JPS6330791Y2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a horizontal movement control device for a suspended load. As shown in Figures 1 and 2, when transporting the suspended load 1 from point A to point B, it is ideal that the suspended load 1 be moved horizontally, but in reality it follows the trajectory of I was getting used to it.

When the suspended load 1 is transferred horizontally, the boom is raised and lowered (or extended and contracted) and rotated, and the winch is hoisted.
It is necessary to control the three lowering movements by matching them well, but in reality, controlling the three movements is difficult.

In reality, the operator's decision to transport a suspended load is normally made as shown in Figure 3, and the landing position is determined by controlling two operations: swing and winch, or boom hoisting and winch. The reality is that the landing position control is not performed by adding one operation of boom raising/lowering or turning to the above two operations.

In addition, in the above two operations, the horizontal movement of the suspended load 1 requires skill, and if the horizontal movement operation is not successful, there may be a danger of the suspended load swinging.

The present invention was developed in view of the above circumstances, and its purpose is not only to automatically horizontally move a suspended load, but also to enable the horizontal movement of a suspended load. book rack, 6
Even when the rope density decreases in inverse proportion to the number of ropes, such as when ropes are hung in full or eight ropes, pressure oil from the boom pump is added to the winch motor circuit to increase the winch winding speed and hang the boom by following the ups and downs, expansion and contraction of the boom. The purpose is to keep the height of the load constant.

Hereinafter, the present invention will be explained with reference to the drawings.

10 in the drawing is a crane working machine. A boom angle sensor 12 is provided at the fulcrum of the boom 11 of the crane working machine 10, and the boom 11 is provided with a boom length sensor 13 and a rope length sensor 14. 15 is a winch.

Geometric parameters (boom angle, boom length, rope length) of the crane working machine 10 are measured by the above-mentioned sensors 12, 13, and 14, and the amount of change in the winch lever is also measured by the sensor 16. After these measured values are calculated by the control unit 17, which is a microcomputer, the rotation of the winch motor 20 is controlled by controlling the electromagnetic flow rate control unit 19 to keep the suspended load 1 in a horizontally moving state.

The hydraulic circuit of the actuator section 21 composed of the electromagnetic flow control section 19 and the winch motor 20 is
As shown in the figure.

In the hydraulic circuit, 22 is a boom pump, 23 is a winch pump, and the discharge side of the boom pump 22 is connected to ports 25a and 25b of a boom hoisting operation valve 25 via a first pipe 24. The discharge side of is connected to the port 27a of the boom telescopic operation valve 27 via the second pipe line 26,
The port 25c of the boom hoisting operation valve 25 is connected to the port 27 of the boom telescoping operation valve 27 via the third conduit 28.
It is connected to b. Port 27c of boom telescopic operation valve 27 is connected to port 30a of electromagnetic pilot switching valve 30 via fourth conduit 29.

Tank port 30 of electromagnetic pilot switching valve 30
b communicates with the tank 33 via the drain pipe 32, and connects to the connection port 3 of the electromagnetic pilot switching valve 30.
0c and 30d are connected to ports 20a and 20b of the winch motor 20 via fifth and sixth pipes 34 and 35, respectively. A counterbalance valve 37 and a shuttle valve 36 are provided in the circuit of the winch motor 20.

The discharge side of the winch pump 23 is connected to the pump port 30a of the electromagnetic pilot switching valve 30 via a seventh pipe line 38, and the seventh pipe line 38 and the fourth pipe line 2
A check valve 31 is provided at the juncture of the valves 9 and 9. Further, the first pipe line 24 includes a solenoid valve 39 and a check valve 4.
0' is provided. An eighth pipe line 40 branches from the outlet side of the check valve 40', and this eighth pipe line 40 connects to one outlet port 4 of the flow divider 42.
2a, and the discharge side of the winch pump 23 is connected to the flow divider 4 via the ninth pipe line 43.
The inlet port 42c of the flow divider 42 is connected to the port 39a of the solenoid valve 39 via the tenth conduit 44, and the port 39b of the solenoid valve 39 is connected to the other outlet port 42b of the solenoid valve 39. It is connected to the inlet side of the check valve 31 through an eleventh pipe line 45, and a relief valve four is connected to this eleventh pipe line 45.
6 is provided. A twelfth pipe line 47 branched from the outlet side of the check valve 31 leads to the tank 33.
A pressure-compensated proportional electromagnetic flow rate control valve 48 is provided in these 12 pipes 47 . In the drawing, 49 is a winch selector valve, 50 is a clutch, 51 is a winch brake, 52 is an accumulator, and 53 is a relief valve. The output side of the control section 17 is connected to the solenoids 54 and 55 of the electromagnetic pilot switching valve 30.
and the solenoid 5 of the proportional electromagnetic flow control valve 48
6 through respective command circuits.

