CN111542484B - Crane system - Google Patents
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- CN111542484B CN111542484B CN201980007143.6A CN201980007143A CN111542484B CN 111542484 B CN111542484 B CN 111542484B CN 201980007143 A CN201980007143 A CN 201980007143A CN 111542484 B CN111542484 B CN 111542484B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/22—Control systems or devices for electric drives
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Abstract
An object of the present invention is to provide a crane apparatus capable of suppressing load runout in a crane apparatus in which a plurality of hoisting machines are mounted on 1 traverse device, and the crane apparatus includes: a traverse motor (9) for moving the traverse device (10); a main lifting part lifting motor (3) and an auxiliary lifting part lifting motor (7) which are arranged on the transverse device (10); an operation input device (18) for inputting instructions to the main lifting part lifting motor (3) and the auxiliary lifting part lifting motor (7); and a main lifting part inverter control part (19) for controlling the main lifting part lifting motor (3) according to the operation of the operation input device (18) and an auxiliary lifting part inverter control part (25) for controlling the auxiliary lifting part lifting motor (7). The crane equipment comprises a main lifting part encoder (23) for detecting the rotating speed of a main lifting part lifting motor (3) and an auxiliary lifting part encoder (28) for detecting the rotating speed of an auxiliary lifting part lifting motor (7), wherein a main lifting part inverter control part (19) controls the moving speed of a transverse device (10) based on information detected by the main lifting part encoder (23) and the auxiliary lifting part encoder (28).
Description
Technical Field
The present invention relates to crane apparatus.
Background
For example, a crane system for suspending a load is installed in a building such as a factory. The crane system moves along the wall surface of the building through the traveling rail and moves laterally through the cross member. A hoisting machine for lifting and lowering the load is mounted on the traverse device.
In such a crane system, when the crane is moved in a state in which the load is suspended, the hoisted object may swing back and forth and left and right.
In a crane system, in order to transport a hoisted object safely and efficiently, it is required to reduce load runout during transportation. As a technique for reducing the load run-out, for example, patent document 1 is known. In patent document 1, a load suspended from a wire rope is regarded as a pendulum mass, information on the length of the wire rope suspended from the load is acquired by a sensor such as an encoder, and the conveyance speed is controlled based on a model of the pendulum mass, that is, the load pendulum mass.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2018-2391
Disclosure of Invention
Problems to be solved by the invention
In the technique described in patent document 1, although load runout suppression of a crane apparatus having 1 hoisting machine mounted on 1 traverse device is considered, load runout suppression of a crane apparatus having a plurality of hoisting machines mounted on 1 traverse device is not considered. In patent document 1, information about the length of a wire rope on which a hoisted object is suspended cannot be acquired for a plurality of hoisting machines. Therefore, the operator cannot know which hoisting machine of the plurality of hoisting machines installed in the 1 traverse device should be used, and the operability is poor.
The present invention has been made to solve the above problems, and an object of the present invention is to provide a crane apparatus capable of suppressing load runout in a crane apparatus in which 1 traverse device is equipped with a plurality of hoisting machines.
Means for solving the problems
In order to achieve the above object, the present invention provides a crane apparatus, comprising: a traverse device movable on the traverse beam; a traverse motor for moving the traverse device; a main lifting motor mounted on the transverse device; a lifting motor of the auxiliary lifting part, which is loaded on the transverse device; a main hoisting part crane hook connected with the main hoisting part hoisting motor via a main hoisting part steel wire rope; an auxiliary lifting part crane hook connected with the auxiliary lifting part lifting motor through an auxiliary lifting part steel wire rope; an operation input device for inputting instructions to the main hoisting motor and the auxiliary hoisting motor; a main lifting part control part for controlling the main lifting part lifting motor according to the operation of the operation input device; an auxiliary lifting part control part for controlling the auxiliary lifting part lifting motor according to the operation of the operation input device; a main lifting part encoder for detecting the rotating speed of the main lifting part lifting motor; and an auxiliary hoist encoder for detecting a rotation speed of the auxiliary hoist motor, wherein the main hoist control unit controls a moving speed of the traverse device based on information detected by the main hoist encoder and the auxiliary hoist encoder.
