JPH01303292A - Crane unloading operation control method - 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 method for controlling the unloading operation of a crane, and particularly to a method for controlling the unloading operation of a crane that moves a suspended load by automatic control.

[Prior Art] In recent years, various proposals have been made to operate container cranes and the like under automatic control. Some automatic operation controls employ constant output control that appropriately adjusts the unloading speed during the unloading process. This constant output control sets the unloading speed to be inversely proportional to the weight (load) within a certain range of the amount of the suspended load, and operates at a lower speed for heavier loads. It is.

As shown in Fig. 4, after lowering the suspended load at a constant speed Va, when it reaches a predetermined position SO, it switches to deceleration operation, decelerates to a low speed Vmin that can be stopped immediately, and lands it on the ground. .

In addition, a deceleration monitoring position CO is set to check whether or not the prescribed deceleration is being performed, and controlled operation is confirmed by detecting the speed VCO when passing this position. .

[Problem to be Solved by the Invention 1] By the way, in the above control, for safety, the deceleration start position So is determined based on the maximum unloading speed Vrnax, and deceleration is started regardless of the magnitude of each unloading speed. I was supposed to. For this reason, if the speed is slow, that is, if the load is heavy, it will reach the low speed Vn+in in a relatively short time, and this speed jM
Operation will continue at VIII I n. b
There was a problem that the entire working time for unloading at ℃ was long.

In view of the above circumstances, the present invention has been devised to propose an operation control method that does not waste hanging time.

[Means and effects for solving the problem] The present invention calculates a deceleration start position that moves up and down depending on the size of the unloading speed determined by the weight of the goods, etc., and the suspended load reaches that position. When this happens, the system switches to a predetermined deceleration operation.

Furthermore, the deceleration monitoring position may be calculated in the same manner, and after the IQ is switched to deceleration operation, the speed of the suspended load may be checked when the suspended load reaches that position.

By controlling in this way, the deceleration start position of the suspended load is changed depending on the hanging speed, and the section of deceleration operation is adjusted.

Furthermore, in the control to check the deceleration, it is checked whether the deceleration operation is being performed.

[Examples] Examples of the present invention will be described below with reference to the accompanying drawings.

First, referring to FIG. 2, the crane automatic control device to which the crane operation control method according to the present invention is applied is shown.
An example will be explained.

This device 1 includes a position detector 3 for detecting the position of the suspended load 2, a load weight detector 4 for detecting the weight of the suspended load 2, and calculations based on information from the detector 3.4. It is mainly composed of an arithmetic processing device 5 that performs the following operations, and a driving device 7 that appropriately transmits driving force from a power source (not shown) to the trolley 6 and the like.

The arithmetic processing unit 5 calculates the weight W1 of the suspended load 2 as in the conventional case.
In addition to calculating the cargo speed Vl from the above, the deceleration start position 'fls and the deceleration monitoring position C, which are features of the present invention, are calculated using a predetermined calculation formula. This calculation formula is based on velocity V and position S.

It is set to have a positive correlation with C, that is, the higher the speed, the higher the position. The arithmetic processing device rf15 is configured to switch the driving device rt, 7 to a predetermined deceleration operation when the suspended load 2 reaches the calculated deceleration start position S1.

Further, in this embodiment, a speed check nM and a display mechanism for checking whether or not deceleration is being performed are incorporated in the arithmetic processing unit 5.

Next, an embodiment of the present invention will be described as an effect of the above configuration.

As shown in FIGS. 1 and 3, when the cargo 2 reaches above a predetermined hanging position during the traverse operation, an unloading operation is started.

First, the load weight detector 4 detects the load, and inputs the information to the arithmetic processing unit 5 to calculate the unloading speed V1. The driving device 7 lowers the suspended load 2 to the speed v1. At the same time, the arithmetic processing device 5 calculates a deceleration start position S1 and a deceleration monitoring position C1 appropriately spaced downward from the deceleration start position S1 based on this speed V. Then, the position detector 3 detects the position S of the suspended load 2 that is descending at a constant speed V+, and the arithmetic processing unit 5 compares this position information with the calculated deceleration start position S1. A deceleration signal is output to the driving device 7 as a deceleration operation command.

