JP6680599B2

JP6680599B2 - Gate-type crane synchronous operation method and device

Info

Publication number: JP6680599B2
Application number: JP2016079237A
Authority: JP
Inventors: 史博大堀
Original assignee: IHI Transport Machinery Co Ltd
Current assignee: IHI Transport Machinery Co Ltd
Priority date: 2016-04-12
Filing date: 2016-04-12
Publication date: 2020-04-15
Anticipated expiration: 2036-04-12
Also published as: JP2017190200A

Description

本発明は、門型クレーンの同期運転方法及び装置に関するものである。 The present invention relates to a synchronous operation method and device for a gate crane.

一般に、船舶、或いはセミサブマーシブル（Semi-Submersible）等の浮体構造物を建造するドックには、該ドックを跨ぐようにゴライアスクレーン等の門型クレーンが配置されている。 In general, a dock for constructing a floating structure such as a ship or a semi-submersible is provided with a gate crane such as a Golias crane so as to straddle the dock.

従来、前記船舶や浮体構造物が非常に大型であって、一台の門型クレーンでは吊上作業ができないような場合、二台の門型クレーンを同期させて運転することが行われている。 Conventionally, when the ship or the floating structure is very large and the lifting work cannot be performed by one gate crane, two gate cranes are operated in synchronization with each other. .

前記二台の門型クレーンの同期運転を行う場合、各々の門型クレーンの脚部に設けられたコネクタに通信用ケーブルを接続することにより、各々の門型クレーンに搭載された制御器（PLC：Programmable Logic Controller）間で通信が行われるようになっている。 When performing the synchronous operation of the two portal cranes, by connecting the communication cable to the connector provided on the leg of each portal crane, the controller (PLC) mounted on each portal crane. : Programmable Logic Controller) is used for communication.

尚、前記ゴライアスクレーン等の門型クレーンと関連する一般的技術水準を示すものとしては、例えば、特許文献１がある。 In addition, for example, Japanese Patent Application Laid-Open No. 2004-242242 discloses a general technical level related to a portal crane such as the Goliath crane.

特開２０１５−１２４０５３号公報JP, 2015-124053, A

しかしながら、従来の門型クレーンでは、前述のように、同期運転のための通信用ケーブルの接続作業が不可欠で、多大な労力と時間が必要となっていた。 However, in the conventional gate crane, as described above, the work of connecting the communication cable for the synchronous operation is indispensable, which requires a great deal of labor and time.

又、同期運転時における二台の門型クレーンの間隔が、互いを接続する通信用ケーブルの長さの範囲に限定され、制約が大きくなっており、改善が望まれていた。 Further, the interval between the two gate-type cranes during the synchronous operation is limited to the range of the length of the communication cable that connects them to each other, and the restriction becomes large, and improvement is desired.

本発明は、上記従来の問題点に鑑みてなしたもので、通信用ケーブルの接続作業を不要とし得且つ通信用ケーブルの長さによる制約をなくして作業性向上を図り得る門型クレーンの同期運転方法及び装置を提供しようとするものである。 The present invention has been made in view of the above conventional problems, and synchronization of a gate-type crane that can eliminate the work of connecting a communication cable and can improve workability by eliminating the restriction due to the length of the communication cable. It is intended to provide an operating method and device.

