JPH0256396A - Automatic operation of jib crane - Google Patents
Automatic operation of jib craneInfo
- Publication number
- JPH0256396A JPH0256396A JP20541788A JP20541788A JPH0256396A JP H0256396 A JPH0256396 A JP H0256396A JP 20541788 A JP20541788 A JP 20541788A JP 20541788 A JP20541788 A JP 20541788A JP H0256396 A JPH0256396 A JP H0256396A
- Authority
- JP
- Japan
- Prior art keywords
- acceleration
- crane
- deceleration
- turning
- lifted cargo
- 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.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 claims abstract description 28
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000002265 prevention Effects 0.000 abstract 1
- 238000004804 winding Methods 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009940 knitting Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Landscapes
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は超高層構築物や広大な構築物を構築する建設現
場において、ジブクレーン（タワークレーン）のクレー
ン作業中における吊荷の振れを防止し、且つ所期の位置
へ吊荷の移動を安全に、正確に、効率よく自動制御によ
り行なう方法に間するものである。[Detailed Description of the Invention] [Industrial Application Field] The present invention prevents the swinging of a suspended load during crane operation of a jib crane (tower crane) at a construction site where a super high-rise structure or a vast structure is constructed, and The present invention provides a method for safely, accurately, and efficiently moving a suspended load to a desired position through automatic control.
この種の構築物の建設工事におけるジブクレーンの運転
は、従来手動で操作が行なわれている。ジブクレーンの
手動操作運転においては、巻上げ、起伏、旋回の３動作
のうちせいぜい２動作の複合動作を運転士が目視監視の
うちで行なっている。Jib cranes have conventionally been operated manually during construction work for this type of structure. During manual operation of a jib crane, the operator performs a combination of at most two of the three operations of hoisting, hoisting, and turning while visually monitoring the jib crane.
しかし吊荷の揚程が大きくなればなる程、又遠い位置に
なればなる程、吊荷の動きが分かり難く危険であるし、
又クレーンが大型化する程、停止時の吊娠れが大きく、
特に高所作業の場合など、組番作業者が吊荷の振れを止
める作業は非常に危険である等の問題がある。However, the greater the lift height of the suspended load, and the farther away it is, the more difficult it is to understand the movement of the suspended load, and the more dangerous it becomes.
Also, the larger the crane, the more it will hang when stopped.
Particularly when working at heights, there are problems such as the work of a group worker to stop the swinging of a suspended load is extremely dangerous.
本発明は、マイコンプログラムにより、ジブクレーンの
巻上、起伏、旋回用の各電動機の駆動を制御し、特に旋
回用電動機の加速減速にあたっては前述の三折特性を持
った加減速をマイコン制御により行なうことにより吊荷
の荷振れを防止し、運転士の指定する位置へ正確に、安
全に、効率よく荷の移動を自動制御しようとするもので
ある。The present invention uses a microcomputer program to control the drive of each electric motor for hoisting, hoisting, and turning of a jib crane.In particular, when accelerating and decelerating the turning electric motor, acceleration and deceleration with the above-mentioned three-fold characteristics are performed by microcomputer control. This aims to prevent the hanging load from swinging and automatically control the movement of the load to the position designated by the driver accurately, safely, and efficiently.
以下図面に示す実施例にもとづいて説明する。 The following description will be made based on the embodiments shown in the drawings.
第１図は本発明によるジブクレーンの自動運転にあたっ
てのマイコン制御機構の大要を示し、第３図に示すジブ
クレーン１（超高層ビル建築用高速タワークレーン）に
セットされている巻上用電動機、起伏用電動機及び旋回
用電動機の駆動制御を行なうものである。Fig. 1 shows an overview of the microcomputer control mechanism for automatic operation of the jib crane according to the present invention, and Fig. 3 shows the hoisting electric motor and undulating This is to control the drive of the electric motor for turning and the electric motor for turning.
第１図においては、中央処理装置（自動運転ＣＰＵ）１
１を行先人カニニット１２、各種検知センサー群１３等
からの人力でマイコンプログラム制御し、その制御出力
でクレーン動作制御盤１４を制御し、その出力で各電動
機１５を制御するようになっている。In Figure 1, the central processing unit (automatic operation CPU) 1
1 is controlled by a microcomputer program by human power from the destination crab unit 12, various detection sensor groups 13, etc., the control output controls the crane operation control panel 14, and the output controls each electric motor 15.
