crane

Abstract

To improve safety. [Solution] A crane according to one aspect of the present disclosure includes a drive unit for rotating an upper slewing body provided on the crane, raising and lowering an attachment provided on the crane, or raising or lowering a rope provided on the crane, and a control unit for controlling the operation of the drive unit, wherein the control unit, in a first control section from the start of input for operating the drive unit until the start of operation of the drive unit, makes the change in the control amount for operating the drive unit in the section in the latter half of the first control section, which is included in the first control section, smaller than the change in the control amount in the section in the first half of the first control section.

Claims

1. A drive unit for rotating the upper rotating body provided on the crane, raising and lowering the attachment provided on the crane, or raising or lowering the rope provided on the crane, The system comprises a control unit that controls the operation of the drive unit, The control unit, in a first control interval from the start of input for operating the drive unit until the start of operation of the drive unit, makes the change in the control amount for operating the drive unit in the second half of the first control interval, which is included in the first control interval, smaller than the change in the control amount in the first half of the first half of the first control interval. crane.

2. A drive unit for rotating the upper rotating body provided on the crane, raising and lowering the attachment provided on the crane, or winding up the rope provided on the crane, The system comprises a control unit that controls the operation of the drive unit, The control unit performs control such that, in the first control interval from the start of input for operating the drive unit until the start of operation of the drive unit, the change in the control amount for operating the drive unit in the latter half of the interval included in the first control interval, from the central time, is 15% or less of the change in the control amount for the entire first control interval. crane.

3. The control unit performs control such that the change in the control amount of the drive unit during the period from the time it enters the second control section after the first control section until the same amount of time has elapsed as in the latter half of the first control section is 15% or less of the change in the control amount of the entire first control section. The crane according to claim 2.

4. The control unit automatically controls the operation of the drive unit after the first control section until the configuration that moves by the operation of the drive unit is moved to the target position. The crane according to claim 1 or 2.

5. The device further comprises an operating device for operating the aforementioned drive unit, When the control unit starts the operation of the drive unit, it performs control to make the change in the control amount in the first control section the same, regardless of the amount of operation input from the operating device. The crane according to claim 1 or 2.

6. The device further comprises an operating device for operating the aforementioned drive unit, When the control unit starts the operation of the drive unit, it changes the amount of change of the control variable in the first half of the first control section according to the amount of operation input from the operating device. The crane according to claim 1 or 2.

7. After entering the second control section following the first control section, the control unit performs control to suppress changes in the control amount of the drive unit or to reduce the control amount of the drive unit, based on the control amount of the drive unit at the time of the transition from the first control section to the second control section. The crane according to claim 1 or 2.

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