本発明は、同期元及び同期先となる複数基の門型クレーンを無線通信接続して同期運転を行う門型クレーンの同期運転方法であって、
同期元の門型クレーンの運転操作開始時、前記複数基の門型クレーン間での無線通信が正常であるか否かを判定する無線通信正常判定工程と、
該無線通信正常判定工程で無線通信が正常であると判定された後、前記複数基の門型クレーン間での同期運転が可能であるか否かを判定する同期運転可能判定工程と、
該同期運転可能判定工程で同期運転が可能であると判定された後、同期元の門型クレーンにおけるオペレータによる同期元操作机での運転操作に基づく運転指令を同期元制御器へ送信する同期元運転指令送信工程と、
該同期元運転指令送信工程で送信された運転指令を同期元制御器から同期元インバータへ送信する同期元インバータ運転指令送信工程と、
該同期元インバータ運転指令送信工程で送信された運転指令に基づき同期元電動機を運転する同期元電動機運転工程と、
前記同期元運転指令送信工程で送信された運転指令に基づき同期元制御器から同期先の門型クレーンにおける同期先制御器へ同期運転信号を無線送信する無線送信工程と、
該無線送信工程で送信された同期運転信号に基づき同期先制御器から同期運転指令を同期先インバータへ送信する同期先インバータ運転指令送信工程と、
該同期先インバータ運転指令送信工程で送信された同期運転指令に基づき同期先電動機を運転する同期先電動機運転工程と
を行い、
前記無線通信正常判定工程は、
同期元無線通信機が正常に機能しているか否かを判定する同期元無線通信機正常判定工程と、
該同期元無線通信機正常判定工程で同期元無線通信機が正常に機能していると判定された後、同期運転モードが選択されているか否かを判定する同期運転モード選択判定工程と、
該同期運転モード選択判定工程で同期運転モードが選択されていると判定された後、同期先無線通信機が同期元無線通信機の無線通信可能範囲内に存在しているか否かを判定する無線通信範囲判定工程と、
該無線通信範囲判定工程で同期先無線通信機が同期元無線通信機の無線通信可能範囲内に存在していると判定された後、同期先無線通信機が正常に機能しているか否かを判定する同期先無線通信機正常判定工程と、
該同期先無線通信機正常判定工程で同期先無線通信機が正常に機能していると判定された後、同期先の門型クレーンが同期元の門型クレーンにおける衝突防止設定距離外に存在しているか否かを判定する衝突回避判定工程と
を行い、前記衝突回避判定工程で同期先の門型クレーンが同期元の門型クレーンにおける衝突防止設定距離外に存在していると判定された場合に、無線通信同期運転が可能であって複数基の門型クレーン間での無線通信が正常であると判定することを特徴とする門型クレーンの同期運転方法にかかるものである。 The present invention is a synchronous operation method for a portal crane that performs a synchronous operation by wirelessly connecting a plurality of portal cranes serving as a synchronization source and a synchronization destination,
At the start of operation of the gate crane of the synchronization source, a wireless communication normal determination step of determining whether or not wireless communication between the plurality of gate cranes is normal,
After it is determined that the wireless communication is normal in the wireless communication normality determination step, a synchronous operation possible determination step of determining whether or not synchronous operation is possible between the plurality of portal cranes,
After it is determined that the synchronous operation is possible in the synchronous operation feasibility determining step, the synchronization source that transmits the operation command based on the operation operation at the synchronization source operation desk by the operator in the synchronization source portal crane to the synchronization source controller An operation command transmission process,
A synchronization source inverter operation command transmission step of transmitting the operation command transmitted in the synchronization source operation command transmission step from the synchronization source controller to the synchronization source inverter;
A synchronization source electric motor operating step of operating the synchronization source electric motor based on the operation instruction transmitted in the synchronization source inverter operation instruction transmitting step;
A wireless transmission step of wirelessly transmitting a synchronous operation signal from the synchronization source controller to the synchronization destination controller in the portal crane of the synchronization destination based on the operation instruction transmitted in the synchronization source operation instruction transmission step,
A synchronization destination inverter operation command transmission step of transmitting a synchronization operation command from the synchronization destination controller to the synchronization destination inverter based on the synchronization operation signal transmitted in the wireless transmission step,
And a synchronous destination electric motor operating step of operating the synchronous destination electric motor based on the synchronous operation command transmitted in the synchronous destination inverter operation command transmitting step ,
The wireless communication normality determining step,
A synchronization source wireless communication device normality determining step of determining whether or not the synchronization source wireless communication device is functioning normally,
A synchronous operation mode selection determination step of determining whether or not the synchronous operation mode is selected after it is determined in the synchronization source wireless communication apparatus normality determination step that the synchronization source wireless communication apparatus is functioning normally,
After it is determined that the synchronous operation mode is selected in the synchronous operation mode selection determination step, the wireless device that determines whether or not the synchronization target wireless communication device exists within the wireless communication range of the synchronization source wireless communication device Communication range determination step,
After it is determined in the wireless communication range determination step that the synchronization destination wireless communication device is within the wireless communication possible range of the synchronization source wireless communication device, whether the synchronization destination wireless communication device is functioning normally is determined. A synchronization destination wireless communication device normality determination step,
After the synchronization destination wireless communication device is determined to be functioning normally in the synchronization destination wireless communication device normality determination step, the synchronization destination gate-type crane exists outside the collision prevention setting distance in the synchronization source gate-type crane. And a collision avoidance determination step of determining whether or not
If it is determined in the collision avoidance determination step that the synchronization destination gate-type crane is outside the collision prevention setting distance in the synchronization source gate-type crane, wireless communication synchronous operation is possible and multiple The present invention relates to a synchronous operation method for a portal crane, which is characterized by determining that wireless communication between the base portal cranes is normal .

一方、本発明は、同期元及び同期先となる複数基の門型クレーンを無線通信接続して同期運転を行う門型クレーンの同期運転装置であって、
同期元の門型クレーンの運転室に設けられ且つオペレータによる運転操作が行われる同期元操作机と、
該同期元操作机でのオペレータによる運転操作に基づく運転指令が入力される同期元制御器と、
該同期元制御器から前記運転指令が入力される同期元インバータと、
該同期元インバータにより前記運転指令に基づいて回転駆動される同期元電動機と、
前記同期元制御器から前記運転指令に基づく同期運転信号が入力され且つ該同期運転信号を送受信する同期元無線通信機と、
前記同期先の門型クレーンに設けられ且つ前記同期元無線通信機から送信される同期運転信号を受信する同期先無線通信機と、
該同期先無線通信機で受信された同期運転信号が入力される同期先制御器と、
該同期先制御器から前記同期運転信号に基づく同期運転指令が入力される同期先インバータと、
該同期先インバータにより前記同期運転指令に基づいて回転駆動される同期先電動機と、
同期元の門型クレーンと同期先の門型クレーンとの距離を計測する測距計と
を備え、
前記同期元制御器は、
同期元無線通信機が正常に機能し、
同期運転モードが選択され、
前記同期先無線通信機が同期元無線通信機の無線通信可能範囲内に存在し、
前記同期先無線通信機が正常に機能し、
前記測距計で計測された距離に基づき、同期先の門型クレーンが同期元の門型クレーンにおける衝突防止設定距離外に存在している場合に、無線通信同期運転が可能であって複数基の門型クレーン間での無線通信が正常であると判定するよう構成されていることを特徴とする門型クレーンの同期運転装置にかかるものである。 On the other hand, the present invention is a synchronous operation device for a portal crane that performs synchronous operation by wirelessly connecting a plurality of portal cranes that are the synchronization source and the synchronization destination,
A synchronization source operation desk provided in the operator's cab of the synchronization source gate crane and operated by an operator
A synchronization source controller to which a driving command based on a driving operation by an operator at the synchronization source operating desk is input,
A synchronization source inverter to which the operation command is input from the synchronization source controller;
A synchronization source electric motor that is rotationally driven by the synchronization source inverter based on the operation command;
A synchronization source wireless communication device which receives a synchronization operation signal based on the operation command from the synchronization source controller and transmits and receives the synchronization operation signal,
A synchronization destination wireless communication device which is provided in the synchronization destination gate-type crane and receives a synchronization operation signal transmitted from the synchronization source wireless communication device,
A synchronization destination controller to which a synchronization operation signal received by the synchronization destination wireless communication device is input;
A synchronization destination inverter to which a synchronization operation command based on the synchronization operation signal is input from the synchronization destination controller;
A synchronization destination electric motor that is rotationally driven by the synchronization destination inverter based on the synchronous operation command ;
It is equipped with a rangefinder that measures the distance between the gate crane of the synchronization source and the gate crane of the synchronization destination ,
The synchronization source controller,
The synchronization source wireless communication device is functioning normally,
Synchronous operation mode is selected,
The synchronization destination wireless communication device exists within the wireless communication range of the synchronization source wireless communication device,
The destination wireless communication device is functioning normally,
Based on the distance measured by the range finder, when the gate crane of the synchronization destination exists outside the collision prevention setting distance of the gate crane of the synchronization source, wireless communication synchronous operation is possible and a plurality of groups are available. The present invention relates to a synchronous operation device for a gate crane, characterized in that it is configured to determine that the wireless communication between the gate cranes is normal .