吊荷の荷振れ防止方法としては、旋回用電動機の制御に
より、本発明にもとづいて吊荷の撮動周期を考慮した三
折方式の加速、減速を行なおうとするものである。その
内容を第２図に示す。横軸には時間ｔ、縦軸には旋回速
度Ｖをとっているが、クレーンの定格旋回速度（角速度
）■に到達するまでの加速時間を吊荷の撮動周期の３／
２にとり、それを初期、中期、終期の３区間に分けて図
のような三折方式の加速方式をとり、逆にクレーンが停
止に至るまでの減速方式をこれと全く逆の過程をたどる
ような動作をさせる。As a method for preventing swinging of a suspended load, a three-fold method of acceleration and deceleration is performed by controlling a swing electric motor based on the present invention, taking into consideration the photographing period of the suspended load. The contents are shown in Figure 2. The horizontal axis shows time t, and the vertical axis shows swing speed V. The acceleration time required to reach the rated swing speed (angular speed) of the crane is 3/3 of the photographing period of the suspended load.
2, we divide it into three sections, initial, middle, and final, and use the three-fold acceleration method as shown in the diagram, and conversely, we use the completely opposite process to decelerate the crane until it comes to a stop. make a movement.
これを数式で表わせば次の通りになる。This can be expressed numerically as follows.
ｖ＝Ｔθｉ／２Ｘａ＋Ｔθｉ／２Ｘ２ａ＋Ｔθｉ／２Ｘ
ａｖｌ＝ａＸＴ θ １／２
＝ｖ／（Ｔ θ ｉ・２）ｘ Ｔ θ ｉ／２＝ｖ／
４
ｖ２＝ ｖ −ｖ ／４＝３／４ ｖ但し
Ｖ： クレーンの定格旋回速度
ａ： クレーン旋回速度をＯより■にまで加速する場合
の加速度
ｖｌ： 加速初期区間で得られる旋回速度ｖ２： 加速
中期区間終点での旋回速度Ｔθｉ： クレーン旋回加速
時の吊荷の周期Ｔθｄ： クレーン旋回加速時の吊荷の
周期１１： クレーン旋回加速時のクレーンブーム先端
滑車から吊荷重心Ｓ位置までの距
離
１ｄ： クレーン旋回減速時のクレーンブーム先端滑車
から吊荷重心Ｓ位置までの距
離
π： ３．１４
ｇ二 重力加速度（９，８ｍ／５２）
Ｐｌ： 加速初期区間の加速時間
Ｐｌ： 加速中期区間の加速時間
ＰＩ’： 加速終期区間の加速時間
Ｒ１減速初期区間の減速時間
Ｒ２： 減速中期区間の減速時間
Ｒ１′： 減速終期区間の減速時間
である。v=Tθi/2Xa+Tθi/2X2a+Tθi/2X
avl=aXT θ 1/2 =v/(T θ i・2)x T θ i/2=v/
4 v2= v - v /4=3/4 v However, V: Rated swinging speed of the crane a: Acceleration when accelerating the crane swinging speed from O to ■ vl: Turning speed obtained in the initial acceleration section v2: Acceleration Swing speed at the end of the intermediate section Tθi: Period of the suspended load during acceleration of the crane rotation Tθd: Period of the suspended load during acceleration of the crane rotation 11: Distance from the crane boom tip pulley to the suspended load center S position during the acceleration of the crane rotation: 1 d : Distance from the crane boom end pulley to the hanging load center S position during crane rotation deceleration π: 3.14 g2 Gravitational acceleration (9.8 m/52) Pl: Acceleration time in the initial acceleration section Pl: Acceleration in the middle acceleration section Time PI': Acceleration time R1 for the final acceleration section Deceleration time R2 for the initial deceleration section R2: Deceleration time for the middle deceleration section R1': Deceleration time for the final deceleration section.
指定位置への自動運転停止方法は第１図における行先入
カニニット盤１２上の希望位置を表わすボタンをクレー
ン運転士が押すことにより与えられた条件と、各種検知
センサー群１３からの入力で各電動機の制御運転を行な
い所定の位置への吊荷の移動を行なう。The method for automatically stopping automatic operation at a specified position is based on the conditions given by the crane operator by pressing the button representing the desired position on the destination input crab knitting board 12 in FIG. The suspended load is moved to a predetermined position through controlled operation.
