JPH10265172A - Inching control method for moving machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stop a part intended to be moved in a target position correctly by displaying a moving distance according to the operating angle of an operation lever in an inching control mode, and releasing the inching control mode to move a part intended to be moved by a displayed distance. SOLUTION: When an inching switch is put in the 'ON' state, a normal traverse control mode is switched to an inching control mode (S11). A traverse controller is switched to the 'ON' state (S12). In the inching control mode, a moving distance is displayed corresponding to the operating angle of an operation lever. The operation lever is operated to display a distance to be moved S13). After that, the inching switch is put in the 'OFF' state. The traverse controller is returned to 'OFF' state, interlocking with the above operation (S14). The traverse movement is conducted at crawling speed only for the distance displayed on a display to complete the inching control mode (S15).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling inching of a mobile machine.

[0002]

2. Description of the Related Art As a technical example of a mobile machine, for example, a container crane technology as shown in FIG.

In the drawing, reference numeral 1 denotes a container crane, 2 denotes a support leg, 3 denotes a gutter, 4 denotes a boom, 5 denotes a trolley, 6 denotes a container hanging device, 7 denotes a container ship, 8 denotes a container, 9 denotes a relay stand, 10 Is an auxiliary girder, 11 is a chassis, 12 is an auxiliary trolley, S is a driver's seat, and X is a quay.

[0004] In this container crane 1, the operation lever of the controller arranged in the driver's seat S is operated to move the entirety along the quay X, to traverse the trolley 5 and the auxiliary trolley 12, Up and down movement of the hanging tool 6 is performed.

[0005] Taking the traversing operation in the container crane 1 as an example, the control shown in [S1] to [S4] in FIG. 3 is performed. [S1: Traveling controller off] The traveling controller is in the "OFF" state: When the operation lever of the traveling controller is in an inactive state (neutral state), the stopped state is maintained. [S2: Traversing controller ON] The traversing movement starts by operating the operating lever to switch the traversing controller from the "OFF" state to the "ON" state. [S3: Speed Control by Controller Angle] The speed at the time of the transverse movement is given in accordance with the angle of the operation lever at this time. [S4: Traverse by the product of the speed and the time] Therefore, the traversing movement includes a speed set according to the inclination of the operation lever, and
The operation is performed for a distance corresponding to the product of the time for which the operation lever is tilted.

[0006]

However, when the traversing movement requires a traversing movement by a minute distance (for example, a traversing movement of several cm), the inching operation (inching movement) in which the operation lever is moved in small increments for a short time is required. ) Operation, but it is difficult to stop at the desired position, stop before the desired stop position, cause overrun,
In addition, the position must be corrected by repeating the inching operation, such as returning, many times. That is, it is necessary to perform an inching operation in which the operation lever is tilted little by little based on the experience of the operator, and the skill of the worker is required.

[0007] The present invention has been made in view of such problems, and has the following objects. To accurately stop a moving target portion of a mobile machine at a desired position. Improve inching operability. To enable normal operations and inching operations to be performed continuously. Move the target area promptly. The inching operation must be performed by anyone, not just skilled workers.

[0008]

Means for Solving the Problems When moving a moving target portion of a moving machine (for example, a trolley, a container hanging tool in the case of a container crane) by a controller,
In the normal control mode, "OFF" of the controller
By operating the operation lever from the state, the speed at the time of traversing movement is set according to the angle of the operation lever, and the traversing movement is performed by the product of the inclination of the operation lever and the time during which the operation lever is tilted. Next, in the inching control mode, when the operation lever of the controller is in a non-operation state (for example, a neutral state), the operation is switched to the inching control mode by operating the inching switch, and the operation lever is operated in accordance with the operation angle of the operation lever in the inching control mode. After the moving distance is displayed, the inching control mode is canceled and the moving target portion is moved by the displayed distance. The inching control is performed by one of traversing movement, traveling movement, vertical movement, and rotation movement, or a combination of these movements.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a method for controlling inching of a mobile machine according to the present invention will be described below with reference to FIG.

