JP2018118791A - Hoist concurrent-hanging control device and hoist hanging device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To convey an object, which is a hanging load, with two hoists by preventing them from inclining.SOLUTION: A hoist concurrent-hanging control device has compensation means to compensate for mechanical position errors in the vertical direction of a first hoist A and a second hoist B, and alignment means to perform relative alignment of the first hoist A and the second hoist B, and the compensating means compensates for the mechanical position errors before aligning by the alignment means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a hoisting device for a hoisting machine and a hoisting device for a hoisting machine.

  When a long object is conveyed by a hoisting machine, there is a risk of dropping due to the inclination of the suspended load if it is a normal slinging method. For this reason, a special sling jig may be used. However, since it takes time to mount the jig, there is a method of carrying a long object by using two hoisting machines so that the load is evenly applied so that the suspended load does not tilt.

  In this case, since the suspended load is transported using two hoisting machines, if the speed between the two hoisting machines does not match, there is a risk that the conveyed product will be inclined and fall.

  As a means for adjusting the speed between two hoisting machines, for example, there is Patent Document 1. In patent document 1, the control part of an inverter drive hoist is provided with the communication part which supplies crane hook position data, operation speed data, and operation | movement data outside, or receives the data input from the outside.

  Data is exchanged between the hoist control units that are linked via the communication unit. Under such a configuration, the relative positional relationship between the two hoisting machines is maintained and the hoisting and lowering operations are performed.

JP-A-9-25091

  In Patent Document 1, the hoisting and lowering operations are performed while maintaining the relative positional relationship based on the acquired crane hook position data and the like. However, in patent document 1, the correction | amendment of the mechanical (mechanical) error by the diameter of the drum in which the wire rope of a winding machine is wound, or elongation of a wire rope is not implemented. As a result, the conveyed product is inclined due to the difference in recognition of the hook block position data between the two hoisting machines.

  An object of the present invention is to use two hoisting machines to prevent a tilted product from being conveyed and convey the conveyed product.

  One aspect of the present invention is a co-suspending control device for lifting a conveyed product using a first hoisting machine and a second hoisting machine, wherein the first hoisting machine and the second hoisting machine Correction means for correcting the mechanical position error in the vertical direction, and alignment means for performing relative alignment of the first hoisting machine and the second hoisting machine, The correction means corrects the mechanical position error before performing the alignment by the alignment means.

  One aspect of the present invention is a lifting device having a first hoisting machine and a second hoisting machine, and means for specifying the positions of the first hoisting machine and the second hoisting machine; And a correction means for correcting the position of the first hoisting machine to a predesignated height and the position of the second hoisting machine to a predesignated height.

  According to the present invention, using two hoisting machines, it is possible to prevent a tilted product from being transported and transport the transported product.

It is a whole block diagram of the co-suspending control device of the hoist according to the embodiment of the present invention. It is a block diagram which shows the structure of the control part of a co-suspending control apparatus. It is the figure which showed that a mechanical error arises between two hoisting machines. It is a flowchart which shows a mechanical error correction process. It is a figure showing operation | movement of the horizontal holding operation and position holding operation of co-suspending control. It is a flowchart which shows the process of co-suspending operation selection control.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  Referring to FIGS. 1 and 2, in the hoisting control device for a hoist according to the embodiment, the conveyed product C is hoisted using two hoisting machines A and B. The hoisting machine A includes a crane hook 1a, a wire rope 2a, a hoisting induction motor (motor) 3a, a hoisting device 4a, a traverse induction motor (motor) 5a, a traversing device 6a, a hoisting / traverse inverter device 8a, It consists of an input device 9 for operation and a three-phase power supply 16.

  On the other hand, the hoisting machine B includes a crane hook 1b, a wire rope 2b, a hoisting induction motor (motor) 3b, a hoisting device 4b, a traverse induction motor (motor) 5b, a traversing device 6b, and a hoisting / traverse inverter device. (Control unit) 8b.

  The hoisting induction motor (motor) 3a is provided with an induction motor brake 10a and an encoder 11a, and the traverse induction motor (motor) 5a is provided with an induction motor brake 10a.

  The hoist / row inverter device 8a is provided with a hoist / row inverter control unit 12a, an inverter 13a for hoisting, and an inverter 14a for traversing. On the other hand, the hoisting induction motor 3b is provided with an induction motor brake 10b and an encoder 11b, and the traverse induction motor 5b is provided with an induction motor brake 10b.

  The hoist / row inverter device 8b is provided with a hoist / row inverter control unit 12b, a hoist inverter 13b, and a traverse inverter 14b.

