WO2019138616A1

WO2019138616A1 - Hoisting machine

Info

Publication number: WO2019138616A1
Application number: PCT/JP2018/037170
Authority: WO
Inventors: 小田井　正樹; 家重　孝二; 裕吾及川; 井上　智博
Original assignee: 株式会社日立産機システム
Priority date: 2018-01-10
Filing date: 2018-10-04
Publication date: 2019-07-18
Also published as: JP2019119583A; CN111465572A; CN111465572B; JP7117852B2

Abstract

According to the present invention, a trolley is transported by tensioning a rope, before lifting a suspended load suspended via a hook off from a floor surface.

Description

Winding machine

The present invention relates to a hoist.

In the hoisting machine, reduction of load fluctuation at the time of transportation is required for safe and highly efficient suspension transportation. As a technique for reducing the load fluctuation, a load fluctuation suppressing control technology is known in which a suspended load suspended on a rope is regarded as a pendulum and the transport speed is controlled based on the swing of the pendulum.

For example, Patent Document 1 discloses a technique for automatically arranging a trolley immediately above a suspended load. Patent Document 1 describes a technique for moving a trolley just above a suspended load by calculating the horizontal deviation of the suspended load and the trolley from the laser length meter disposed on the trolley and the rope length.

Moreover, there exists patent document 2 as a technique which reduces initial stage shake. Patent Document 2 describes a technique for tensioning a rope after disposing a beam tip just above a suspended load in order to suppress initial deflection due to beam deflection at the time of ground cutting.

JP-A-7-53182 JP 2002-362880 A

According to the technique described in Patent Document 1, the trolley can be disposed right above the suspended load, which makes it possible to reduce the initial runout. However, as a new sensor, a laser length meter is required, and the system of the hoist becomes complicated.

According to the technology described in Patent Document 2, it is possible to reduce the initial runout due to the beam deflection at the time of ground cutting. However, initial deflection due to the positional deviation in the horizontal direction between the suspended load and the beam tip which is the fulcrum of the pendulum can not be suppressed.
An object of the present invention is to reduce load fluctuation at ground breaking in a hoist.

A winding machine according to one aspect of the present invention includes a trolley conveyed by self-propelled means, a winding motor mounted on the trolley, a winding drum attached to the winding motor, and a rope attached to the winding drum. A hook attached to the rope, and a control unit that controls the winding of the rope and the transport of the trolley, and the control unit causes the hanging load suspended via the hook to be separated from the floor surface Before ground cutting, the rope is tensioned to transport the trolley.

According to one aspect of the present invention, it is possible to reduce load fluctuation at the time of ground cutting in a hoist.

It is a schematic diagram which shows an example of the cause of initial stage shake. It is the schematic of a winding machine. It is another schematic of a winding machine. FIG. 7 is a diagram showing a flowchart of an initial shake reduction function. It is a figure which shows the example which makes a deflection | deviation angle a state quantity ψ. It is a schematic diagram which shows the relationship between an initial deflection angle and a rope length. It is a figure which shows the relationship between an initial deflection angle and a rope length. It is a schematic diagram which shows the relationship between an initial deflection angle and a rope tension. It is a figure which shows the relationship between an initial deflection angle and a rope tension. It is a schematic diagram which shows the relationship between an initial deflection angle and the trolley external force. It is a figure which shows the relationship between an initial deflection angle and the trolley external force. It is a block diagram which shows an example of the trolley external force detection means.

Load fluctuation suppression control is roughly divided into feedforward control and feedback control. Feed forward control is a method of suppressing a load fluctuation by determining a conveyance speed command based on a load fluctuation model. The feedback control is a method of suppressing a load fluctuation by detecting or estimating the load fluctuation in real time and feeding it back to determine a conveyance speed command. Moreover, in 2 degrees of freedom load rundown control, feedforward control and feedback control are performed collectively.

Feed-forward control can be realized only by soft operation, where the response is controlled so that the transport speed is controlled so as to suppress load fluctuation before load fluctuation occurs, by controlling based on the load fluctuation model and compared to feedback control. And the implementation cost is low. On the other hand, feed forward control can not cope with a phenomenon not represented by a load fluctuation model such as an initial runout that occurs when a load is separated from a floor surface (hereinafter referred to as ground breaking) or an error of the load fluctuation model.