[Normal traverse control mode] When the trolley 5 of the container crane 1 is traversed in a normal state,
The normal traverse control mode is selected, and the aforementioned [S1] to
This is performed according to the procedure of [S4]. When the inching switch is set to the “OFF” state and the operation lever of the traversing controller is moved, the normal traversing control mode is set.

[Inching control mode] [S11: Inching switch on] By switching the inching switch to the "ON" state while keeping the traversing controller "OFF", switching from the normal traversing control mode to the inching control mode is performed. Is performed.

[S12: Traversing controller on] While operating the inching switch "ON", the operation lever is operated to switch the traversing controller to the "ON" state.

[S13: Moving Distance Selection by Controller Angle] In the inching control mode, the moving distance is displayed in accordance with the operating angle of the operating lever. For this reason, the operator operates the operation lever and displays the distance to be moved by operating the operation lever while checking the situation at the site (desired moving distance) by eye measurement or an instruction of an assistant deployed at the cargo handling place. In other words, the moving distance is checked while looking at the distance display, and when the desired value is reached, the operation of the operating lever is stopped to select the desired moving distance.

[S14: Inching switch off] After selecting the desired moving distance, the inching switch is turned off. In addition, "OF" of the inching switch
In conjunction with the "F" operation, the traversing controller is returned to the "OFF" state.

[S15: Movement by the selected moving distance] The inching control mode is completed when the traversing movement is performed at a very slow speed by the distance displayed on the display.

To supplement the description, after the target moving point is roughly transferred to just before the target position in the normal traverse control mode, the mode is switched to the inching control mode, and the remaining distance is made to match the display distance. When it is set to "OFF", the vehicle is automatically traversed by a desired distance at a very low speed and can be stopped at the target position.

[Other Embodiments] The method for controlling inching of a mobile machine according to the present invention includes the following techniques. a) The mobile machine is other than a container crane,
Inching control such as running, traversing, up / down, and rotation is required. b) Inching control such as running, traversing, up / down, and rotation is performed in multiple directions simultaneously.

[0018]

According to the inching control method for a mobile machine according to the present invention, the following effects can be obtained. (1) By moving by the display distance in the inching control mode, the moving target portion can be accurately stopped at the target position. (2) After the desired moving distance is displayed, the inching control is performed by operating the inching switch to “OFF”, so that the inching operability can be improved. (3) By switching to the inching control mode by turning ON and OFF using a controller that performs an operation in a normal desired direction, the switching from the normal control mode to the inching control mode is continuously performed. be able to. (4) In the inching control mode, the movement target portion can be quickly moved to the target position by moving the display distance. (5) Check the travel distance and set the inching switch to “O”.
Since the inching control is performed by the operation of “FF”, the control is simplified, and not only the skilled person but also any one can perform the inching operation accurately.

[Brief description of the drawings]

FIG. 1 is a flowchart of an implementation process in an embodiment of a mobile machine inching control method according to the present invention.

FIG. 2 is a front view of a container crane shown as an example of a mobile machine.

FIG. 3 is a flowchart showing a process of performing traversing movement in the container crane of FIG. 2;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Container crane 2 Support leg 3 Garter 4 Boom 5 Trolley 6 Container hanging tool 7 Container ship 8 Container 9 Relay stand 10 Auxiliary girder 11 Chassis 12 Auxiliary trolley S Driver's seat X Wharf

Claims (6)

[Claims] 1. A control method applied when a moving target portion of a mobile machine is moved by a controller, wherein when an operation lever of the controller is in an inactive state, the mode is switched to an inching control mode by operating an inching switch. Displaying a moving distance in accordance with an operation angle of an operating lever in the inching control mode, releasing the inching control mode, and moving a moving target portion by the displayed distance, a method for controlling inching of a mobile machine. . 2. The inching control method for a mobile machine according to claim 1, wherein the mobile machine is a container crane (1). 3. The inching control method for a mobile machine according to claim 1, wherein a moving target portion of the mobile machine is traversed. 4. The inching control method for a mobile machine according to claim 1, wherein the moving target is moved and moved. 5. The inching control method for a mobile machine according to claim 1, wherein the moving target of the mobile machine is moved in a vertical direction. 6. The inching control method for a moving machine according to claim 1, wherein the moving target of the moving machine is rotated.