  As shown in FIG. 1, in the hoisting machine A and the hoisting machine B of the co-suspending control device, the transported goods (baggage) C attached to the crane hooks 1a and 1b are wound with hoisting motors 3a and 3b. The wire ropes 2a and 2b are moved up and down by the upper devices 4a and 4b, respectively, and moved up and down.

  Further, the hoisting machine A and the hoisting machine B are rotated in the horizontal direction along the traverse girder 7 by rotating wheels (not shown) in the traversing apparatuses 6a and 6b by the traverse induction motors 5a and 5b. Moving.

  Here, the co-suspending control device has an interlocking mode and a single-action mode. The interlocking mode is a mode in which the A-side hoisting machine A and the B-side hoisting machine B operate in conjunction with each other. On the other hand, the single action mode is a mode in which only one of the A-side hoisting machine A and the B-side hoisting machine B operates.

  Also, the input device 9 shown in FIG. 2 is used to switch between the interlocking mode and the single-action mode, and the operation of the A-side hoisting machine A or the operation of the B-side hoisting machine B in the single-action mode. Do. The hoisting and induction motors 3a and 3b and the traverse induction motors 5a and 5b are respectively controlled by the hoisting and traverse inverter controllers 12a and 12b of FIG. 2 provided in the hoisting and traversing inverter devices 8a and 8b.

  That is, when the operator (operator) inputs a predetermined instruction from the input device 9, the hoisting and traverse inverter control units 12a and 12b control the hoisting inverters 13a and 13b and the traverse inverters 14a and 14b, respectively. .

  Then, from the winding inverters 13a and 13b and the traverse inverters 14a and 14b, the frequency, voltage and current necessary for the control are respectively supplied to the hoist induction motors (motors) 3a and 3b and the traverse induction motors (motors) 5a and 5b. Add.

  Then, by controlling release of the induction motor brakes 10a and 10b, in the case of the hoisting devices 4a and 4b, the transported goods (packages) C attached to the crane hooks 1a and 1b do not fall vertically. Move. In the case of the traversing devices 6a and 6b, the hoisting devices 4a and 4b are moved in the lateral direction along the traverse girder 7, respectively.

  The hoisting / traverse inverter control units 12a, 12b also provide information on the encoders 11a, 11b that detect the rotational speeds of the hoisting induction motors (motors) 3a, 3b, that is, position information. 12b is used to control suspension control.

  In addition, the A-side hoisting machine A acquires the position information, speed information, and operating state information of the B-side hoisting machine B via the serial communication 15, and instructs the B-side hoisting machine B to operate. To implement. Not only serial communication but also wireless or infrared communication can be implemented. Note that when performing wired serial communication or parallel communication, it is effective because it is less affected by the surrounding environment.

  Further, the B-side hoisting machine B selects the operation speed by operating information from the input device 9 and operation instructions from the A-side hoisting machine A via the serial communication 15 with the A-side hoisting machine A. Works.

  FIG. 3 shows that mechanical errors occur between the A-side hoisting machine A and the B-side hoisting machine B due to the drum diameter of the hoisting devices 4a and 4b and the elongation of the wire ropes 2a and 2b. FIG.

  Position information from the encoders 11a and 11b is input to the hoisting and traverse inverter control units 12a and 12b as pulse waveforms, respectively, and the hoisting and traverse inverter control units 12a and 12b recognize the position based on the input number of pulses.

  Since the encoders 11a and 11b that are generally used are an increment method, it is necessary to inform the hoist / row inverter control units 12a and 12b of the zero position. For example, the position (upper limit position) where the crane hooks 1a and 1b cannot move further upward is set to zero, that is, the number of pulses is zero.

  When the crane hooks 1a and 1b move downward by this setting, the position is determined by counting the number of pulses. Here, the crane hooks 1a, 1b of the hoisting machine A on the A side and the hoisting machine B on the B side are moved near the ground as the lower limit position.

  A mechanical error occurs when the apparent horizontal position is adjusted. For example, the number of detected pulses of the A-side hoisting machine A is 1006, and the number of detected pulses of the B-side hoisting machine is 1000, resulting in positional deviation.

  Next, a mechanical error correction process for correcting the mechanical error will be described with reference to FIG. The mechanical error correction process is performed by the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A. Here, the error correction process is preferably executed periodically, for example, every 10 ms.

  First, it is confirmed whether there is an operation for acquiring a mechanical error correction ratio (S101). Here, the process start operation is started by operating a setting button (not shown) provided in the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A.

  The operation for starting the processing may be started by a signal input state from the input device 9. If there is the acquisition operation, the pulse difference (B-side pulse-A-side path) at that time is taken in (S102), and the correction ratio is calculated (S103).