本発明の門型クレーンの同期運転方法及び装置によれば、通信用ケーブルの接続作業を不要とし得且つ通信用ケーブルの長さによる制約をなくして作業性向上を図り得るという優れた効果を奏し得る。 ADVANTAGE OF THE INVENTION According to the synchronous operation method and apparatus of the portal crane of the present invention, it is possible to eliminate the work of connecting the communication cable and to improve the workability by eliminating the restriction due to the length of the communication cable. obtain.

本発明の門型クレーンの同期運転方法及び装置の実施例を示す全体正面図である。It is the whole front view showing the example of the synchronous operation method and device of the gate crane of the present invention. 本発明の門型クレーンの同期運転方法及び装置の実施例を示す全体側面図である。It is the whole side view showing the example of the synchronous operation method and device of the gate crane of the present invention. 本発明の門型クレーンの同期運転方法及び装置の実施例を示す全体平面図である。FIG. 1 is an overall plan view showing an embodiment of a synchronous operation method and device for a portal crane of the present invention. 本発明の門型クレーンの同期運転方法及び装置の実施例を示す制御ブロック図である。It is a control block diagram which shows the Example of the synchronous operation method and apparatus of the portal crane of this invention. 本発明の門型クレーンの同期運転方法及び装置の実施例における制御フローを示すメインフローチャートである。It is a main flowchart which shows the control flow in the Example of the synchronous operation method and apparatus of the portal crane of this invention. 本発明の門型クレーンの同期運転方法及び装置の実施例における制御フローを示すサブフローチャートである。It is a sub-flowchart which shows the control flow in the Example of the synchronous operation method and apparatus of the portal crane of this invention.

以下、本発明の実施の形態を添付図面を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

図１〜図６は本発明の門型クレーンの同期運転方法及び装置の実施例である。 1 to 6 show an embodiment of a synchronous operation method and device for a portal crane according to the present invention.

本実施例の特徴とするところは、図１〜図６に示す如く、同期元となる門型クレーン１Ａ及び同期先となる門型クレーン１Ｂを無線通信接続して同期運転を行う点にある。 A feature of this embodiment is that, as shown in FIGS. 1 to 6, the portal crane 1A that is the synchronization source and the portal crane 1B that is the synchronization destination are wirelessly connected for synchronous operation.

前記同期元の門型クレーン１Ａは、ドックＤの幅方向へ所要間隔をあけて立設される脚部２Ａと、該脚部２Ａの上端部間に掛け渡すように配設され且つ水平方向へ延びるガーダ３Ａとを備えている。前記脚部２Ａの下端には、走行レールＲＡ（図３参照）に沿って転動自在な複数個の車輪４Ａを有する走行装置５Ａが設けられている。前記ガーダ３Ａ上には、トロリー６Ａが横行自在に配置され、該トロリー６Ａに搭載されたウインチドラム（図示せず）からワイヤロープ７Ａが巻上・巻下自在に繰り出され、該ワイヤロープ７Ａの下端に吊ブラケット８Ａが取り付けられている。 The gantry crane 1A of the synchronization source is arranged so as to be bridged between a leg portion 2A which is erected at a predetermined interval in the width direction of the dock D and an upper end portion of the leg portion 2A, and is horizontally oriented. The extending girder 3A is provided. At the lower end of the leg 2A, a traveling device 5A having a plurality of wheels 4A that can roll along a traveling rail RA (see FIG. 3) is provided. A trolley 6A is arranged on the girder 3A so that the trolley 6A can traverse, and a wire rope 7A is unwound and unwound from a winch drum (not shown) mounted on the trolley 6A. A suspension bracket 8A is attached to the lower end.

同様に、前記同期先の門型クレーン１Ｂは、前記ドックＤの幅方向へ所要間隔をあけて立設される脚部２Ｂと、該脚部２Ｂの上端部間に掛け渡すように配設され且つ水平方向へ延びるガーダ３Ｂとを備えている。前記脚部２Ｂの下端には、走行レールＲＢ（図３参照）に沿って転動自在な複数個の車輪４Ｂを有する走行装置５Ｂが設けられている。前記ガーダ３Ｂ上には、トロリー６Ｂが横行自在に配置され、該トロリー６Ｂに搭載されたウインチドラム（図示せず）からワイヤロープ７Ｂが巻上・巻下自在に繰り出され、該ワイヤロープ７Ｂの下端に吊ブラケット８Ｂが取り付けられている。 Similarly, the gate-type crane 1B of the synchronization destination is arranged so as to be bridged between the leg portion 2B which is erected at a predetermined interval in the width direction of the dock D and the upper end portion of the leg portion 2B. And a girder 3B extending in the horizontal direction. At the lower end of the leg portion 2B, a traveling device 5B having a plurality of wheels 4B that can roll along a traveling rail RB (see FIG. 3) is provided. A trolley 6B is laid transversely on the girder 3B, and a wire rope 7B is unwound and hoisted from a winch drum (not shown) mounted on the trolley 6B. A suspension bracket 8B is attached to the lower end.

前記同期元の門型クレーン１Ａのトロリー６Ａには、図２に示す如く、ガーダ３Ａの走行方向に斜め下方へ張り出す支持フレーム９Ａが取り付けられ、該支持フレーム９Ａの先端に運転室１０Ａが設けられている。該運転室１０Ａにはオペレータが乗り込み、同期元操作机１１Ａ（図４参照）に配置されている操作レバーや各種スイッチ等の運転操作用機器を操作することにより、同期元の門型クレーン１Ａと同期先の門型クレーン１Ｂの同期運転を行うようになっている。 As shown in FIG. 2, the trolley 6A of the gate-type crane 1A that is the synchronization source is provided with a support frame 9A that extends obliquely downward in the traveling direction of the girder 3A, and a cab 10A is provided at the tip of the support frame 9A. Has been. An operator gets into the driver's cab 10A and operates a driving operation device such as an operating lever or various switches arranged on the synchronization source operation desk 11A (see FIG. 4) to operate the synchronization source portal crane 1A. The gate-type crane 1B, which is the synchronization destination, is synchronously operated.

