JP2822282B2 - Crane control device - Google Patents
Crane control deviceInfo
- Publication number
- JP2822282B2 JP2822282B2 JP15951991A JP15951991A JP2822282B2 JP 2822282 B2 JP2822282 B2 JP 2822282B2 JP 15951991 A JP15951991 A JP 15951991A JP 15951991 A JP15951991 A JP 15951991A JP 2822282 B2 JP2822282 B2 JP 2822282B2
- Authority
- JP
- Japan
- Prior art keywords
- opening
- closing
- bucket
- winding
- speed command
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Control And Safety Of Cranes (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明はバケットクレーンやアン
ローダ等のクレーンの制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a crane such as a bucket crane and an unloader.
【０００２】[0002]
【従来の技術】例えば、２モータ方式アンローダにおい
てバケットにより貯蔵領域にある鉱石等をつかみ、これ
を貯蔵領域よりも高い所定位置にあるホッパまで搬送し
て放出した後再び鉱石の貯蔵領域に戻る場合には、バケ
ットをホッパからずらして閉状態から開方向に動作さ
せ、完全に開いてからバケットの巻下げを行なうのが普
通である。図３はこの種のアンローダの駆動系を概略的
に示し、支持用モータ３１で駆動される支持ドラム３２
に巻いたロープでバケット３３の上下を行い、開閉用モ
ータ３４で駆動される開閉ドラム３５に巻いたロープで
バケット３３の開閉を行うように構成されている。バケ
ット３３が完全に開いた状態は開限と呼ばれ、図３に示
す開度Ａがその位置である。実際には開限に至る前の開
減速点で開閉速度の減速が行われ、この開減速点は図３
に開度Ｂで示されている。開度Ｃは閉限を示し、バケッ
ト３３がほぼ閉じ切った位置である。2. Description of the Related Art For example, in a two-motor unloader, a bucket grasps ore or the like in a storage area, transports it to a hopper at a predetermined position higher than the storage area, discharges the ore, and returns to the ore storage area again. Usually, the bucket is moved from the closed state to the opening direction by shifting the bucket from the hopper, and after the bucket is completely opened, the bucket is lowered. FIG. 3 schematically shows a drive system of this type of unloader, in which a support drum 32 driven by a support motor 31 is provided.
The bucket 33 is moved up and down with a rope wound around the bucket, and the bucket 33 is opened and closed with a rope wound around an opening / closing drum 35 driven by an opening / closing motor 34. The state where the bucket 33 is completely opened is called an opening limit, and the opening degree A shown in FIG. 3 is the position. Actually, the opening / closing speed is decelerated at the opening deceleration point before reaching the opening limit.
At the opening B. The opening degree C indicates the closing limit, and is a position where the bucket 33 is almost completely closed.
【０００３】ところで、これまでの制御装置では、バケ
ット３３の上下運転は支持用モータ３１と開閉用モータ
３４とを等速で運転することにより行い、バケット３３
の開閉運転は開閉用モータ３４を単独運転することによ
り行なっており、バケット３３の上下運転と開閉運転と
を並行させるような運転はなされていない。つまり、ホ
ッパへの放出終了後のバケット３３の巻下げ動作につい
て言えば、バケット３３が開限になってから巻下げ動作
を開始するのが普通である。In the conventional control device, the bucket 33 is moved up and down by operating the supporting motor 31 and the opening / closing motor 34 at a constant speed.
The opening and closing operation of the bucket 33 is performed by operating the opening and closing motor 34 independently, and there is no operation that makes the vertical operation of the bucket 33 and the opening and closing operation parallel. That is, regarding the lowering operation of the bucket 33 after the discharge to the hopper is completed, the lowering operation is usually started after the bucket 33 is opened.
