CN118159485A - Crane device - Google Patents

Abstract

The invention provides a crane device, which can reduce the setting workload of operation information and simply confirm the operation information by using a general inverter. The crane device includes: a plurality of drive motors including at least a hoisting motor (3) and a moving motor (5); a common inverter (16, 17) for controlling each drive motor; and a higher-level control unit (30) connected to each inverter via a communication unit, wherein the higher-level control unit (30) has an operation information conversion unit (32) for converting operation information into operation information corresponding to the operation information of each inverter.

Description

Crane device

Technical Field

The present invention relates to a crane apparatus, and more particularly to an inverter-type crane apparatus for controlling an inverter for driving a motor.

Background

For example, in a building such as a factory, a crane apparatus is provided which is equipped with a hoisting motor for moving a suspended weight such as a manufactured structural member in a vertical direction and a moving motor for moving the suspended weight along a rail provided on a ceiling side. Here, the hoisting motor and the moving motor are sometimes referred to as driving motors hereinafter.

In such a crane device, a hoisting motor is driven along a track laid along a ceiling of a building, and the hoisting motor has a rope drum around which a wire rope is wound. The rope drum has a function of winding and unwinding a wire rope connected to a hoist by rotating a hoist motor. Further, the crane device includes a moving motor for traveling on the rail, and the hoisting motor is driven to move along the rail.

For example, patent document 1 (japanese patent application laid-open publication No. 07-13094) describes such a crane device. In the crane device described in patent document 1, in order to operate a plurality of drive motors in the crane device in accordance with various characteristics required for the respective drive motors, power is supplied from a common converter unit to inverters provided for the respective drive motors, control conditions are read from a condition setting unit of the respective drive motors by a common operation unit based on an instruction from an operation input device, and the respective inverters are controlled, and the respective regenerative power is consumed by a common regenerative power consumption resistor.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open No. 07-13094

Disclosure of Invention

Problems to be solved by the invention

In consideration of the product cost and usability of the crane apparatus, it is more advantageous to use a general-purpose inverter as the inverter instead of a dedicated inverter corresponding to each drive motor.

However, when a general-purpose inverter is used, for example, it is necessary to individually set operation information such as a command value and an error code used for control for each inverter, and a large amount of work is required. Further, since the command value and the error code are different for each inverter during maintenance of the crane apparatus, it is necessary to confirm these by manual or the like for each inverter, which consumes a lot of work. In this way, when a general-purpose inverter is used, there are problems in that it takes a lot of effort to set operation information and in that it takes a lot of effort to confirm the operation information. Patent document 1 does not disclose or suggest these problems and countermeasures against these problems.

The invention aims to provide a crane device which can reduce the setting workload of operation information and can simply confirm the operation information by using a general inverter.

Means for solving the problems

In order to solve the above problems, for example, a structure described in the scope of the claims is adopted. The present invention includes various means for solving the above problems, examples of which are:

A crane apparatus includes a plurality of drive motors including at least a hoisting motor and a traveling motor; a common inverter for controlling the respective drive motors; and a higher-level control unit connected to each inverter via a communication unit for controlling the inverter, the higher-level control unit having an operation information conversion unit that converts operation information into operation information corresponding to the operation information of each inverter.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the present invention, it is possible to provide a crane apparatus capable of reducing the amount of operation information setting work and easily confirming operation information while using a general-purpose inverter.

Drawings

Fig. 1 is a structural diagram showing an overall structure of an inverter crane device.

Fig. 2 is a block diagram showing a configuration of a control system of the inverter crane apparatus.

Fig. 3 is a block diagram showing the structure of the upper control unit.

Fig. 4 is an explanatory diagram illustrating operations of the display unit and the operation unit.

Fig. 5 is an explanatory diagram illustrating a method of setting the function code.

Fig. 6 is a block diagram showing a configuration (address mapping table) for explaining the function of the operation information conversion unit.

Fig. 7 is a flowchart showing a flow of processing for performing the change of the setting value.

