JPH0649560B2 - Winch control device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a winch control for controlling a winch used for unloading a suspended load from a ship or the like to the sea surface or for lifting a suspended load from the sea surface. Regarding the device.

[Conventional technology]

Generally, equipment and devices are suspended from the sea surface or in the sea, from the sea surface fixed or levitated platform or ship, such as offshore platform, jeap cap platform, semi-submersible platform, or drill ship. When hoisting, or when exchanging equipment etc. between these platform and the support ship, suspending the suspended load by the winch installed in the platform etc. mentioned above, the sea surface due to waves and swells The vertical movement of the hull causes a relative change in the vertical distance between the suspended load and the sea surface or the deck of the support vessel.
In addition to the weight of the suspended load, an extra force such as the inertial force associated with the above-described vertical movement and the impact force due to a collision is applied to the suspension line of the winch.

And as these extra forces, (i) when the suspended load is below the surface of the water, the inertial force due to the acceleration of the vertical motion and the motion resistance in water (ii) when the suspended load is on the support ship, Occurs when the lifting device shocks or hoists the load on the support ship due to changes in the relative vertical distance between the platform and the hull and the deck of the support ship from the loose state. Impact force [= total weight and inertial force of suspended load] or impact force when draining water (iii) Vertical motion of the winch side hull, etc., when the suspended load is suspended in the air or in the process of hoisting / falling The inertial force associated with this can be mentioned.Of these forces, (iii) is dealt with by increasing the yield strength of the winch, or the magnitude of the lifting load is limited according to the weather and sea conditions. Measures such as using a light load There is a common, the remaining (i), the even (ii), it is known well that can be accommodated in a similar manner for only the change of the load.

However, for example, a remote-controlled unmanned exploration device (hereinafter referred to as RO
V) is stored in the cage and settles below the sea level, the ROV leaves the cage or R
If the suspended cage moves up and down when the OV is stored in the cage again, it becomes difficult to store and remove the ROV, and there is a risk of damage.

Also, when exchanging luggage from the support vessel, as shown in Fig. 4, when the luggage (L) is lifted from the deck of the support vessel (S) or the luggage (L) is near the deck of the support vessel (S). When approaching the ship, the hull may push up the bottom of the luggage (L) due to the vertical movement of the hull, or the suspension rope (R) may receive shocking tension.
Very dangerous.

Therefore, conventionally, an inlet of a buffer low-pressure relief valve is connected to the main hydraulic path of a hydraulic winch, and the inlet of the relief valve is controlled to be opened / closed by a solenoid valve or the like, and the inlet of the relief valve is opened / closed. A hydraulic winch with a so-called relief valve type constant tension function, in which a small back tension in the winding direction is added to the rope to release excess external force and the winding of the hanging rope starts when the external force becomes small to some extent. The hydraulic winch is used to absorb and absorb the external force to the suspension line caused by the vertical movement of the hull as described above.

[Problems to be solved by the invention]

However, in the case of the hydraulic winch with the constant tension function of the relief valve system described above, the efficiency at the time of starting the hydraulic motor that constitutes the winch is very poor compared to the efficiency during operation, and the relief valve in the operating state after startup is Although the ratio of the payout load to the winding load corresponding to the same set pressure of, that is, the dead area of the winch is usually about 1.4 to 1.8, the dead area is as described above when the static friction is large at the moment of starting. It is known that the value reaches 4 to 5 times or more the value in the operating state, and when a hydraulic motor in which the magnitude of the output torque changes cyclically depending on the rotation phase is used, the Since the averaging of torque due to the flywheel effect cannot be expected at low speed rotation,
Due to the influence of torque fluctuations due to changes in the rotational phase, the dead area of the winch may be further expanded to reach 6 to 8 times the above-mentioned value.

Therefore, even if such a winch having a large dead zone is used for descent of a suspended load from the above-mentioned platform, etc., the sea surface and the vertical movement of the hull due to waves and swell should be sufficiently buffered and absorbed. However, there is a problem that the operation becomes very difficult.