Further, a pilot pipe line 57 branched from the inlet side of the check valve 31 is connected to the electromagnetic pilot switching valve 30.
It is connected to the pilot port 30e of the

The weight that can be lifted is determined by the number of ropes between the tip of the boom and the hook that hangs the load, and the weight that can be lifted is usually around 3 tons per rope, depending on the rotational force of the winch and the strength of each rope. So 1
- 8-piece hooks are commonly used.

Hanging one rope 60 means hanging the rope 6 on one sheave 61 at the tip of the boom as shown in Fig. 7.
0 is connected to the hook 62, and 4-rope is a state in which one rope 60 is hung on two sheaves 61 at the tip of the boom and two sheaves 63 on the hook 62, as shown in Fig. 8. 6 sheaves 61 at the tip of the boom as shown in Figure 9.
One rope 60 is hung on three sheaves 63 of the hook 62, and 8 ropes are hung on the 10th rope.
As shown in the figure, one rope 6 is connected to four sheaves 61 at the tip of the boom and four sheaves 63 at the hook 62.
It is multiplied by 0.

A switch 64 is provided in the electric circuit of the solenoid 39' of the electromagnetic valve 39, and this switch 64 is manually turned on when four or more ropes 60 are hooked, and input is input to the controller 17.

Alternatively, a limit switch or the like may be provided in the sheave portion to detect whether or not there is a rope in a predetermined sheave groove, and the controller 17 may determine how many ropes are to be hung.

Further, the check valve 31 is connected to the winch motor 20.
By preventing reverse drive toward the boom and winch pumps 22 and 23 due to shock loads applied to the pump, and by appropriately selecting the opening pressure of the check valve 31, the pilot pressure in the pilot line 57 can be changed to the electromagnetic pilot switching valve 30. This is to ensure that the pilot pressure is higher than the minimum operating pilot pressure.

Next, the operation will be explained.

In the case of single hooking, the solenoid valve 39 is not turned ON, and the oil discharged from the winch pump 23 flows into the circuit of the winch motor 20 via the check valve 31 and the solenoid pilot switching valve 30.

Changes in the boom angle, boom length, rope length, and winch lever are input to the control unit 17, and the control unit 17 controls the electromagnetic pilot switching valve 30 and proportional electromagnetic flow rate control to maintain the hoisted load 1 in a horizontally moving state. Valve 48 is controlled. That is, by switching the electromagnetic pilot switching valve 30, the winch motor 20 is turned forward and backward to control hoisting and lowering of the suspended load 1, and the flow rate flowing through the winch motor 20 is controlled by the operation of the proportional electromagnetic flow control valve 48. The rotation of the winch motor 20 is controlled by controlling the amount of throttle.

By controlling the winch motor 20 in this manner, the automatic horizontal movement of the suspended load 1 shown in broken lines in FIGS. 1 and 2 becomes possible.

By automating this horizontal movement of the suspended load 1, the third
The operations indicated by the dashed lines in the figure, namely, winch lever confirmation, winch hoisting, winch stop, winch lever confirmation, winch lowering, and winch stop operations are eliminated.

When four or more ropes are hung, the solenoid valve 39 is switched during automatic horizontal movement of the suspended load 1, and the winch motor 20 is replenished with the pressure oil discharged from the boom pump 22.

When replenishing this pressure oil, the flow is divided at a ratio of 2:1 in the flow divider 42 in order to make the winch winding speed follow the upward and downward speeds of the suspended load 1 due to boom raising and lowering, expansion and contraction.

In this case, the rotational speed of the winch motor 20 is corrected by the flow control valve 48 due to the difference in the number of wrapped ropes.
We will respond accordingly.