【０００４】[0004]
【発明が解決しようとする課題】これは、バケット３３
の巻下げ運転は支持ドラム３２と開閉ドラム３５の等速
運転により行われ、バケット３３の開運転は開閉ドラム
３５の単独運転により行われ、全速にてバケット３３の
開運転を行なっている間は開閉用モータ３４で巻下げ運
転をも行う余力が無いことによる。これを無視してバケ
ット３３の開運転中に巻下げ運転を行うと、支持用モー
タ３１の巻下げ速度によりバケット３３の巻下げ動作が
行われる代わりに、開閉用モータ３４の速度が追随でき
ずにバケット３３の開速度が低下してしまい、運転者の
意志通りにバケット３３の下げ及び開き運転ができなく
なる。しかるに、バケット内の扱物はバケット半開の前
後で放出を終了するのが普通であり、バケットの全開ま
で巻下げ運転を待つのは作業時間に無駄があることにな
る。このような問題点に鑑み、本発明の課題は、バケッ
トの上下運転と開閉運転とを並行させることができるよ
うにしてクレーン作業のサイクルタイムの短縮化を図る
ことにある。This is because the bucket 33
Is performed by the constant speed operation of the support drum 32 and the opening / closing drum 35, the opening operation of the bucket 33 is performed by the single operation of the opening / closing drum 35, and while the opening operation of the bucket 33 is performed at full speed. This is because there is no remaining power to perform the lowering operation by the opening / closing motor 34. If the lowering operation is performed during the opening operation of the bucket 33 ignoring this, instead of performing the lowering operation of the bucket 33 by the lowering speed of the supporting motor 31, the speed of the opening / closing motor 34 cannot follow. As a result, the opening speed of the bucket 33 decreases, and the lowering and opening operation of the bucket 33 cannot be performed according to the driver's intention. However, the handling of the items in the bucket usually ends before and after the half-opening of the bucket, and waiting for the lowering operation until the bucket is fully opened wastes working time. In view of such a problem, an object of the present invention is to shorten the cycle time of crane work by enabling the vertical operation and the open / close operation of the bucket to be performed in parallel.
【０００５】[0005]
【課題を解決するための手段】本発明は、支持用モータ
で駆動される支持ドラムに巻いたロープでバケットの上
下を行う巻上下制御系と開閉用モータで駆動される開閉
ドラムに巻いたロープで前記バケットの開閉を行う開閉
制御系と前記バケットの開度を検出する開度検出系とを
備えたクレーンの制御装置において、前記バケットの開
運転時に前記開度検出系で前記バケットの開減速点が検
出されると、巻上下速度指令系から前記巻上下制御系に
与えられる巻上下速度指令信号を前記開閉制御系に供給
するように制御する制御回路を備えることにより、前記
開閉制御系は、前記バケットの前記開減速点から全開ま
では減速指令系から該開閉制御系に与えられる減速指令
信号と前記巻上下速度指令信号の加速領域との和で前記
開閉用モータを定速運転せしめ、全開後は前記巻上下速
度指令信号の定速領域にもとづいて前記支持用モータを
前記開閉用モータと共に等速で運転せしめるようにした
ことを特徴とする。SUMMARY OF THE INVENTION The present invention relates to a winding up / down control system for raising and lowering a bucket with a rope wound on a supporting drum driven by a supporting motor, and a rope wound on an opening / closing drum driven by an opening / closing motor. In a crane control device provided with an opening / closing control system for opening and closing the bucket and an opening detection system for detecting the opening of the bucket, the opening detection of the bucket is performed by the opening detection system during the opening operation of the bucket. When a point is detected, the opening / closing control system is provided with a control circuit that controls so as to supply a winding vertical speed command signal given to the winding vertical control system from the winding vertical speed command system to the opening / closing control system. From the deceleration point of the bucket to the fully open position, the opening / closing motor is determined by the sum of the deceleration command signal given from the deceleration command system to the opening / closing control system and the acceleration area of the winding vertical speed command signal. Allowed operation, after fully open, characterized in that as allowed to operate at a constant speed of the supporting motor together with the opening and closing motor based on the constant speed region of the winding vertical velocity command signal.