In the above-described invention, the main hoist control unit determines which of the main hoist motor and the auxiliary hoist motor is operating based on an input from the operation input device, detects position information of the main hoist motor or the auxiliary hoist motor that is operating from rotational speeds detected by the main hoist encoder and the auxiliary hoist encoder, and controls the traveling speed of the traverse device based on the detected position information.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, it is possible to provide a crane apparatus in which load runout can be suppressed in a crane apparatus in which 1 traverse device is equipped with a plurality of hoisting machines.
Drawings
Fig. 1 is a perspective view showing an overall structure of a crane apparatus according to embodiment 1 of the present invention.
Fig. 2 is a block diagram showing the configuration of a control unit of the crane apparatus according to embodiment 1 of the present invention.
Fig. 3 is a diagram showing an example of signal output of the operation input device according to embodiment 1 of the present invention.
Fig. 4 is a flowchart showing the processing contents of the main hoist inverter control unit according to embodiment 1 of the present invention.
Fig. 5 is an example of a diagram showing operations of the horizontal holding operation and the position holding operation of the co-hoisting control.
Fig. 6 is a diagram showing an example of signal output of the operation input device according to embodiment 2 of the present invention.
Fig. 7 is a flowchart showing the processing contents of the main hoist inverter control unit according to embodiment 2 of the present invention.
Detailed Description
Hereinafter, an embodiment of a crane apparatus according to the present invention will be described with reference to the drawings. The present invention is not limited to the following examples, and various modifications and application examples within the technical concept of the present invention are also included in the scope thereof.
Example 1
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a perspective view showing an overall configuration of a crane apparatus according to embodiment 1 of the present invention, and fig. 2 is a block diagram showing a configuration of a control unit of the crane apparatus according to embodiment 1 of the present invention.
The crane apparatus of the present embodiment is an inverter type crane apparatus with auxiliary lifting. The inverter type crane equipment with auxiliary lifting comprises a main lifting part crane and an auxiliary lifting part crane. The main hoisting part crane comprises a main hoisting part crane hook 1 for hanging hoisted objects, a main hoisting part steel wire rope 2 connected with the main hoisting part crane hook 1, a main hoisting part hoisting motor 3 (motor) for winding the main hoisting part steel wire rope 2 upwards, and a main hoisting part hoisting device 4 with the main hoisting part hoisting motor 3. The main hoisting part crane hook 1 is connected with a main hoisting part hoisting motor 3 through a main hoisting part steel wire rope 2.
The auxiliary lifting part crane comprises an auxiliary lifting part crane hook 5 for hanging a lifting object, an auxiliary lifting part steel wire rope 6 connected with the auxiliary lifting part crane hook 5, an auxiliary lifting part lifting motor 7 for winding the auxiliary lifting part steel wire rope 6 upwards and an auxiliary lifting part lifting device 8 with the auxiliary lifting part lifting motor 7.
The inverter type hoist apparatus with assisted lifting includes a traverse device 10 movable on a traverse beam 11, and the traverse device 10 includes a traverse motor 9 for driving wheels traveling on the traverse beam 11. The traverse motor 9 moves the traverse device 10. The auxiliary lifting part crane hook 5 is connected with an auxiliary lifting part lifting motor 7 through an auxiliary lifting part steel wire rope 6. The main lifting motor 3 and the auxiliary lifting motor 7 are mounted on the traverse device 10 and are movable along the traverse beam 11.
The traverse beam 11 is mounted on the travel beam 14. The traverse beam 11 is provided with a traveling device 13 including a traveling motor 12, and the traveling device can move in the Z direction and the-Z direction on a traveling beam 14 by driving wheels by the traveling motor 12.
Further, the traverse device 10 includes a main hoist control device 15 for controlling the main hoist and an auxiliary hoist control device 16 for controlling the auxiliary hoist. The traverse beam 11 includes a travel control device 17 for controlling the traverse motor 9 and the travel motor 12. Commands to the main lifting motor 3, the auxiliary lifting motor 7, the traverse motor 9, and the travel motor 12 are issued by an operator through the operation input device 18.
