JP3411222B2 - Hoist - Google Patents

Description

Detailed Description of the Invention

[0001]

The present invention relates to relates to <br/> hoist performing co hanging operation.

[0002]

2. Description of the Related Art Conventionally, in the case of suspending a single load with two hoists, two hoists have been operated simultaneously by operating a shared operation panel of the two hoists. In this process, the position of the hoist block of one hoist becomes higher than that of the hoist block of the other hoist, and the load may tilt. In this case, after operating the switching device so that only one of the two hoists can be operated, the shared panel is operated to operate only one hoist to correct the inclination of the load. After that, the switch is operated again to return the switch to the original state, and then the supply operation panel is operated to operate the two hoists at the same time.

[0003]

However, in the prior art, if the load balance begins to collapse during the co-suspending process, the hoist with a larger load will have a larger slip, and the load balance will be further lost. For this reason,
In the conventional technology, when the balance of the load is lost to some extent,
It is necessary to stop the hoist once and correct the inclination of the load as described above, which takes time and labor.

[0004] The present invention, such focusing of the conventional problems, without the balance of the load is lost, and an object thereof is to provide a hoist which can be performed in a short time and easily co hanging.

A hoist for achieving the above-mentioned object is a load.
Hook block (below, parent hook block
And ) And the wire that hangs the hook block
The rotating drum, the motor that rotates the drum,
The inverter circuit that changes the rotation speed of the motor and the parent
Position detecting means for detecting the vertical position of the block
And has a hoist that hangs loads together with other hoists.
The other hoist hook block (hereinafter, child hook
I'll call it Block Rock. ) Input that the vertical position of
Means and the position of the parent hook block with respect to the child
Setting hand to set the vertical relative distance of the hook block
Stage and the parent hook block detected by the position detecting means.
Position and the child hook input from the input means
From the position of the block, the vertical relative distance between them can be detected.
Distance detection means to be output and the relative distance set by the setting means
Relative distance detected by the distance detecting means with respect to the distance
And the difference between the two relative distances is greater than or equal to the predetermined difference.
Then, the rotation speed of the motor will decrease the difference between the two relative distances.
And a speed control means for outputting to the inverter circuit .

Further, another wheel for achieving the above object is provided.
The strike is a hook block (hereinafter referred to as the parent foot) for hanging the load.
I'll call it Block Rock. ) And the line that hangs the hook block
The drum around which the material is wound and the model that rotates the drum.
And an inverter circuit that changes the rotation speed of the motor
And a position for detecting the vertical position of the parent hook block.
A hoist that has a position detection means and that suspends a load together with another hoist.
In the ist, the hook block of the other hoist
Vertical position of (hereinafter referred to as child hook block)
At the position of the parent hook block and the input means to input
In contrast, the vertical relative distance of the child hook block
Set the setting means and the position of the parent hook block.
Check the relative distance of the child hook block in the vertical direction.
Distance detection means to be output and the relative distance set by the setting means
Relative distance detected by the distance detecting means with respect to the distance
And the difference between the two relative distances is greater than or equal to the predetermined difference.
Then, the difference between the above two hoist models will be
Speed controller for outputting the rotation speed of the motor to the other hoist
And a step .

[0007]

[0008]

[0009]

[0010]

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the hoist equipment of the present invention will be described below with reference to the drawings.

The hoist equipment in this embodiment is shown in FIG.
As shown in FIG. 2, it has two hoists A and B and a shared operation panel 20. Each hoist A, B has hook blocks 1a, 1b for suspending a load, a drum (not shown) around which wires 2a, 2b for suspending the hook blocks 1a, 1b are wound, and a motor for rotating the drum. 3a, 3b, brakes 4a, 4b for stopping the rotation of the drum, encoders 5a, 5b for detecting the number of rotations of the motors 3a, 3b, an inverter circuit for changing the rotation speed of the motors 3a, 3b, and the like. Boxes 6a and 6b are provided. Further, although not shown, each hoist A, B is a hook block 1a,
A load detecting means for detecting a load applied to 1b is also provided. This load detecting means is composed of hook blocks 1a, 1
It may be a load cell or the like that directly detects the load applied to b, but it may be one that indirectly detects the load from the slip of the motors 3a and 3b, or the motor characteristics may be grasped in advance. The load may be indirectly detected from the current value or voltage value of the motor at a specific operating frequency.