【０００６】なお、前記開度検出系は、前記バケットの
開度検出器と、該開度検出器の出力にもとづいて前記バ
ケットの開減速点を検出する開減速点検出器と、前記開
度検出器の出力にもとづいて前記バケットの全開を検出
するための全開検出器とを含み、前記制御回路は、前記
巻上下速度指令系と前記巻上下制御系との間に設けられ
て前記巻上下速度指令信号をオン、オフするための巻上
下運転スイッチと、前記開閉速度指令系と前記開閉制御
系との間に設けられて前記開閉速度指令信号をオン、オ
フするための開閉運転スイッチと、前記開閉速度指令系
と前記開閉運転スイッチとの間に設けられて前記開閉速
度指令信号と前記減速指令信号との切換えを行うための
減速指令スイッチと、前記バケットの巻上下指令及び開
指令と前記開減速点検出器及び前記全開検出器の出力と
にもとづいて前記巻上下運転スイッチ、前記開閉運転ス
イッチ、及び前記減速指令スイッチの開閉を制御する回
路とを含む。The opening degree detection system includes an opening degree detector for the bucket, an opening deceleration point detector for detecting an opening deceleration point of the bucket based on an output of the opening degree detector, A full-open detector for detecting full opening of the bucket based on an output of a detector, wherein the control circuit is provided between the winding vertical speed command system and the winding vertical control system, and A speed command signal on and off, a winding up / down operation switch for turning off, an opening / closing operation switch provided between the opening / closing speed command system and the opening / closing control system to turn on / off the opening / closing speed command signal, A deceleration command switch provided between the opening / closing speed command system and the opening / closing operation switch for switching between the opening / closing speed command signal and the deceleration command signal; a winding up / down command and an open command for the bucket; Open deceleration Detector and the full-open detector of the winding up and down operation switch based on an output, the opening and closing operation switch, and a circuit for controlling the opening and closing of the deceleration command switch.
【０００７】[0007]
【０００８】[0008]
【作用】本発明では、バケットの開き完了後直ちに巻下
げを開始するように運転者が操作した場合、すなわち開
指令を出してから開き完了前までに巻下げ指令（巻上下
指令）を出した場合には、バケットが開減速点に達して
も開閉用モータの速度はそのままにして支持用モータに
よる巻下げを開始して加速することにより、開速度と巻
下げ速度との間に相対的な差が生ずるようにしてこの速
度差によりバケットの開動作を行うようにし、しかも巻
下げ速度の加速によりこの速度差を徐々に減らしてゆく
ことで開速度を減速させ、全開位置で差が０になるよう
にする。According to the present invention, when the driver operates so as to start the lowering immediately after the completion of the opening of the bucket, that is, the driver issues a lowering instruction (winding up / down instruction) before issuing the opening instruction and before completing the opening. In this case, even if the bucket reaches the opening deceleration point, the opening / closing motor speed is kept as it is, and the lowering by the supporting motor is started and accelerated, so that the relative speed between the opening speed and the lowering speed is increased. A difference is generated so that the opening operation of the bucket is performed by this speed difference, and the opening speed is reduced by gradually reducing the speed difference by accelerating the lowering speed, and the difference becomes zero at the fully open position. To be.