前記同期元操作机１１Ａでのオペレータによる運転操作に基づく運転指令は、図４に示す如く、電気室１２Ａ内におけるＰＬＣ盤１３Ａに設けられた同期元制御器１４Ａに入力され、該同期元制御器１４Ａから前記運転指令が、動力盤１５Ａに設けられた同期元インバータ１６Ａへ出力され、該同期元インバータ１６Ａにより前記運転指令に基づいて同期元電動機１７Ａが回転駆動されるようになっている。前記同期元電動機１７Ａは、同期元の門型クレーン１Ａの走行モータ、トロリー６Ａの横行モータ、ワイヤロープ７Ａの巻上モータを含んでいる。 As shown in FIG. 4, the driving command based on the driving operation by the operator at the synchronization source console 11A is input to the synchronization source controller 14A provided on the PLC board 13A in the electric room 12A, and the synchronization source controller is input. The operation command is output from 14A to the synchronization source inverter 16A provided in the power board 15A, and the synchronization source inverter 16A rotationally drives the synchronization source electric motor 17A based on the operation command. The synchronization source electric motor 17A includes a traveling motor of the gate type crane 1A of the synchronization source, a traverse motor of the trolley 6A, and a hoisting motor of the wire rope 7A.

前記同期元の門型クレーン１Ａのガーダ３Ａには、同期元無線通信機１８Ａが設けられ、前記同期元制御器１４Ａから前記運転指令に基づく同期運転信号が同期元無線通信機１８Ａに入力され、該同期元無線通信機１８Ａが同期運転信号を送受信するようになっている。 The girder 3A of the gate crane 1A of the synchronization source is provided with a synchronization source wireless communication device 18A, and a synchronization operation signal based on the operation command is input to the synchronization source wireless communication device 18A from the synchronization source controller 14A, The synchronization source wireless communication device 18A is adapted to transmit and receive a synchronization operation signal.

一方、前記同期先の門型クレーン１Ｂのガーダ３Ｂには、同期先無線通信機１８Ｂが設けられ、前記同期元無線通信機１８Ａから送信される同期運転信号を受信し、該同期先無線通信機１８Ｂで受信された同期運転信号が、電気室１２Ｂ内におけるＰＬＣ盤１３Ｂに設けられた同期先制御器１４Ｂに入力され、該同期先制御器１４Ｂから前記同期運転信号に基づく同期運転指令が、動力盤１５Ｂに設けられた同期先インバータ１６Ｂへ出力され、該同期先インバータ１６Ｂにより前記同期運転指令に基づいて同期先電動機１７Ｂが回転駆動されるようになっている。前記同期先電動機１７Ｂは、同期先の門型クレーン１Ｂの走行モータ、トロリー６Ｂの横行モータ、ワイヤロープ７Ｂの巻上モータを含んでいる。 On the other hand, a girder 3B of the gate crane 1B of the synchronization destination is provided with a synchronization destination wireless communication device 18B, which receives a synchronization operation signal transmitted from the synchronization source wireless communication device 18A, and receives the synchronization destination wireless communication device. The synchronous operation signal received by 18B is input to the synchronization destination controller 14B provided in the PLC board 13B in the electric room 12B, and the synchronization operation command based on the synchronization operation signal is transmitted from the synchronization destination controller 14B. It is output to the synchronization destination inverter 16B provided on the board 15B, and the synchronization destination inverter 16B rotationally drives the synchronization destination electric motor 17B based on the synchronization operation command. The synchronization destination electric motor 17B includes a traveling motor of the portal crane 1B of the synchronization destination, a traverse motor of the trolley 6B, and a hoisting motor of the wire rope 7B.

又、前記同期元の門型クレーン１Ａのガーダ３Ａには、前記同期元の門型クレーン１Ａと同期先の門型クレーン１Ｂとの距離を計測する測距計１９Ａを設けてある。該測距計１９Ａとしては、例えば、レーザ測距計を採用することができ、この場合、同期先の門型クレーン１Ｂのガーダ３Ｂに、前記レーザ測距計とした測距計１９Ａから投射されたレーザ光を反射する反射板（図示せず）を設けるようにすれば良い。 Further, the girder 3A of the gate crane 1A of the synchronization source is provided with a range finder 19A for measuring the distance between the gate crane 1A of the synchronization source and the gate crane 1B of the synchronization destination. As the range finder 19A, for example, a laser range finder can be adopted. In this case, the range finder 19A used as the laser range finder is projected on the girder 3B of the gate-type crane 1B at the synchronization destination. A reflecting plate (not shown) that reflects the laser light may be provided.

次に、上記実施例の作用を説明する。 Next, the operation of the above embodiment will be described.

同期元の門型クレーン１Ａの運転操作がオペレータにより、図５に示す如く、ステップＳ１として開始されると、先ず、同期元の門型クレーン１Ａと同期先の門型クレーン１Ｂとの間での無線通信が正常であるか否かが判定される（無線通信正常判定工程：図５のステップＳ２参照）。該無線通信正常判定工程は、前記無線通信が正常であると判定されるまで継続される。 When the operator starts the operation operation of the synchronization source portal crane 1A as step S1 as shown in FIG. 5, first, the synchronization source portal crane 1A and the synchronization destination portal crane 1B are operated. It is determined whether or not the wireless communication is normal (wireless communication normal determination step: see step S2 in FIG. 5). The wireless communication normality determining step is continued until it is determined that the wireless communication is normal.