As shown in FIG. 1, the inverter boxes 7a and 7a are provided in the control boxes 6a and 6b of the hoists A and B, respectively.
In addition to b, controllers 10a and 10b for controlling the inverter circuits 7a and 7b are mounted.

The shared operation panel 20 is connected to the controller 10a of one hoist A of the two hoists A and B by a cable. Here, in this embodiment, the hoist A to which the shared operation panel 20 is connected is a parent hoist, and the remaining hoists B are child hoists.

Controllers 10a of hoists A and B,
Reference numeral 10b is a position detection unit 11a, 11b for counting the pulse signals from the encoders 5a, 5b to obtain the vertical position of the hook block 1a, 1b, and a control unit for giving an operation command to the inverter circuits 7a, 7b. 13a,
13b. In addition to the above, the controller 10a of the parent hoist A uses the position detection unit 11a of the parent hoist A.
The position of the parent hook block 1a obtained in step 1b and the child hook block 1 obtained in the position detection part 11b of the child hoist B
It has a distance detection unit 12a for obtaining the vertical relative distance between the two 1a and 1b from the position of b. The above-described configurations of the controllers 10a and 10b are software configurations, and in terms of hardware, the controllers 10a and 10b are configured to include a microcomputer that operates according to a built-in program.

The controller 10a of the parent hoist A and the controller 10b of the child hoist B are connected by a signal cable 8. The signal passing through the signal cable 8 includes a position signal that sends the position information of the child hook block 1b to the parent hoist A, a control signal that sends an operation signal from the shared operation panel 20 from the parent hoist A to the child hoist B, and an operation. There is a load signal that sends the load condition at time to the other party. In this embodiment, among these signals, a parallel communication system is adopted for communication of the control signal and the load signal.
However, a serial communication system may be adopted for the communication of these signals. The parent hoist A and the child hoist B are driven by the shared power source 9. Electric power from the shared power source 9 is supplied to each inverter circuit 7a, 7b by a power cable.

On the shared operation panel 20, a parent hoist operation button 21 for operating only the parent hoist A, a child hoist operation button 22 for operating only the child hoist B, and parent and child hoists A and B are operated at the same time when hanging together. Synchronous operation button 23, mode setting button 24 for setting the mode for co-hanging, distance setting button 25 for setting the distance between parent hook block 1a and child hook block 1b for co-hanging, hoisting for raising the hook block Button 2
6. There are a lowering button 27 for lowering the hook block, a traveling button 28 for traveling the hoist, and the like.

In this embodiment, the setting means is
The distance setting button 24 of the shared operation panel 20 and both hook blocks 1 when the distance setting button 24 is pressed
It is configured to have control units 13a and 13b for setting the relative distances of a and 1b, and the detection means includes encoders 5a and 5b of each hoist A and B, position detection units 11a and 11b, and a distance detection unit of the parent hoist A. And 12a. Further, the speed control means is configured to have the control section 13a of the parent hoist A, and the input means is a signal cable 8 and an interface circuit in the controller 10a for receiving the position signal sent by the signal cable 8. And is configured.

Next, the operation of the controller of the parent hoist during co-suspension will be described with reference to the flow charts shown in FIGS.

First, as shown in FIG. 3, the controller 10a of the parent hoist A determines whether the operation signal from the shared operation panel 20 is a synchronous operation instruction, an operation instruction of only the parent hoist A or an operation instruction of only the child hoist B. Judge (step
1). These operation instructions are issued by pressing any one of the synchronization operation button 23, the parent hoist operation button 21, and the child hoist operation button 22 of the shared operation panel 20. In the case of a parent or child hoist operation instruction, wait until a hoisting instruction, a synchronous operation instruction, etc. are input, and in the case of a synchronous operation instruction, it is determined whether there is a co-hanging mode input (step 2).

