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Crane control method, and crane

A control method and crane technology, applied in the directions of cranes, load hanging components, transportation and packaging, can solve problems such as difficulty in control, and achieve the effect of suppressing load swing

Pending Publication Date: 2021-10-29
TADANO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, conventional cranes employ a method of detecting and controlling load swings when load swings occur (so-called feedback control (hereinafter referred to as FB control)), so it is difficult to control load swings so that they do not occur.

Method used

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  • Crane control method, and crane
  • Crane control method, and crane
  • Crane control method, and crane

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0028] [Overall structure of the crane]

[0029] Below, use figure 1 and figure 2 , the crane 1 as a crane (difficult terrain crane) according to one embodiment of the present invention will be described. In addition, in this embodiment, a crane on a difficult terrain is exemplified and described, but the crane according to one embodiment of the present invention may be a mobile crane or an overhead crane in other forms such as an all-terrain crane, a truck crane, or a loaded truck crane. Etc. Mounted Cranes.

[0030] The crane 1 is composed of a vehicle 2 and a crane device 6 .

[0031] The vehicle 2 includes a pair of left and right front wheels 3 and rear wheels 4 . In addition, the vehicle 2 includes outriggers 5 that are stabilized by touching the ground when carrying out the work of conveying the load W. As shown in FIG. Furthermore, the vehicle 2 supports a crane device 6 on its upper part.

[0032] The crane device 6 is a device for hoisting the cargo W by a wir...

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Abstract

The present invention addresses the problem of providing: a crane control method whereby shaking of a load can be suppressed when automatically transporting the load along a set transport path using a crane; and a crane that is controllable by this control method. The control method comprises: calculating a target transport time (Ti) of a load (W), transported by a crane (1), in a section defined by two passing points adjacent in a passing order; calculating, from a distance between the passing points and the target transport time (Ti), a target speed signal of the load (W) in the section; converting a stepped target speed signal, which connects the target speed signal of the section and a target speed signal of another section adjacent to the section, to a non-stepped target speed signal using a target value filter (F); and carrying out control on the basis of the non-stepped target speed signal.

Description

technical field [0001] The present invention relates to a control method of a crane and a crane controllable by the control method. Background technique [0002] Conventionally, there is known a technique in which a crane uses automatic driving to transport a lifted load to a desired installation position along a set route. For example, Patent Document 1. [0003] In the case of using the crane described in Patent Document 1 to convey cargo by automatic driving, it is required to convey the cargo while suppressing the vibration of the load. However, conventional cranes employ a method of detecting and controlling load swings when load swings occur (so-called feedback control (hereinafter referred to as FB control)), so it is difficult to control load swings so that they do not occur. [0004] prior art literature [0005] patent documents [0006] Patent Document 1: Japanese Patent Laid-Open No. 2018-030692 Contents of the invention [0007] The problem to be solved b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C23/00
CPCB66C13/48B66C13/06G05D1/10G05D1/43
Inventor 南佳成
Owner TADANO LTD
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