【０００９】[0009]
【実施例】図１，図２を参照して本発明の実施例につい
て説明する。本装置は、バケットの巻上下速度指令信号
を送出するための巻上下速度指令系１と、支持用モータ
２１で駆動される支持ドラム２２に巻いたロープでバケ
ットの上下を行う巻上下制御系２と、バケットの開閉速
度指令信号を送出するための開閉速度指令系３と、減速
指令信号を送出するための減速指令系３´と、開閉用モ
ータ４１で駆動される開閉ドラム４２に巻いたロープで
バケットの開閉を行う開閉制御系４と、バケットの開度
検出器５１とこの開度検出器５１の出力にもとづいて開
減速点を検出するための開減速点検出器５２とバケット
の全開状態を検出するための全開検出器５３とを含む開
度検出系５と、巻上下制御系２に対する巻上下速度指令
信号の供給、開閉制御系４に対する開閉速度指令信号及
び減速指令信号の供給を制御するための制御回路６とを
有する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to FIGS. The present apparatus comprises a winding vertical speed command system 1 for sending a bucket winding vertical speed command signal, and a winding vertical control system 2 for raising and lowering a bucket with a rope wound on a supporting drum 22 driven by a supporting motor 21. An opening / closing speed command system 3 for sending a bucket opening / closing speed command signal, a deceleration command system 3 ′ for sending a deceleration command signal, and a rope wound around an opening / closing drum 42 driven by an opening / closing motor 41. Opening / closing control system 4 for opening / closing a bucket, a bucket opening detector 51, an opening / deceleration point detector 52 for detecting an opening / deceleration point based on an output of the opening detector 51, and a fully open state of the bucket. Control of the opening degree detection system 5 including the full opening detector 53 for detecting the rotation, supply of the winding up / down speed command signal to the winding up / down control system 2, and supply of the opening / closing speed command signal and the deceleration command signal to the opening / closing control system 4. You And a control circuit 6 for.
【００１０】巻上下速度指令系１は、運転者の操作にも
とづいてバケットの巻上下速度指令を送出する巻上下速
度指令器１１と、巻上下速度指令を巻上下速度制御系２
に適した巻上下速度指令信号に変換するための巻上下速
度指令変換器１２とから成る。巻上下制御系２は、巻上
下速度用直線指令器２３と巻上下速度制御器２４とを含
む。A winding up / down speed command system 1 sends a bucket up / down speed command based on a driver's operation, and a winding up / down speed control system 2 for sending a winding up / down speed command.
And a winding vertical speed command converter 12 for converting into a winding vertical speed command signal suitable for The winding up / down control system 2 includes a winding up / down speed linear instructor 23 and a winding up / down speed controller 24.
【００１１】開閉速度制御系３は、運転者の操作にもと
づいてバケットの開閉速度指令を送出する開閉速度指令
器３１と、開閉速度指令を開閉制御系４に適した開閉速
度指令信号に変換するための開閉速度指令変換器３２と
から成る。開閉制御系４は、開閉速度用直線指令器４３
と、この開閉速度用直線指令器４３からの出力と巻上下
速度用直線指令器２３からの出力とを加算するための加
算器４４と、開閉速度制御器４５とを含む。An opening / closing speed control system 3 transmits an opening / closing speed command for a bucket based on a driver's operation, and converts the opening / closing speed command into an opening / closing speed command signal suitable for the opening / closing control system 4. Opening / closing speed command converter 32. The opening / closing control system 4 includes an opening / closing speed linear commander 43.
And an adder 44 for adding the output from the opening / closing speed linear command device 43 and the output from the winding vertical speed linear command device 23, and an opening / closing speed controller 45.
【００１２】制御回路６は、巻上下速度指令系１と巻上
下制御系２との間に設けられて巻上下制御系２に対する
巻上下速度指令信号をオン、オフするための巻上下運転
スイッチＳ１と、開閉速度指令系３と開閉制御系４との
間に設けられて開閉制御系４に対する開閉速度指令信号
をオン、オフするための開閉運転スイッチＳ２と、この
開閉運転スイッチＳ２と開閉速度指令系３との間に設け
られて開閉速度指令信号と減速指令信号との切換えを行
う減速指令スイッチＳ３と、開度検出系５からの出力及
びバケットの巻上下指令、開指令にもとづいて上記各ス
イッチをオン、オフさせる論理回路６１とから成る。A control circuit 6 is provided between the winding up / down speed command system 1 and the winding up / down control system 2 to turn on / off a winding up / down speed command signal for the winding up / down control system 2. An opening / closing operation switch S2 provided between the opening / closing speed command system 3 and the opening / closing control system 4 to turn on / off an opening / closing speed command signal for the opening / closing control system 4; A deceleration command switch S3 provided between the system 3 for switching between an opening / closing speed command signal and a deceleration command signal; and And a logic circuit 61 for turning on and off the switch.