The feedback control has a feature of being able to cope with an initial runout or the like as compared with the feedforward control by detecting the load runout and controlling it in a coping manner. On the other hand, feedback control does not work until a load swing occurs, and the response is slow because it requires a sensor or an estimator for detecting load swing, resulting in high implementation cost.

In two-degree-of-freedom control, it is possible to realize the response speed of feedforward control and the response to the phenomenon not represented by the load fluctuation model of feedback control or the error of the load fluctuation model. However, the two-degree-of-freedom control requires a sensor or an estimator for detecting a load fluctuation, and the implementation cost is high.
From this, for example, if the initial runout can be suppressed in advance, it is possible to realize effective load control with only feedforward control at low mounting cost.

Here, the initial shake will be described with reference to FIGS. 1 (a) and 1 (b).
As shown in FIG. 1, the hoisting machine 10 is composed of a trolley 11, a rope 13 and hooks 131. The trolley 11 moves in the x direction in the drawing along the beam 15 by the rotation of the traverse wheel 1111 and winds the rope 13 by rotating the winding drum 1122 to move the load 30 in the z direction in the drawing.

The hanging load 30 on the floor surface 40 is suspended by the sling rope 20 from the rope 13 and the trolley 11 via the hooks 131. In the above-described configuration, the rope 13 and the hooks 131, the hooking rope 20 and the hanging load 30 constitute a pendulum having a fulcrum on the winding drum 1122.

In FIG. 1A, the fulcrum and the suspension load core 301 have a deviation in the x direction in the drawing. As a result, the pendulum has an initial deflection angle θ ₀ around the y axis in the drawing. Away from the floor 40 and the ground cut by winding the rope 13 to hoist drum 1122 in this state is rotated, the pendulum by the initial deflection angle theta ₀ becomes movable state, FIG. 1 (b) As a result, a load runout, ie, an initial runout, occurs around the y axis in the figure.

In this way, the initial runout is, for example, when the pendulum which the rope 13 and the hanging load 30 constitute is deviated in the horizontal position (the xy plane in the figure) of the supporting point and the hanging load core 301 at the time of ground cutting. It happens to
That is, the initial shake due to the horizontal deviation of the pendulum at the time of ground breaking does not occur if the fulcrum 11 in the trolley 11 is positioned directly above the suspension load core 301 in the suspended load 30.

Further, as described above, in order to eliminate the initial runout, it is necessary to arrange the fulcrum of the pendulum and the suspending load core 301 on the same vertical line (z-axis direction in the figure). Can be arranged on the same vertical line, initial runout can be reduced.

Conventionally, in order to reduce this initial runout, the operator manipulates the position of the trolley 11 while visually observing the hanging load 30, the trolley 11 and the rope 13, and the trolley 11 is disposed right above the hanging load 30.

In the embodiment, the load fluctuation at the ground cutting is automatically reduced in the hoist.
Hereinafter, examples will be described using the drawings.

The first embodiment relates mainly to a hoist that conveys a load that can be lifted by a rope, and in particular, relates to a hoist that reduces a load fluctuation at the time of ground breaking by tensioning the rope before the ground breaking and conveying the trolley. In addition, it is applicable also to the crane which conveys the load similarly.

The configuration of the winding machine 10 according to the first embodiment will be described with reference to FIG.
As shown in FIG. 2, the suspended load 30 to be transported is suspended from the hook 131 by the hooking rope 20. The hook 131 is suspended by the rope 13 to the winding drum 1122. Here, the hanging load 30 may be configured to be hung directly on the hook 131 without the aid of the sling rope 20.

The winding drum 1122 is connected to the winding motor 112 and the winding encoder 1121 by a winding shaft 1123 and disposed in the trolley 11. Thus, the rope 13 can be wound up or down by the rotation of the winding motor 112, and the suspended load 30 can be transported in the z direction in the drawing. This z-direction transport is referred to as winding.