As shown in fig. 2, the main hoist motor 3 includes a main hoist motor brake 22 for applying a braking force to the main hoist motor 3 and a main hoist encoder 23 for detecting the rotation speed of the main hoist motor 3. The auxiliary hoist motor 7 includes an auxiliary hoist motor brake 27 for applying a braking force to the auxiliary hoist motor 7 and an auxiliary hoist encoder 28 for detecting the rotation speed of the auxiliary hoist motor 7.
The traverse motor 9 and the travel motor 12 include a traverse motor brake 24 and a travel motor brake 31, respectively.
The main lifting portion controller 15 includes a main lifting portion inverter controller 19 (main lifting portion controller), a main lifting portion inverter 20, and a traverse inverter 21, the auxiliary lifting portion controller 16 includes an auxiliary lifting portion inverter controller 25 (auxiliary lifting portion controller), and an auxiliary lifting portion inverter 26, and the travel controller 17 includes a travel inverter controller 29 (travel controller) and a travel inverter 30.
In the case of using a main hoisting part crane, an inverter type crane apparatus with auxiliary hoisting moves a load in the Y direction (indicated by an arrow in the Y direction and the-Y direction), that is, in the up-down direction, by winding up a main hoisting part wire rope 2 in the up-down direction by a main hoisting part hoisting device 4 having a main hoisting part hoisting motor 3 with respect to the load attached to a main hoisting part crane hook 1. In the case of using the auxiliary hoist crane, the auxiliary hoist wire rope 6 is wound up and down by the auxiliary hoist hoisting device 8 having the auxiliary hoist hoisting motor 7 for the cargo mounted on the auxiliary hoist crane hook 5, and the cargo is moved in the up and down direction like the main hoist.
Here, the inverter type crane apparatus with auxiliary lifting of the present embodiment is provided with a control mechanism in such a manner that the main lifting portion crane and the auxiliary lifting portion crane cannot be operated simultaneously.
The traverse device 10 moves in the X direction (indicated by an arrow in the X direction — X direction) along the traverse beam 11 by driving wheels provided on the traverse device 10 with the traverse motor 9. The traverse device 10 (traverse beam 11) is moved in the Z direction (indicated by an arrow in the Z direction or the-Z direction) along the travel beam 14 by driving wheels provided in the travel device 13 by the travel motor 12.
As shown in fig. 2, the main hoist lift motor 3 and the traverse motor 9 are controlled by a main hoist inverter control unit 19 housed in the main hoist control device 15. The auxiliary hoist lifting motor 7 is controlled by an auxiliary hoist inverter control unit 25 housed in the auxiliary hoist control device 16.
When an operator inputs an instruction to the main hoist through the operation input device 18, the main hoist control device 15 controls the main hoist lifting inverter 20 and the traverse inverter 21, and applies a frequency, a voltage, and a current necessary for control to the main hoist lifting motor 3 and the traverse motor 9 from the main hoist lifting inverter 20 and the traverse inverter 21. In addition, the main-lifting-unit controller 15 operates the main-lifting-unit lifting motor 3 by opening and controlling the main-lifting-unit motor brake 22 and the transverse-movement motor brake 24, and moves the load attached to the main-lifting-unit crane hook 1 in the Y direction.
Similarly, when the operator inputs an instruction to the auxiliary hoist crane through the operation input device 18, the auxiliary hoist control device 16 controls the auxiliary hoist hoisting inverter 26, and applies a frequency, a voltage, and a current necessary for control to the auxiliary hoist motor 7 from the auxiliary hoist hoisting inverter 26. In addition, the auxiliary-lifting-unit control device 16 controls the brake 27 for the auxiliary lifting-unit motor to be released, thereby operating the auxiliary lifting-unit lifting motor 7 and moving the load attached to the crane hook 5 of the auxiliary lifting unit in the Y direction.
Similarly, when the operator inputs an instruction to the traverse device 10 through the operation input device 18, the traverse motor 9 is driven, and the main hoist lifting device 4 and the auxiliary hoist lifting device 8 move in the X direction along the traverse beam 11.