ここで、前記無線通信正常判定工程においては、以下のステップが実行される。先ず、図６に示す如く、ステップＳ１０として同期元無線通信機１８Ａ及び同期先無線通信機１８Ｂの電源がＯＮとなっている状態で、同期元無線通信機１８Ａが正常に機能しているか否かが判定される（同期元無線通信機正常判定工程：図６のステップＳ１１参照）。該同期元無線通信機正常判定工程は、前記同期元無線通信機１８Ａが正常に機能していると判定されるまで継続される。前記同期元無線通信機正常判定工程で同期元無線通信機１８Ａが正常に機能していると判定されると、同期運転モードが選択されているか否かが判定される（同期運転モード選択判定工程：図６のステップＳ１２参照）。該同期運転モード選択判定工程は、前記同期運転モードが選択されていると判定されるまで継続される。前記同期運転モード選択判定工程で同期運転モードが選択されていると判定されると、同期先無線通信機１８Ｂが同期元無線通信機１８Ａの無線通信可能範囲内に存在しているか否かが判定される（無線通信範囲判定工程：図６のステップＳ１３参照）。該無線通信範囲判定工程は、前記同期先無線通信機１８Ｂが同期元無線通信機１８Ａの無線通信可能範囲内に存在していると判定されるまで継続される。前記無線通信範囲判定工程で同期先無線通信機１８Ｂが同期元無線通信機１８Ａの無線通信可能範囲内に存在していると判定されると、同期先無線通信機１８Ｂが正常に機能しているか否かが判定される（同期先無線通信機正常判定工程：図６のステップＳ１４参照）。該同期先無線通信機正常判定工程は、前記同期先無線通信機１８Ｂが正常に機能していると判定されるまで継続される。前記同期先無線通信機正常判定工程で同期先無線通信機１８Ｂが正常に機能していると判定されると、同期先の門型クレーン１Ｂが同期元の門型クレーン１Ａにおける衝突防止設定距離外に存在しているか否かが判定される（衝突回避判定工程：図６のステップＳ１５参照）。該衝突回避判定工程は、前記同期先の門型クレーン１Ｂが同期元の門型クレーン１Ａにおける衝突防止設定距離外に存在していると判定されるまで継続される。そして、前記衝突回避判定工程で同期先の門型クレーン１Ｂが同期元の門型クレーン１Ａにおける衝突防止設定距離外に存在していると判定された場合に、図６のステップＳ１６として示す如く、無線通信同期運転が可能であって同期元の門型クレーン１Ａと同期先の門型クレーン１Ｂとの間での無線通信が正常であると判定される。 Here, in the wireless communication normality determining step, the following steps are executed. First, as shown in FIG. 6, in step S10, it is determined whether or not the synchronization source wireless communication device 18A and the synchronization destination wireless communication device 18B are turned on while the synchronization source wireless communication device 18A is functioning normally. Is determined (synchronization source wireless communication device normality determination step: see step S11 in FIG. 6). The synchronization source wireless communication device normality determining step is continued until it is determined that the synchronization source wireless communication device 18A is functioning normally. When it is determined in the synchronization source wireless communication device normality determining step that the synchronization source wireless communication device 18A is functioning normally, it is determined whether or not the synchronization operation mode is selected (synchronization operation mode selection determination step). : See step S12 of FIG. 6). The synchronous operation mode selection determination step is continued until it is determined that the synchronous operation mode is selected. When it is determined in the synchronous operation mode selection determination step that the synchronous operation mode is selected, it is determined whether the synchronization target wireless communication device 18B is within the wireless communication coverage of the synchronization source wireless communication device 18A. (Wireless communication range determination step: see step S13 in FIG. 6). The wireless communication range determination step is continued until it is determined that the synchronization destination wireless communication device 18B is within the wireless communication range of the synchronization source wireless communication device 18A. If it is determined in the wireless communication range determination step that the synchronization destination wireless communication device 18B is within the wireless communication possible range of the synchronization source wireless communication device 18A, is the synchronization destination wireless communication device 18B functioning normally? It is determined whether or not the synchronization destination wireless communication device is normal (step S14 in FIG. 6). The synchronization destination wireless communication device normality determining step is continued until it is determined that the synchronization destination wireless communication device 18B is functioning normally. When it is determined that the synchronization destination wireless communication device 18B is functioning normally in the synchronization destination wireless communication device normality determination step, the synchronization destination portal crane 1B is outside the collision prevention setting distance in the synchronization source portal crane 1A. It is determined whether or not the vehicle exists in the vehicle (collision avoidance determination step: see step S15 in FIG. 6). The collision avoidance determination step is continued until it is determined that the gate crane 1B of the synchronization destination is outside the collision prevention setting distance of the gate crane 1A of the synchronization source. When it is determined in the collision avoidance determination step that the synchronization destination portal crane 1B is outside the collision prevention setting distance in the synchronization source portal crane 1A, as shown as step S16 in FIG. It is determined that the wireless communication synchronous operation is possible, and the wireless communication between the synchronization source gate-type crane 1A and the synchronization destination gate-type crane 1B is normal.

前記無線通信正常判定工程で無線通信が正常であると判定されると、前記同期元の門型クレーン１Ａと同期先の門型クレーン１Ｂとの間での同期運転が可能であるか否かが判定される（同期運転可能判定工程：図５のステップＳ３参照）。同期運転が可能であるか否かは、門型クレーン１Ａ，１Ｂが各々故障していないかといった総合判定であり、前記同期運転可能判定工程は、同期運転が可能であると判定されるまで継続される。 When it is determined that the wireless communication is normal in the wireless communication normality determining step, it is determined whether or not the synchronous operation can be performed between the synchronization source portal crane 1A and the synchronization destination portal crane 1B. It is determined (synchronous operation availability determination step: see step S3 in FIG. 5). Whether or not the synchronous operation is possible is a comprehensive judgment as to whether or not each of the gate cranes 1A and 1B is out of order, and the synchronous operation possible judgment step is continued until it is judged that the synchronous operation is possible. To be done.

