| 摘要 |
PURPOSE: To reduce conveying time to half needed in a conventional control method without leaving swing behind by subjecting a hoisting conveyor sequentially and continuously to uniformly accelerated operation, uniformly decelerated operation, uniformly accelerated operation, and uniformly decelerated operation at time intervals each of which is equal to a quarter of the period of swing of the load. CONSTITUTION: When a load 24 on a position Pa is conveyed by a crane device 10 onto a position Pf spaced apart by a short distance Db, uniformly accelerated operation from a stopped state to a predetermined maximum set velocity Vm', uniformly decelerated operation from Vm' to 0, uniformly accelerated operation from 0 to Vm', and uniformly decelerated operation from Vm' to 0 are sequentially and continuously effected at time intervals each of which is equal to a quarter of the period of swing of the load 24. The periodαof swing of the load 24 is computed by a microcomputer from a suspension length L, and the maximum set velocity Vm' of a trolley 22 is set from Vm'=2Db/αand corresponds to twice the maximum set velocity employed in a conventional control method. Thus, no swing is left behind in the load at the end of movement, and conveying time can be reduced to half.
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