JPH021351Y2 - - Google Patents

Description

[Detailed description of the invention] A. Field of industrial application This invention relates to a hoisting machine in which a prime mover and a hoisting means are connected by a torque converter, and in particular, the invention relates to a hoisting machine in which a prime mover and a hoisting means are connected by a torque converter, and in particular, it is easy to operate stationary, hoisting, and lowering. Concerning accurate hoisting machines.

B. Conventional technology A hoisting machine using a torque converter requires advanced technology and skill to hang an object at a certain height and keep it stationary, and furthermore, it is difficult to do the work unless it is possible to suspend the object reliably. Safety is not ensured, and suspending and stopping based on intuition puts stress on the operator, resulting in severe fatigue during work.

To keep a load suspended, the operator operates a lever while watching the load move up and down to adjust the torque transmitted by the torque converter. According to this method,
The position of the lever differs significantly between heavy loads and light loads, making it impossible to determine the resting position of the lever.

Furthermore, the method of adjusting the transmission torque of the torque converter using the operating lever required skill to operate, since the hoisting and lowering speeds varied depending on the weight of the load.

As a hoisting device that eliminates this drawback, a load detector is connected in the middle of the load lifting wire, and the output of this load detector and the signal from the operating lever are processed, and for heavy loads, a torque converter is used to transmit the load. Cranes have been proposed that compensate for stronger torque and weaker compensation for torque converter transmission torque for light loads.
(Japanese Unexamined Patent Publication No. 59-163294) In addition, the output rotation speed of the torque converter is detected by a DC generator, and the output of the DC generator is compared with a signal from a speed setting device such as an operating lever to determine the output rotation speed of the torque converter. An output rotational speed control device for a torque converter that controls transmitted torque has also been proposed. (Japanese Patent Publication No. 56-24823) C Problems with the Conventional Problems However, since none of the above devices detect the position of the load, it is not possible to suspend the load in a fixed position for a long period of time. I had to watch the movement and make fine adjustments using the lever.

As a device to solve this drawback, the inventor of the present invention
We have developed a hoisting machine with the control circuit shown in Figure 3. (Japanese Utility Model Publication No. 108789/1989) This device is equipped with a circuit for keeping the load stationary. That is, a pulse encoder 31 that outputs pulses corresponding to the rotational position is connected to the output of the torque converter 30, and the output pulses of this pulse encoder 31 are added or subtracted to a counter 32 depending on the rotational direction. The output is D/A converted and the servo circuit 33
The servo circuit 33 adjusts the opening degree of the proportional solenoid valve to control the torque converter.

When the load is stationary, the servo circuit 33 controls the torque converter 30 so that the counter 32 always reaches the set value. Therefore, when the load moves up and down from its rest position and the pulse encoder 31 outputs an output pulse, the stored value of the counter 32 deviates from the set value, the torque converter 30 is adjusted to correct this, and the load It is returned to its original resting position. Therefore, this circuit can hold the load in a fixed position indefinitely.

To raise or lower the load, the output of the pulse encoder 31 is frequency-voltage converted by the F-V converter 35, and the torque converter is controlled by the output of the F-V converter 35 and the output from the control lever 36.

In other words, in this circuit, the stationary state and the vertically moving state of the load are switched and controlled by independent separate circuits, which makes the circuit complicated, and the switching between the stationary state and the moving state is not smooth. There were flaws.

This device was developed with the aim of further eliminating this drawback, and the important purpose of this device is to simply and easily allow the load to remain still for a long period of time, regardless of the load. A hoisting machine having a torque converter is provided.

Another important object of this invention is to provide a hoisting machine having a torque converter that has a simple control circuit and can smoothly control between a stationary state and an up-and-down moving state.