  Here, in capturing the pulse difference (S102), the pulse difference is input by operating a setting button (not shown) provided in the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A. May be.

  Or it is good also as a pulse difference at the time of the pulse difference taking-in signal from the input device 9 being input. When there is no acquisition operation, the pulse of the A-side hoisting machine A is corrected according to the correction ratio.

  Here, by setting the initial value of the correction ratio to 1, when the correction ratio acquisition operation is not performed, the number of pulses as detected can be obtained. Further, the calculated correction ratio is stored and stored in a storage unit (not shown) provided in the hoisting / running inverter control unit 12a.

  As a result, the number of pulses of the A-side hoisting machine A can be corrected without being erased even when the power is cut off.

  For example, when the crane hooks 1a and 1b are horizontally aligned at the lower limit position by the mechanical error correction process, the number of detected pulses of the A side hoisting machine A is 1006, and the number of detected pulses of the B side hoisting machine B is In the case of 1000, the pulse difference is -6 (the crane hook 1a of the A-side hoisting machine A is 6 pulses higher than the crane hook 1b of the B-side hoisting machine B).

  Thus, the correction ratio becomes 1 + (− 6 ÷ 1006) ≈0.9940, and when the number of pulses of the A-side hoisting machine A is corrected, 1006 × 0.9940≈1000. Accordingly, the correction can be normally performed because the number coincides with the number of detected pulses 1000 of the winding machine B on the B side.

  Further, since the mechanical error correction process is a process that is periodically executed, the process can be performed with an appropriately corrected number of pulses by executing the process before the alignment control.

  Here, since the shape of the conveyed product C is various, the sling position for carrying out the co-hanging is often different between the A-side hoisting machine A and the B-side hoisting machine B. There is a position holding operation that can be performed while maintaining the difference in the positions of the crane hooks 1a, 1b of the A-side hoisting machine A and the B-side hoisting machine B.

  FIG. 5 is a diagram illustrating the horizontal holding operation and the position holding operation of the co-suspending control. In the horizontal holding operation, the crane hooks 1a and 1b of the hoisting machine A on the A side and the hoisting machine B on the B side keep the horizontal position, that is, operate while controlling the speed so that the difference in the number of pulses becomes zero. It is a mode to do.

  On the other hand, in the position holding operation, the difference in the positions of the crane hooks 1a and 1b of the hoisting machine A on the A side and the hoisting machine B on the B side, that is, the difference in the number of pulses is memorized to hold the difference in the number of pulses. It is a mode to drive while controlling the speed.

  Next, with reference to FIG. 6, the switching process of each operation control and the process for determining the difference in the number of pulses used for each operation control (co-suspending operation selection control process) will be described. The co-suspending operation selection control process is performed by the hoisting / traversing inverter control unit 12a of the hoisting machine A on the A side. The process is preferably executed periodically, for example, every 10 ms.

  First, switching between the horizontal holding operation and the position holding operation is performed by confirming whether there is an instruction to select the co-suspending operation mode (S201). Here, the selection instruction is started by operating a setting button (not shown) provided in the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A.

  Further, it may be started by a signal input state from the input device 9. If there is the selection instruction, in the state of the horizontal holding operation instruction (S202), the horizontal holding operation (S203) or the position holding operation (S204) is selected.

  Next, a difference in the number of pulses used for each operation control, that is, a reference for alignment is determined. First, the co-suspending operation control mode is determined (S205).

  In the horizontal holding operation mode, the alignment reference is set to zero. If it is the position holding operation mode, the state of the “input” signal of the input device 9 is confirmed (S207). If this signal state is OFF, the difference between the current number of detection pulses on the A side and the number of detection pulses on the B side is calculated. The alignment reference is used (S209).

  If the “ON” signal state is ON, it is confirmed whether or not the single-action mode is switched to the interlocking mode (S208), and if it is switched, the difference between the current A-side detection pulse number and the B-side detection pulse number is The alignment reference is used (S209).

  According to the above embodiment, the correction ratio of the number of detected pulses can be corrected by calculating the correction ratio of the mechanical error between the two hoisting machines A and B due to the drum diameter and the elongation of the wire ropes 2a and 2b. it can. Thereby, the mechanical error between the hoisting machines A and B can be corrected.

  Furthermore, the relative positional relationship can be easily set by operating the input device 9 according to the shape of the transported object (suspended load) D, and the mode to be operated can be easily set by operating the input device 9. can do.

