JP5700946B2 - Forged crane system - Google Patents

Description

  The present invention relates to a forging crane system that suspends a forging object when performing a forging operation, and more particularly to a forging crane system that can suspend a forging object in cooperation with a plurality of forging cranes.

  In general, a forging crane used in a forging factory is a crane that is used to convey a forged product and to keep the forged product during a forging operation by a forging device. And the forging process is performed with respect to a forging thing by the operation | work of the forging crane interlock | cooperated with such a forging apparatus, and a forging thing is processed into a defined shape.

  Specifically, the forged crane includes, for example, a girder traveling on a building rail, a trolley traversing a rail on a girder installed in a direction perpendicular to the building rail, a trolley traveling on the rail, and a trolley The drum is supported by a drum around which a wire is wound, and an electric motor that rotationally drives the drum (for example, see Patent Document 1). Here, in such a forged crane, at the time of forging work, not only the weight of the to-be-forged object itself as a suspended load but also a load generated by the press of the forging device may act on the wire. In addition, forged cranes can withstand loads from such forging devices, so they are designed with a greater safety factor than ordinary cranes that simply suspend loads, and loads that can be suspended. It is necessary to set large. In recent years, forging devices have been required to process larger forgings, and even forging cranes that suspend work forging and work in cooperation with the forging device are more heavy and special. The thing which can suspend a to-be-shaped thing for a shape is requested | required.

  For example, Patent Document 1 discloses that two forging cranes cooperate to suspend a forged object and perform a forging operation using a forging device. And such a forging thing is suspended by one forging crane by weight, a size, and a shape because two forging cranes cooperate and suspend and move before and after forging work. Forging work can be carried out even for forged objects that are difficult to move.

Japanese Examined Patent Publication No. 45-24939 JP-A-63-215333

  Here, in order to stably convey the forged object by the two forging cranes, the two forging cranes have to travel at the same speed without changing the relative positions. Each driver must visually check the distance between the two forging cranes and operate each forging crane individually, and it is hoped that the two forging cranes can be operated simultaneously. It was rare. However, the load acting on each forged crane varies depending on the shape of the forged object and the difference in relative position between the forged object and each forged crane. In addition, depending on the positional relationship between the two forging cranes and the forging object, the direction of the load acting on the forging cranes from the forging object with respect to the conveying direction of the forging object, that is, the traveling direction of the two forging cranes. May be different. And in these cases, the traveling speed of each forging crane is different due to the difference in the magnitude and direction of the load acting on each forging crane, resulting in a difference in relative position, and the forged product can be stably conveyed. There was a problem that made it impossible.

  This invention is made | formed in view of the situation mentioned above, Comprising: The forge crane system which can convey a to-be-forged object stably with a some forge crane is provided.

In order to solve the above problems, the present invention proposes the following means.
The forging crane of the present invention is a suspension means for suspending a forged article, an electric motor as a drive source, an inverter for controlling the electric motor, and a rotational state detection for detecting the rotational state of the electric motor and outputting it to the inverter A plurality of forging cranes each having a traveling means and a traversing means for self-propelling, and an operation unit capable of outputting the same traveling speed command to each inverter of the plurality of forging cranes And the inverter outputs an alternating current to the electric motor so as to drive at a rotational speed according to the travel speed command based on a detection signal output from the rotational state detection unit , and the forging crane Each traveling means includes two rows of wheel groups in a direction orthogonal to the traveling direction, and each wheel group is two drive wheels that are rotationally driven by the electric motor. The inverter for controlling the electric motor is provided independently for each wheel group, and the rotation state detecting unit is configured to rotate the two driving wheels provided in one wheel group. Only the rotation state of one electric motor is detected .

  In this configuration, the forgings can be transported by allowing the forging cranes to self-run by the traveling means while the same forgings are suspended simultaneously by the suspension means of the plurality of forging cranes. . Here, when moving a plurality of forged cranes, the same speed command is output to the inverter of each forged crane in accordance with the same and same speed command output to the forged cranes from the operation unit. Then, in the traveling means of each forging crane, the inverter is driven at a rotational speed corresponding to the speed command based on the rotational state detected and output by the rotational state detection unit with respect to the input speed command. , Output alternating current to the motor. For this reason, the plurality of forged cranes can travel at a speed according to the same speed command, and can thus travel while keeping the relative position constant. For this reason, regardless of the shape of the forging object, the relative position of each of the forging cranes with respect to the forging object, and the direction of the load acting on each forging crane with respect to the traveling direction, the object is forged and travels stably. be able to.