Fig. 8 is an explanatory diagram illustrating a method of changing the unit of the set value.

Fig. 9 is an explanatory diagram illustrating a method of converting an error code of each inverter into a unified error code.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings, but the present invention is not limited to the following embodiments, and various modifications and applications of the technical concept of the present invention are also included in the scope thereof.

Fig. 1 shows the overall structure of an inverter crane apparatus to which the present invention is applied, and fig. 2 shows the structure of a control system of an inverter crane apparatus according to an embodiment of the present invention.

In fig. 1, the inverter type crane apparatus is constituted by a crane hook 1, a wire rope 2, a winding induction motor 3, a winding drum 4, a traverse induction motor 5, traverse wheels 6, a traverse bridge 7, a traverse induction motor 8, a traverse wheels 9, a traverse bridge 10, a winding/traverse inverter control device 15, an operation input device 12 suspended from the rope, a traverse inverter control device 13, and the like. Further, the winding induction motor 3, the traverse induction motor 5, and the wale induction motor 8 are each incorporated with an induction motor brake 14 (see fig. 2).

In the inverter crane device, a hoisting weight attached to a crane hook 1 is vertically (indicated by Y-direction, -Y-direction arrows), that is, vertically moved by winding up and down a wire rope 2 by a winding drum 4 rotated by a winding induction motor 3. The traverse induction motor 5 rotates the traverse wheel 6 and moves in the left-right direction (indicated by the arrow in the X-direction or the X-direction) along the traverse bridge 7. Further, the pitch induction motor 8 rotates the pitch wheel 9 and moves in the front-rear direction (indicated by the arrow in the Z direction, -Z direction) along the pitch bridge 10.

As shown in fig. 2, the hoisting/traversing inverter control device 15 includes a hoisting/traversing inverter control unit (so-called control means in the scope of claims) 15, a hoisting inverter 16, and a traversing inverter 17. The pitch inverter control device 13 incorporates a pitch inverter control unit 18 and a pitch inverter 19. The hoisting/traversing inverter control unit 15 is connected to the wale inverter control unit 18 via a communication line 20.

The winding induction motor 3 and the traverse induction motor 5 are controlled by a winding/traverse inverter control unit 15 stored in the winding/traverse inverter control device 11. That is, when the operator inputs a predetermined instruction from the operation input device 12, the hoisting/traversing inverter control unit 15 gives operation information necessary for control to the hoisting inverter 16 and the traversing inverter 17 in order to control the hoisting inverter 16 and the traversing inverter 17. Further, an encoder 21 is mounted on the winding induction motor 3, and inputs rotation information of the winding induction motor 3 to the winding/traversing inverter control unit 15.

Then, the winding inverter 16 and the traverse inverter 17 apply necessary frequencies, voltages, and currents to the winding induction motor 3 and the traverse induction motor 5, and simultaneously perform release control of the induction motor brake 14. Thus, in the case of the hoisting drum 4, the crane weight attached to the crane hook 1 is moved in the vertical direction without falling down, and in the case of the traversing wheel 6, the traversing wheel 6 is moved in the left-right direction along the traversing bridge 7.

Similarly, in the tandem induction motor 8 mounted on the tandem wheel 9, when the operator inputs a predetermined instruction from the operation input device 12, the tandem inverter control unit 18 stored in the tandem inverter control device 13 controls the tandem inverter 19, and the tandem inverter 19 applies necessary frequency, voltage, and current to the tandem induction motor 8 and simultaneously releases the induction motor brake 14, thereby moving the tandem wheel 9 in the front-rear direction along the tandem bridge 10.

Further, the hoisting/traversing inverter control device 15 is provided with a cloud communication unit 22, and the cloud communication unit 22 is connected to the hoisting/traversing inverter control device 15 via a communication line 23. The communication unit 22 is connected to a cloud server 24 composed of a server having a calculation function by wireless communication, and the cloud server 24 is also connected to a portable display terminal 25 having a communication unit by wireless communication.