Further, in the hydraulic winch with the constant tension function described above, the size of the dead zone cannot be adjusted according to changes in weather and sea conditions, which lacks applicability, and changes in the number of winding layers of the winch drum. Therefore, even if the set pressure of the relief valve is the same, since the load of winding or unwinding is different, it is necessary to correct the tension set value of the suspension rope every time the number of winding layers changes, which is very troublesome. is there.

In view of this, the present invention automatically controls the winch to be wound and unwound in a range in which the fluctuation range of the load applied to the suspension rope is relatively narrow, and always keeps the tension of the suspension rope within a certain range. And the dead zone can be adjusted according to the weather and sea conditions, and at the same time, it is not necessary to correct the tension set value of the suspension line for changes in the number of layers of the winch drum. This is a technical issue.

[Means for solving problems]

The present invention has been made in view of the above points, and a hydraulic winch, and a flow direction control valve including a switching valve with a flow rate adjusting means for controlling the flow direction and flow rate of oil to the winch, A tension detector provided in the winch hanging rope system to detect a rope tension and output a tension detection signal, a tension setter that outputs a tension setting signal for setting the winch rope tension, and a dead zone of the winch. A dead zone setting device that outputs a dead zone setting signal for setting, the tension detection signal and both setting signals are input, and when the tension detection signal is smaller than the tension setting signal and when the tension detection signal is both the setting When the signal is larger than the sum signal of the signals, the winding control signal and the feeding control signal which are respectively proportional to the difference between the respective signals are output, and the tension detection signal is larger than the tension setting signal and the tension setting signal is larger than the tension setting signal. A comparison calculation unit that outputs a stop control signal when the signal is smaller than the signal, and the flow control means that controls the oil flow direction of the control valve by the take-in and take-out control signals so that the oil flow direction is taken in and taken out respectively. A winch control device, comprising: a solenoid valve that controls and shuts off the control valve in response to the stop control signal.

[Action]

Therefore, according to the present invention, the tension detector detects the tension of the suspension line and outputs the tension detection signal, and when the tension detection signal is smaller than the tension setting signal from the tension setting device, the comparison calculation unit takes it in. When the control signal is output and the tension detection signal is greater than the sum signal of the tension setting signal and the dead zone setting signal from the dead zone setting device, the comparison calculation unit outputs the feeding control signal and the tension detecting signal When the signal is larger than the signal and smaller than the sum signal of both setting signals, a comparison control unit outputs a stop control signal, and the solenoid valve causes
Based on the delivery control signal, the flow direction of the oil in the flow direction control valve is controlled to be rolled up and out, and at the same time the flow rate adjusting means is controlled, and the solenoid valve shuts off the flow direction control valve based on the stop control signal. The tension of the sling line is always kept within a certain range when the load is applied to the sling line and the load applied to the sling line exceeds a narrow range. As well as being kept
The dead area of the winch is much smaller than before.

〔Example〕

Next, the present invention will be described with reference to FIGS. 1 to 3 showing one embodiment thereof.

First, in FIG. 1 showing a hydraulic winch and its hydraulic system, (1) is a hydraulic motor, (2) is a small gear mounted on the rotary shaft of the motor (1), and (3) is a small gear (2). Large gear meshed with
(4) is a winch drum which constitutes a hydraulic winch (5) together with a motor (1) axially attached to a rotation shaft of a large gear (3), both gears (2) and (3), and (6) is A and B. A flow direction control valve consisting of a 3-position closed center switching valve with a lever, which is a flow rate control means with ports connected to both ends of the motor (1) to control the flow direction and flow rate of oil to the motor (1). , P ports are connected to the main hydraulic power source (8) via the maximum flow rate restriction throttle valve (7), R ports are connected to the tank (9), and switching control is performed by the double-acting hydraulic control cylinder (10). The P, A ports and the B, R ports are respectively connected at the first switching position which is the winding side position, and the P, B ports and the A, R ports are respectively connected at the second switching position which is the feeding side position. To be done.