前記同期運転可能判定工程で同期運転が可能であると判定されると、同期元の門型クレーン１Ａにおけるオペレータによる同期元操作机１１Ａでの運転操作に基づく運転指令が同期元制御器１４Ａへ送信される（同期元運転指令送信工程：図５のステップＳ４参照）。 When it is determined that the synchronous operation is possible in the synchronous operation possible determination step, the operation command based on the operation operation at the synchronization source operation console 11A by the operator in the synchronization source portal crane 1A is transmitted to the synchronization source controller 14A. (Synchronization source operation command transmitting step: see step S4 in FIG. 5).

前記同期元運転指令送信工程で送信された運転指令は、同期元制御器１４Ａから同期元インバータ１６Ａへ送信され（同期元インバータ運転指令送信工程：図５のステップＳ５参照）、前記同期元インバータ運転指令送信工程で送信された運転指令に基づき同期元電動機１７Ａが運転される（同期元電動機運転工程：図５のステップＳ６参照）。 The operation command transmitted in the synchronization source operation command transmission step is transmitted from the synchronization source controller 14A to the synchronization source inverter 16A (synchronization source inverter operation instruction transmission step: see step S5 in FIG. 5), and the synchronization source inverter operation is performed. The synchronization source electric motor 17A is operated based on the operation instruction transmitted in the instruction transmission step (synchronization source electric motor operation step: see step S6 in FIG. 5).

一方、前記同期元運転指令送信工程で送信された運転指令に基づき同期元制御器１４Ａから同期先の門型クレーン１Ｂにおける同期先制御器１４Ｂへ同期運転信号が無線送信される（無線送信工程：図５のステップＳ７参照）。 On the other hand, a synchronous operation signal is wirelessly transmitted from the synchronization source controller 14A to the synchronization destination controller 14B in the synchronization destination gate-type crane 1B based on the operation instruction transmitted in the synchronization source operation instruction transmission step (wireless transmission step: (See step S7 in FIG. 5).

前記無線送信工程で送信された同期運転信号に基づき同期先制御器１４Ｂから同期運転指令が同期先インバータ１６Ｂへ送信され（同期先インバータ運転指令送信工程：図５のステップＳ８参照）、前記同期先インバータ運転指令送信工程で送信された同期運転指令に基づき同期先電動機１７Ｂが運転される（同期先電動機運転工程：図５のステップＳ９参照）。 Based on the synchronous operation signal transmitted in the wireless transmission step, a synchronous operation command is transmitted from the synchronization destination controller 14B to the synchronization destination inverter 16B (synchronization destination inverter operation instruction transmission step: see step S8 in FIG. 5), and the synchronization destination The synchronization destination electric motor 17B is operated based on the synchronization operation instruction transmitted in the inverter operation instruction transmission step (synchronization destination electric motor operation step: see step S9 in FIG. 5).

本実施例のように、同期元となる門型クレーン１Ａ及び同期先となる門型クレーン１Ｂを無線通信接続して同期運転を行うと、同期運転のための通信用ケーブルの接続作業が不要となり、多大な労力と時間を節減することが可能となる。 When the portal crane 1A that is the synchronization source and the portal crane 1B that is the synchronization destination are wirelessly connected to perform the synchronous operation as in the present embodiment, the work of connecting the communication cable for the synchronous operation becomes unnecessary. It is possible to save a lot of labor and time.

又、同期運転時における二台の門型クレーンの間隔が、互いを接続する通信用ケーブルの長さの範囲に限定されなくなり、制約がなくなる。 In addition, the interval between the two gate-type cranes during the synchronous operation is not limited to the range of the length of the communication cable that connects them, and there is no restriction.

更に、通信用ケーブルを接続しなくても常時通信が可能となるため、同期運転の信号だけでなく、ゴライアスクレーン等の門型クレーン１Ａ，１Ｂ間で走行位置を相互に通信することにより、衝突防止装置用信号伝送も可能となる。 Further, since communication is always possible without connecting a communication cable, not only the signal for synchronous operation but also the traveling position between the gate type cranes 1A and 1B such as the Goliath crane can be communicated with each other to prevent collision. Signal transmission for the prevention device is also possible.

こうして、通信用ケーブルの接続作業を不要とし得且つ通信用ケーブルの長さによる制約をなくして作業性向上を図り得る。 In this way, it is possible to eliminate the work of connecting the communication cable and to improve the workability by eliminating the restriction due to the length of the communication cable.

そして、本実施例の場合、前記無線通信正常判定工程は、同期元無線通信機が正常に機能しているか否かを判定する同期元無線通信機正常判定工程と、該同期元無線通信機正常判定工程で同期元無線通信機が正常に機能していると判定された後、同期運転モードが選択されているか否かを判定する同期運転モード選択判定工程と、該同期運転モード選択判定工程で同期運転モードが選択されていると判定された後、同期先無線通信機１８Ｂが同期元無線通信機の無線通信可能範囲内に存在しているか否かを判定する無線通信範囲判定工程と、該無線通信範囲判定工程で同期先無線通信機１８Ｂが同期元無線通信機の無線通信可能範囲内に存在していると判定された後、同期先無線通信機１８Ｂが正常に機能しているか否かを判定する同期先無線通信機正常判定工程と、該同期先無線通信機正常判定工程で同期先無線通信機１８Ｂが正常に機能していると判定された後、同期先の門型クレーン１Ｂが同期元の門型クレーン１Ａにおける衝突防止設定距離外に存在しているか否かを判定する衝突回避判定工程とを行い、前記衝突回避判定工程で同期先の門型クレーン１Ｂが同期元の門型クレーン１Ａにおける衝突防止設定距離外に存在していると判定された場合に、無線通信同期運転が可能であって複数基の門型クレーン１Ａ，１Ｂ間での無線通信が正常であると判定するようになっている。このような方法を実施することにより、同期元となる門型クレーン１Ａ及び同期先となる門型クレーン１Ｂの衝突を回避しつつ無線通信接続による同期運転を円滑に行うことができる。 In the case of the present embodiment, the wireless communication normality determining step includes a synchronization source wireless communication device normality determining step of determining whether the synchronization source wireless communication device is functioning normally, and the synchronization source wireless communication device normality step. After it is determined that the synchronization source wireless communication device is functioning normally in the determination step, the synchronous operation mode selection determination step of determining whether the synchronous operation mode is selected, and the synchronous operation mode selection determination step After it is determined that the synchronous operation mode is selected, a wireless communication range determination step of determining whether or not the synchronization destination wireless communication device 18B is within the wireless communication possible range of the synchronization source wireless communication device, Whether or not the synchronization destination wireless communication device 18B is functioning normally after it is determined in the wireless communication range determination step that the synchronization destination wireless communication device 18B exists within the wireless communication possible range of the synchronization source wireless communication device No sync destination After it is determined in the communication device normality determination step and the synchronization destination wireless communication device normality determination step that the synchronization destination wireless communication device 18B is functioning normally, the synchronization destination portal crane 1B is the synchronization source portal crane. 1A, a collision avoidance determination step of determining whether or not the vehicle exists outside the collision prevention setting distance, and in the collision avoidance determination step, the synchronization-destination portal crane 1B sets the collision prevention setting in the synchronization-source portal crane 1A. When it is determined that the vehicle exists outside the distance, the wireless communication synchronous operation is possible, and it is determined that the wireless communication between the plurality of gate-type cranes 1A and 1B is normal. By carrying out such a method, it is possible to smoothly perform the synchronous operation by the wireless communication connection while avoiding the collision of the portal crane 1A that is the synchronization source and the portal crane 1B that is the synchronization destination.