The cloud communication unit 22 is provided to acquire and edit operation information at a remote location without going to the location where the hoisting/traversing inverter device 11 is provided. The cloud communication unit 22 can acquire the operation information and transmit the operation information to the cloud server 24 via the internet communication network. Here, the information displayed on the display terminal 25 may be directly transmitted without via the internet communication network, for example, by using short-range communication. As an example of the display terminal 25, a tablet terminal, a mobile phone (smart phone), a personal computer, or the like can be used.

Next, specific embodiments of the present invention will be described. Fig. 3 shows a schematic configuration of a higher-level control unit 30 that controls a plurality of general-purpose inverters, and the hoisting/traversing inverter control unit 15 corresponds to the higher-level control unit 30 in this embodiment.

In fig. 3, the upper control unit 30 is a control device that controls 2 (a plurality of) inverters, that is, the hoisting inverter 16 and the traversing inverter 17. The upper control unit 30 is configured by a control unit 31, an operation information conversion unit 32, a storage unit 33, a communication unit 34, a display unit 35, and an operation unit 36, and further inputs a rotation signal from a rotation detection unit 37 that detects rotation of the hoisting induction motor 3. The signals of the other detectors are also input to the control unit 31.

Then, the hoisting inverter 16 and the traversing inverter 17 are connected to the communication unit 34 of the upper control unit 30 via the communication line 26, respectively. The operation information conversion unit 32 connected to the communication unit 34 selects operation information to be transmitted to the respective inverters 16 and 17, and performs mutual conversion of the operation information (for example, command values) and unification of error codes.

The storage unit 31 stores set values such as operation information of the inverter crane device and operation information. The stored information is used for the conversion operation by the operation information conversion unit 32. The communication unit 34 is an interface for controlling the hoisting inverter 16 and the traverse inverter 17 via the communication unit 26.

The control unit 31 has a calculation function for controlling the conversion operation of the operation information conversion unit 32, the storage operation of the storage unit 31, the display operation of the display unit 35, and the operation of the operation unit 36. Further, the rotation information of the rotation detecting unit 37 is input to the control unit 31. The rotation detecting unit 37 reads the pulse output of the encoder attached to the winding induction motor 3, and obtains the rotation amount and rotation frequency of the motor in addition to the output frequency obtained from the inverter. The rotation detecting unit 37 can set the number of pulses of the connected encoder, and can detect the rotation amount even when the specifications of the encoders are different.

Next, a method of setting the operation information by the display unit 35 and the operation unit 36 in the upper control unit 30 will be described with reference to fig. 4 and 5.

In fig. 4 (a), the upper control unit 30 (here, the hoist/traverse inverter control unit) includes, for example, a display unit 35 indicated by a broken line for displaying a maximum of 4 digits and characters, and an operation unit 36 indicated by a broken line including 4 switch buttons Up, dn, et, cn of "up and down", "decision" and "cancel". A symbol (#, etc.) indicating a function is added to each button.

The switch button (scroll Up) Up has a scroll function in the Up direction, the switch button (scroll down) Dn has a scroll function in the down direction, the switch button (decision) Et has a decision function, and the switch button (cancel) Cn has a cancel function.

The display unit 35 displays the operating state of the crane device, the function code, the set value, the error code when detecting an error, and the like. For example, when the error code "E01" is displayed, a display such as the display example shown in fig. 4 (B) is performed.

The switch buttons (scroll Up) Up and switch buttons (scroll down) Dn of the operation unit 36 can be pressed to sequentially switch the display contents of the function codes and the set values in a state where the function codes and the set values are displayed on the display unit 35. The switch button (decision) Et and the switch button (cancel) Dn are used when the display mode is shifted.

Next, fig. 5 shows an example of a case where a function code is selected. Here, the function code is a code composed of a combination of letters and numbers, which is assigned to functions such as confirmation operation information and edit setting items. Here, an example of selecting "F40" is shown. The "F40" is a function code of selecting an inverter.

In fig. 5, in a normal state, the operation state (referred to as a normal state) is displayed on the display unit 35, and the function code selection state is shifted to each setting item by pressing the switch button (determination) Et.