(11) is a counterbalance valve provided between the A port of the control valve (6) and the motor (1), (12) is a buffer valve provided in parallel with the motor (1), (13) is A, B port is hydraulic control cylinder (10)
Is a 3-position / ABR-connection / spring-center type solenoid switching valve that is connected to the openings of both cylinder chambers, respectively, as a solenoid valve for entrainment and delivery, and the P port is a control hydraulic pressure via a throttle valve (14). Source (15) and the R port is connected to the tank (1
6) connected to the switching first electromagnet (17) and second electromagnet (1
By the operation of 8), the first switching position which is the winding side position and the second switching position which is the feeding side position are respectively switched to the first switching position.
The P, A ports and the B, R ports are respectively connected in the switching position, and the P, B ports and the A, R ports are respectively connected in the second switching position.

In addition, (19) is an electromagnetic relief valve as a flow control electromagnetic valve provided between the P and R ports of the electromagnetic switching valve (13),
The pressure set value is changed by the operation of the third electromagnet (20), and the flow rate of the oil flowing to the cylinder (10) through the electromagnetic switching valve (13) is controlled.

Next, FIG. 2 showing the circuit connection of the control device will be described.

In the figure, (21) is a tension detector incorporated in the support sheave (22) of the suspension rope (R) shown in FIG. 3 to detect the rope tension and output a tension detection signal, and (23) is the tension An amplifier for amplifying the detection signal, (24) is an indicator for inputting the tension detection signal amplified by the amplifier (23) and displaying rope tension based on the detection signal, (25) is a variable resistor (26) Tension setting device that outputs a tension setting signal proportional to the resistance value, (27) is a dead zone setting device that consists of a dead zone setting variable resistor, and outputs the tension setting signal as it is from the first output terminal (27a) Then second
An output terminal (27b) outputs a sum signal of the tension setting signal and a dead zone setting signal proportional to the resistance value of the variable resistor.

Both input terminals of (28) are connected to the first output terminal (27a) of the setting device (27) and the output terminal of the amplifier (23), and the tension setting signal and amplifier (23) via the setting device (27) are connected to each other. A first comparator that compares the tension detection signal through the output and outputs a first comparison signal proportional to the difference between the two signals only when the latter is smaller than the former,
(29) has both input terminals connected to the second output terminal (27b) of the setter (27) and the output terminal of the amplifier (23), and the sum signal and the amplifier (23) via the setter (27). The second comparator that compares the tension detection signal and outputs the second comparison signal proportional to the difference between the two signals only when the latter is larger than the former, (30) is an output unit, and Based on each of the second comparison signals, a winding control signal and a feed-out control signal, which are voltage signals, are output, and both comparators (28), (29) and the output unit (30) compare and calculate a unit ( 31) is configured.

When the tension detection signal to the first comparator (28) is larger than the tension setting signal and the tension detection signal to the second comparator (29) is smaller than the sum signal, both comparators (2
No signal is output from both 8) and (29), but a stop control signal is output from the output section (30).

(32) is a manual setting device consisting of a variable resistor that outputs a manual winding setting signal and a manual feeding setting signal that are voltage signals according to the position of the sliding terminal, and (33) is a manual side and automatic side terminal. 1, a switching switch (34a), the second switching contact (34a), (34b) is connected to the output terminal of the manual setting device (32) and the output terminal of the output unit (30), respectively, Switching unit
The switching piece (34c) of the switch (34) of (33) is connected to the above-mentioned first to third electromagnets (17), (18) and (20).

Next, the operation of the above embodiment will be described.

Now, when manually controlling the winch (5), switch (33)
Switch from the setting device (32) by switching the switching switch (34) to the first switching contact (34a) on the manual side and setting the manual setting device (32) to the predetermined winding setting position or feeding setting position. A manual winding setting signal or a manual feeding setting signal is output to each electromagnet (17), (18), (20) via the device (33).