Similarly, when the operator inputs a predetermined instruction to the operation input device 18, the travel control device 17 controls the travel inverter control unit 29 and the travel inverter 30, and applies a frequency, a voltage, and a current necessary for control to the travel motor 12 from the travel inverter 30. In addition, the travel controller 17 controls the brake 31 for the travel motor to be released, thereby moving the main lifting unit lifting device 4, the auxiliary lifting unit lifting device 8, and the traverse device 10 in the Z direction along the travel beam 14.
Here, the main hoist inverter control unit 19 that drives the traverse device 10 acquires information of the main hoist encoder 23 that detects the rotation speed of the main hoist motor 3 (motor). The information of the main hoisting unit encoder 23 is information (hereinafter, referred to as position information) on the length of a wire rope on which a hoisted object for obtaining a model of load runout is suspended.
At the same time, the auxiliary hoist inverter control unit 25 acquires position information of the auxiliary hoist encoder 28 with respect to position information of the auxiliary hoist lifting device 8 (auxiliary hoist lifting motor 7). The detected position information of the auxiliary hoist motor 7 is transmitted to the main hoist inverter control unit 19 through serial communication 32 between the main hoist and the auxiliary hoist. The position information of the auxiliary hoist may be acquired by the main hoist inverter control unit 19 directly from the information of the auxiliary hoist encoder 28 without passing through the serial communication 32 between the main hoist and the auxiliary hoist.
Fig. 3 is a diagram showing an example of signal output of the operation input device according to embodiment 1 of the present invention. The operation input device 18 includes: an on/off switch; a main lifting switch and a main lifting part descending switch which apply instructions to the main lifting part lifting motor 3 to enable the main lifting part crane hook 1 to run in the up-down direction (Y direction); and a traverse (east) switch and a traverse (west) switch for giving an instruction to the traverse motor 9 to move the traverse device 10. The input information of these switches is transmitted to the main hoist inverter control unit 19. Further, the operation input device 18 includes: an auxiliary lifting switch and an auxiliary lifting part descending switch which apply instructions to the auxiliary lifting part lifting motor 7 to enable the auxiliary lifting part crane hook 5 to run in the up-down direction (Y direction); and a travel (south) switch and a travel (north) switch for giving instructions to the travel motor 12 to move the travel device 13. The input information of the auxiliary hoist switch and the auxiliary hoist lowering switch is transmitted to the auxiliary hoist inverter control unit 25, and the input information of the travel (south) switch and the travel (north) switch is transmitted to the travel inverter control unit 29.
The main hoist inverter control unit 19 acquires the position information of the main hoist and the auxiliary hoist, and then determines which position information is used when the operation signal for the lateral movement is input. The manner of determination will be described with reference to fig. 4. Fig. 4 is a flowchart showing the processing contents of the main hoist inverter control unit according to embodiment 1 of the present invention.
In fig. 4, the main lift unit inverter control unit 19 first determines which of the main lift unit and the assist lift unit is currently operating, for example, based on an operation signal from the operation input device 18. The determination as to which of the main lifting unit and the auxiliary lifting unit is operating may be made using information from the main lifting unit encoder 23 and the auxiliary lifting unit encoder 28.
In S101, it is determined whether or not the main lifting unit is operating, and if the main lifting unit is not operating (no), it is determined whether or not the auxiliary lifting unit is operating (S102). If the main lift is in operation (yes) in S101, the operation mode is set to "main lift" (S103). In S102, if the auxiliary lift unit is in operation (yes), the operation mode is set to "auxiliary lift" (S104).
Here, the determination as to whether or not the auxiliary lifting unit is operating is made by acquiring the operating state through the serial communication 32 of the auxiliary lifting unit encoder 28 for position information acquisition. Further, the operation signal for assisting the lifting and the auxiliary lifting may be directly obtained without the serial communication 32, and the determination may be made based on the input state of the signal.
In S102, it is determined that the main lift unit and the auxiliary lift unit are stopped if the auxiliary lift unit is not operated (no). When the main lifting unit and the auxiliary lifting unit are stopped, the operation mode is not updated and the state of the previous operation mode is maintained, but when the hoisted object is suspended, either the main lifting unit or the auxiliary lifting unit must be operated, so that there is no problem in determining the previous operation mode. When the main lifting unit or the auxiliary lifting unit having a different operation mode from the previous operation mode is operated, the main lifting unit inverter control unit 19 updates the operation mode. The operation mode is stored in a storage element such as a CPU of the main hoist inverter control unit 19 so as not to be initialized even when the power supply to the main hoist inverter control unit 19 is cut off.