In the function code selection state (referred to as a function code selection state), the function code is displayed on the display unit 35, and the function code can be selected by pressing the switch button (scroll Up) Up or the switch button (scroll down) Dn. In the figure, the function code is "F01" → "F02" → "… …" → "F40", and the function code "F40" is selected. In this state, the switch button Et is pressed down (decided), and the state is shifted to the setting change state.

In the setting change state (referred to as a setting change state), the winding inverter or the traverse inverter is selected. In this case, the display of the inverter is also switched by operating the switch button (scroll Up) Up and the switch button (scroll down) Dn. The value displayed on the display unit 35 is stored by pressing the switch button (determination) Et in this state.

When the switch button (cancel) Cn is pressed in the setting change state, the change by the switch button (scroll Up) Up and the switch button (scroll down) Dn is abandoned, and the operation shifts to the function code selection state. Further, the function code selection state is shifted to the normal state by pressing the switch button (cancel) Cn.

Next, an example of the configuration of the operation information conversion unit 32 will be described with reference to fig. 6. The operation information conversion unit 32 has an address map in which addresses of setting items of the hoist/traverse inverters 16 and 17 and other inverters, changing units of setting values, error codes of setting ranges and error items of the hoist/traverse inverters 16 and 17 and other inverters are stored, and unified error codes in the hoist/traverse inverters 16 and 17 and other inverters. In addition, specific methods for their use are described hereinafter.

Then, as shown in fig. 5, by selecting the address of the model of the inverter suitable for use from the inverter selection function, the above-described operations of transmitting the related information of the setting item to the selected inverter, displaying the error code, and the like can be performed even in the case where the manufacturer and the model of the inverter are different.

Next, as an example, a process from changing the set value of the operation information of the inverter to transmitting the set value will be described with reference to fig. 7. Further, the description of fig. 6 is also referred to as needed.

Step S10

First, in step S10, a mode of changing the set value is selected using the method shown in fig. 5. When the mode is selected, the process proceeds to step S11.

Step S11

In step S11, the set value stored in the storage unit 33 is updated. When the set value is updated, the process proceeds to step S12.

Step S12

In step S12, a determination is performed as to whether an address mapping table of the inverter as shown in fig. 6 has been selected. If the address mapping table of the inverter has not been selected, the process proceeds to step S13. On the other hand, when the address mapping table of the inverter has been selected, the process proceeds to step S14.

Step S13

Since the address mapping table is not selected in step S12, an error is displayed with the display section 35 in step S13 (refer to fig. 4). The jump to end and wait for the next start when performing the error display.

Step S14

Since the address mapping table is selected in step S12, the address of the setting item shown in fig. 6 is selected. When the address of the setting item is selected, the process proceeds to step S15.

Step S15

Next, a determination is performed as to whether or not the setting value updated in step S11 is within the setting range of the setting value in the inverter selected in step S14. If it is determined that the current value is not within the set range, the process proceeds to step S16. On the other hand, when the determination is made that the setting range is in the set range, the process proceeds to step S19.

Step S16

Since it is determined in step S15 that the set range is not exceeded, in step S16, a determination is made as to whether or not the maximum value of the set range is exceeded. If the maximum value is exceeded, the process proceeds to step S17, and if the maximum value is not exceeded, the process proceeds to step S18 while regarding the minimum value.

Step S17

Since it is determined in step S16 that the maximum value of the set range is exceeded, in step S17, the set value is replaced with the maximum value of the set range. When the set value is replaced with the maximum value, the process proceeds to step 21.

Step S18

Since the minimum value of the setting range is regarded as in step S16, the setting value is replaced and set to the minimum value of the setting range in step S18. When the set value is replaced with the minimum value, the process proceeds to step 21.

Step S19

Returning to step S15, since it is determined in step S15 that the setting range is within, a determination is made in step S19 as to whether or not the setting value needs to be converted. In this determination, when it is determined that the set value does not need to be converted, the process proceeds to step S21. On the other hand, when it is determined that the set value needs to be converted, the process proceeds to step S20.

