JP2908355B2 - Winch control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a winch control device, and more particularly to a winch control device for lifting and lowering a suspended load by two wire ropes wound around two winch drums.

[0002]

2. Description of the Related Art In a crane operation, a wire rope is wound around two winch drums, and the two winch drums are driven by independent winch motors. The suspended load may be raised or lowered by a wire rope. Conventionally, since the operation of each winch drum is performed separately, two operation levers are provided.

For example, when a kelly excavator is hung on a crane to perform excavation work, it is necessary to increase the hoisting / lowering speed of the excavator despite the heavy weight of the kelly excavator. Cannot be hung around multiple sheaves. Therefore, a wire rope is wound around each of two winch drums, and the excavator is suspended by the two wire ropes.

When raising and lowering the excavator, two operation levers are simultaneously operated. At this time, the operation levers are finely operated so that the load is not concentrated on only one of the wire ropes. It was necessary to adjust the rotational position. Should the excavator be lifted by only one of the wire ropes, there is a risk that the load is concentrated and the wire ropes break. Also, when the excavator is tilted, the surrounding excavation wall surface is destroyed, resulting in poor finishing. Therefore,
High skill is required of the operator, and the burden on the operator increases.

Therefore, when lifting and lowering a suspended load such as a Kelly excavator with two wire ropes, the two winch drums can be operated with one operation lever, and only one wire rope is used. Controlling the winch so that no load is applied causes technical problems to be solved in order to improve operability and ensure safety, and the present invention aims to solve this problem. I do.

[0006]

SUMMARY OF THE INVENTION The present invention has been proposed in order to achieve the above-mentioned object. Each of the two winch drums is wound with a wire rope, and the two winch drums are independently driven by a winch motor. A winch that drives and raises and lowers a suspended load with two wire ropes has a hydraulic circuit for controlling the two winch motors with one operating lever, and the hydraulic circuit includes two winch drums. A means for independently changing the rotation speed, a means for determining the operation lever mode, a means for detecting the rotation of the winch drum, and a winding length of the wire rope obtained from this detection signal, and the setting is made in advance. Calculating means for calculating the amount of change in the wire rope from the reference position being set, and calculating the control operation amount from the difference between the amounts of change in the two wire ropes. Only, in which controlling the rotational speed of the winch drum at the control operation amount, to provide a winch control apparatus distal end position of the two wire ropes is to match.

[0007]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a circuit diagram of a winch control device, in which wire ropes 13 and 14 are wound around two winch drums 11 and 12, respectively.
The two winch drums 11 and 12 are driven by 5 and 16, and the Kelly excavator 17 is raised and lowered by two wire ropes 13 and 14. .

The winch motors 15, 16 are provided with variable displacement hydraulic pumps 19, driven by an engine 18.
The flow rate and direction of the pressure oil which is rotated by the discharge oil 20 and supplied to the winch motors 15 and 16 are controlled by the direction control valves 21 and 22. The direction control valves 21 and 22 are simultaneously switched by one operation lever 23.

For example, when the operating lever 23 is operated in the hoisting direction (in the direction of arrow A), the pilot oil turns on the hoisting detector 24 and the spools of the direction control valves 21 and 22 are moved to the position (a). Then, the pressure oil discharged from the hydraulic pumps 19 and 20 passes through the counter balance valves 25 and 26, flows into the winch motors 15 and 16, and rotates the winch drums 11 and 12 in the hoisting direction. Accordingly, the two wire ropes 13 and 14 are wound on the winch drums 11 and 12, respectively, and the Kelly excavator 1 is wound.
7 rises.

On the other hand, when the operating lever 23 is operated to the lowering side (the direction of arrow B), the pilot oil
7 is turned on, the respective spools of the direction control valves 21 and 22 are switched to the position (b), and the winch motors 15 and 16 rotate in reverse to rotate the winch drums 11 and 12 in the lowering direction. Accordingly, the two wire ropes 13 and 14 are fed out from the winch drums 11 and 12, respectively, and the Kelly excavator 17 descends.

