speed based on a model of the shake of the load. Besides, it is also applicable to a crane that similarly carries a suspended load.

FIG. 1 is a diagram schematically illustrating an example of the configuration of a hoisting machine according to an embodiment.

In FIG. 1, the suspended load 30, which is the transportation target, is suspended from the hook 131 by the sling rope 20. The hook 131 is suspended from the hoisting drum 1122 by the rope 13. Here, the suspended load 30 may be configured to be directly hung from the hook 131 without using the sling rope 20.

The hoisting drum 1122 is connected to the hoisting motor 112 and the hoisting encoder 1121 by a hoisting shaft 1123, and is arranged on the trolley 11. As a result, the hoisting motor 112 rotates, so that the rope 13 is hoisted or hoisted down, and the suspended load 30 can be conveyed in the z direction in the figure. This conveyance in the z direction is called winding.

The traverse wheel 1111 is connected to the traverse motor 111 via the traverse shaft 1112 and is arranged on the trolley 11. Further, the traverse wheel 1111 is arranged so as to rotate on the beam 15 and generate a driving force by the rotation of the traverse motor 111. As a result, the traverse motor 111 rotates, so that the trolley 11 and the suspended load 30 can be transported along the beam in the x direction in the drawing.
This conveyance in the x direction is called traverse.

The transport operation unit 141 is provided in the operation terminal 14, and an operator inputs a transport operation signal which is a command for traversing and/or winding. The input transport operation signal is communicated to the control unit 12 via the communication unit 143.

The center-of-gravity distance input unit 142 is provided in the operation terminal 14, and the operator inputs a deemed center-of-gravity distance h described later. The input assumed centroid distance h is communicated to the control unit 12 via the communication unit 143. The assumed barycentric distance h is a predetermined barycentric distance input by the operator.

Here, the center-of-gravity distance input unit 142 does not need to be provided in the same operation terminal 14 as the transport operation unit 141, but may be provided in different operation terminals 14.

The control unit 12 generates a transport speed command based on the transport operation signal and the deemed center-of-gravity distance h, and drives the traverse motor 111, the hoisting motor 112, or both. As a result, the suspended load 30 traverses and is rolled up in accordance with the transport operation of the operator. Similarly, the suspended load 30 can be traversed after hoisting, or can be hoisted during traverse and traverse during hoisting.

The suspended load 30 and the sling rope 20 are objects to be conveyed and are not constituent elements of the hoist 10. Further, the jig used to suspend the suspended load 30 is not limited to the sling rope 20 and may be omitted.

FIG. 8 is a schematic view showing another example of the hoisting machine 10.

In FIG. 8, the beam 15 is connected to a traveling beam 18 via a traveling device 16. The traveling device 16 moves the beam 15 along the traveling beam 18 in the y direction in the figure by the traveling motor 161 rotating. As a result, the trolley 11 connected to the beam 15 and the suspended load 30 (see FIG. 1) suspended on the hook 131 are transported in the y direction in the figure. This conveyance in the y direction is called traveling.

The transport operation signal input to the transport operation unit 141 (see FIG. 1) provided in the operation terminal 14 has a traveling command signal in addition to traverse/winding. At least the travel command signal of the input transport operation signals is transmitted to the travel control unit 17 via the communication unit 143 (see FIG. 1).

Moreover, the assumed center-of-gravity distance h input to the center-of-gravity distance input unit 142 (see FIG. 1) is transmitted to the traveling control unit 17 in addition to the control unit 12 via the communication unit 143. The traveling control unit 17 generates at least the transportation speed command for traveling based on the transportation operation signal and the assumed center of gravity distance h, and drives the traveling motor 161. As a result, the suspended load 30 (see FIG. 1) is moved in addition to traversing/winding in accordance with the transport operation of the operator.

In addition, although it has been described here that the control unit 12 generates the conveyance speed command for traverse and winding, and the traveling control unit 17 generates the conveyance speed command for traveling, the present invention is not limited to this configuration.

For example, the control unit 12 generates a conveyance speed command for traverse, travel, and hoisting, and transmits at least a command related to traveling among the generated conveyance speed commands from the control unit 12 to the travel control unit 17, and the travel control unit 17 May drive the traveling motor 161 based on the received conveyance speed command. In this case, the transport operation signal and the assumed center-of-gravity distance h need only be transmitted to at least the control unit 12, and need not be transmitted to the travel control unit 17.