1a, 1b Crane hooks 2a, 2b Wire ropes 3a, 3b Hoisting induction motors 4a, 4b Hoisting devices 5a, 5b Traverse induction motors 6a, 6b Traversing devices 7 Traverse girders 8a, 8b Hoisting and traverse inverter devices 9 Input devices 10a, 10b Induction motor brakes 11a, 11b Encoders 12a, 12b Hoisting and traverse inverter control units 13a, 13b Hoisting inverters 14a, 14b Traverse inverters 15 Serial communication 16 Three-phase power supply A A hoisting machine B B side hoisting machine C

Claims (13)

A co-suspending control device for lifting a conveyed product using a first hoisting machine and a second hoisting machine,
Correction means for correcting an error in the vertical mechanical position of the first hoisting machine and the second hoisting machine;
Alignment means for performing relative alignment between the first hoisting machine and the second hoisting machine;
The co-hanging control apparatus for a hoisting machine, wherein the correction unit corrects the mechanical position error before performing alignment by the alignment unit.   The alignment means includes a horizontal holding operation in which a horizontal position between the first hoisting machine and the second hoisting machine is operated according to a shape of the conveyed product, and the first winding machine. 2. The winding according to claim 1, wherein the positioning is performed with a process of switching between a position holding operation in which an upper machine and the second hoisting machine are operated while holding a difference in a vertical position. Co-suspending control device for upper machine. The first hoisting machine has a first drum for holding a first crane hook, and a first wire rope wound around the first drum,
The second hoisting machine has a second drum for holding a second crane hook, and a second wire rope wound around the second drum,
The error in the mechanical position in the vertical direction is caused by a difference in drum diameter between the first drum and the first drum or an extension between the first wire rope and the second wire rope. Caused by the difference between
The correction of the error in the mechanical position in the vertical direction is performed based on a correction ratio calculated from a pulse difference from a reference position of the first crane hook and the second crane hook. Item 3. A hoisting control device for a hoisting machine according to item 2.   The co-suspending control device for a hoist according to claim 3, further comprising a storage unit for storing the calculated correction ratio.   In the positioning means, the horizontal holding operation is speed-controlled so that a difference in the number of pulses between the position of the first crane hook and the position of the second crane hook becomes zero, The co-suspending control device for a hoist according to claim 3, wherein speed control is performed so as to maintain a difference in pulse number between the position of the first crane hook and the position of the second crane hook. .   The positioning means switches between the horizontal holding operation and the position holding operation in accordance with an operation of a setting button provided in the first hoisting machine or the second hoisting machine. The hoisting control device for a hoist according to claim 3.   The alignment means switches between the horizontal holding operation and the position holding operation in accordance with a signal input state from an input device provided outside the first hoisting machine or the second hoisting machine. The co-suspending control device for a hoisting machine according to claim 3, wherein:   In the position holding operation, the positioning means checks the signal input state of the input device, and detects the number of detected pulses of the first crane hook and the second crane at the operation timing when the signal input state is OFF. 8. The hoisting machine co-suspending control apparatus according to claim 7, wherein a difference in the number of detected pulses of the hook is used as a reference for alignment.   9. The difference in the number of detected pulses can be arbitrarily set by adjusting the operation timing when the signal input state is OFF in the position holding operation. 9. Co-suspending control device for hoisting machines. A lifting device having a first hoisting machine and a second hoisting machine,
Means for identifying the position of the first hoisting machine and the second hoisting machine;
Correction means for correcting the position of the first hoisting machine to a predesignated height, and correcting the position of the second hoisting machine to a predesignated height;
A hoisting device for a hoisting machine.   The correction means corrects the position of the first hoisting machine or the second hoisting machine to the predetermined height, and the position of the first hoisting machine and the second hoisting machine are corrected. The hoisting device for a hoist according to claim 10, wherein the positions of the machines are aligned.   The positioning means is configured to maintain a horizontal position between the first hoisting machine and the second hoisting machine in accordance with the shape of the conveyed product conveyed by the lifting device. The positioning is performed with a process of switching between a position holding operation in which the first hoisting machine and the second hoisting machine are operated while maintaining a difference in height in the vertical direction. Item 11. A hoisting device for a hoist according to item 10. The first hoisting machine has a first drum for holding a first crane hook, and a first wire rope wound around the first drum,
The second hoisting machine has a second drum for holding a second crane hook, and a second wire rope wound around the second drum,
The first hoisting machine and the first hoisting machine based on a difference in drum diameter between the first drum and the first drum or an extension between the first wire rope and the second wire rope. Identify the difference in height of the second hoist,
The hoisting device for a hoist according to claim 12, wherein the difference in height is corrected based on a difference from a reference position between the first crane hook and the second crane hook.

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