The traverse wheel 1111 is connected to the traverse motor 111 via a traverse shaft 1112 and disposed in the trolley 11. In addition, the rotation of the traverse motor 111 causes the traverse wheel 1111 to rotate on the beam 15 so as to generate a driving force. As a result, by rotating the traverse motor 111, the trolley 11 and the suspended load 30 can be transported in the x direction in the figure along the beam.
This transport in the x direction is referred to as traversing.

The transport operation unit 141 is provided on the operation terminal 14, and receives an operation of transport operation which is an instruction of traversing and / or winding, or both by the operator. The input transport operation signal is sent to the control unit 12 via the communication unit 142.

The control unit 12 generates a transport command based on the input transport operation signal or a transport signal by an initial shake reduction function to be described later, and drives the traverse motor 111 and / or the hoist motor 112. Thereby, the hanging load 30 is traversed and wound up.

The hanging load 30 and the sling rope 20 are to be transported, and are not components of the hoisting machine 10. Moreover, the jig | tool used for suspension of the hanging load 30 is not restricted to the sling rope 20, and may not be.
The communication unit 142 of the operation terminal 14 may be wired communication or wireless communication.

Another configuration of the hoist 10 will be described with reference to FIG.
As shown in FIG. 3, the beam 15 is connected to the traveling beam 18 via the traveling device 16. The traveling device 16 moves the beam 15 along the traveling beam 18 in the y direction in the drawing as the traveling motor 161 rotates. As a result, the trolley 11 connected to the beam 15 and the suspended load 30 (see FIG. 2) suspended by the hooks 131 are transported in the y direction in the drawing. This conveyance in the y direction is referred to as traveling.

The conveyance operation signal input to the conveyance operation unit 141 (see FIG. 2) provided in the operation terminal 14 has a traveling command signal in addition to the traverse and winding. At least a traveling instruction signal among the input conveyance operation signals is transmitted to the traveling control unit 17 via the communication unit 142 (see FIG. 2).

The traveling control unit 17 generates a conveyance command at least for traveling based on the conveyance operation signal or a conveyance signal by an initial shake reduction function described later, and drives the traveling motor 161. The load 30 (see FIG. 2) is thereby traveled in addition to traversing and winding.

Here, although it has been described that the transport command for traversing and winding is generated in the control unit 12 and the transport command for traveling is generated in the travel control unit 17, the present invention is not limited to this configuration.

For example, the control unit 12 generates a conveyance speed command for traversing, traveling, and winding, and at least of the generated conveyance commands, the control unit 12 transmits a command for traveling to the traveling control unit 17, and the traveling control unit 17 The traveling motor 161 may be driven based on the received conveyance command.
In this case, the conveyance operation signal may be transmitted to at least the control unit 12, and may not be transmitted to the traveling control unit 17.

The initial shake reduction function will be described with reference to FIG.
In FIG. 4, based on the initial shake reduction function start operation on the operation terminal 14 or the like by the operator, the initial shake reduction function is started from the start flow S101, and transitions to the winding operation non-permission flow S102. Here, the initial shake reduction function is performed by the control unit 12 (see FIGS. 2 and 3).

In the winding operation non-permission flow S102, at least the winding operation among the operations by the operator is disabled, so that the winding operation is disabled while the initial shake reduction function is in operation, and the process shifts to the rope tensioning flow S103.

The rope tensioning flow S103 applies a torque to the hoisting motor 112, thereby tensioning the rope 13 without cutting the suspended load 30, and transits to the weir detection flow S104.
The applied torque can be estimated, for example, from the mass of the hook 131 or the like. A torque capable of winding up the hook 131 may be applied as a predetermined applied torque without cutting off the load 30.

Also, for example, by gradually increasing the application torque and applying the application torque at the time when the winding of the rope 20 is detected by the winding encoder 1121 as a predetermined application torque, the rope 30 is not cut off the ground. Can be tense.

Also, for example, by observing the current applied to the hoisting motor 112 while hoisting the rope 13 with the hoisting motor 112, it is detected that the hoisting load 30 has become the hoisting load, and the hoisting is stopped, etc. You can tension the rope in any way.

The eyelid detection flow S104 detects or calculates a state amount 相関 that is correlated with the pendulum initial shake angle θ ₀ (see FIG. 1), and transitions to an end determination flow S105. Here, the state quantity 後述 will be described later.