Step S20

Since it is determined in step S19 that the set value needs to be converted, conversion of the set value is performed in step S20. The conversion of the set value is performed by the operation information conversion unit 32 in accordance with the value of the change unit as described later. The conversion function of the operation information conversion unit 32 is a function for converting the set setting value into a setting value usable in the selected inverter. This step S20 will be described with reference to fig. 8 described later. The process proceeds to step S21 when the conversion of the setting value is performed.

Step S21

In step S21, transmission data is generated using the newly set setting value. In this case, the transmission data is generated by adding the address of the setting item selected in step S14 to the setting value. When generating transmission data, the process proceeds to step S22.

Step S22

In step S22, the transmission data generated in step S21 is transmitted to the selected inverter via the communication unit 34. When the transmission is completed, the transmission jumps to the end and waits for the next start.

Next, the switching of the setting value in step S20 will be described with reference to fig. 8. When the set value of the inverter is changed in step S20, the set value of the storage unit 33 is converted into a set value suitable for the unit of change corresponding to the inverter selected by the inverter selection function.

In fig. 8, for example, when the hoisting inverter 16 is selected and the setting of the acceleration time is changed to "3 seconds", if the unit of change in the upper control unit 30 is set to "0.1 seconds" as the data (a) of the storage unit 33, the setting value is "30" based on "3 seconds=0.1 seconds (unit of change) ×30 (setting value)".

However, the change unit of the winding inverter connected to the upper control unit 30 is different from the change unit (0.1 seconds) stored in the storage unit 33 of the upper control unit 30, and if the change unit is set to "0.01 seconds", the set value is "300" based on "3 seconds=0.01 seconds (change unit) ×300 (set value)", as shown in the data (B) of the winding inverter. Here, the address "008" is an address of a setting item given to the hoisting inverter 16. In this way, the operation information conversion unit 32 can convert the set value in accordance with the unit of change of the selected inverter.

Accordingly, as shown in the transmission data (C), the transmission data having the address "008" and the set value "300" is transmitted from the communication unit 34 to the hoisting inverter 16. Thereby, the hoisting inverter 16 operates with the acceleration time set to 3 seconds.

In this way, the operation information conversion unit 30 has at least a function of designating an inverter and a function of converting a set value of operation information of the designated inverter into a set value corresponding to the inverter. This makes it possible to solve the problem that setting operation information requires a large amount of work even when a general-purpose inverter is used.

The unified error code is described next. The upper control unit 30 periodically transmits an operation command and receives operation information to the hoisting inverter 16 and the traverse inverter 17 via the communication unit 34.

Here, the operation command is a command related to motor control, such as a forward rotation, a reverse rotation, and a stop of the drive motor, or a frequency command. The operation information is information that can be detected by the inverter, such as an output frequency, an output current, a dc voltage, and an error detection state of the drive motor.

The upper control unit 30 acquires an error code output from the hoisting inverter 16, for example, when the hoisting inverter 16 detects an error. Then, the operation information conversion unit 32 determines a unified error code corresponding to the acquired error code from the error item of the selected hoisting inverter 16, stores the error code in the storage unit 33, and performs display on the display unit 35.

Fig. 9 shows a specific example of the error conversion map of the operation information conversion unit 32. For example, when the hoisting inverter 16 is selected, and the hoisting inverter 16 detects an "overcurrent error during acceleration", the upper control unit 30 acquires the error code "16" from the hoisting inverter 16.

Then, the operation information conversion unit 32 outputs the unified error code "E10" corresponding to the acquired error code "16" in the error conversion map of the hoisting inverter 16, determines an overcurrent error which is "code E10", stores the overcurrent error in the storage unit 33, and performs display on the display unit 35.