【００１３】次に、本装置の動作について説明するが、
ここでは説明をわかり易くするために、バケットが扱物
を放出するために開動作が始まってから巻下げ動作に移
行するまでの間の制御について説明する。このような作
業の場合、運転者はバケットの開き完了後直ちに巻下げ
を開始するために開閉速度指令器３１で開指令を出し、
開動作が開始されたら巻上下速度指令器１１で巻下げ指
令を出す。以上の操作により装置は以下の運転を自動的
に実施する。開閉速度指令器３１で図２（ａ）に示す開
指令を出すと、制御回路６においては、論理回路６１が
アンドゲート６２を通して開指令信号を出力することに
より開閉運転スイッチＳ２がオンとなる。このことによ
り開閉速度指令器３１からの開閉速度指令は開閉速度指
令変換器３２、減速指令スイッチＳ３、開閉運転スイッ
チＳ２、開閉速度用直線指令器４３、加算器４４を通し
て開閉速度制御器４５に与えられ、開閉速度制御器４５
は開閉用モータ４１を運転（図２ｃ参照）して開閉ドラ
ム４２によりロープを巻戻してバケットの開運転を行な
う。Next, the operation of the present apparatus will be described.
Here, in order to make the description easy to understand, a description will be given of the control from the start of the opening operation to the discharge of the object to be handled by the bucket until the shift to the lowering operation. In the case of such a work, the driver issues an open command with the opening / closing speed command device 31 in order to start the lowering immediately after the completion of the opening of the bucket,
When the opening operation is started, a lowering command is issued by the lowering speed commander 11. By the above operation, the device automatically performs the following operation. When the opening / closing speed command device 31 issues an opening command shown in FIG. 2A, in the control circuit 6, the logic circuit 61 outputs an opening command signal through the AND gate 62, so that the opening / closing operation switch S2 is turned on. Thus, the opening / closing speed command from the opening / closing speed command device 31 is given to the opening / closing speed controller 45 through the opening / closing speed command converter 32, the deceleration command switch S3, the opening / closing operation switch S2, the opening / closing speed linear command device 43, and the adder 44. Opening and closing speed controller 45
Drives the opening / closing motor 41 (see FIG. 2C) to rewind the rope by the opening / closing drum 42 to open the bucket.
【００１４】開動作が進行して、時刻Ｔ１でバケットの
開減速点に達すると、支持ドラム２２と開閉ドラム４２
との回転よりバケット開度を検出するバケット開度検出
器５１の出力が開減速点検出器５２の設定開度となり、
開減速点検出器５２は開減速点検出信号を出力する。開
減速点検出信号により減速指令スイッチＳ３は開閉制御
系４に対して減速指令信号を与える方に切換わり、この
減速指令信号は開閉運転スイッチＳ２、開閉速度用直線
指令器４３を通り加算器４４に伝達される。When the opening operation proceeds and reaches the opening deceleration point of the bucket at time T1, the supporting drum 22 and the opening / closing drum 42
The output of the bucket opening detector 51 that detects the bucket opening based on the rotation of the opening rotation becomes the set opening of the opening deceleration point detector 52,
The opening deceleration point detector 52 outputs an opening deceleration point detection signal. The deceleration command switch S3 is switched to the one that gives a deceleration command signal to the opening / closing control system 4 in response to the opening deceleration point detection signal. Is transmitted to
【００１５】一方、論理回路６１においては、巻下げ指
令（巻上下指令）と開減速点検出信号とによりアンドゲ
ート６３、オアゲート６４を通して巻上下運転指令信号
を出力することで巻上下運転スイッチＳ１がオンとな
る。このことにより図２（ｂ）に示すような巻上下速度
指令信号が巻上下速度用直線指令器２３を介して巻上下
速度制御器２４及び加算器４４に伝えられる。開閉速度
指令信号及び巻上下速度指令信号は図２に斜線で示され
た加速領域と減速領域及びこれらの間の定速運転領域を
有する。加算器４４は開閉速度用直線指令器４３の出力
と巻上下速度用直線指令器２３の出力を加算して、開閉