End determination flow S105, using a state quantity ψ the detected transition to the initial deflection angle theta ₀ is operated permission flow S108 winding when it is determined that sufficiently small, when it is necessary to reduce the initial deflection angle theta ₀ If it is determined, the flow proceeds to the trolley conveyance direction determination flow S106.

Here, the method of the end determination in each case of the state quantity 後述 will be described later. Trolley conveying direction determination flow S106, the initial deflection determines the change of the initial deflection angle theta ₀ in the transport of the last trolley 11 in reducing function by the state quantity [psi, reducing the current trolley conveying direction initial deflection angle theta ₀ It sets to the direction which becomes, and it changes to trolley conveyance flow S107.

Here, when it is determined that the initial deflection angle θ ₀ has become smaller according to the state amount で in the previous transport of the trolley 11, the initial deflection angle θ ₀ becomes larger in the same direction as the previous one. If it is determined that the determination is made, the determination can be made by setting in the opposite direction or the like. In the first flow of trolley conveyance direction determination flow S106 after the initial shake reduction function is started, conveyance may be performed in a predetermined direction.

The trolley conveyance flow S107 generates the conveyance signal and outputs it to the traverse motor 111, the traveling motor 161, or both, thereby automatically traversing the trolley, traveling or both in the set trolley movement direction. Go and transition to rope tension flow S103.

Thus, until the initial deflection angle theta ₀ is determined to be sufficiently small at the end determination flow S105, and repeats the rope tension and trolley conveyor. The winding operation permission flow S108 enables the operator to perform the winding operation and enables the operator to perform the ground removal operation, and the process transitions to an end flow S109. An end flow S109 ends the initial shake reduction function.
Here, the operator may be notified by displaying on the hoist that the initial shake reduction function has ended and the ground removing operation has become possible.

Further, the loop to be repeated may be transitioned for each event, or may be transitioned for each time, or the like. As each event, there is an example in which the transport distance by which the trolley 11 is transported each time the loop is repeated is set. For each time, there is an example in which the processing time taken for one loop is predetermined.

Further, in the flow other than the rope tensioning flow S103 and the heel detection flow S104, the application torque may or may not be applied to the winding motor 112. That is, the rope 13 may be in a tension state or in a relaxation state.

For example, when the torque is applied to the winding motor 112 in the trolley conveyance flow S107, the rope 13 is always tensioned by the trolley 11 being conveyed while the rope 13 is wound up.

Also, for example, when the torque is not applied to the hoist motor 112 in the trolley conveyance flow S107, the rope 13 is relaxed by the conveyance of the trolley 11, the rope 13 is tensioned in the rope tensioning flow S103, and the rope is adjusted according to the conveyance of the trolley 11. 13 repeat tension and relaxation.

Further, in the winding machine capable of traversing and traveling (see FIG. 3), the termination determination flow S105 determines whether or not the initial swing angle θ ₀ has become sufficiently small for traveling and traveling respectively, and traverses and traveling If it is determined that the initial deflection angle θ ₀ has become sufficiently small in both, the process transitions to the winding operation permission flow S108.

For example, when the loop is repeated in FIG. 4, the trolley 11 can be disposed vertically above the suspended load 30 even in a hoisting machine capable of traversing and traveling by alternately performing trolley conveyance and end determination of traversing and traveling.

As another example, after the loop is repeated until the end determination flow S105 first determines that the initial shake angle θ ₀ has become sufficiently small in the lateral direction, the loop is similarly repeated in the traveling direction, The trolley 11 can be disposed vertically above the load 30. It goes without saying that the traveling direction may be performed first, and then the transverse direction may be performed.

In the case where it is possible to independently detect the traveling state amount 横 independently of traveling, traveling and traveling can be performed simultaneously, and the trolley 11 can be disposed above the suspended load 30 in a short time. Further, the state quantity 用いる used for the determination does not have to be one state quantity, and a plurality of state quantities may be used.

Next, an example of the state quantity ψ will be described with reference to the drawings.