When the manual winding setting signal is output, the first electromagnet
(17) operates, the electromagnetic switching piece (13) switches from the neutral position to the first switching position, and the set pressure of the electromagnetic relief valve (19) is the voltage of the manual entrainment setting signal by the third electromagnet (20). The flow direction and flow rate of the oil from the control hydraulic pressure source (15) to the hydraulic control cylinder (10) are controlled by the hydraulic control cylinder (10) to control the flow direction control valve (6). Simultaneously with switching from the neutral position to the first switching position, the inclination of the lever of the control valve (6) is controlled, and a predetermined flow rate of oil from the main hydraulic power source (8) is passed through the control valve (6) to the motor (1 ), The winch (5) is controlled to be in a wound state, and the suspension rope (R) is wound around the drum (4) at a set speed.

On the other hand, even when the manual feed-out setting signal is output, the control valve (6) is switched to the second switching position in the same manner as when the manual winding setting signal is output, and the oil from the main hydraulic power source (8) is output. Is passed through the control valve (6) to the motor (1) in the feeding direction, the winch (5) is controlled in the feeding state, and the suspension rope (R) is fed from the drum (4) at a set speed. .

Next, when automatically controlling the winch (5), the switching device (3
When the switching switch (34) in 3) is switched to the second switching contact (34b) on the automatic side, and the tension setting device (25) and dead zone setting device (27) set the rope tension and dead zone to predetermined values, respectively. , The tension of the suspension rope (R) is detected by the detector (21) and a tension detection signal is output, and the tension detection signal is input to both comparators (28) and (29) via the amplifier (23). The tension detection signal is compared with the tension setting signal and the sum signal by the comparators (28) and (29).

At this time, when the tension detection signal to both comparators (28) and (29) is smaller than the tension setting signal, the first comparison signal is output from the first comparator (28) and the output unit (30) Outputs a winding control signal based on the first comparison signal from both comparators (2
When the tension detection signals to 8) and (29) are larger than the sum signal, the second comparator (29) outputs the second comparison signal, and the output section (30) outputs the second comparison signal based on the second comparison signal. When the feeding control signal is output and the tension detection signal to both comparators (28) and (29) is larger than the tension setting signal and smaller than the sum signal, both comparators (28) and (29) ) Does not output a signal, the output unit (30) outputs a stop control signal, and the control signals are transmitted to the electromagnets (1
Input to 7), (18), and (20).

Then, when the winding control signal is output from the output unit (30),
By the same operation as when outputting the manual rolling-in setting signal, the electromagnetic switching valve (13) is switched to the first switching position, and the set pressure of the magnetizing relief valve (19) becomes the voltage of the rolling-in control signal. At the same time as the control valve (6) is switched to the first switching position by controlling to a proportional value and controlling the flow direction and flow rate of oil from the control hydraulic pressure source (15) to the hydraulic control cylinder (10), The inclination of the lever of the control valve (6) is controlled, and a predetermined flow rate of oil from the main hydraulic power source (8) is passed through the control valve (6) in the winding direction of the motor (1), and the winch (5 ) Is automatically controlled to be wound up and the suspension rope (R) is wound up on the drum (4) at a set speed.

On the other hand, when the feeding control signal is output, the control valve (6) is switched to the second switching position in the same manner as when the winding control signal is output, and the oil from the main hydraulic power source (8) is controlled. The winch (5) is controlled by the motor (1) in the feeding direction through the valve (6), and the winch (5) is controlled to feed the drum (R) at the set speed.
When it is fed from (4) and the stop control signal is output, the control valve (6) returns to the neutral position, the oil flow to the motor (1) is cut off, and the winch (5) is stopped. Retained.