FIG. 2 is a diagram schematically showing an example of pendulum parameters in the example.

In FIG. 2, the suspended load 30, the sling rope 20, the hook 131, and the rope 13 form a pendulum in the hoist 10.

Acceleration applied to the trolley 11 during traversing or traveling causes the suspended load 30 to swing around the hoisting drum 1122 as a fulcrum. At this time, the load deflection frequency Fr, which is the resonance frequency of the pendulum, is given by the equation 1. In Equation 1, g is the gravitational acceleration, and the pendulum length L is the distance from the fulcrum shown in FIG.

If the transport speed command does not have the component of the shake frequency Fr, the shake of the load is not excited. Therefore, for example, the transport speed command that is configured only with a frequency smaller than the shake frequency Fr is shaped by a band cutoff filter that cuts off a frequency band including the shake frequency Fr. As a result, it is possible to suppress the product shake by suppressing the component of the product shake frequency Fr from the transport speed command.

Therefore, in order for the control unit 12 to generate the conveyance speed command that enables the suppression of the shake of the load, it is necessary to accurately specify the shake frequency Fr. If the gravitational acceleration g is constant in the environment in which the hoist 10 is used, the pendulum length L needs to be accurately specified in order to accurately specify the swing frequency.

Here, as shown in FIG. 2A, the pendulum length L is a value obtained by adding the rope length L0 and the center-of-gravity distance H. The rope length L0 is a distance from a fulcrum, which is a position away from the pulley when the rope 13 has a drum 1122 or a pulley, to a lower portion of the hook 131. That is, it is the distance from the upper position of the rope 13 to the lower part of the hook 131. This rope length L0 is called a first distance.

The rope length L0 can be specified from the length of the rope 13 pulled out from the winding drum 1122 observed by the winding encoder 1121 and the length of the hook 131.

The center-of-gravity distance H is a distance from the lower part of the hook 131 to the hanging load center 301, and it is difficult to specify when the hanging load 30 and the sling rope 20 are various. Therefore, an example of the specifying method will be described in another embodiment. To do.

Here, an example of the lower portion of the hook 131 will be described. It is a contact surface between the hook 131 and the sling rope 20 suspended from the hook 131. I mean. The fulcrum of the sling rope 20 means the lower part of the hook 131, not the bottom surface of the hook 131. This is because the center of gravity distance H is the distance from the fulcrum of the sling rope 20 to the center of gravity of the suspended load. Further, this center-of-gravity distance H is referred to as a second distance. Depending on the thickness of the sling rope 20, the lower part of the hook 131 may not be the contact surface between the hook 131 and the sling rope 20. This is because the contact surface does not serve as a fulcrum because it is the distance from the fulcrum of the sling rope 20 to the center of gravity of the suspended load.

The rope length L0 has a unique value if it can be accurately measured, but an error in the value measured by the encoder 1121 or a value measured by an operator may be input as the rope length L0 and the calculation described below may be performed. That is, the rope length L0 may be a value including an offset in the actual measurement value. Not limited to this, the deemed pendulum length 1 may be specified as a value obtained by adding the assumed centroid distance h to the rope length L0 without having an overlapping portion.

Here, the center-of-gravity distance H has a unique value if it can be accurately measured. Therefore, the value measured or estimated by the operator is input as the assumed centroid distance h. The closer the assumed center-of-gravity distance h is to the center-of-gravity distance H, the more the accuracy of the shake of goods can be improved.

The value obtained by adding the above-mentioned rope length L0 and the center of gravity distance h is regarded as the pendulum length 1. The deemed pendulum length 1 may be offset from the measured value of the rope length L0 and the center-of-gravity distance h.

Here, the difference in the center-of-gravity distance H between the suspended load 30 and the sling rope 20 will be described with reference to FIG. 7.

FIG. 7 is an example of a schematic diagram showing the relationship between the hanging load 30 and the sling rope 20 and the center-of-gravity distance H. Comparing FIG. 7A and FIG. 7B, the center-of-gravity distance H changes depending on the sling rope 20 used even for the same suspended load 30.

Further, comparing FIG. 7B and FIG. 7C, the center-of-gravity distance H changes depending on the shape of the suspended load 30. As described above, the center-of-gravity distance H changes depending on the shape of the hanging load 30 and the sling rope 20 used. Therefore, the pendulum length L cannot be specified only by the rope length L0 that can be specified by the hoisting machine 10.