Further, in this configuration, the drive wheels at different positions in the direction orthogonal to the traveling direction are rotationally driven by driving the electric motor under independent control by different inverters. For this reason, even if the forged object is suspended in a direction perpendicular to the traveling direction, each inverter is driven by each inverter at a rotational speed corresponding to a speed command from the operation unit. Can output an alternating current. As a result, the forged objects can be transported stably by running the forging cranes without causing the speeds to differ between the drive wheels arranged in a direction orthogonal to the traveling direction.

In the forging crane, the traversing means of each of the forging cranes includes drive wheels that are provided in a plurality at different positions in a direction orthogonal to the traversing direction and are rotationally driven by the electric motor. The electric motor and the electric motor The inverter to be controlled is provided independently at different positions in a direction orthogonal to the transverse direction.

  In this configuration, the drive wheels at different positions in the direction orthogonal to the transverse direction are rotationally driven by driving the electric motor under independent control by different inverters. For this reason, even if the to-be-forged object is suspended in a direction perpendicular to the transverse direction, each inverter is driven by each inverter at a rotational speed corresponding to a speed command from the operation unit. Can output an alternating current. As a result, the to-be-forged object can be transported by running each forging crane stably without causing the speed to differ between the drive wheels arranged in the direction orthogonal to the transverse direction.

  In the forging crane of the present invention, the forged product can be stably conveyed by a plurality of forging cranes.

It is a schematic block diagram which shows the forge crane system concerning this invention. It is a block diagram which shows the forge crane system of this invention. In the forge crane system of this invention, it is a top view which shows the detail of the traveling means of each forge crane. In the forged crane system of this invention, it is a front view explaining the state which suspended the workpiece | work using the jig | tool for suspension. In the forged crane system of this invention, it is the side view which expanded and looked at the jig | tool for suspension explaining the state which suspended the workpiece | work using the jig | tool for suspension. In the forged crane system of this invention, it is explanatory drawing explaining the state which forged cranes spaced apart when the workpiece | work was suspended using the jig | tool for suspension.

  An embodiment of the present invention will be described with reference to FIGS. 1 to 3 show the forged crane system of the present embodiment. As shown in FIG. 1, a forging crane system 100 of the present embodiment suspends a workpiece W that is a forging object by a plurality of forging cranes 1 and forges the workpiece W in cooperation with a forging device 101. The processing is performed. In this embodiment, forging cranes 1A and 1B and two forging cranes 1 are provided.

  The forging device 101 includes a support base 102 on which the work W is placed on the upper surface during forging, and a press 103 that is disposed above the support base 102 and applies pressure to the work W disposed between the support bases 102. And a cylinder 104 that raises and lowers the press 103. The forging device 101 performs the forging operation of the workpiece W on the workpiece W rotated by the turning device 110 suspended by each forging crane 1 of the forging crane system 100. Here, the turning device 110 includes a belt 111 that holds the shaft portion W1 of the work W, and a rotating device 112 that rotates the work W about the axis together with the shaft portion W1 by rotating the belt 111. .

  Next, the forged crane system 100 will be described. As shown in FIGS. 1 and 2, the forging crane system 100 gives the same operation command to the two forging cranes 1 (1A, 1B) capable of traveling on the rail L and the two forging cranes 1A, 1B. And an operation unit 10 for outputting and operating. Each forged crane 1 includes a support portion 2 that can run on the rail L, a suspension means 3 that suspends a work W supported by the support portion 2 and serving as a suspended load with a wire 31, and a main unit that controls each component. It has PLC (Programmable logic controller) 4 which is a control part. The PLC 4 receives an operation command output from the operation unit 10 and controls each component based on the operation command. The operation command includes a winding operation command for performing commands such as hoisting and lowering by the suspending means 3 and a traveling speed command for performing commands such as a traveling direction and a traveling speed by the traveling unit 20 described later. The travel speed command represents, for example, the travel speed by an absolute value and the travel direction by a positive / negative sign.

  The support unit 2 includes traveling means 20 for traveling on the rails L by the wheels 22. The traveling means 20 is a frame 21, a wheel 22 rotatably supported on the frame 21, a traveling motor 23 that is an electric motor that rotationally drives the wheel 22, and rotation of the traveling motor 23. It has the pulse generator 24 which is a rotation state detection part which acquires angle information as a state, and the inverter 25 which controls the motor 23 for driving | running | working. Further, the support unit 2 includes a traversing means 27 for traversing the frame 21 with the direction orthogonal to the traveling direction of the traveling means 20 as a traversing direction. The traversing means 27 is constituted by a trolley arranged on the frame 21. Although not shown, the trolley, like the traveling means, is a wheel that can rotate in the traversing direction, and a traversing motor that is an electric motor that rotates the wheels. And a pulse generator that is a rotation state detection unit that acquires angle information as the rotation state of the traverse motor, and an inverter that controls the traverse motor.