又、本実施例の場合、同期元及び同期先となる複数基の門型クレーン１Ａ，１Ｂを無線通信接続して同期運転を行う門型クレーン１Ａ，１Ｂの同期運転装置であって、同期元の門型クレーン１Ａの運転室１０Ａに設けられ且つオペレータによる運転操作が行われる同期元操作机１１Ａと、該同期元操作机１１Ａでのオペレータによる運転操作に基づく運転指令が入力される同期元制御器１４Ａと、該同期元制御器１４Ａから前記運転指令が入力される同期元インバータ１６Ａと、該同期元インバータ１６Ａにより前記運転指令に基づいて回転駆動される同期元電動機１７Ａと、前記同期元制御器１４Ａから前記運転指令に基づく同期運転信号が入力され且つ該同期運転信号を送受信する同期元無線通信機１８Ａと、前記同期先の門型クレーン１Ｂに設けられ且つ前記同期元無線通信機１８Ａから送信される同期運転信号を受信する同期先無線通信機１８Ｂと、該同期先無線通信機１８Ｂで受信された同期運転信号が入力される同期先制御器１４Ｂと、該同期先制御器１４Ｂから前記同期運転信号に基づく同期運転指令が入力される同期先インバータ１６Ｂと、該同期先インバータ１６Ｂにより前記同期運転指令に基づいて回転駆動される同期先電動機１７Ｂとを備えている。このように装置を構成したことにより、通信用ケーブルの接続作業を不要とし得且つ通信用ケーブルの長さによる制約をなくして作業性向上を図り得る。 Further, in the case of the present embodiment, it is a synchronous operation device for the portal cranes 1A and 1B that performs a synchronous operation by wirelessly connecting a plurality of portal cranes 1A and 1B to be a synchronization source and a synchronization destination. Synchronization source operator 11A which is provided in the driver's cab 10A of the gate type crane 1A and is operated by the operator, and synchronization source control which receives the operation command based on the operator's operation operation on the synchronization source operator 11A. 14A, a synchronization source inverter 16A to which the operation instruction is input from the synchronization source controller 14A, a synchronization source electric motor 17A that is rotationally driven by the synchronization source inverter 16A based on the operation instruction, and the synchronization source control Synchronization source wireless communication device 18A that receives a synchronous operation signal based on the operation command and transmits / receives the synchronous operation signal from the device 14A, and the gate crane of the synchronization destination A synchronization destination wireless communication device 18B provided in B and receiving a synchronization operation signal transmitted from the synchronization source wireless communication device 18A, and a synchronization destination to which the synchronization operation signal received by the synchronization destination wireless communication device 18B is input. A controller 14B, a synchronization destination inverter 16B to which a synchronization operation command based on the synchronization operation signal is input from the synchronization destination controller 14B, and a synchronization destination rotationally driven by the synchronization destination inverter 16B based on the synchronization operation command. And an electric motor 17B. By configuring the device in this way, it is possible to eliminate the work of connecting the communication cable and to improve the workability by eliminating the restriction due to the length of the communication cable.

更に又、本実施例の場合、同期元の門型クレーン１Ａと同期先の門型クレーン１Ｂとの距離を計測する測距計１９Ａを備え、前記同期元制御器１４Ａは、同期元無線通信機１８Ａが正常に機能し、同期運転モードが選択され、前記同期先無線通信機１８Ｂが同期元無線通信機１８Ａの無線通信可能範囲内に存在し、前記同期先無線通信機１８Ｂが正常に機能し、前記測距計１９Ａで計測された距離に基づき、同期先の門型クレーン１Ｂが同期元の門型クレーン１Ａにおける衝突防止設定距離外に存在している場合に、無線通信同期運転が可能であって複数基の門型クレーン１Ａ，１Ｂ間での無線通信が正常であると判定するよう構成されている。このように装置を構成すれば、同期元となる門型クレーン１Ａ及び同期先となる門型クレーン１Ｂの衝突を回避しつつ無線通信接続による同期運転を円滑に行うことができる。 Furthermore, in the case of this embodiment, a range finder 19A for measuring the distance between the synchronization source portal crane 1A and the synchronization destination portal crane 1B is provided, and the synchronization source controller 14A is a synchronization source wireless communication device. 18A is functioning normally, the synchronous operation mode is selected, the synchronization destination wireless communication device 18B is within the wireless communication range of the synchronization source wireless communication device 18A, and the synchronization destination wireless communication device 18B functions normally. Based on the distance measured by the range finder 19A, wireless communication synchronous operation is possible when the synchronization destination gate-type crane 1B is outside the collision prevention setting distance of the synchronization source gate-type crane 1A. Therefore, it is configured to determine that the wireless communication between the plurality of portal cranes 1A and 1B is normal. By configuring the apparatus in this way, it is possible to smoothly perform the synchronous operation by the wireless communication connection while avoiding the collision of the portal crane 1A that is the synchronization source and the portal crane 1B that is the synchronization destination.