The hoisting detector 24 and the lowering detector 27 are provided to determine the state of the operating lever 23 (hereinafter referred to as "operating lever mode"). When the hoisting detector 24 is on, the hoisting operation is performed. The detection signal LE1 is input to the control arithmetic unit 29 of the controller 28. When the lowering detector 27 is turned on, the lowering operation detection signal LE2 is input to the control arithmetic unit 29. The control arithmetic unit 29 determines the operation lever mode based on this signal as follows. (1) When the lifting operation detection signal LE1 is off and the lowering operation detection signal LE2 is also off, the operation lever mode is set to “neutral”. (2) When the lifting operation detection signal LE1 is on and the lowering operation detection signal LE2 is off, the operation lever mode is “winding up”.
And (3) When the lifting operation detection signal LE1 is off and the lowering operation detection signal LE2 is on, the operation lever mode is “down”.
And

The rotation of the winch drums 11 and 12 is detected by winch drum rotation detectors 30 and 31, respectively, and is input to the control arithmetic unit 29 as winch drum rotation detection signals C1 and C2. The controller 28 is provided with a control execution determination device 32 and a control reference value calculation device 33 in addition to the control calculation device 29. Whether or not to perform the winch control is determined by the operator, and the operator operates selection means (not shown) such as a switch. By this operation, the control execution determining device 32 determines whether or not to perform winch control, and sends a determination signal S to the control arithmetic device 29 when performing winch control.

On the other hand, the control reference value calculation device 33 is provided with a hydraulic pump 19,
The position to which the tilt angle of 20 is to be adjusted is calculated in advance, and sent to the control calculation device 29 as control reference value signals V _1BASE and V _2BASE .

Next, an example of processing in the control arithmetic unit 29 will be described with reference to the flowchart of FIG.
First, current drum winding calculates the total number of pulses S _1, the current drum winding total pulse winch drum 12 from the winch drum rotation detection signal C2 of the winch drum 11 from the control arithmetic unit 29 in the winch drum rotation detection signal C1 to calculate the number S _2. [Step 1]

Incidentally, the current total number of drum winding pulses (S ₁ , S ₂ ) changes even when the winch drum is rotated in a state where the wire rope is not wound, so that an erroneous value may be counted. Therefore, the control arithmetic unit 29 has a function of setting a correct value to the total number of drum winding pulses (S ₁ , S ₂ ).

The following data is stored in the control arithmetic unit 29 in advance. (1) Total number of wire rope winding pulses for each wire rope winding layer of winch drum 11: N ₁ (i) (2) Total number of wire rope winding pulses for each wire rope winding layer of winch drum 12: N ₂ (j) (3) Winch drum rotation detection signal for each winding layer of winch drum 11 (C1) Wire rope length per pulse: K ₁ (i) (4) Wire rope winding of winch drum 12 Winch drum rotation detection signal for each layer (C2) Wire rope length per pulse: K ₂ (j)

As shown in FIG. 3, the winding diameter of the wire rope 13 wound around the winch drum 11 is a second layer from the first layer, a third layer from the second layer, and a third layer from the second layer. because increases with, the wire rope winding total number of pulses in the current winch drum N ₁ (i) and winch drum rotation detection signal 1 per pulse wire rope length K ₁ (i),
The current winding number of the wire rope of the winch drum 11 and the drum winding length can be calculated. Similarly, the winch drum 12 is determined from the current total number N ₂ (j) of wire rope winding pulses of the winch drum and the wire rope length K ₂ (j) per one pulse of the winch drum rotation detection signal. The current number of winding layers of the wire rope and the drum winding length can be calculated.

That is, the present total number of drum winding pulses S ₁ and S ₂ calculated in [Step 1] and the total wire rope winding layer for each wire rope winding layer stored in the control arithmetic unit 29 in advance. From the pulse numbers N ₁ (i) and N ₂ (j), the current winding layer number (m ₁ , m ₂ ) of the wire rope is calculated by the following determination formula. [Step 2]

[0019]

(Equation 1)

Subsequently, the current total number of drum winding pulses (S ₁ , S ₂ ), the total number of wire rope winding pulses N ₁ (i), N ₂ (j), and the winch drum rotation detection signal Wire rope length per pulse K ₁ (i), K ₂ (j)
From the current number of winding layers (m ₁ , m ₂ ) of the wire rope obtained in [Step 2], the current drum winding length (L ₁ , L ₂ ) of the wire rope is calculated by calculate.
[Step 3]

[0021]

(Equation 2)

Then, the current wire rope winding length (L ₁ , L ₂ ) of the wire rope obtained in [Step 3]
And the drum winding length of the wire rope at the reference position set in step 11 (L _1BASE , L _2BASE )
And the amount of change of the wire rope from the reference position by the following formula
(L _1S , L _2S ) is calculated. [Step 4]

[0023]

(Equation 3)

Here, when the discrimination signal S is sent from the control execution discriminating device 32 to the control computing device 29 and the control is ON, the process proceeds from [Step 5] to [Step 6], and the wire rope drum at that moment is turned on. Winding length (L ₁ , L ₂ )
_Is set as the drum winding length (L _1BASE , L _2BASE ) of the wire rope at the reference position. [Step 11]

When the operator selects the control of the winch and inputs the control to the control execution determining device 32 to turn on the determination signal S, the loads applied to the two wire ropes 13 and 14 are equal and Kelly excavation is performed. When the machine 17 is not tilted, the drum winding length of the wire rope at this time must be set as a reference value.