  As shown in FIG. 3, in the present embodiment, the traveling means 20 of each forged crane 1 has two rows of wheel groups 26 </ b> A and 26 </ b> B in a direction orthogonal to the traveling direction X parallel to the rails L. Each wheel group 26 </ b> A, 26 </ b> B is constituted by six wheels 22 provided along the traveling direction X. In each wheel group 26A and 26B, two of the six wheels 22 are configured as driving wheels 22-1, and the remaining four are configured as driven wheels 22-2. Each driving wheel 22-1 is connected to a traveling motor 23, and the rotational driving force of the traveling motor 23 can be transmitted. Further, as shown in FIG. 2, each traveling means 20 includes two inverters 25 that can be controlled independently in each of the wheel groups 26A and 26B. In each of the wheel groups 26A and 26B, the two traveling motors 23 corresponding to the two driving wheels 22-1 are connected to the same inverter 25 and can output the same alternating current. It has become. Further, one of these two traveling motors 23 is connected to the pulse generator 24, and the rotational position can be detected as the rotational state. The rotation position detected by the pulse generator 24 connected to one of the traveling motors 23 can be output to the inverter 25 as angle information θ.

As described above, as shown in FIG. 2, in the present embodiment, each of the two forged cranes 1 includes the two inverters 25 and the four traveling motors 23 corresponding to the two wheel groups 26 </ b> A and 26 </ b> B. . These two inverters 25 are connected to the PLC 4 and output an alternating current to the corresponding traveling motor 23 in accordance with the same traveling speed command ω 0 output from the operation unit 10 via the PLC 4. Here, inverter 25, based on the running speed command ω0 from PLC 4, an alternating current input from an AC power source, after converting into a direct current, and outputs as an alternating current of a corresponding frequency and amplitude Inverter 25a Then, the angle information θ is obtained from the pulse generator 24 attached to the traveling motor 23, and the differentiator 25b that calculates the current rotational speed ω, and the rotation output from the differentiator 25b from the traveling speed command ω0 from the PLC 4 A subtractor 25c that calculates a difference Δω obtained by subtracting the speed ω and outputs the result to the inverter body 25a. Note that the pulse generator 24 is not limited to detecting the rotational position, and for example, the rotational speed may be detected as the rotational state.
In this case, the differentiator 25b is not required in the inverter 25.

As shown in FIG. 1, the suspension means 3 includes a suspension 30 that supports the turning device 110, a wire 31 that suspends the suspension 30, and a plurality of pulleys 32 and 33 around which the wire 31 is wound. And a drum 34 wound around one end 31a of the wire 31 passing through the pulleys 32 and 33, a main winding motor (not shown) that rotates the drum 34, and a main winding inverter that controls the main winding motor. The turning device 110 is engaged with the hook 30 a of the hanging tool 30.

  In FIG. 1, the suspending means 3 suspends the workpiece W via the turning device 110. However, when the workpiece W does not need to be rotated during forging, or only the workpiece W is conveyed. In this case, the workpiece W may be directly engaged with the hook 30a of the hanging tool 30 without using the turning device 110, or the workpiece W may be suspended using another hanging jig. 4 and 5 show an example of a hanging jig. As shown in FIGS. 4 and 5, the hanging jig 50 includes a tongue 51 for sandwiching the workpiece W and a beam 52 for hanging the tongue 51. The tongue 51 includes a pair of sandwiching members 54 that are rotatably coupled to each other by a rotation support portion 53 at an intermediate portion, a support member 55 that supports a base end 54a of the sandwiching member 54, and a U-shaped support member 55. And an engaged portion 56 provided. The clamping member 54 has an engaging portion 54c formed in a hook shape at the tip 54b so that the workpiece W can be held and held on the tip side of the rotation support portion 53. The base end 54a of the clamping member 54 is supported by the support member 55 so as to be slidable in the direction in which the workpiece W is clamped.

  The beam 52 is provided with a hook 57 that engages with the engaged portion 56 of the tongue 51, a beam main body 58 that supports the hook 57, and both ends of the beam main body 58. And a pair of engaged portions 59 formed in a U shape with which 30a is engaged. In addition, the position of the engaged portion 56 in the support member 55 of the tongue 51 and the position of the hook 57 in the beam 52 are located at substantially the center of the support member 55 and the beam body 58, respectively. Further, the pair of engaged portions 59 in the beam 52 are arranged symmetrically. For this reason, the load by the workpiece | work W and the jig | tool 50 for suspension acts equally on the hook 30a of the two forging cranes 1 which suspend the workpiece | work W using the jig | tool 50 for suspension.

