JPS6010996B2 - Cooperative lifting control method for cargo handling machines - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a cooperative lifting control method for cargo handling machines, and is aimed at cooperatively hoisting one load by two or more cargo handling machines in various cargo handling machines. be.

For example, when a load 1' is suspended by a gantry-type crane as shown in Figure 1, the husband and husband operators operate the two cranes 2' and 3' to bring the plums into the desired position. There is.

In this case, the operators communicate with each other to perform complicated operations, or operate according to instructions from a supervisor who observes the attitude of the load 1' and issues necessary operation instructions. ) operations are complex;
This requires a high level of skill from the operator and causes a lot of fatigue to the operator. What about this invention? ) The present invention aims to provide a cooperative lifting control method that eliminates the complexity of operations and eliminates the need for a supervisor.

A detailed explanation will be given below using the drawings.

FIG. 2 is a diagram showing a general form of cooperative suspension, and 1 is a suspended load or a co-suspended beam.

P, , P2 are support points for the hanging wires 2 and 3, and P3 and P4 are hanging points. Assuming that the coordinate system is x, Y, and Z as shown in the figure, the function that the co-hanging should have can be expressed as follows. That is, [a} The hanging wires 2 and 3 are vertical to eliminate the forces F, F2 shown in Fig. 5 and to prevent unnecessary lateral pressure from acting on the structure body, that is, illusion = Xi, I =
yi,i=1,2 holds true.

{b- To determine the suspended load posture, it is assumed that the chain between the projection P5P6 of the suspended load 1 on the x, Y plane and the x or Y axis is constant, that is, the condition 'a' is satisfied. Sometimes x, 1&=K,, y, y2=K2.

However, K,,K2 are constants given by n8=K,/K2, sin8K,/l, and 3 is the angle of the suspended load with respect to the Y axis in the x,Y plane. 'c' To determine the suspension posture, the suspended load 1 must form a constant angle with the horizontal plane (x, Y plane), that is, Z-Z=K3.

However, K3 is a constant for giving a constant angle.

When the above-mentioned functions are satisfied, first, point P can be moved arbitrarily according to the operator's will.

In the present invention, in order to achieve function a, a verticality sensor that detects the inclination of the wire from the vertical is provided in the P2 section, and the output from the verticality sensor, that is, the deviation of the wire from the vertical, is Feedback to the directional drive ensures verticality of both wires. This is because statically, when one wire becomes vertical due to force balance, the other wire also becomes vertical, so it is only necessary to ensure the verticality of one wire.

Furthermore, by detecting the positions x, y, , x2, y2 of points P, , P2, input is applied to the drive unit of P2 in order to satisfy the geometric condition that satisfies function b. The achievement of the function of c is Z
This is done by detecting 2-Z and feeding it back to the Z, , Z direction driving section of P, , P2. A method for realizing the above-mentioned control method will be described next.

For example, the output from the verticality sensor has its origin at point P2, and considering a coordinate system parallel to the x and Y axes, it is output as the coordinates of point P4 in the f system, and its value is , f. First, a method for realizing functions a and b will be described. The control system is configured as shown in FIG.

In Figure 3, to change the position of point P in Figure 2, input speed commands x, Y, and P.
By moving the drive system of the point P, in the X direction and the Y direction, it is possible to move the point P, to an arbitrary position. Vertical sensor output,
is fed back to the drive system in the Y direction at point P2,
Configure the control system so that

The vertical sensor output , is fed back to the drive system in the x direction at point P2, the control system is configured so that , is zero, and calculations are performed to make the inclination of the load a desired state.

The calculation unit output 8 is also added to the X-direction drive system at point P2. This 8 is equivalent to B shown in FIG. 2, where P, point position x,
, y, , This is the result of calculation to satisfy the geometric condition using the x position I of the 2 points and the inclination angle command 8.

By configuring the control system in this way, the wire can be made vertical, and the inclination of the load in the horizontal plane can also be freely set. Function c can also be realized using the wire length h = {(Z-Z,)20(x,1x.)20(y
, pair) 2} h2i {(Z-Z2) 20 (x2-Sugi Y
+(y2-chord)2}, and set the wire length h2 or h, and h so that the difference between Z+h2 and Z+h2 is a constant value.
Adjust 2.

In this case, the reason why Hitoshi's system works as intended will be explained using the simplified system shown in Figure 4. In Figure 2, if the transfer function Gi (i = 1 to 4) of the cargo handling machine drive and the lateral part of the lifting rock is simplified and set as Gi = 1/S (S: Laplace operator), the average and Case = Long life, Kokokai day, (S) 8 S ~ Go = Hako 6 HP ≧ Cry s) 8 Next, Takumushi day, Ku S), S, 1/S = 1 Takuhari (s), S, 1 /S=.

Therefore, for a step input of 8, x2 = 3 at time t =
It can be seen that next door = 0.

As described above, according to the present invention, it is possible to eliminate the complication of assigning a worker or a general supervisor to each crane to monitor the posture of the load as in the past, and to save labor. It has excellent features.

[Brief explanation of the drawing]

Fig. 1 is a perspective view of the main parts showing a general form of conventional cooperative lifting, Fig. 2 is an explanatory diagram of the coordinate system of the general form of cooperative lifting, and Fig. 3 is a cooperative lifting control system of the present invention. FIG. 4 is an explanatory diagram of the simplified system, and FIG. 5 is a projection diagram onto the x-Y plane in FIG. 2. Figure 1 Figure 2 Figure 3 Figure 4 Figure 5

Claims (1)

[Claims] 1 In a cooperative lifting equipment that suspends one load from at least two or more lifting structures, a plurality of lifting wires 2
, 3 can be moved arbitrarily according to the will of the operator, and a verticality sensor is provided at the other support point P_2 to detect the inclination of the wire 3 from the vertical. The output from the verticality sensor due to the deviation from the vertical is fed back to the drive unit in the X and Y directions at the support point P_2 until the output becomes 0 to ensure the verticality of all wires and to prevent the tilt of the load. Calculations were performed to achieve the desired state, and the calculation output was applied to the X-direction drive system at point P_2.The lengths of the two wires were detected and the wires were adjusted so that the difference between them was a constant value. A cooperative lifting control method for a cargo handling machine characterized by adjusting the length.