Here, a method for the operator of the hoisting machine 10 to estimate the position of the hanging load core 301 in FIG. 2 will be described. That is, the assumed center of gravity distance h, which is the distance between the lower part of the hook 131 and the assumed center of gravity 302 of the suspended load 30 estimated by the operator shown in FIG. 2B, can be specified or actually measured by the operator. It is possible. Therefore, a center-of-gravity distance input unit 142 that can input the assumed center-of-gravity distance h is provided.

Using the assumed center-of-gravity distance h input by the center-of-gravity distance input unit 142 and the rope length L0, the assumed pendulum length 1 which is the estimated value of the pendulum length L is specified by the equation 2. In other words, the assumed pendulum length 1 can be specified even when the suspended load 30 is hoisted by the transfer operation command.

By using the identified deemed pendulum length l, the deemed load swing frequency fr, which is the estimated value of the load swing frequency Fr, can be estimated by Expression 3.

If the assumed shake frequency fr is accurately estimated as the shake shake frequency Fr, the shake can be suppressed by suppressing and removing the component of the considered shake shake frequency fr from the transport speed command, as described above.

Here, the assumed pendulum length 1 has an error with the pendulum length L because it is estimated based on the assumed hanging load center 302, which is the estimated center of gravity position of the suspended load 30. However, compared with the case where the rope length L0 is used as the deemed pendulum length l and the case where the suspended load 30 lower end is used from the fulcrum as the deemed pendulum length l, the deemed suspended load core 302 is within the occupied range of the suspended load 30. That is clear. Therefore, the assumed pendulum length 1 can accurately estimate the pendulum length L, and the effect of suppressing the shake of the load is improved.

Here, the hoisting machine 10 may have a function of determining the validity of the input assumed centroid distance h and notifying the operator. For example, when a negative distance is input to the deemed center-of-gravity distance h, or the determined assumed pendulum length 1 is the height that is input in advance from the floor surface (40 in FIG. 3) of the hoisting drum 1122. When the distance is larger than a certain fulcrum height (K in FIG. 3), it can be determined that the deemed center of gravity 302 is not within the occupied range of the suspended load 30, and the operator is notified.

FIG. 3 is a diagram showing an example of parameters that can be input by the other center-of-gravity distance input unit 142.

The input to the center-of-gravity distance input unit 142 is not limited to the deemed center-of-gravity distance h, and for example, the deemed pendulum length 1 may be input as the deemed center-of-gravity distance. In this case, the assumed center-of-gravity distance h is obtained from the input assumed pendulum length 1 and the rope length L0.

Further, for example, the assumed center of gravity height i, which is the height of the careless center of gravity 302 from the floor surface 40, may be input to the center of gravity distance input unit 142 as the considered center of gravity distance. In this case, the deemed center of gravity distance h is obtained from the equation 4 using the height i and the fulcrum height K of the considered deemed center of gravity 302.

In addition, the input to the center-of-gravity distance input unit 142 is such that the assumed center-of-gravity distance h and the distance capable of calculating the assumed center-of-gravity distance h, for example, the assumed pendulum length and the assumed center-of-gravity height i, are input at a ratio to a predetermined distance. Good. The predetermined distance may be a correctly identifiable distance, for example, the rope length L0, the fulcrum height K, the height from the floor surface 40 below the hook 131 (K-L0), or the like. The assumed centroid distance h can be calculated using the input ratio and a predetermined distance.

Further, for example, in the embodiment, the center of gravity distance h regarded as the rope length L0 is divided based on the lower portion of the hook 131, but the present invention is not limited to this. For example, when the reference position is a position separated from the lower part of the hook by a predetermined distance, the assumed pendulum length 1 and the assumed center of gravity distance h can be calculated from the distance between the reference position and the assumed hanging load center 302 and the rope length L0. Is. For example, when the reference position is the upper part of the hook 131, the deemed pendulum length 1 can be calculated from the length of the hook 131, the rope length L0, and the deemed centroid distance h.

FIG. 4 is a diagram schematically showing an example of a marker that assists operator input.

The hoisting machine 10 may have a marker 132 for assisting the input to the center-of-gravity distance input unit 142. For example, the barycentric distance input unit 142 is configured to input the deemed barycentric distance h based on the distance between the markers 132 or the number of the markers 132. As a result, it is possible to reduce the accuracy variation of the assumed center-of-gravity distance h due to individual differences among operators.