Then, for example, as shown in FIG. 3, when the luggage (L) is pulled up from the sea by the winch (5) installed on the platform, etc., as described above, by the comparison calculation unit (31),
The tension detection signal, the tension setting signal, and the sum signal are compared in real time, and due to the relative motion of the plating foam or the like and the sea surface due to waves or the like, the hanging rope (R) is caught during the winding operation (R). If an excessive force is applied to (R), the output section (3
(0) outputs a feeding control signal or a stop control signal to control the winch (5) to switch from the winding state to the feeding or stopping state, which prevents excessive force from being applied to the suspension line (R). If the hanging rope (R) loosens and tries to kink, the voltage level of the winding control signal output from the output section (30) increases and the winding speed of the winch (5) is controlled, so that the hanging rope (R) Kinks are prevented, and the winch (5) is automatically controlled to be wound, unwound or stopped in a range where the fluctuation of the load applied to the suspension rope (R) is relatively narrow. The tension of the suspension rope (R) will always be kept within a certain range regardless of the efficiency of the and the fluctuation of the dead zone due to the rotation phase.

In addition, by the function of the comparison calculation unit (31) as described above, the dead zone can be made smaller than before, and at the same time,
It is no longer necessary to correct the tension set value of the suspension rope (R) as in the conventional case, with respect to the change in the number of winding layers of the winch drum (4).

By using the first to third electromagnets (17), (18) and (20) as drive sources for the rotation direction and speed notch control means of the electric winch, the present invention is applied as a control device for the electric winch. You can also

Further, it is needless to say that the present invention can be applied to a pump control type hydraulic winch.

〔The invention's effect〕

Therefore, according to the winch control device of the present invention, the comparison operation unit (31) causes the tension detection signal from the tension detector (21), the tension setting signal from the tension setting device (25), and the tension detection signal. The tension setting signal and the dead zone setting signal from the dead zone setting device (27) are compared in real time with the sum signal, and by these comparisons, the winding, feeding and stopping output from the comparison calculation section (31). Winches based on control signals (5)
The winch can be automatically controlled to be wound, unwound, and stopped within a range where the fluctuation range of the load applied to the suspension rope (R) is relatively narrow, because it is controlled to be wound, unwound, and stopped. The tension of the suspension rope (R) can always be kept within a certain range, and the dead zone of the winch (5) can be reduced.

Further, unlike the conventional case, it is not necessary to correct the tension set value of the suspension rope (R) with respect to the change in the number of winding layers of the winch drum, and the labor of correction can be saved.

Furthermore, since the dead zone setting device (27) is provided, the dead zone can be adjusted according to the weather and sea conditions, and the applicability can be improved.

[Brief description of drawings]

1 to 3 show a winch control device 1 according to the present invention.
FIG. 1 shows a system diagram, FIG. 2 shows a connection diagram, and FIG.
FIG. 4 is a diagram for explaining the operation, and FIG. 4 is a diagram for explaining the operation when the cargo is exchanged between the platform and the support ship. (5) …… hydraulic winch, (6) …… flow direction control valve, (13)…
… Solenoid switching valve, (19) …… Electromagnetic relief valve, (21) …… Tension detector, (25) …… Tension setting device, (27) …… Insensitive region setting device,
(31) …… Comparison unit, (R) …… Suspension rope.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yasuhiko Baba 1-6-14 Edobori, Nishi-ku, Osaka City, Osaka Prefecture Hitachi Shipbuilding Co., Ltd.

Claims (1)

[Claims] 1. A flow direction control valve comprising a hydraulic winch, a switching valve with flow rate control means for controlling the flow direction and flow rate of oil to the winch, and a rope tension provided in a suspension rope system of the winch. A tension detector that detects and outputs a tension detection signal, a tension setting device that outputs a tension setting signal for setting the winch rope tension, and a dead zone that outputs a dead zone setting signal for setting the winch dead zone A setter and the tension detection signal and the both setting signals are input, and when the tension detection signal is smaller than the tension setting signal and when the tension detection signal is larger than the sum signal of the both setting signals, respectively. Outputs a winding control signal and a feeding control signal proportional to the signal difference, and outputs a stop control signal when the tension detection signal is larger than the tension setting signal and smaller than the sum signal. The comparison calculation unit and the entrainment / delivery control signals switch the oil flow direction of the control valve to the entrainment / delivery directions, respectively, and at the same time control the flow rate adjusting means and the stop control signal to perform the control. A winch control device comprising: a solenoid valve for closing the valve.