D. Means for Solving Conventional Problems The rotational position and direction of the output shaft of the torque converter are detected by a rotational position sensor. The output of the rotational position sensor is converted into pulses by a rotational pulse circuit. The output of this rotational pulse circuit is input to a counter, and the counter adds or subtracts the number of pulses from the rotational pulse circuit depending on the rotational direction of the torque converter. On the other hand, it has command means for commanding the up and down and stationary state of the load, and a command pulse circuit that outputs pulses in response to commands from the command means. Output pulses from the command pulse circuit are applied to the counter, and the count value of the counter is added or subtracted depending on the number of pulses. The adjusting means controls the input/output transmission state of the torque converter in accordance with the count value of the counter.

F Effect: The adjusting means controls the transmitted torque of the torque converter in a direction in which the count value of the counter approaches the set value. If the load is lowered, the rotation pulse circuit adds the number of generated pulses to the counter, and if the command means issues a command to raise the load, the number of output pulses of the command pulse circuit is added from the counter. If the design is such that the count value of the counter is increased by an increase command from the command means. When the count value of the counter increases, the regulating means provides an output proportional to the count value, thereby increasing the transmitted torque of the torque converter and raising the load. When the load rises, the count value of the counter is subtracted and the count value approaches the set value. When the command means is in a state of raising command, the count value of the counter is constantly added, and in order to correct this, the load continues to rise.

When the command means issues a command to lower the load, the count value of the counter is subtracted from the set value,
To compensate for this, the torque converter's transmission torque is reduced and the load is lowered, and when the load is lowered,
The output pulse of the rotation pulse circuit is added to the count value of the counter.

When the command means is in a stationary state, the command pulse circuit does not output an output pulse and the count value of the counter does not change. If the load moves up or down for some reason,
The rotation pulse circuit changes the count value of the counter by an amount corresponding to the amount of movement, and the adjustment means controls the transmission torque of the torque converter so that the counter returns to the original set value. When the load returns to its original position, the counter returns to the set value and the load remains at a fixed position.

F Preferred Embodiments Hereinafter, embodiments of this invention will be described based on the drawings.

The hoisting machine having a torque converter shown in FIG. , the transmission torque of the torque converter 2 is controlled, and the hoisting means 3
and control means 4 for controlling the rotation of.

The control means 4 includes a rotational position sensor 5 that detects the rotational position and direction of the output shaft of the torque converter 2.
Then, a rotation pulse circuit 6 that generates a pulse corresponding to the output signal of the rotation position sensor 5, a counter 7 that counts the number of output pulses from the rotation pulse circuit 6, and a hoisting means 3 are commanded to be in a vertical stop state. A command pulse circuit 8 that generates a number of pulses corresponding to the command from the command means,
Torque converter 2 corresponds to the output of counter 7.
and adjustment means for controlling the transmitted torque.

The rotational position sensor 5 is connected directly to the output shaft of the torque converter 2 or, although not shown, is connected to the rotation shaft of a hoisting means rotated by the output shaft of the torque converter 2. Any device that can detect the rotational position and direction, such as a rotary encoder or resolver, can be used.

The rotation pulse circuit 6 has two outputs A and B. One output A outputs a number of pulses proportional to the rotation angle when the torque converter 2 rotates forward and the load is lifted, and the other output outputs a number of pulses proportional to the rotation angle. Output B outputs a number of pulses proportional to the rotation angle when the torque converter is reversed and the load is lowered.

The rotational position sensor 5 and the rotational pulse circuit 6 are
For example, one pulse is generated every time the output shaft of the torque converter rotates by a certain angle. That is, when the output shaft of the torque converter 2 rotates forward or backward by a certain angle, one pulse is output to either output A or B.

The counter 7 subtracts the number of pulses of output A from the count value and adds the number of pulses of output B to the count value. Therefore, the count value of the counter 7 decreases when the load is lifted and increases when the load is lowered.

The command means for raising and lowering the load has an operating lever 9, which is connected to a command pulse circuit 8. When the operating lever 9 is tilted to the raised position, the command pulse circuit 8 outputs an output C. When the control lever 9 is tilted to the lowered position, a constant period pulse is output to the output D, and the control lever 9
When the motor is in a neutral stationary state, the command pulse circuit 8 does not output pulses to the outputs C and D.