速度制御器４５への速度指令を発生する。On the other hand, in the logic circuit 61, a winding up / down operation switch S1 is output by outputting a winding up / down operation command signal through an AND gate 63 and an OR gate 64 in accordance with a lowering command (winding up / down command) and an opening / deceleration point detection signal. Turns on. As a result, a winding vertical speed command signal as shown in FIG. 2B is transmitted to the winding vertical speed controller 24 and the adder 44 via the winding vertical speed linear command device 23. The opening / closing speed command signal and the winding up / down speed command signal have an acceleration region, a deceleration region, and a constant speed operation region therebetween shown by hatching in FIG. The adder 44 adds the output of the opening / closing speed linear command device 43 and the output of the winding vertical speed linear command device 23 to generate a speed command to the opening / closing speed controller 45.
【００１６】ここで、巻上下速度用直線指令器２３から
の信号の立上がりのタイミングと開閉速度用直線指令器
４３による減速開始のタイミングとを同じにすること
で、開閉速度指令信号の減速領域と巻上下速度指令信号
の加速領域との和を一定とすることができ、開閉用モー
タ４１を定速で駆動することができる。これに対し、時
刻Ｔ１で起動した支持用モータ２１は徐々に加速する
が、開閉用モータ４１の速度との間には差があり、この
差によって開き運転速度が減速される。上記速度差は巻
下げ速度が加速するにつれて小さくなり、時刻Ｔ２で支
持用モータ２１と開閉用モータ４１との速度差が０にな
ると共に、バケットは全開となる。バケットが全開にな
ると、バケット開度検出器５１の検出レベルは全開検出
器５３の設定レベルとなり、全開検出器５３からの出力
で論理回路６１では否定回路６５、アンドゲート６２を
通して、開停止指令信号を出力する。この開停止指令信
号により開閉運転スイッチＳ２がオフとなり、支持用モ
ータ２１、開閉用モータ４１共に巻上下速度用直線指令
器２３の出力にもとづいて等速で速度制御される。Here, by making the timing of the rise of the signal from the winding vertical speed linear command device 23 and the timing of the start of deceleration by the open / close speed linear command device 43 the same, the deceleration area of the opening / closing speed command signal is reduced. The sum of the winding vertical speed command signal and the acceleration region can be made constant, and the opening / closing motor 41 can be driven at a constant speed. On the other hand, the supporting motor 21 started at the time T1 gradually accelerates, but there is a difference between the speed of the opening and closing motor 41 and the opening operation speed is reduced by the difference. The speed difference becomes smaller as the lowering speed increases, and at time T2, the speed difference between the supporting motor 21 and the opening / closing motor 41 becomes zero, and the bucket is fully opened. When the bucket is fully opened, the detection level of the bucket opening detector 51 becomes the set level of the full-open detector 53, and the output from the full-open detector 53 passes through the NOT circuit 65 and the AND gate 62 in the logic circuit 61 to output the open stop command signal. Is output. The opening / closing operation switch S2 is turned off by this opening / stopping command signal, and the speed of both the supporting motor 21 and the opening / closing motor 41 is controlled at a constant speed based on the output of the winding vertical speed linear command device 23.
【００１７】なお、アンドゲート６３は、開減速中に巻
上下指令が入るとこれをオンとするもので、アンドゲー
ト６７は、開指令がオフで巻上下指令が入るとこれをオ
ンとするものである。The AND gate 63 turns on when a wind up / down command is input during opening / deceleration, and the AND gate 67 turns on when the open / close command is OFF and a wind up / down command is input. It is.