FIG. 5 is an example in which the initial deflection angle θ ₀ is a state quantity ψ.
As shown in FIG. 5A, the deflection angle display 50 is composed of a display plate 501 and a weight 502, and is fixed to the hook 131. The weight 502 is attached to be suspended vertically downward. Thus, as shown in FIG. 5B, the initial deflection angle θ ₀ is displayed as the angle formed by the display plate 501 and the weight 502. Further, if the above-mentioned angle is observed by an encoder or the like, the initial deflection angle θ ₀ can be observed.

That is, the eyelid detection flow S104 detects the initial shake angle θ ₀ as the state quantity ψ. End determination flow S105, the initial deflection angle theta ₀ good like determines if the initial shake reducing function and end smaller than the predetermined value.
Accordingly, the trolley transfer flow S107, automatically transports the trolley in the direction in which the initial deflection angle theta ₀ detected by ψ detection flow S104 decreases.

Here, if the deflection angle display 50 is disposed separately in the transverse direction and in the traveling direction, the initial deflection angle θ ₀ can be detected independently in each of the transverse and traveling directions. The trolley 11 is conveyed in the lateral direction based on the initial deflection angle in the lateral direction, and the trolley 11 is driven in the traveling direction based on the initial deflection angle in the traveling direction. Thereby, traveling and traveling can be performed simultaneously in the initial shake reduction function.

Further, the deflection angle display 50 does not have to have the configuration shown in FIG. 5, but may have another configuration such as a gyro or an acceleration sensor as long as the deflection angle can be detected.

FIG. 6 is a schematic view showing the relationship between the initial deflection angle θ ₀ and the rope length.
As shown in FIG. 6, L is a distance from the pendulum fulcrum to the lower part of the hook 131 and indicates a rope length detectable by the winding encoder 1121. The hook height R is the distance from the lower part of the hook 131 to the hanging load core 301 and can not be detected. Further, the height H of the center of gravity is the projection distance between the pendulum fulcrum and the suspension load core 301 in the z direction in the drawing and can not be detected. Here, the relationship between the rope length L, the hook height R, and the center-of-gravity height H is (Equation 1) and FIG. 7.

FIG. 7 is a diagram showing the relationship between the initial deflection angle θ ₀ and the rope length L.
As shown in FIG. 7, since the hook height R and the gravity center height H can not be detected, the absolute value of the rope length L when the initial deflection angle θ ₀ is 0 degree is not known. However, if the trolley 11 is horizontally conveyed, because the center of gravity height H constant value, as an initial deflection angle theta ₀ is close to 0 degrees rope length L is small.
Further, as the initial deflection angle θ ₀ approaches 0 °, the rate of change of the rope length L with respect to θ ₀ also decreases.

That is, the state quantity ψ detection flow S104 detects the rope length L as the state quantity て using the winding encoder 1121. In the end determination flow S105, when the trolley 11 is transported such that the amount of change in the rope length L when transporting the trolley 11 becomes smaller than a predetermined value or the rope length L becomes smaller, the rope length L becomes longer and the initial stage and detecting an increase in the deflection angle theta _0, the initial deflection reduction function ends can be determined in such.
Thereby, in the trolley conveyance flow S107, the trolley is automatically conveyed in the direction in which the rope length L detected in the weir detection flow S104 becomes smaller.

Here, in the case of a hoist where displacement in the vertical direction occurs when the pendulum fulcrum is transported by a crane or the like, the variation of the gravity center height H due to the transport of the pendulum fulcrum is estimated and compensated similarly. The rope length L can be taken as the state quantity ψ.

FIG. 8 is a schematic view showing the relationship between the initial deflection angle θ ₀ and the rope tension.
As shown in FIG. 8, f is the gravity applied to the hook 131, and T is the tension applied to the rope 13 to wind up the hook 131. The rope tension T is the torque applied to the hoist motor 112 to tension the rope 13. Here, the relationship between the hook gravity f, the rope tension T, and the initial deflection angle θ ₀ is expressed by Equation 2 and FIG.

FIG. 9 is a view showing the relationship between the initial deflection angle θ ₀ and the rope tension T.
As shown in FIG. 9, since the hook gravity f is a constant value, as an initial deflection angle theta ₀ is close to 0 degrees rope tension T decreases, the rope tension on the more theta ₀ initial deflection angle theta ₀ approaches 0 degrees The rate of change of T also decreases.