Next, when the operation lever mode is not "neutral" but "winding up" or "downward", the process proceeds from [Step 7] to [Step 8], and the reference position obtained in [Step 4] is obtained. Wire rope change from (L _1S , L
_2S ) is calculated (ΔL _n ).

[0027]

(Equation 4)

Further, the first control manipulated _variable (ΔV _Ln
) Is calculated. [Step 9]

[0029]

(Equation 5)

Based on the first control operation amount (ΔV _Ln ), a second control operation amount (V _n ) is calculated. [Step 1
0]

[0031]

(Equation 6)

If the control is turned off in [Step 5],
Alternatively, when the operation lever mode is “neutral” in [Step 7], the second control operation amount is set to (V _n ) = 0. [Step 12] Then, from the second control operation amount (V _n ) and the operation lever mode, the control operation amount (V ₁ ,
V ₂ ) is calculated. [Step 13] The control reference values (V _1BASE , V _2BASE ) are used to control which position the tilt angles of the hydraulic pumps 19 and 20 are adjusted to obtain the flow rate required by the operator, as described above. The reference value is calculated by the control reference value calculation device 33 and sent to the control calculation device 29.

[0033]

(Equation 7)

[0034]

(Equation 8)

Next, as shown in FIG. 1, the signals of the control operation amounts (V ₁ , V ₂ ) of the pump tilt angle obtained in [Step 13] are transmitted to the regulators 19 of the hydraulic pumps 19, 20 as shown in FIG.
a, 20a, and by adjusting the discharge amount of the hydraulic pumps 19, 20 by changing the respective pump tilt angles, the flow rates to the winch motors 15, 16 are changed, and the rotational speeds of the winch drums 11, 12 are changed. Can be controlled.

As means for independently changing the rotation speed of the winch drum, in the present embodiment, the flow rate to the winch motor is controlled by adjusting the discharge amount of the hydraulic pump by changing the pump tilt angle. In addition to this, a method of controlling the flow rate to the winch motor by changing the pilot pressure applied to the directional control valve using an electromagnetic proportional pressure reducing valve and adjusting the opening of the spool of the directional control valve is also considered. Can be

Thus, the present invention can be variously modified without departing from the spirit of the present invention, and it goes without saying that the present invention extends to the modified ones.

[0038]

As described above, according to the present invention, when lifting or lowering a suspended load with two wire ropes, two winch drums can be operated with one operation lever, thereby improving operability. The burden on the operator can be reduced.

Further, since the rotation speed of the winch drum is controlled so that there is no difference in the amount of change in the winding length of the two wire ropes, no load is applied to only one of the wire ropes. Can be prevented from breaking, and safety can be ensured by preventing inclination of the suspended load.

[Brief description of the drawings]

 The figure shows an embodiment of the present invention.

FIG. 1 is a circuit diagram of a winch control device.

FIG. 2 is a flowchart showing an example of processing in the control arithmetic unit.

FIG. 3 is an explanatory diagram illustrating a winding layer of a wire rope wound around a winch drum.

[Explanation of symbols]

 11,12 winch drum 13,14 wire rope 15,16 winch motor 17 kelly excavator 19,20 hydraulic pump 21,22 directional control valve 23 operation lever 24 hoisting detector 27 unwinding detector 28 controller 29 control arithmetic unit 30, 31 Winch drum rotation detector 32 Control execution determination device 33 Control reference value calculation device

Continuation of front page (58) Field surveyed (Int.Cl. ⁶ , DB name) B66D 1/44 B66D 1/40

Claims (1)

(57) [Claims] 1. A winch in which a wire rope is wound around each of two winch drums, and the two winch drums are driven by independent winch motors to raise and lower a suspended load by two wire ropes. A hydraulic circuit for controlling the two winch motors with the operation lever; a means for independently changing the rotation speeds of the two winch drums; and a means for determining the operation lever mode; Further, a means for detecting the rotation of the winch drum, a winding length of the wire rope is obtained from the detection signal, and a change amount of the wire rope from a preset reference position is calculated. A calculating means for calculating a control operation amount from a difference in a change amount of the rope; controlling a rotation speed of the winch drum by the control operation amount; A winch control device wherein the tip positions of the wire ropes are matched.