Next, the operation of the forged crane system 100 of the present embodiment will be described by taking as an example a case where the workpiece W is transported by the hanging jig 50 shown in FIG.
When the work W is transported along the rail L in cooperation with the two forging cranes 1 constituting the forging crane system 100 of the present embodiment, a desired direction and speed are input in the operation unit 10. As a result, the operating unit outputs the same traveling speed command ω0 corresponding to the input to the inverters 25 in total, that is, two each provided in each forged crane 1 via the PLC 4. Each inverter 25 sets a frequency and an amplitude so that the speed corresponds to the travel speed command ω0, and outputs an alternating current to each of the two corresponding travel motors 23. As a result, each forged crane 1 tries to travel in the traveling direction X and the traveling speed input by the operation unit 10 as the driving wheels 22-1 of the wheel groups 26A and 26B are rotationally driven.

  Further, on one of the two traveling motors 23 corresponding to each inverter 25, the pulse generator 24 outputs angle information θ to the inverter 25. Then, the inverter 25 calculates the current rotational speed ω based on the angle information θ output from the pulse generator 24 in the differentiator 25b and outputs it to the subtractor 25c. The subtractor 25c calculates the difference Δω by subtracting the current rotational speed ω output from the differentiator 25b from the traveling speed command ω0 output from the PLC 4, and outputs the difference Δω to the inverter body 25a. For this reason, the inverter main body 25a can generate and output an alternating current such that the traveling motor 23 is rotationally driven at a rotational speed corresponding to the traveling speed command ω0 in consideration of the difference Δω.

  Usually, the two forging cranes 1 are in a state in which an equal load is applied in the vertical direction as shown in FIG. However, if the distance between the forged cranes 1 changes due to some cause, a load acts on each forged crane 1 in a direction inclined with respect to the vertical direction. As the cause of the change of the distance in this way, for example, at the start of movement, the distance between the forged cranes 1 is slightly different from the distance between the engaged portions 59 in the beam 52, or each traveling motor 23 This is because there is a speed difference due to a slight difference in response time, a slight swing of the suspended load, a slight difference in rolling friction between the rail L and the wheel 22 in the forged crane 1, and the like.

  FIG. 6 shows a case where the distance between the forged cranes 1 is longer than the distance between the pair of engaged portions 59 of the beam 52 due to the above-described causes. As shown in FIG. 6, in such a case, a vertical component Fv acts on each forged crane 1 due to the load F <b> 0, and a horizontal direction from each forged crane 1 toward the center of the beam 52. The component Fh acts, and the horizontal component Fh is reversed between the forging cranes 1. For this reason, when traveling the two forging cranes 1 and transporting the workpiece W, the horizontal component Fh acts as a torque for decelerating the traveling motor 23 of the forging crane 1 on the traveling direction X front X1 side, It acts as a torque to accelerate the forged crane 1 on the rear side.

  In such a case, when a traveling speed command is output to each traveling motor of a conventional forged crane so as to be driven to rotate at a predetermined speed, each traveling motor tries to rotate at a rotational speed corresponding to the traveling speed command. To do. However, in the forging crane on the traveling direction X front X1 side due to the torque applied by the load of the suspended load, the forging crane on the traveling direction X forward side becomes slower than the traveling speed corresponding to the traveling speed command, and the forging crane on the rear X2 side. Then, by being accelerated, it becomes faster than the traveling speed corresponding to the traveling speed command, and as a result, the interval between the two becomes narrower. Further, when the distance between the forged cranes becomes narrower than the distance between the pair of engaged portions 59 of the beam 52, the above is opposite, that is, in the forged crane on the traveling direction X front X1 side, acceleration is performed. It is faster than the traveling speed corresponding to the traveling speed command, and the forged crane 1 on the rear X2 side is slower than the traveling speed corresponding to the traveling speed command by being decelerated. The interval increases. And since the change in the speed of the forging crane occurs due to acceleration / deceleration caused by the load of the suspended load, in the conventional forging crane, the change in speed is delayed with respect to the change in the position between them. Forged cranes will repeatedly approach and separate.