In the present embodiment, the co-suspending mode is operated while maintaining the vertical relative distance between the parent hook block 1a and the child hook block 1b at a preset distance (hereinafter referred to as set distance X). The distance setting mode and the child hook block 1 for the parent hook block 1a
Even if b is located above or below, there is a level equalization mode in which the level is set to the same level and then the vehicle is operated while maintaining this state. This co-hanging mode input is performed by pressing the mode setting button 24 of the shared operation panel 20. In this embodiment, the mode setting button 24
When is pressed, the level equalization mode is selected, and when the mode setting button 24 is not pressed, the distance setting mode is selected.

If there is no co-hanging mode input in step 2, it waits until there is mode input, and if there is mode input, it is judged whether the mode is the distance setting mode or the level equalization mode (step 3). If it is the level equalization mode, proceed to step 18 and thereafter (FIGS. 5 and 6), and if it is the distance setting mode, proceed to step 4 where the distance between the parent hook block 1a and the child hook block 1b is determined. Wait until it is set. In this distance setting, by pressing the distance setting button 25 of the shared operation panel 20, the parent hook block 1a and the child hook block 1b at that time are pressed.
The distance between and is set in the control unit 13a. Therefore,
Before the series of processes described above is started, the operator needs to set the distance between the parent hook block 1a and the child hook block 1b to a target distance. In addition,
Here, the distance setting button 25 of the shared operation panel 20 is pressed to set the distance between the parent hook block 1a and the child hook block 1b at that time. A target distance may be numerically input from 20.

When the distance is set, it is judged whether it is a hoisting instruction, a hoisting instruction, or a stop instruction (step 5). These instructions correspond to the hoist button 2 of the shared operation switch 20, respectively.
6 is pressed, the winding button 27 is pressed, and the winding button 26 or the winding button 27 is released. In the case of the stop instruction, the stop instruction is given to the inverter circuit 7a of the parent hoist A and the stop instruction is also given to the child hoist B as a control signal (step 37). When receiving the control signal, the controller 10b of the child hoist B gives a stop instruction to the inverter circuit 7b of the child hoist B. Further, in the case of the hoisting or lowering instruction, the fact is given to the child hoist B as a control signal, and each control unit 13
a and 13b are the inverter circuits 7a and 7b that respectively set the hoisting and lowering operating frequencies that are initially set in the control units 13a and 13b.
b (step 6). At this time, the operating frequency output from the controller 13a of the parent hoist A and the child hoist B
The operating frequency output from the control unit 13b is the same,
The motors 3a and 3b rotate at the same rotation speed. Therefore, the parent hook block 1a and the child hook block 1b
Will go up or down at essentially the same speed if they are under the same load.

When both hook blocks 1a and 1b start to move up or down, the controller 10a of the parent hoist A is started.
Waits until the position information of the child hook block 1b from the child hoist B is input (step 7, FIG. 4). The position information of the child hook block 1b is sent from the position detection unit 11b of the child hoist B as a position signal. In addition, when the positional information from the child hoist B is not input even after a fixed time elapses, both hoists A and B are stopped in this embodiment.

When the position information of the child hook block 1b is input, the distance detecting unit 12a of the parent hoist A inputs the parent hook block 1 from the position detecting unit 11a of the parent hoist A.
The vertical distance between the hook blocks 1a and 1b is obtained from the position information of a and the position information of the child hook block 1b (step 8). This is obtained by the difference between the position coordinates of the child hook block 1b and the position coordinates of the parent hook block 1a.

Next, the control section 13a judges whether or not the detection distance obtained in step 8 is within the specified range (step 9). The specified range is set, for example, ± 10% with respect to the set distance set in step 4. If the detected distance is out of the specified range, the distance between the parent hook block 1a and the child hook block 1b has largely deviated from the set distance, so the routine proceeds to step 37, where the parent hoist A and the child hoist B are moved. To prevent the load from tipping over the current time.