As described in detail above, the present invention is provided in the circuit of the winch motor 20 to switch the direction of the pressure oil from the winch pump 23.
Electromagnetic pilot switching valve 30 that performs forward and reverse rotation of 0
In the circuit of the winch motor 20, an electromagnetic pilot switching valve is provided in the discharge side conduit of the winch pump 23 to prevent reverse drive toward the boom pump 22 and winch pump 23 due to an impact load applied to the winch motor 20. The pilot pressure in the pilot line 57 of 30 is controlled by the electromagnetic pilot switching valve 3.
In the circuit of the winch motor 20, the outlet side of the check valve 31 is connected to the tank 33.
An electromagnetic flow control valve 48 is provided in a drain pipe communicating with the circuit and controls the amount of oil flowing through the circuit of the winch motor 20 by adjusting the throttle and controls the rotation of the winch motor 20, and the boom angle, boom length,
A control unit 17 that controls the electromagnetic pilot switching valve 30 and the flow rate control valve 48 so as to keep the suspended load 1 in a horizontally moving state by inputting the amount of change in the rope length and winch lever, and the discharge side of the boom pump 22 of the boom circuit. A boom hoisting operation valve 25 that is installed in the pipeline and operates the boom up and down, a boom expansion/contraction operation valve 27 that is installed in the discharge side pipeline of the boom pump 22 of the boom circuit and operates the boom expansion and contraction, and a boom pump. It is installed in the discharge side pipe of 22 and operates depending on the number of ropes to be wound around, and replenishes the circuit of the winch motor 20 with the pressure oil discharged from the boom pump 22 when the number of ropes to be wound is large. A solenoid valve 39 and a flow divider that divides the ratio of pressure oil to the circuit of the winch motor 20 and pressure oil to the boom circuit at a ratio of 2:1 when replenishing pressure oil from the solenoid valve 39 to the circuit of the winch motor 20. 42. This is an underwater movement control device for a suspended load.

Therefore, the geometrical parameters of the crane working machine, that is, the boom angle, boom length, rope length, and amount of change in the winch lever are input, and a command signal is sent from the control section 17 to the electromagnetic pilot switching valve 3.
0 and flow rate control valve 48 to match the rotational direction and rotational speed of the winch motor 20 with the up-and-down movement (or telescopic movement) and rotational movement of the boom, and horizontal movement of the suspended load 1 can be automatically performed.

In addition, even when the rope density decreases in inverse proportion to the number of ropes, such as 4 or more ropes, such as 4 ropes, 6 ropes, or 8 ropes, pressure oil from the boom pump is replenished into the winch motor circuit. The winch winding speed can be increased, and the height of the suspended load can be kept constant by following the ups and downs and expansion and contraction of the boom.

[Brief explanation of drawings]

Figures 1 and 2 are explanatory diagrams of the locus of the lifted load in the crane working machine, Figure 3 is an explanatory diagram for the operator's judgment situation, Figure 4 is a side view of the crane working machine, and Figure 5 is the invention of the present invention. FIG. 6 is a hydraulic circuit diagram of the horizontal movement control device for a suspended load, and FIGS. 7 to 10 are explanatory diagrams of different rope winding systems. 1 is a suspended load, 17 is a control unit, 20 is a winch motor, 30 is an electromagnetic pilot switching valve, 3
1 is a check valve, 48 is a flow control valve, 39 is a solenoid valve, and 42 is a flow divider.

Claims (1)

[Scope of utility model registration request] An electromagnetic pilot switching valve 30 is provided in the circuit of the winch motor 20 to switch the direction of the pressure oil from the winch pump 23 to perform forward and reverse rotation of the winch motor 20, and an electromagnetic pilot switching valve 30 is provided in the circuit of the winch motor 20 and is installed on the discharge side of the winch pump 23. An electromagnetic pilot switching valve 30 is provided in the pipeline to prevent reverse drive toward the boom pump 22 and winch pump 23 due to an impact load applied to the winch motor 20.
a check valve 31 for ensuring that the pilot pressure in the pilot line 57 is higher than the minimum operating pilot pressure of the electromagnetic pilot switching valve 30; and a drain that communicates the outlet side of the check valve 31 with the tank 33 in the circuit of the winch motor 20. An electromagnetic flow control valve 48 that is installed in the conduit and controls the amount of oil flowing through the circuit of the winch motor 20 by adjusting the throttle and controls the rotation of the winch motor 20, as well as the boom angle, boom length, rope length, and winch. a control unit 17 that controls the electromagnetic pilot switching valve 30 and the flow rate control valve 48 so as to maintain the suspended load 1 in a horizontally moving state using the amount of change in the lever as input;
A boom hoisting operation valve 25 is provided in the discharge side conduit of the boom pump 22 in the boom circuit to operate the boom up/down, and a boom hoisting operation valve 25 is provided in the discharge side conduit of the boom pump 22 in the boom circuit to operate the expansion and contraction of the boom. The boom telescopic operation valve 27 is provided in the discharge side pipe of the boom pump 22, and operates depending on the number of ropes to be wrapped around, and the pressure oil discharged from the boom pump 22 is actuated accordingly when the number of ropes to be wrapped is large. When replenishing the circuit of the winch motor 20 with the solenoid valve 39, the ratio of the pressure oil to the circuit of the winch motor 20 and the pressure oil to the boom circuit when replenishing pressure oil from the solenoid valve 39 to the circuit of the winch motor 20. An underwater movement control device for a suspended load, characterized in that it is equipped with a flow divider 42 that divides the flow at a ratio of 2:1.