以上の荷振れ防止のための加減速動作及び指定位置への
自動運転をプログラム制御によって行なうものである。The above-mentioned acceleration/deceleration operations to prevent load swing and automatic operation to designated positions are performed by program control.
又、複数台数のりブクレーンに対しては個々のクレーン
の作業範囲を規定しそれぞれのクレーンが他のクレーン
の領域内に侵入して動作することのないよう制御するこ
とにより衝突を防止し高速運転を行なうことができる。In addition, for multiple lift cranes, the work range of each crane is defined and each crane is controlled so that it does not intrude into the area of other cranes, thereby preventing collisions and increasing high-speed operation. can be done.
本発明は、ジブクレーンの旋回電動機の加減速にあたり
、独自の加減速方法を採用することにより吊荷の振れを
防止し、且つクレーンの指定位置への自動運転停止機能
と組み合わせることにより、高速度かつ高精度の運転制
御を可能としクレーン作業の能率向上、安全確保の面で
効果を有するものである。The present invention prevents swinging of the suspended load by adopting a unique acceleration/deceleration method for accelerating and decelerating the swing electric motor of a jib crane, and in combination with an automatic operation stop function of the crane to a specified position, it can achieve high speed and It enables highly accurate operation control and is effective in improving crane work efficiency and ensuring safety.
第１図は本発明のジブクレーンの自動運転のためのマイ
コン制御機構の略図、第２図は本発明によるクレーンの
旋回電動機の加減速度の変化を示すグラフ、第３図はジ
ブクレーンによる構造物の構築状況を示す略図である。
第３図
１はジブクレーン（タワークレーン）
２はコンクリートパケット
１は中央処理装置
２は行先入カニニット
３は各センサー群
４はクレーン動作制御盤
５はクレーン各電動機Fig. 1 is a schematic diagram of the microcomputer control mechanism for automatic operation of the jib crane of the present invention, Fig. 2 is a graph showing changes in acceleration/deceleration of the swing electric motor of the crane according to the present invention, and Fig. 3 is construction of a structure using the jib crane. 1 is a schematic diagram illustrating the situation. Fig. 3 1 is a jib crane (tower crane) 2 is a concrete packet 1 is a central processing unit 2 is a destination input crab unit 3 is each sensor group 4 is a crane operation control panel 5 is each electric motor of the crane
Claims (1)
により、ジブクレーンの巻上用電動機、ブーム起伏用電
動機、旋回用電動機の駆動を制御すると共に、旋回用電
動機の加速減速にあたっては初期区間及び終期区間の加
減速速度を中間区間の加減速速度よりも低く設定し、三
折屈曲カーブ状に加減速度を変化させることにより、吊
荷の荷振れを防止しながら、指定された位置へ吊荷の移
動を正確に行なうことを特徴とするジブクレーンの自動
運転方法。In the automatic operation of a jib crane, a microcomputer program controls the drive of the jib crane's hoisting motor, boom hoisting motor, and swinging motor, and also controls the acceleration/deceleration speed of the initial section and final section when accelerating and decelerating the swinging motor. By setting the acceleration/deceleration speed lower than the acceleration/deceleration speed of the intermediate section and changing the acceleration/deceleration speed in a three-fold curve, the suspended load can be accurately moved to the specified position while preventing the load from swinging. An automatic operation method for a jib crane featuring:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20541788A JPH0256396A (en) | 1988-08-18 | 1988-08-18 | Automatic operation of jib crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20541788A JPH0256396A (en) | 1988-08-18 | 1988-08-18 | Automatic operation of jib crane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0256396A true JPH0256396A (en) | 1990-02-26 |
Family
ID=16506503
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20541788A Pending JPH0256396A (en) | 1988-08-18 | 1988-08-18 | Automatic operation of jib crane |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0256396A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5117992A (en) * | 1991-01-28 | 1992-06-02 | Virginia International Terminals, Inc. | System for learning control commands to robotically move a load, especially suitable for use in cranes to reduce load sway |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6131032A (en) * | 1984-07-25 | 1986-02-13 | 肘井 大司 | Garment for pet animal |
-
1988
- 1988-08-18 JP JP20541788A patent/JPH0256396A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6131032A (en) * | 1984-07-25 | 1986-02-13 | 肘井 大司 | Garment for pet animal |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5117992A (en) * | 1991-01-28 | 1992-06-02 | Virginia International Terminals, Inc. | System for learning control commands to robotically move a load, especially suitable for use in cranes to reduce load sway |
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