It is determined whether or not the operation mode set in S105 is the main raising unit, and if it is the main raising unit (yes), the process proceeds to S106, where the position information of the main raising unit is read. If the operation mode set in S105 is not the main lift unit (no), the operation mode is updated to the auxiliary lift unit, and the process proceeds to S107 where the position information of the auxiliary lift unit is read.
Then, the main lifting unit inverter control unit 19 generates a load run-out model from the position information of the main lifting unit or the auxiliary lifting unit in S108. The load runout model is a speed command for the traverse motor 9 so that the moving speed of the traverse device 10 is controlled according to the lengths of the main hoisting portion wire rope 2 and the auxiliary hoisting portion wire rope 6. A speed command for the traverse motor 9 is applied from the main hoist inverter control unit 19 to the traverse motor 9 via the traveling inverter control unit 29.
Since the above-described processing is similarly performed for the travel inverter control unit 29, the travel inverter control unit 29 acquires the position information and the operation mode of the main lifting unit and the auxiliary lifting unit from the main lifting unit inverter control unit 19 through the serial communication 33 shown in fig. 3.
Here, for example, the operation mode is the main lifting unit, and when at least the auxiliary lifting unit is operated while the traverse device 10 is operated and operated in the X direction, the operation mode is switched to the auxiliary lifting unit, and the load runout model is generated based on the position information of the auxiliary lifting unit, and the control for suppressing the load runout cannot be normally performed. In order to avoid such a situation, in the present embodiment, as shown in fig. 5, upper limit switches 34 and 35 are provided in the main hoisting unit hoisting device 4 and the auxiliary hoisting unit hoisting device 8, respectively.
The upper limit switches 34 and 35 are provided so as to protrude below the traversing device 10, and when the main hoisting part crane hook 1 and the auxiliary hoisting part crane hook 5 are hoisted by the main hoisting part hoisting motor 3 and the auxiliary hoisting part hoisting motor 7 and reach the uppermost part, the main hoisting part crane hook 1 and the auxiliary hoisting part crane hook 5 respectively contact the upper limit switches 34 and 35. Then, the main hoist inverter control unit 19 prohibits the operation of one upper limit switch when the other upper limit switch is not operated. In other words, when one crane hook comes into contact with the upper limit switch and the upper limit switch is operated, the main hoist inverter control unit 19 allows the other upper limit switch to be operated.
For example, in the state of mode 2 shown in fig. 5, since the auxiliary rising portion is in contact with the upper limit switch 35, the operation of the main rising portion is permitted, and the operation of the auxiliary rising portion is prohibited. The crane apparatus can move in the X direction and the Z direction by using the main hoisting unit. In contrast, in mode 3, since the main lift portion is in contact with the upper limit switch 34, the operation of the auxiliary lift portion is permitted, and the operation of the main lift portion is prohibited. The crane equipment can be moved in the X-direction and the Z-direction by the auxiliary lifting unit.
In the mode 1, since both the main lift portion and the auxiliary lift portion are in contact with the upper limit switches 34 and 35, the operation of both the main lift portion and the auxiliary lift portion is permitted. In such a case, the control for suppressing the hunting is normally performed by prohibiting the operation in the non-operation mode and operating the operation in the operation mode.
According to the present embodiment, since the position information of each of the main lifting unit and the auxiliary lifting unit can be grasped and the model of the load runout can be generated using the position information, it is possible to provide a crane apparatus that performs appropriate load runout suppression control.
Example 2
Next, embodiment 2 of the present invention will be described with reference to fig. 6 and 7. Fig. 6 is a diagram showing an example of signal output of the operation input device according to embodiment 2 of the present invention.