If the detected distance is within the specified range, the magnitude relationship between this detected distance and the set distance determined in step 4 is compared (step 10). When the detection distance is smaller than the set distance X ((e) (f) (g) in FIG. 7)
(H)) and when the detected distance is larger than the set distance X ((a), (b), (c), and (d) in FIG. 7), the current operating direction of hoists A and B is hoisting. It is determined whether or not it is a scroll (steps 11 and 12). When it is determined to be winding at step 11 ((e) and (f) in FIG. 7) and when it is determined to be winding at step 12 ((c) in FIG. 7)
(D)) It is determined whether or not the parent hook block 1a is located above the child hook block 1b (step 13). In addition, when it is determined that the winding is performed in step 11 ((g) (h) in FIG. 7) and when it is determined that the winding is performed in step 12 ((a) (b) in FIG. 7) It is determined whether or not the parent hook block 1a is located above the child hook block 1b (step 14). When it is determined in step 13 that the parent hook block 1a is located below ((d) (f) in FIG. 7), and
When it is determined in step 14 that the parent hook block 1a is located above (steps (a) and (g) in FIG. 7), the operating frequency of the parent hoist A is decreased (step 16). When it is determined in step 13 that the parent hook block 1a is located above ((c) (e) in FIG. 7), and
When it is determined in step 14 that the parent hook block 1a is located below ((b) and (h) of FIG. 7), the operating frequency of the parent hoist A is increased (step 17).

That is, in the processing from step 11 to step 17, the operating frequency of the parent hoist A is decreased in the cases of (a), (d), (f) and (g) of FIG.
As in the cases of (c), (e) and (h), the operating frequency of the parent hoist A is decreased. As a result, (a) and (d) of FIG.
In the cases of (f) and (g), the moving speed of the parent hook block 1a becomes slow, and the distance to the child hook block 1b approaches the set distance X. 7 (b) (c) (e)
In the case of (h), the moving speed of the parent hook block 1a becomes faster, and the distance to the child hook block 1b approaches the set distance X. In addition, in this embodiment, the amount of increase or decrease of the operating frequency is about ± 1 Hz.

If it is determined in step 10 that the detected distance and the set distance are equal, the initially set operating frequency is maintained (step 15).

When any one of steps 15, 16 and 17 is executed, the process returns to step 5 again, and steps 5 to 17 are repeated until a stop command is input. In the process of repeating these processes,
When step 6 is to be executed, in step 6, the operating frequency set in any one of steps 15, 16 and 17 is output instead of the initially set operating frequency.

If it is determined in step 3 that the mode is the level equalization mode, the process proceeds to step 18 (FIG. 5), where it waits until the position information of the child hook block 1b is input. When the position information of the child hook block 1b is input, it is determined whether the parent hook block 1a is above or below the child hook block 1b (step 19). When it is determined that the parent hook block 1a and the child hook block 1b are at the same level, the process proceeds to step 26 (FIG. 6). Further, when it is determined that the parent hook block 1a is below, and when the parent hook block 1a is above, among the hoisting command, the lowering command, and the stop command,
It is determined which is input (steps 20 and 21). If it is determined that the hoisting command has been input in step 20,
8 (b)), the hoisting operation frequency is output only to the parent hoist A (step 22). As a result, the parent hook block 1
Only a rises, and the parent hook block 1a approaches the level of the child hook block 1b. Further, when it is determined that the lowering command is input in step 20 ((d) of FIG. 8), the lowering operating frequency is output only to the child hoist B (step
twenty three). As a result, only the child hook block 1b descends,
The child hook block 1b approaches the level of the parent hook block 1a. When it is determined that the hoisting command is input in step 21 ((a) of FIG. 8), the hoisting operation frequency is output only to the child hoist B (step 24). As a result, only the child hook block 1b rises, and the child hook block 1b
Approaches the level of the parent hook block 1a. If it is determined in step 21 that the lowering command has been input (Fig. 8
(C)), the unwinding operation frequency is output only to the parent hoist A (step 25). As a result, the parent hook block 1a
Only the parent hook block 1a approaches the level of the child hook block 1b.

When any one of steps 22, 23, 24 and 25 is executed, the process returns to step 18.
That is, when the level equalization mode is selected, if the parent hook block 1a and the child hook block 1b are not at the same level, until the both 1a and 1b reach the same level,
Only one hoist works.