The frequency of the pulses issued by the command pulse circuit 8 increases as the inclination of the operating lever 9 increases, and the greater the inclination angle of the operating lever 9, the more pulses are sent to the counter 7 per unit time.

The counter 7 adds the number of pulses output from the output C of the command pulse circuit 8 to the count value, and subtracts the number of pulses output from the output D of the command pulse circuit 8 from the count value.

The adjusting means 10 includes a D/A converter 1 that converts the count value of the counter 7 into an analog quantity, and a command solenoid valve 1 that operates in proportion to the output of the D/A converter 11.
2, the larger the count value of the counter 7, the higher the command solenoid valve 12 sends fluid at a higher command pressure to the torque converter 2.

The torque converter 2 in FIG.
and a torque converter body 14. When high-pressure fluid is sent from the command solenoid valve 12 to the clutch pressure adjustment cylinder 15, the clutch pressing plate 16 is pressed by this pressure, thereby causing the clutch to be pressed. The plate 16 pushes against the multi-plate clutch 17 and a torque proportional to the clutch pushing force is transmitted to the output shaft 18 of the clutch. The output shaft 18 of the clutch is connected to the impeller 19 of the torque converter main body 14.
The rotation of the impeller 19 rotates the shaft of the turbine 20 of the torque converter main body via hydraulic oil.

In the torque converter shown in Fig. 2, when fluid with a higher pressure than the clutch pressure adjustment cylinder 15 is pressurized into the command solenoid valve, the transmission torque of the clutch increases, and the rotational torque of the output shaft of the torque converter increases. .

Therefore, in the apparatus shown in FIG. 1, as the count value of the counter 7 increases, the transmitted torque of the torque converter 2 increases, and the lifting force of the load becomes stronger.

That is, the operations in FIGS. 1 and 2 are as follows.

When the operating lever 9 is switched to the raised position,
Command pulse circuit 8 increases the count value of counter 7.

As the count value of the counter 7 increases, the command solenoid valve 12 increases the fluid supply pressure to the torque converter 2.

Torque converter 2 with increased supply fluid pressure
In this case, the output torque increases, the load hoisting torque increases, and the load is lifted.

When the load rises, the rotation pulse circuit 6 sends a number of pulses proportional to the rising distance to the counter 7,
Subtract this from the count value.

As long as the operating lever 9 is in the raised position, the command pulse circuit 8 always sends pulses to the counter 7 at a constant period, thereby increasing the count value of the counter 7. Therefore, the load is gradually raised, and the rotation pulse circuit 6 operates to subtract the count value of the counter 7 based on the output from the rotation position sensor 5. Conversely, when the operating lever 9 is in the lowered position, the command pulse circuit 8 subtracts the count value of the counter 7, the fluid supply pressure to the torque converter 2 decreases, and the output torque of the torque converter 2 decreases. The load descends. When the load descends,
The rotation pulse circuit 6 adds the count value of the counter 7 in proportion to the amount of fall, thereby bringing the count value of the counter 7 closer to the set value.

When the operating lever 9 is in the rest position, the command pulse circuit 8 does not output an output pulse, and the count value of the counter 7 does not increase or decrease accordingly. In this state,
When the load descends for some reason, a number of pulses corresponding to the distance traveled are sent from the rotation pulse circuit 6 to the counter 7 and added to the counter. counter 7
When the count value of is added, the output torque of the torque converter 2 increases and the load is lifted. When the load is lifted, the rotating pulse circuit 6 sends a number of pulses corresponding to the lifting distance to the counter 7, and the count value is subtracted and restored to the original count value.
For this reason, the load is controlled so that it always returns to a predetermined position, and the load remains at a fixed position.