【００１８】図２において、破線部分は従来の制御装置
の場合の動作タイミングを示しており、従来は開動作開
始後、全開状態になってから巻下げ動作を開始するため
に開動作開始から巻下げ停止までに時間ｔ１を要してい
る。これに対し、本発明では、開減速動作を巻下げ動作
と並行させるようにしたことで、開閉用モータ４１を減
速せずに支持用モータ２１との間の速度差によって開減
速動作を行うことができる。このようにしたことによ
り、開動作開始から巻下げ停止までの時間はｔ２とな
り、従来の時間ｔ１に比べて時間ｔだけ短縮することが
できる。In FIG. 2, the broken line shows the operation timing in the case of the conventional control device. Conventionally, after the opening operation is started, the fully opened state is set and then the lowering operation is started to start the lowering operation. It takes time t1 to stop the lowering. On the other hand, in the present invention, by performing the opening and deceleration operation in parallel with the lowering operation, the opening and deceleration operation is performed by the speed difference between the opening and closing motor 41 and the supporting motor 21 without decelerating. Can be. With this configuration, the time from the start of the opening operation to the stop of the lowering operation is t2, which can be reduced by the time t as compared with the conventional time t1.
【００１９】[0019]
【発明の効果】以上説明してきたように本発明によれ
ば、バケットの開閉運転と巻下げ運転とを並行させるこ
とができるようにしたことにより、クレーン作業のサイ
クルタイムの短縮化を図ることができる。As described above, according to the present invention, the opening and closing operation of the bucket and the lowering operation can be performed in parallel, so that the cycle time of the crane operation can be reduced. it can.
【図１】本発明によるクレーン制御装置のブロック構成
図。FIG. 1 is a block diagram of a crane control device according to the present invention.
【図２】本発明の制御装置によるバケットの開閉動作、
巻上下動作を説明するためのタイムチャート図。FIG. 2 shows the opening and closing operation of a bucket by the control device of the present invention;
The time chart figure for demonstrating a winding up-and-down operation.
【図３】一般的なクレーンにおけるバケットの開閉動作
を説明するための図。FIG. 3 is a view for explaining an opening and closing operation of a bucket in a general crane.
１ 巻上下速度指令系 ２ 巻上下制御系 ３ 開閉速度指令系 ４ 開閉制御系 ５ 開度検出系 ２１ 支持用モータ ４１ 開閉用モータ ６１ 論理回路 Ｓ１ 巻上下運転スイッチ Ｓ２ 開閉運転スイッチ Ｓ３ 減速指令スイッチ 1 Winding up / down speed command system 2 Winding up / down control system 3 Opening / closing speed commanding system 4 Opening / closing control system 5 Opening detection system 21 Supporting motor 41 Opening / closing motor 61 Logic circuit S1 Winding up / down operation switch S2 Opening / closing operation switch S3 Deceleration command switch
Claims (2)
巻いたロープでバケットの上下を行う巻上下制御系と開
閉用モータで駆動される開閉ドラムに巻いたロープで前
記バケットの開閉を行う開閉制御系と前記バケットの開
度を検出する開度検出系とを備えたクレーンの制御装置
において、前記バケットの開運転時に前記開度検出系で
前記バケットの開減速点が検出されると、巻上下速度指
令系から前記巻上下制御系に与えられる巻上下速度指令
信号を前記開閉制御系に供給するように制御する制御回
路を備えることにより、前記開閉制御系は、前記バケッ
トの前記開減速点から全開までは減速指令系から該開閉
制御系に与えられる減速指令信号と前記巻上下速度指令
信号の加速領域との和で前記開閉用モータを定速運転せ
しめ、全開後は前記巻上下速度指令信号の定速領域にも
とづいて前記支持用モータを前記開閉用モータと共に等
速で運転せしめるようにしたことを特徴とするクレーン
の制御装置。1. A winding up / down control system for raising and lowering a bucket with a rope wound on a supporting drum driven by a supporting motor, and an opening and closing for opening and closing the bucket with a rope wound on an opening and closing drum driven by an opening and closing motor. In a crane control device provided with a control system and an opening detection system for detecting the opening of the bucket, when the opening detection system detects an opening deceleration point of the bucket during the opening operation of the bucket, By providing a control circuit for supplying a winding vertical speed command signal given to the winding vertical control system from the vertical speed command system to the opening / closing control system, the opening / closing control system is configured to control the opening / decelerating point of the bucket. From the deceleration command system to the opening and closing control system, the opening and closing motor is operated at a constant speed by the sum of the deceleration command signal given to the opening and closing control system and the acceleration region of the winding vertical speed command signal. A control device for a crane, wherein the supporting motor is operated at a constant speed together with the opening / closing motor based on a constant speed region of a winding vertical speed command signal.