In step 19, when it is judged that the parent hook block 1a and the child hook block 1b are at the same level, the process proceeds to step 26 (FIG. 6), where there is a hoisting command, a hoisting command, or a stop command. , Determine which one entered.
When the stop command is input, the routine proceeds to step 37, where the stop command is output to the inverter circuits 7a, 7b of the parent and child hoists A, B to stop both hoists A, B. When the hoisting command or the hoisting command is input, the control unit 13a,
The hoisting / lowering operating frequency initially set to 13b is applied to each inverter circuit 7a, 7b (step 27).

When both hook blocks 1a and 1b start to move up or down, the controller 10a of the parent hoist A is started.
Waits until the positional information of the child hook block 1b from the child hoist B is input (step 28). When the position information of the child hook block 1b is input, the distance detection unit 12a of the parent hoist A obtains the vertical distance between the hook blocks 1a and 1b (step 29).

Next, the control unit 13a judges whether or not the detection distance obtained in step 29 is within the specified range (step 30). When the detection distance is out of the specified range, the routine proceeds to step 37, where the parent hoist A and the child hoist B are stopped. If the detected distance is within the specified range, it is determined whether the parent hook block is located above or below the child hook block (step 31). When the parent hook block is located above and when the parent hook block is located below, it is determined whether winding is in progress or under winding (step 32,
33). When it is determined in step 32 that the hoisting is being performed and when it is determined in step 33 that the hoisting is being performed, the operating frequency of the parent hoist is decreased (step 35). Also, step 32
If it is determined that the hoisting is being performed in step 33 and if it is determined that the hoisting is in step 33, the operating frequency of the parent hoist is increased (step 36). As a result, the parent hook block 1a
The misalignment of the child hook block 2a with respect to is reduced. If it is determined in step 31 that the parent hook block 1a and the child hook block 2a are at the same level, the initial operating frequency is maintained (step 34).

When any one of the steps 34, 35 and 36 is executed, the process returns to step 26.
That is, steps 26 to 36 are repeated until it is determined in step 26 that the stop command is input.

In the level equalization mode of this embodiment, the processing of steps 18 to 25 is performed. However, even if this processing is not performed, the processing of steps 26 to 36 is simply repeated. However, the parent hook block 1a and the child hook block 2a are automatically at the same level. However, in this case, since only one of the hook blocks 1a and 1b is not actively moved at the initial stage as in the processing of steps 18 to 25, the parent hook block 1a and the child hook block 2 are not moved.
It takes time for a to reach the same level.

As described above, in this embodiment, the vertical relative distance between the parent hook block 1a and the child hook block 1b is detected, and the predetermined relative distance (which may be zero) is calculated. Since the operating frequency of the parent hoist A is controlled so that the detection distance does not shift, the balance of the load does not get lost, and it is not necessary to stop the hoist to correct the inclination of the load one by one, Co-suspension can be performed easily.

In the present embodiment, for some reason, the vertical relative distance between the parent hook block 1a and the child hook block 1b is out of the specified range, and
When the load applied to each hook block 1a, 1b exceeds the specified load set for each hoist, both hoists A, B are stopped, so that safe operation can be performed.

In the above, as the mode of co-suspension,
Although the distance setting mode and the level equalization mode are provided, the load equalization mode may be further provided. In this equal load mode, only one hoist is operated until the load applied to the parent hoist A and the load applied to the child hoist B become equal, and when the load becomes equal, the distance between the hook blocks 1a and 1b at that time. As the set distance, step
It is recommended to repeat the processing from 7 to step 17. In order to equalize the load applied to each hook block, the hook block that is heavily loaded may be relatively raised with respect to the hook block that is lightly loaded. When the load equalization mode is provided, it is preferable to stop the parent hoist A and the child hoist B when the ratio of the load applied to the parent hook block 1a and the load applied to the child hook block 1b is out of the specified range. In this case, the specified range may be, for example, within ± 10% of the load applied to the parent hook block 1a and the load applied to the child hook block 1b.

In the above, the operating frequency is changed on the parent hoist side, but it may be changed on the child hoist side. In this case, the instruction to change the operating frequency is sent from the controller 10a of the parent hoist A to the controller 10b of the child hoist B as a control signal.

In the above description, one child hoist B is used as an example, but a plurality of child hoists B may be used. In this case, it is preferable to change the operating frequency on the child hoist side, as described above.