When the driving device 7 receives this signal, it switches from constant speed operation to predetermined deceleration operation and lowers the suspended load 2.

Thereafter, it is checked whether the suspended load is actually being decelerated. The arithmetic processing unit 5 compares the calculated deceleration monitoring position C1 with the calculated deceleration monitoring position C1 based on the position information C of the suspended load after deceleration detected by the position detector 3, and transmits an inspection signal when the deceleration monitoring position C1 matches the deceleration monitoring position C1. On the other hand, an appropriate speed Vc at the calculated deceleration monitoring position C3 is calculated, and this speed VC is compared with the suspended load speed (■) at that time to check whether proper control is being performed. . If there are any discrepancies, this will be indicated and prompt action will be taken.

When the speed of the suspended load 2 is reduced and reaches the low speed vmin, it is operated at that speed Viin until it reaches the landing level.

Further, if the weight of the suspended load 2 is larger and the unloading speed V2 is slower, the calculation process is performed in the same way, and deceleration operation is started at a lower position S2. That is, the section operated at low speed vmrn has an initial speed of V,...
Even if V2 is different, they are approximately the same.

In this way, the timing of switching to deceleration operation is delayed as the unloading speed is lower, so the time and section of useless low-speed vnrn operation can be shortened, and the working time of unloading operation can be shortened.

Furthermore, since the deceleration monitoring position C was also moved up and down,
Able to properly inspect operating conditions.

In Fig. 1, the degree of deceleration in the deceleration section (indicated by the slope from the deceleration start position S in the figure) is expressed as the speed V +
, V 2 is constant regardless of 2, but in practice it may be adjusted by other factors. In addition, the calculation formula for calculating the positions S and C (S=f (V), C= f
m) is, of course, set in consideration of the degree of deceleration and the operating section of the low speed Vmin.

[Effects of the Invention] In summary, according to the present invention, the following excellent effects are achieved.

(1) The deceleration start position is calculated based on the unloading speed, and the operation is switched to deceleration when the suspended load does not reach that position. This reduces unloading time and enables smooth automatic operation. Controlled operation is achieved.

(2) Furthermore, in the method of calculating the deceleration monitoring position and checking the speed after switching, it is possible to shorten the time for unloading work and to appropriately check the controlled operation.

[Brief explanation of the drawing]

Fig. 1 is a diagram showing the relationship between speed and position showing one embodiment of the crane unloading operation control method according to the present invention, Fig. 2 is a diagram showing the configuration for implementing the method, and Fig. 3 is a diagram showing the configuration for implementing the method. This figure is a flowchart for explaining FIG. 1, and FIG. 4 is a relationship diagram between speed and position showing a conventional crane unloading operation control method. In the figure, S, , S2 are deceleration start positions, and C1 and C2 are deceleration monitoring positions. Patent applicant: Patent attorney representing Ishikawajima-Harima Heavy Industries Co., Ltd.
Nobuo Kinutani Figure 2 Figure 4

Claims (1)

[Claims] 1. Based on the unloading speed determined by the weight of the suspended load, etc., a deceleration start position that moves up or down depending on the size of the unloading speed is calculated, and when the suspended load reaches that position, a predetermined deceleration operation is started. A crane unloading operation control method characterized by switching. 2. Based on the unloading speed determined by the weight of the suspended load, etc., calculate the deceleration start position and deceleration monitoring position that move up and down depending on the size of the unloading speed, and when the suspended load reaches the above deceleration start position, start the specified deceleration operation. A method for controlling an unloading operation of a crane, characterized in that the speed of the suspended load is checked when the suspended load reaches the deceleration monitoring position.