いて、前記開度検出系は、前記バケットの開度検出器
と、該開度検出器の出力にもとづいて前記バケットの開
減速点を検出する開減速点検出器と、前記開度検出器の
出力にもとづいて前記バケットの全開を検出するための
全開検出器とを含み、前記制御回路は、前記巻上下速度
指令系と前記巻上下制御系との間に設けられて前記巻上
下速度指令信号をオン、オフするための巻上下運転スイ
ッチと、前記開閉速度指令系と前記開閉制御系との間に
設けられて前記開閉速度指令信号をオン、オフするため
の開閉運転スイッチと、前記開閉速度指令系と前記開閉
運転スイッチとの間に設けられて前記開閉速度指令信号
と前記減速指令信号との切換えを行うための減速指令ス
イッチと、前記バケットの巻上下指令及び開指令と前記
開減速点検出器及び前記全開検出器の出力とにもとづい
て前記巻上下運転スイッチ、前記開閉運転スイッチ、及
び前記減速指令スイッチの開閉を制御する回路とを含む
ことを特徴とするクレーンの制御装置。2. The control device for a crane according to claim 1, wherein the opening detection system detects an opening deceleration point of the bucket based on an output of the bucket and an output of the opening detector. An open deceleration point detector, and a full open detector for detecting full opening of the bucket based on an output of the opening degree detector, wherein the control circuit includes the winding vertical speed command system and the winding vertical control. A lifting / lowering operation switch for turning on / off the winding vertical speed command signal provided between the switching speed command signal and the switching speed command system provided between the switching speed command system and the switching control system. ON / OFF opening / closing operation switch, a deceleration command switch provided between the opening / closing speed command system and the opening / closing operation switch for switching between the opening / closing speed command signal and the deceleration command signal, The bucket A winding up / down operation switch, the open / close operation switch, and a circuit that controls the opening / closing of the deceleration command switch based on the winding up / down command and the open command and the outputs of the opening / deceleration point detector and the fully open detector. A control device for a crane, comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15951991A JP2822282B2 (en) | 1991-06-04 | 1991-06-04 | Crane control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15951991A JP2822282B2 (en) | 1991-06-04 | 1991-06-04 | Crane control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04358696A JPH04358696A (en) | 1992-12-11 |
| JP2822282B2 true JP2822282B2 (en) | 1998-11-11 |
Family
ID=15695544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15951991A Expired - Lifetime JP2822282B2 (en) | 1991-06-04 | 1991-06-04 | Crane control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2822282B2 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6610999B2 (en) * | 2015-09-30 | 2019-11-27 | 株式会社三井Ｅ＆Ｓマシナリー | Quay crane |
| JP7134056B2 (en) * | 2018-10-10 | 2022-09-09 | 住友重機械搬送システム株式会社 | grab bucket controller |
-
1991
- 1991-06-04 JP JP15951991A patent/JP2822282B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH04358696A (en) | 1992-12-11 |
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