Further, in the above, the controller 10a of the parent hoist A and the shared operation panel 20 are connected by a cable,
Although the controller 10a of the parent hoist A and the controller 10b of the child hoist B are also connected by cable to receive and transmit signals by wire, they may be configured to receive and transmit signals wirelessly.

[0044]

According to the present invention, the vertical relative distance between the parent hook block and the child hook block is detected, and the parent hoist or child hoist is provided so that the detected distance does not deviate from the predetermined relative distance. Since the operating frequency is controlled, the balance of the load is not lost, and it is not necessary to stop the hoist to correct the inclination of the load one by one, so that the co-suspension can be performed in a short time and easily.

[Brief description of drawings]

FIG. 1 is a configuration block diagram of a hoist facility that is an embodiment of the present invention.

FIG. 2 is a front view of a hoist facility which is an embodiment of the present invention.

FIG. 3 is a flowchart (No. 1) showing the operation of the hoist equipment according to the embodiment of the present invention.

FIG. 4 is a flowchart (No. 1) showing the operation of the hoist equipment according to the embodiment of the present invention.

FIG. 5 is a flowchart (No. 2) showing the operation of the hoist equipment according to the embodiment of the present invention.

FIG. 6 is a flowchart (No. 3) showing the operation of the hoist equipment according to the embodiment of the present invention.

FIG. 7 is an explanatory diagram for explaining control contents in a distance setting mode of the hoist equipment which is an embodiment of the present invention.

FIG. 8 is an explanatory diagram for explaining control contents in the level equalization mode of the hoist equipment which is an embodiment of the present invention.

[Explanation of symbols]

A ... Parent hoist, B ... Child hoist, 3a, 3b ... Motor, 4a, 4b ... Brake, 5a, 5b ... Encoder,
7a, 7b ... Inverter circuit, 10a, 10b ... Controller, 11a, 11b ... Position detection part, 12a ... Distance detection part, 13a, 13b ... Control part.

─────────────────────────────────────────────────── --Continued from the front page (56) References JP-A-2-86598 (JP, A) JP-A-8-217378 (JP, A) JP-A-6-329392 (JP, A) Actual development Sho-53- 133373 (JP, U) JP 48-613 (JP, B1) (58) Fields investigated (Int.Cl. ⁷ , DB name) B66D 1/40 B66C 13/22

Claims (2)

(57) [Claims] 1. A hook block for suspending a load (hereinafter referred to as a parent hook block), a drum around which a wire for suspending the hook block is wound, a motor for rotating the drum, and a rotation speed of the motor. A hoist having an inverter circuit to be changed and position detecting means for detecting the position of the parent hook block in the vertical direction, and a hoist that suspends a load together with another hoist, wherein the hook block of the other hoist (hereinafter, child hook block). Input means for inputting the vertical position of the parent hook block, setting means for setting the vertical relative distance of the child hook block with respect to the position of the parent hook block, and the position detecting means. From the position of the parent hook block and the position of the child hook block input from the input means, the relative distance between them in the vertical direction is detected. The distance detection means and the relative distance set by the setting means are compared with the relative distance detected by the distance detection means, and when the difference between the two relative distances is equal to or more than a predetermined difference, A hoist comprising: speed control means for outputting the rotational speed of the motor, which reduces the difference in relative distance , to the inverter circuit. 2. A hook block for suspending a load (hereinafter referred to as a parent hook block), a drum around which a wire for suspending the hook block is wound, a motor for rotating the drum, and a rotation speed of the motor. Detects the vertical position of the inverter circuit to be changed and the parent hook block
In a hoist that has a position detection means and co-suspends a load with another hoist, an input means for inputting a vertical position of a hook block of the other hoist (hereinafter, referred to as a child hook block), distance relative to the position of the parent hook block, a setting means for setting a vertical direction of the relative distance of the child hook block, in which respect the position of the parent hook block, for detecting the vertical direction of the relative distance of the child hook block The detection means and the relative distance set by the setting means are compared with the relative distance detected by the distance detection means, and when the difference between the two relative distances is equal to or greater than a predetermined difference. , A speed control means for outputting the rotation speed of the motor of the other hoist, which reduces the difference between the relative distances , to the other hoist.