That is, the state quantity ψ detection flow S104 detects the rope tension T as the state quantity 用い using the torque applied to the hoist motor 112 when the rope 13 is tensioned. In the end determination flow S105, when the trolley 11 is transported such that the amount of change in the rope tension T when transporting the trolley 11 becomes smaller than a predetermined value, or when the rope tension T becomes smaller, the rope tension T becomes large. The end of the initial shake reduction function can be determined by detecting an increase in the initial shake angle θ _{0 or} the like.
Thereby, in the trolley conveyance flow S107, the trolley is automatically conveyed in the direction in which the rope tension T detected in the wrinkle detection flow S104 becomes smaller.

FIG. 10 is a schematic view showing the relationship between the initial deflection angle θ0 and the trolley external force.
As shown in FIG. 10, F is an external force applied to the trolley 11 which is generated by winding up the hook 131 and tensioning the rope 13. Here, the relationship between the hook gravity f, the rope tension T, and the trolley external force F is expressed by Equation 3 and FIG.

FIG. 11 is a view showing the relationship between the initial deflection angle θ ₀ and the trolley external force F.
As shown in FIG. 11, since the hook gravity f is a constant value, the trolley external force F becomes closer to _{0 as} the initial deflection angle θ0 approaches 0 degrees.

FIG. 12 is a block diagram showing an example of means for detecting the trolley external force F. As shown in FIG.
In FIG. 12, u0 is a driving force command for transporting the trolley 11 calculated by the control unit 12. The trolley 11 is conveyed by the driving force u1 by the driving force command u0 and the trolley external force F based on the trolley dynamic characteristic.

u2 is a physical quantity based on the transport of the trolley 11, and includes displacement, speed, acceleration and the like. If the observed or estimated transport physical quantity u2 is calculated based on the inverse model of the trolley dynamic characteristic, the estimated driving force u1 ^*, which is an estimated value of the driving force u1, can be estimated. By using the estimated driving force u1 ^* and the driving force command u0, an estimated trolley external force F ^* which is an estimated value of the trolley external force can be obtained.

That is, the state quantity ψ detection flow S104 detects the trolley external force F or the estimated trolley external force F ^* in a state in which the rope 13 is tensioned as the state quantity ψ. End determination flow S105, the ^* trolley external force F or estimated trolley external force F is smaller than a predetermined value, or trolley external force F or estimated upon transporting the trolley 11 so ^{that *} trolley external force F or estimated trolley external force F is reduced The end of the initial shake reduction function can be determined by, for example, detecting the increase in the initial shake angle θ ₀ by reversing the direction (sign) of the external force F ^* .
Thus, in the trolley conveyance flow S107, the trolley is automatically conveyed in the direction in which the trolley external force F or the estimated trolley external force F ^* detected in the wrinkle detection flow S104 decreases.

Here, by constructing the block shown in FIG. 12 in the transverse direction and in the traveling direction, the trolley external force F can be independently estimated independently in the traveling and the traveling. By transporting the trolley 11 in the lateral direction based on the trolley external force in the lateral direction, and transporting the trolley 11 in the traveling direction based on the trolley external force in the traveling direction, traverse and traveling can be performed simultaneously in the initial shake reduction function.

The winding machine according to the first embodiment automatically performs traveling and traveling in the initial shake reduction function by automatically generating a conveyance command.

In Example 2, transverse in the initial shake reducing function, the running was carried out by an operator operation, to assist the operator operation by a display unit for displaying the state quantity ψ representing the initial deflection angle theta ₀ in this case the operator.

That is, in FIG. 4, the wrinkle detection flow S104 displays the detected wrinkles to the operator, and the end determination flow S105, the trolley conveyance direction determination flow S106, and the trolley conveyance flow S107 are performed by the operator's operation.

The eyelid detection flow S104 displays the detected state quantity に to the operator. The state quantity ψ may be displayed anywhere as long as it is a component of the winding machine 10 such as the trolley 11 or the operation terminal 14.
Also, the state quantity 必要 does not have to be displayed numerically, and may be displayed mechanically as a bar graph or a swing angle indicator of FIG. 5.