  On the other hand, in the forged crane 1 of the present embodiment, each inverter 25 acquires the angle information θ as the rotation state from the pulse generator 24 connected to the corresponding traveling motor 23, and the current rotation speed ω from the angle information θ. Is getting. And each inverter 25 is based on the difference (DELTA) omega of driving speed command (omega) 0 and the present rotational speed (omega), and the alternating current output to the motor 23 for driving | running | working so that it may become a rotational speed corresponding to driving speed command (omega) 0. Controls frequency and amplitude. For this reason, regardless of the torque generated by disturbance such as a suspended load or frictional resistance, the drive motor 22-1 can be rotated by always driving the travel motor 23 at a rotational speed corresponding to the travel speed command ω0. Since the same traveling speed command ω0 is output from the operation unit 10 to each inverter 25 of each forged crane 1, the two forged cranes 1 are traveling speeds corresponding to the same traveling speed command ω0. It is possible to travel stably and transport the workpiece W.

  In the above description, an example of conveying using the hanging jig 50 has been described. However, the present invention is not limited to this, and the workpiece W is fed directly through the turning device 110 as shown in FIG. You may make it convey. In this case, when the shape of the workpiece W is asymmetric, each forged crane 1 is also determined by the asymmetry of the shape of the workpiece W and the relative positional relationship between the workpiece W and each forged crane 1 regardless of the relative position between the forged cranes 1. The load acting on the will change. However, even in such a case, the two forged cranes 1 can stably travel at the traveling speed according to the traveling speed command ω0 and can transport the workpiece W.

  Further, in the forged crane 1 of the forged crane system 100 of the present embodiment, the driving wheels 22-1 at different positions in the direction orthogonal to the traveling direction X are for traveling under the independent control by the mutually different inverters 25. The motor 23 is driven to rotate. For this reason, even if the workpiece W is hung by being displaced in a direction orthogonal to the traveling direction X, each inverter 25 is driven at a rotational speed corresponding to the traveling speed command ω0 from the operation unit 10. An alternating current can be output to the corresponding running motor 23. As a result, the speed does not differ between the drive wheels 22-1 arranged in the direction orthogonal to the traveling direction X, and the workpieces W can be transported by traveling each forged crane 1 more stably.

  As mentioned above, although embodiment of this invention was explained in full detail with reference to drawings, the concrete structure is not restricted to this embodiment, The design change etc. of the range which does not deviate from the summary of this invention are included.

  In addition, in the forged crane system 100 of the said embodiment, although it shall be comprised with the two forged cranes 1, it is not restricted to this, You may make it comprise with three or more. Further, the number of inverters, drive wheels, and traveling motors in each forged crane 1 is an example, and it is sufficient that one or more sets are provided. In the above description, only the traveling drive is described. However, the same control is performed for the transverse drive in which the trolley travels on the rail installed on the girder constituting the traveling means 20, and two forged cranes are stably provided. The to-be-forged object can be conveyed by traversing.

DESCRIPTION OF SYMBOLS 1 Forging crane 3 Hanging means 10 Operation part 20 Traveling means 22-1 Drive wheel 23 Motor for driving (electric motor)
24 Pulse generator (rotation state detector)
25 Inverter 100 Forging crane system W Work W (Forging)
X Travel direction

Claims (2)

Self-propelled having suspension means for suspending the forged object, an electric motor as a drive source, an inverter for controlling the electric motor, and a rotation state detection unit for detecting the rotation state of the electric motor and outputting it to the inverter A plurality of forging cranes each having traveling means and traversing means for
An operation unit that operates by outputting the same operation command to the forging crane;
A control unit that outputs a travel speed command to the inverter based on an operation command output from the operation unit, and
The inverter is
A difference between the current rotational speed based on the rotational state output from the rotational state detection unit and the traveling speed command output from the control unit is obtained, and the traveling speed command is determined based on the difference. An alternating current is output so that the electric motor rotates at a rotational speed ,
The traveling means for each of the forged cranes is:
Each has two rows of wheel groups in a direction perpendicular to the traveling direction,
Each wheel group includes two drive wheels that are driven to rotate by the electric motor,
The inverter that controls the electric motor is:
Provided independently for each wheel group,
The rotation state detector
A forging crane system that detects only the rotational state of one of the motors that rotationally drives two drive wheels provided in one wheel group . The forged crane system according to claim 1 ,
The traversing means of each of the forged cranes is provided with a plurality of drive wheels provided at different positions in a direction orthogonal to the traversing direction and driven to rotate by the electric motor, and the electric motor and the inverter controlling the electric motor are in the traversing direction. A forging crane system, wherein the forging crane system is provided independently at different positions in a direction orthogonal to the axis.

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