Here, the error codes "16" to "18" of the hoisting inverter 16 are set to the unified error code "E10", the error codes "32" to "34" are set to the unified error code "E11", and the error code "81" is set to the unified error code "E12". Similarly, the error codes "1" to "4" of the horizontal line inverter 17 are set as the unified error code "E10", the error codes "7" to "15" are set as the unified error code "E11", and the error code "9" is set as the unified error code "E12". The same applies to other inverters.

Therefore, the error codes of the individual inverters are not checked, but the unified error codes are checked, so that the problems of the labor consumption and the like for checking the error codes of the individual inverters can be solved.

Here, the display unit 35 having a display function and the operation unit 34 having an operation and setting function constituting the upper control unit 30 may be provided in the display terminal 25 connected via the cloud server 24. That is, by performing the display process of the display unit 35 and the operation and setting process of the operation unit 34 with the display terminal 25 via the cloud server 24, it is possible to confirm error information, change a function code, a setting value, and the like from a remote point, and there is an effect that the operation and maintenance of the crane apparatus are facilitated.

According to the present embodiment, the setting operation of the common inverter can be performed only by the setting change of the upper control unit, without considering the difference between the respective inverters.

As described above, the present invention is a crane apparatus including a plurality of drive motors including at least a hoisting motor and a moving motor, a common inverter for controlling each of the drive motors, and a superior control unit connected to each of the inverters via a communication unit and controlling the inverter, wherein: the upper control unit has an operation information conversion unit that converts operation information into operation information corresponding to operation information of each inverter.

Thus, it is possible to provide a crane apparatus capable of reducing the amount of operation information setting work and easily confirming operation information, in addition to using a general-purpose inverter.

The present invention is not limited to the above-described embodiments, but includes various modifications. The above-described embodiments are described in detail for the purpose of easily understanding the present invention, and are not limited to the configuration in which all the descriptions are necessarily provided. In addition, a part of the structure of one embodiment may be replaced with the structure of another embodiment, and the structure of another embodiment may be added to the structure of one embodiment. Other structures may be added, deleted, or replaced with the structures of the embodiments.

Description of the reference numerals

The crane includes a crane hook 1 …, a wire rope 2 …, a hoist induction motor 3 …, a hoist drum 4 …, a traverse induction motor 5 …, a traverse wheel 6 …, a traverse bridge 7 …, a longitudinal induction motor 8 …, a longitudinal wheel 9 …, a longitudinal bridge 10 …, a hoist/traverse inverter control device 11 …, an operation input device 12 …, a hoist/traverse inverter device 13 …, a hoist/traverse inverter control unit 14 …, a hoist/traverse inverter control unit 15 …, a hoist/traverse inverter 16 …, a hoist inverter 17 …, a … communication line …, a … encoder …, a communication line 23, a communication line 24 …, a cloud 25 … display terminal, a higher-level control unit 30 …, a … control unit 39331, an operation information conversion unit 32, a storage unit 33 …, a communication unit 34, a … display unit …, a … detection unit …, and a detection unit ….

Claims (5)

1. A crane apparatus, comprising:

a plurality of driving motors including at least a hoisting motor and a moving motor;

A common inverter for controlling each of the drive motors; and

A superior control unit connected to each of the inverters via a communication section for controlling the inverters,

The upper control unit includes an operation information conversion unit that converts operation information into operation information corresponding to operation information of each inverter.

2. Crane arrangement according to claim 1, characterized in that:

The operation information conversion unit has at least a function of determining the inverter and a function of changing the determined set value of the operation information of the inverter.

3. Crane arrangement according to claim 2, characterized in that:

the operation information conversion means has a function of converting a set value regarding the number of pulses of the encoder input to the rotation detection unit, and can convert the set value.

4. Crane arrangement according to claim 1, characterized in that:

the operation information conversion unit has an error conversion map storing an error code of each inverter and a unified error code obtained by unifying the error codes, and converts the error code detected by the inverter into the unified error code and outputs the unified error code.

5. The crane control as claimed in any one of claims 1 to 4, wherein:

the display unit having a display function and the operation unit having an operation and setting function, which constitute the upper control unit, are provided in a display terminal connected via a cloud server.