Contrary to the above-mentioned hoisting machine, when the operating lever 9 is in the hoisting position, the output pulse of the command pulse circuit 8
It is also possible to design the count value of the counter 7 to decrease. In this case, the adjusting means 10 increases the transmission torque of the torque converter 2 when the count value of the counter 7 is small, and when the load is lifted, the pulses of the rotation pulse circuit 6 are added to the count value of the counter 7. It is necessary to design it so that

The torque converter 2 shown in FIG. 2 controls the transmitted torque by adjusting the pressing force of the clutch 13 using the supplied fluid pressure. In this invention, the structure of the torque converter 2 is not limited to this structure, and any structure whose transmitted torque can be controlled by control fluid pressure or electromagnetic force can be used.

Furthermore, the rotation pulse circuit 6 and command pulse circuit 8 shown in FIG. 1 output addition pulses and subtraction pulses to separate lines AB and CD. Instead of this circuit, for example, a circuit can be used that outputs a pulse according to the amount of displacement to one line and sends identification signals for addition and subtraction to another line.

[Brief explanation of the drawing]

Fig. 1 is a schematic block diagram of a hoisting machine having a torque converter showing an embodiment of the present invention, Fig. 2 is a sectional view showing an example of a torque converter, and Fig. 3 is an example of a conventional torque converter. FIG. 3 is a block diagram of a hoist. 1... Prime mover, 2... Torque converter, 3...
...Hoisting means, 4...Control means, 5...Rotation position sensor, 6...Rotation pulse circuit, 7...Counter,
8... Command pulse circuit, 9... Operation lever, 10...
...adjustment means, 11...A/D converter, 12...command solenoid valve, 13...clutch, 14...torque converter body, 15...clutch pressure adjustment cylinder, 16...clutch push plate, 17... ...Multi-plate clutch, 18... Output shaft, 19... Impeller, 30
... Torque converter, 31 ... Pulse encoder, 32 ... Counter, 33 ... Servo circuit, 3
4...Proportional solenoid valve, 35...F-V converter,
36...Control lever.

Claims (1)

[Claims for Utility Model Registration] (1) A prime mover, a hoisting means connected to the output side of the prime mover via a torque converter, and a control means for controlling the rotation of the hoisting means by controlling the torque converter. In the hoist equipped with the control means,
a rotational position sensor that directly or indirectly detects the rotational position and direction of the output shaft of the torque converter;
a rotational pulse circuit that generates pulses corresponding to the output signal of the rotational position sensor; a counter that counts the output pulses from the rotational pulse circuit; a command means that commands the hoisting means to move up, down, or stop; It consists of a command pulse circuit that generates pulses in response to commands from the command means, and an adjustment means that controls the input/output transmission state of the torque converter in response to the output of the counter. The counter is connected so that the count value of the counter is added or subtracted depending on the rotation direction of the converter, and the counter is further connected so that the count value is added or subtracted depending on the output of the command pulse circuit. A hoisting machine having a torque converter, wherein the adjustment circuit is configured to control the torque converter in a direction in which a stored value of the counter approaches a set value. (2) A hoisting machine having a torque converter as set forth in claim (1) of the utility model registration, wherein the prime mover is an internal combustion engine. (3) A hoisting machine having a torque converter according to claim 1, wherein the rotational position sensor is a rotary encoder. (4) A hoisting machine having a torque converter according to claim (1), wherein the rotational position sensor is a resolver. (5) Utility model registration claim No. (1) in which the rotational position sensor is connected to the output shaft of the torque converter
A hoisting machine having a torque converter as described in 2. (6) A hoisting machine having a torque converter according to claim (1), wherein the rotational position sensor is connected to the hoisting shaft of the hoisting means. (7) When the hoisting means is rotated in the hoisting direction, the counter subtracts the number of output pulses from the rotating pulse circuit from the count value, and when the hoisting means is rotated in the descending direction, the counter subtracts the number of output pulses from the rotating pulse circuit. When the command means is in the winding command state, the output pulse number of the command pulse circuit is added to the count value, and when the command means is in the lowering command state, the command is added. A torque converter according to claim 1, which subtracts the output pulse of the pulse circuit from the count value and does not change the count value of the counter 7 when the command means is in a stop command state. Upper machine.