In addition, when the number of markers and the position of the marker are regarded as the center-of-gravity distance h, the operator can easily input a value as compared with the case of measuring the center-of-gravity distance H, and the hoist operation efficiency is improved. On the other hand, when the actually measured center of gravity distance H is input as the regarded center of gravity distance h, it is easier to reduce the shake of the cargo as compared with the case where the number and positions of the markers are regarded as the assumed center of gravity distance h.

The marker 132 can be realized, for example, by coloring the rope 13 or the hook 131 at regular intervals. That is, the color is different from that of the rope 13. Further, the entire rope 13 can be colored with the ground color, and the marker 131 can be colored with a color different from the ground color of the rope 13. The entire rope 13 may be colored, and a part of the rope 13 may be colored to serve as the marker 132. Further, the shape is not limited to coloring, and may have a different shape.

A display unit may be provided in the input unit 142 so that the inputted distance of the center of gravity is displayed. The input means of the input unit 142 may be a touch panel, a push button, or a potentiometer (volume).

By providing the push button with an addition button and a subtraction button, the operator can set the number that the operator can see, so that the operator can easily specify the center-of-gravity distance h by using the marker.

Further, the potentiometer (volume) may change its value stepwise. In this case, if the number of markers and the stage of the potentiometer correspond to each other, input becomes easy. By displaying the number of markers around the volume, the number of markers can be easily input.

Here, the hoisting machine is not limited to the above embodiment. For example, the communication unit 143 may be wired communication instead of wireless communication. Further, for example, the center-of-gravity distance input unit 142 may be provided in the operation terminal 14 different from the transport operation unit 141. Further, for example, the input to the center-of-gravity distance input unit 142 may be performed by an input person other than the operator.

Here, the assumed center-of-gravity distance h is a value measured or specified by the operator and input to the input means or an estimated value of the center-of-gravity distance specified by calculating or correcting the input value. Therefore, the deemed center-of-gravity distance does not mean a unique and exact value of the center-of-gravity distance H, but an estimated value of the center-of-gravity distance H. The same applies to the other pendulum length l, the assumed center of gravity height i, the considered hanging load center, and the like. Further, a predetermined value of the deemed barycentric distance h that can be used when the operator does not input the deemed barycentric distance h may be set. As a result, the estimation accuracy of the pendulum length L can be estimated even when the operator does not input the assumed center of gravity distance h by setting a predetermined value of the center of gravity distance h based on the often-used hanging condition. It is possible to improve and reduce the shake of the load.

FIG. 5 is a diagram showing an example of another configuration of the center-of-gravity distance input unit 142.

In FIG. 5, the center-of-gravity distance input unit 142 includes a camera 1421, a display input unit 1422, and a calculation unit 1423. The display input unit 1422 displays the image acquired by the operator with the camera 1421. The calculation unit 1423 calculates the deemed centroid distance h based on the image. The calculated assumed center-of-gravity distance h is sent to the control unit 12 via the communication unit 143 and used to determine the transport speed command.

In FIG. 5, a rope (captured image) 13a, a hook (captured image) 131a, a marker (hook, captured image) 132a, a marker (captured image) 132b, a sling rope (captured image) 20a, and a suspended load (captured image) 30a. Is the image displayed on the display input unit 1422.

For example, the arithmetic unit 1423 identifies the suspended load (captured image) 30a by image processing, so that the apparent suspended load core (computation result) 302a in the image can be estimated. When only the image from one direction is used, for example, if the density and depth of the suspended load 30 are uniform, the assumed suspended load center (calculation result) 302a can be estimated. If the images from multiple directions are used, the accuracy of the estimated deemed hanging load center (calculation result) 302a is increased.

Further, the center-of-gravity distance input unit 142 may have a function of assisting the arithmetic processing by the arithmetic unit 1423. For example, it has a candidate for the schematic shape of the suspended load 30, and the operator can assist the image processing and the deemed suspended load center (calculation result) 302a by selecting the closest candidate.

Here, the deemed hanging load center (calculation result) 302 a may be displayed on the display input unit 1422. This enables the operator to confirm the position of the deemed hanging load center (calculation result) 302a in the image. Further, the operator may adjust the position of the deemed hanging load center (calculation result) 302a displayed on the display input unit 1422. This can be realized, for example, when the display input unit 1422 is a touch panel.