尚、本発明の門型クレーンの同期運転方法及び装置は、上述の実施例にのみ限定されるものではなく、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。 The method and apparatus for synchronously operating the gate crane of the present invention are not limited to the above-mentioned embodiments, and it goes without saying that various modifications can be made without departing from the scope of the present invention.

１Ａ門型クレーン
１Ｂ門型クレーン
１１Ａ同期元操作机
１４Ａ同期元制御器
１４Ｂ同期先制御器
１６Ａ同期元インバータ
１６Ｂ同期先インバータ
１７Ａ同期元電動機
１７Ｂ同期先電動機
１８Ａ同期元無線通信機
１８Ｂ同期先無線通信機
１９Ａ測距計 1A Gate-type crane 1B Gate-type crane 11A Synchronization source operator 14A Synchronization source controller 14B Synchronization destination controller 16A Synchronization source inverter 16B Synchronization destination inverter 17A Synchronization source motor 17B Synchronization destination motor 18A Synchronization source wireless communication device 18B Synchronization destination wireless communication Machine 19A rangefinder

Claims

A synchronous operation method for a portal crane that performs synchronous operation by wirelessly connecting a plurality of portal cranes serving as a synchronization source and a synchronization destination,
At the start of operation of the gate crane of the synchronization source, a wireless communication normal determination step of determining whether or not wireless communication between the plurality of gate cranes is normal,
After it is determined that the wireless communication is normal in the wireless communication normality determination step, a synchronous operation possible determination step of determining whether or not synchronous operation is possible between the plurality of portal cranes,
After it is determined that the synchronous operation is possible in the synchronous operation feasibility determining step, the synchronization source that transmits the operation command based on the operation operation at the synchronization source operation desk by the operator in the synchronization source portal crane to the synchronization source controller An operation command transmission process,
A synchronization source inverter operation command transmission step of transmitting the operation command transmitted in the synchronization source operation command transmission step from the synchronization source controller to the synchronization source inverter;
A synchronization source electric motor operating step of operating the synchronization source electric motor based on the operation instruction transmitted in the synchronization source inverter operation instruction transmitting step;
A wireless transmission step of wirelessly transmitting a synchronous operation signal from the synchronization source controller to the synchronization destination controller in the portal crane of the synchronization destination based on the operation instruction transmitted in the synchronization source operation instruction transmission step,
A synchronization destination inverter operation command transmission step of transmitting a synchronization operation command from the synchronization destination controller to the synchronization destination inverter based on the synchronization operation signal transmitted in the wireless transmission step,
And a synchronous destination electric motor operating step of operating the synchronous destination electric motor based on the synchronous operation command transmitted in the synchronous destination inverter operation command transmitting step ,
The wireless communication normality determining step,
A synchronization source wireless communication device normality determining step of determining whether or not the synchronization source wireless communication device is functioning normally,
A synchronous operation mode selection determination step of determining whether or not the synchronous operation mode is selected after it is determined in the synchronization source wireless communication apparatus normality determination step that the synchronization source wireless communication apparatus is functioning normally,
After it is determined that the synchronous operation mode is selected in the synchronous operation mode selection determination step, the wireless device that determines whether or not the synchronization target wireless communication device exists within the wireless communication range of the synchronization source wireless communication device Communication range determination step,
After it is determined in the wireless communication range determination step that the synchronization destination wireless communication device is within the wireless communication possible range of the synchronization source wireless communication device, whether the synchronization destination wireless communication device is functioning normally is determined. A synchronization destination wireless communication device normality determination step,
After the synchronization destination wireless communication device is determined to be functioning normally in the synchronization destination wireless communication device normality determination step, the synchronization destination gate-type crane exists outside the collision prevention setting distance in the synchronization source gate-type crane. And a collision avoidance determination step of determining whether or not
If it is determined in the collision avoidance determination step that the synchronization destination gate-type crane is outside the collision prevention setting distance in the synchronization source gate-type crane, wireless communication synchronous operation is possible and multiple A method for synchronously operating a gate-type crane, characterized by determining that wireless communication between the base gate-type cranes is normal .

A synchronous operation device for a gantry crane that performs synchronous operation by wirelessly connecting a plurality of gantry cranes that are a synchronization source and a synchronization destination,
A synchronization source operation desk provided in the operator's cab of the synchronization source gate crane and operated by an operator
A synchronization source controller to which a driving command based on a driving operation by an operator at the synchronization source operating desk is input,
A synchronization source inverter to which the operation command is input from the synchronization source controller;
A synchronization source electric motor that is rotationally driven by the synchronization source inverter based on the operation command;
A synchronization source wireless communication device which receives a synchronization operation signal based on the operation command from the synchronization source controller and transmits and receives the synchronization operation signal,
A synchronization destination wireless communication device which is provided in the synchronization destination gate-type crane and receives a synchronization operation signal transmitted from the synchronization source wireless communication device,
A synchronization destination controller to which a synchronization operation signal received by the synchronization destination wireless communication device is input;
A synchronization destination inverter to which a synchronization operation command based on the synchronization operation signal is input from the synchronization destination controller;
A synchronization destination electric motor that is rotationally driven by the synchronization destination inverter based on the synchronous operation command ;
It is equipped with a rangefinder that measures the distance between the gate crane of the synchronization source and the gate crane of the synchronization destination ,
The synchronization source controller,
The synchronization source wireless communication device is functioning normally,
Synchronous operation mode is selected,
The synchronization destination wireless communication device exists within the wireless communication range of the synchronization source wireless communication device,
The destination wireless communication device is functioning normally,
Based on the distance measured by the range finder, when the gate crane of the synchronization destination exists outside the collision prevention setting distance of the gate crane of the synchronization source, wireless communication synchronous operation is possible and a plurality of groups are available. 2. A synchronous operation device for a gate type crane, which is configured to determine that wireless communication between the gate type cranes is normal .