The operation input device 18 includes: an on/off switch; a main hoisting/auxiliary hoisting mode 37 that switches the main hoisting/auxiliary hoisting mode; a main lifting switch and a main lifting part descending switch which apply instructions to the main lifting part lifting motor 3 or the auxiliary lifting part lifting motor 7 according to the main lifting/auxiliary lifting mode to make the main lifting part crane hook 1 or the auxiliary lifting part crane hook 5 act in the up-down direction (Y direction); and a traverse (east) switch and a traverse (west) switch for giving an instruction to the traverse motor 9 to move the traverse device 10. The input information of these switches is transmitted to the main hoist inverter control unit 19. Further, the operation input device 18 includes a travel (south) switch and a travel (north) switch that give instructions to the travel motor 12 to move the travel device 13. The input information of the travel (south) switch and the travel (north) switch is transmitted to the travel inverter control unit 29.
The main lift unit inverter control unit 19 acquires the position information of the main lift unit and the auxiliary lift unit, and then determines which position information is used when the operation signal for the lateral movement is input. The method of determination will be described with reference to fig. 7. Fig. 7 is a flowchart showing the processing contents of the main hoist inverter control unit according to embodiment 2 of the present invention.
The main hoist inverter control unit 19 first determines whether the main hoist or the auxiliary hoist is currently operating (S201). Here, the determination as to whether the assist lift unit is operating is made by acquiring the operating state through the serial communication 32 for position information acquisition. Further, the determination may be made from the input state of the input signal of the main lift/auxiliary lift mode 37. When both the main lift unit and the auxiliary lift unit are stopped (no in S201), a determination is made as to the signal input state of the main lift/auxiliary lift mode 37 shown in fig. 6 (S202), and if the main lift is selected in the main lift/auxiliary lift mode 37 (yes), the process proceeds to S203, and the operation mode is set to "main lift". If the auxiliary hoist is selected in the main hoist/auxiliary hoist mode 37 (no), the process proceeds to S204, and the operation mode is set to "auxiliary hoist". Next, the results of S203 and S204 are acquired in S205, it is determined whether the set operation mode is the main lift unit, and if so, the position information of the main lift unit is read (S206). If the set operation mode is the assist lift portion (no in S205), the position information of the assist lift portion is read (S207).
Then, in S208, the main lifting unit inverter control unit 19 generates a load run-out model from the position information of the main lifting unit or the auxiliary lifting unit. The load runout model is a speed command for the traverse motor 9 so that the moving speed of the traverse device 10 is controlled according to the lengths of the main hoisting portion wire rope 2 and the auxiliary hoisting portion wire rope 6. A speed command for the traverse motor 9 is applied from the main hoist inverter control unit 19 to the traverse motor 9 through the traveling inverter control unit 29.
Since the above-described processing is similarly performed for the travel inverter control unit 29, the travel inverter control unit 29 acquires the position information and the operation mode of the main lifting unit and the auxiliary lifting unit from the main lifting unit inverter control unit 19 through the serial communication 33 shown in fig. 6.
According to the present embodiment, since the position information of each of the main lifting unit and the auxiliary lifting unit can be grasped and the model of the load runout can be generated using the position information, it is possible to provide a crane apparatus that performs appropriate load runout suppression control.
The present invention is not limited to the above-described embodiments, but includes various modifications.
The above-described embodiments are not necessarily limited to all the configurations described in the detailed description for the purpose of easily understanding the present invention.
Description of reference numerals
1 … main hoist hook, 2 … main hoist wire rope, 3 … main hoist motor, 4 … main hoist lifting device, 5 … auxiliary hoist hook, 6 … auxiliary hoist wire rope, 7 … auxiliary hoist lifting motor, 8 … auxiliary hoist lifting device, 9 … traverse motor, 10 … traverse device, 11 … traverse beam, 12 … travel motor, 13 … travel device, 14 … travel beam, 15 … main hoist control device, 16 … auxiliary hoist control device, 17 … travel control device, 18 … operation input device, 19 … main hoist inverter control unit, 20 … main hoist lifting inverter, 21 … traverse inverter, 22 … main hoist motor brake, 23 … main hoist encoder, 24 … traverse motor brake, inverter 25 … auxiliary hoist control unit, 26 … auxiliary hoist inverter, 27 … auxiliary hoist motor brake, 28 … auxiliary hoist encoder, 29 … travel inverter control, 30 … travel inverter, 31 … travel motor brake, 32 … serial communication, 33 … serial communication, 34 … upper limit switch, 35 … upper limit switch, and 37 … main/auxiliary hoist mode.