As for the deemed hanging load center (calculation result) 302a, the operator may input the deemed hanging load center 302a estimated by the operator in the image into the display input unit 1422 without using image processing. This can be realized, for example, when the display input unit 1422 is a touch panel. Using the identified deemed hanging load center (calculation result) 302a, the deemed centroid distance h in the real space is obtained by the following calculation of the calculation unit 1423, for example.

The distance between the identified deemed hanging load center (calculation result) 302a and the marker (hook captured image) 132a can be obtained in the image as a distance in pixel units. Similarly, the interval between the markers (captured images) 132b can be obtained in the image as a distance in pixel units. Here, the distance between the markers 132 in the real space and the distance between the marker 132 arranged in the inner hook of the marker 132 (corresponding to the marker (the hook captured image) 132a in the image) and the lower portion of the hook 131 are input in advance. ..

Using the interval between the markers (captured image) 132b in pixel units and the interval between the markers 132 in the real space, the distance between the deemed hanging load center (calculation result) 302a and the marker (hook captured image) 132a is in the real space. The distance can be converted into the distance between the clean hanging load core 302 and the marker 132 (arranged on the hook). Further, the assumed centroid distance h in the real space can be calculated by using the distance between the marker 132 (placed on the hook) and the lower portion of the hook 131, which is input in advance.

As described above, the apparent barycentric distance h in the real space is calculated by the calculation unit 1423 using the deemed hanging load center (calculation result) 302a specified in the image.

FIG. 6 is a diagram showing an example of another configuration of the center-of-gravity distance input unit 142.

In FIG. 6, the operator inputs the ID of the transported or transported suspended load 30 to the suspended load ID input unit 1425. For the suspended load 30, the assumed center-of-gravity distance h specified by the above-described method in the first or second embodiment is input to the center-of-gravity distance display input unit 1426. The operator gives a registration command of the suspended load 30 by pressing the registration button 1427 or the like. Thereby, the center-of-gravity distance input unit 142 stores the suspended load ID and the assumed center-of-gravity distance h in the memory 1424. Then, the assumed centroid distance h read from the memory 1424 is transmitted to the control unit 12 via the communication unit 143.

The operator inputs the ID of the suspended load 30 to be transported to the suspended load ID input unit 1425 and gives a read command of the suspended load 30 by pressing a read button 1428. As a result, the center-of-gravity distance input unit 142 reads the deemed center-of-gravity distance h corresponding to the input suspended load ID from the memory 1424 and transmits it to the control unit 12 via the communication unit 143. At this time, the assumed barycentric distance h read from the memory 1424 may be displayed on the barycentric distance display input unit 1426.

Here, the registered or read deemed barycentric distance h may be sent to the control unit 12 via the communication unit 143, for example, by giving a transmission command or by an operator instruction.

Moreover, the form of the suspended load ID input unit 1425 is not limited to the input of the ID number as long as the suspended load 30 can be specified. For example, it may be the name of the suspended load 30. Further, for example, when a bar code or the like for managing the suspended load 30 is attached, the suspended load ID input unit 1425 may have the form of a barcode reader. When the center-of-gravity distance input unit 142 also has the configuration of FIG. 5, the hanging load ID may include an image, and using the image of the hanging load 30, from the hanging load ID recorded in the memory 1424, The same suspended load 30 may be image-searched and displayed to the operator to be selected.

Further, in addition to the suspended load ID and the apparent center-of-gravity distance h, other information may also be recorded in the memory 1424. For example, by recording the type of sling rope 20 used, as another information, the apparent center-of-gravity distance h can be recorded for each combination of the suspended load 30 and sling rope 20. As a result, when using various sling ropes 20 for the same suspended load 20, it is possible to specify the deemed pendulum length 1 with higher accuracy.

Further, when the suspended load 30 is specified by the suspended load ID by the read command, the recorded type of the sling rope 20 is displayed so that the operator can specify the type of the sling rope 20 to be used.