In termination determination flow S105, the operator, on the basis of the display, it is judged that the initial deflection angle theta ₀ is less than the desired angle, shifts the winding operation permission flow S108 by operating the operation terminal 14.

At this time, the end determination based on the state quantity 自動 is automatically performed, and when the automatic determination determines the end of the initial shake reduction function, sound is notified to the operator by display of light or the like to perform the operation of the operator. You may help.

Further, the operation is not limited to an explicit initial shake reduction function end operation such as pushing up a button pressed at the start of the initial shake reduction function, for example, and may be, for example, a winding operation for ground cutting.

In trolley conveying direction determination flow S106, the operator by the display based on the state quantity [psi, determines the direction in which initial deflection angle theta ₀ becomes smaller. At this time, the trolley conveyance direction may be automatically determined based on the state quantity 、, and the trolley conveyance direction may be displayed to the operator to aid the determination.

In trolley conveyance flow S107, the operator operates the operation terminal 14 to convey the trolley 11 in the trolley conveyance direction. At this time, if the trolley conveyance by the operator's operation is different from the trolley conveyance direction automatically determined in the trolley conveyance direction determination flow S106, the operator is notified of the display by sound or light to assist the operator in the conveyance operation. You may

Further, the initial shake reduction function may combine the function of reducing the initial shake angle θ ₀ by the operator operation of the second embodiment and the function of the automatic conveyance of the first embodiment. Thereby, each operator can selectively use the initial shake reduction function. Moreover, after reducing the initial deflection angle theta ₀ roughened by the initial shake reducing function by the operator, it is possible to operate such reduced accurately initial deflection angle theta ₀ in function of the automatic transport.

DESCRIPTION OF REFERENCE NUMERALS 10 winding machine 11 trolley 111 transverse motor 1111 traverse wheel 1112 transverse shaft 112 winding motor 1121 winding encoder 1122 winding drum 1123 winding shaft 12 control unit 13 rope 131 hook 14 operation terminal 141 conveyance operation unit 142 communication unit 15 beam 16 traveling device 161 traveling Motor 17 travel control unit 18 travel beam 20 hook rope 30 hanging load 301 hanging load core 40 floor surface 50 swing angle indicator 501 display plate 502 weight

Claims

Trolleys transported by self-propelled means,
A winding motor mounted on the trolley;
A winding drum attached to the winding motor;
A rope attached to the winding drum;
A hook attached to the rope,
A control unit configured to control the winding of the rope and the transport of the trolley;
The control unit
A hoisting machine characterized in that the rope is tensioned to convey the trolley before ground cutting where a hanging load suspended via the hooks is separated from the floor surface.
The control unit
The winding machine according to claim 1, wherein the rope is tensioned before the ground cutting so that the trolley is transported so that the trolley is disposed vertically above the hanging load.
The control unit
Detect a predetermined amount of state,
The hoisting machine according to claim 1, wherein one of the operation of winding the rope by the hoisting motor and the operation of transporting the trolley is made effective based on the detected state quantity.
The control unit
The winding machine according to claim 3, wherein, when the transporting operation of the trolley is enabled based on the state quantity, the winding operation of the rope is invalidated and the trolley is transported in a predetermined direction. .
The control unit
The winding according to claim 3, wherein the initial swing angle of the initial swing of the hanging load generated at the time of ground breaking is detected as the state quantity, and the trolley is conveyed in the direction in which the initial swing angle becomes smaller. Machine.
The control unit
The winding machine according to claim 3, wherein the length of the rope is detected as the state quantity, and the trolley is conveyed in a direction in which the length of the rope is reduced.
The control unit
The hoist according to claim 3, wherein the tension applied to the rope is detected as the state quantity, and the trolley is conveyed in the direction in which the tension decreases.
The control unit
The hoist according to claim 3, wherein the tension applied to the rope is detected as the state quantity by tensioning the rope, and the trolley is transported in a direction in which the external force is reduced.
The control unit
The winding machine according to claim 1, wherein the conveyance command is automatically generated to automatically convey the trolley.
It further has an operation terminal operated by the operator,
The control unit
The hoist according to claim 1, wherein the trolley is transported in response to an operation signal from the operation terminal.