Claims (5)
1. A crane apparatus, comprising:
a traverse device movable on the traverse beam;
a traverse motor for moving the traverse device;
a main lifting motor mounted on the transverse device;
a lifting motor of the auxiliary lifting part, which is loaded on the transverse device;
a main hoisting part crane hook connected with the main hoisting part hoisting motor via a main hoisting part steel wire rope;
an auxiliary lifting part crane hook connected with the auxiliary lifting part lifting motor through an auxiliary lifting part steel wire rope;
an operation input device for inputting instructions to the main hoisting motor and the auxiliary hoisting motor;
a main lifting part control part for controlling the main lifting part lifting motor according to the operation of the operation input device;
an auxiliary lifting part control part for controlling the auxiliary lifting part lifting motor according to the operation of the operation input device;
a main lifting part encoder for detecting the rotating speed of the main lifting part lifting motor; and
an auxiliary lifting part encoder for detecting the rotation speed of the auxiliary lifting part lifting motor,
the main lifting part control part judges which one of the main lifting part lifting motor and the auxiliary lifting part lifting motor is in operation from information detected by the main lifting part encoder and the auxiliary lifting part encoder, detects position information of the main lifting part lifting motor or the auxiliary lifting part lifting motor in operation from rotating speeds detected by the main lifting part encoder and the auxiliary lifting part encoder, and controls the moving speed of the traversing device based on the detected position information.
2. The crane apparatus of claim 1, wherein:
the auxiliary lifting unit control unit detects position information of the auxiliary lifting unit lifting motor from the rotation speed detected by the auxiliary lifting unit encoder, and transmits the detected position information to the main lifting unit control unit via serial communication.
3. The crane apparatus of claim 1, wherein:
the transverse device comprises upper limit switches which can be contacted by the main hoisting part crane hook and the auxiliary hoisting part crane hook respectively,
and the main lifting part control part allows one of the main lifting part crane hook and the auxiliary lifting part crane hook to operate under the condition that the other one of the main lifting part crane hook and the auxiliary lifting part crane hook is in contact with the upper limit switch.
4. The crane apparatus of claim 1, wherein:
the main lifting portion control unit sets one of the main lifting portion lifting motor and the auxiliary lifting portion lifting motor, which is operating, as an operation mode, and reads position information of one of the main lifting portion lifting motor and the auxiliary lifting portion lifting motor, which is set as the operation mode.
5. The crane apparatus of claim 4, wherein:
the main lifting part control part updates the operation mode when the main lifting part lifting motor or the auxiliary lifting part lifting motor which is different from the motor set to the operation mode is operated.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018-124051 | 2018-06-29 | ||
| JP2018124051A JP7105634B2 (en) | 2018-06-29 | 2018-06-29 | crane equipment |
| PCT/JP2019/001781 WO2020003567A1 (en) | 2018-06-29 | 2019-01-22 | Crane device |
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| Publication Number | Publication Date |
|---|---|
| CN111542484A CN111542484A (en) | 2020-08-14 |
| CN111542484B true CN111542484B (en) | 2022-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980007143.6A Active CN111542484B (en) | 2018-06-29 | 2019-01-22 | Crane system |
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| JP (1) | JP7105634B2 (en) |
| CN (1) | CN111542484B (en) |
| WO (1) | WO2020003567A1 (en) |
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| CN113135499A (en) * | 2021-03-30 | 2021-07-20 | 浙江山美机械制造有限公司 | Automatic hoisting device with double arm frames |
| CN114104978B (en) * | 2021-10-26 | 2023-05-23 | 湖南三一中型起重机械有限公司 | Double-winch synchronous control method and device, working machine, equipment and medium |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN111542484A (en) | 2020-08-14 |
| WO2020003567A1 (en) | 2020-01-02 |
| JP7105634B2 (en) | 2022-07-25 |
| JP2020001898A (en) | 2020-01-09 |
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