10 hoisting machine 11 trolley 111 traverse motor 1111 traverse wheel 1112 traverse shaft 112 hoisting motor 1121 hoisting encoder 1122 hoisting drum 1123 hoisting shaft 12 control section 13 rope 131 hook 132 marker 14 operation terminal 141 transport operation section 142 center of gravity distance input section 1421 camera 1422 Display input unit 1423 Calculation unit 1424 Memory 1425 Suspended load ID input unit 1426 Center of gravity distance display input unit 1427 Registration button 1428 Read button 143 Communication unit 15 Beam 16 Travel device 161 Travel motor 17 Travel control unit 18 Travel beam 20 Sliding rope 30 Suspended load 301 Suspended load core 302 Deemed suspended load core 40 Floor

Claims (17)

A trolley conveyed by self-propelled means, a hoisting motor mounted on the trolley, a hoisting drum attached to the hoisting motor, a rope attached to the hoisting drum, and a hook attached to the rope. A control unit for specifying the transport speed of the trolley,
Have
The hoisting machine is characterized in that the control unit specifies the transport speed of the trolley based on a center-of-gravity distance between a predetermined position and a center-of-gravity position of a suspended load suspended on the hook. The predetermined position is the lower part of the hook,
The hoisting machine according to claim 1, wherein the center-of-gravity distance is an estimated value of a center-of-gravity distance between a lower portion of the hook and a center-of-gravity position of the suspended load. The predetermined position is a reference position separated from the lower part of the hook by a predetermined distance,
The hoisting machine according to claim 1, wherein the center-of-gravity distance is an estimated value of a center-of-gravity distance between the reference position and the position of the center of gravity of the suspended load. The predetermined position is a floor position,
The hoisting machine according to claim 1, wherein the center-of-gravity distance is an estimated value of a center-of-gravity distance between the floor surface position and the center-of-gravity position of the suspended load. The predetermined position is a fulcrum position of the winding drum,
The hoisting machine according to claim 1, wherein the center of gravity distance is an estimated value of the center of gravity distance between the fulcrum position and the center of gravity of the suspended load. The predetermined position is the upper part of the hook,
The hoisting machine according to claim 1, wherein the center-of-gravity distance is an estimated value of the center-of-gravity distance between the upper portion of the hook and the position of the center of gravity of the suspended load. The control unit is
Using the length of the rope and the distance of the center of gravity, the estimated value of the pendulum length between the fulcrum position of the hoisting drum and the position of the center of gravity of the suspended load is specified,
Using the estimated value of the identified pendulum length, to specify the load swing frequency is an estimated value of the load swing frequency of the suspended load,
The hoist according to claim 1, wherein a component of the load shake frequency is removed from the transport speed of the trolley. The hoisting machine according to claim 1, wherein the estimated value of the distance of the center of gravity can be set. The hoisting machine according to claim 1, further comprising a center-of-gravity distance input unit for inputting the center-of-gravity distance. The winding machine according to claim 9, wherein a default value of the estimated value of the barycentric distance can be set, and the default value is used when the barycentric distance is not input. The center-of-gravity distance input unit is provided in an operation terminal having a transport operation unit that gives a command of the transport speed of the trolley and a communication unit that transmits the center-of-gravity distance and the transport speed to the control unit. The winding machine according to claim 9. The winding machine according to claim 9, wherein the rope has markers at predetermined intervals. The winding machine according to claim 12, wherein the marker has a color or a shape different from that of the rope. The center-of-gravity distance input unit has an imaging device and a calculation unit,
The imaging device images the rope having the plurality of markers, the hook, and the suspended load suspended on the hook,
The arithmetic unit specifies the center-of-gravity distance based on an image captured by the imaging device,
The winding machine according to claim 12, wherein the communication unit transmits the specified center-of-gravity distance to the control unit. The center-of-gravity distance input unit,
A suspended load ID input unit for inputting the suspended load ID;
An input unit for inputting the center-of-gravity distance,
A storage unit that stores the ID of the suspended load and the center-of-gravity distance in association with each other;
Reading the center of gravity distance corresponding to the ID of the suspended load input from the suspended load ID input unit from the storage unit, and transmitting the read center of gravity distance to the control unit via the communication unit. The winding machine according to claim 9, wherein: The suspended load is suspended on the rope by holding means,
The storage unit stores the distance of the center of gravity for each combination of the type of the suspended load and the holding unit,
The barycentric distance corresponding to the combination of the suspended load and the jig is read from the storage unit, and the read barycentric distance is transmitted to the control unit via the communication unit. The winding machine according to Item 15. The hoisting machine according to claim 16, wherein the storage section stores, as the type of the holding means, a type of a sling rope provided between the hook and the suspended load.

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