WO2020003567A1

WO2020003567A1 - Crane device

Info

Publication number: WO2020003567A1
Application number: PCT/JP2019/001781
Authority: WO
Inventors: 裕吾及川
Original assignee: 株式会社日立産機システム
Priority date: 2018-06-29
Filing date: 2019-01-22
Publication date: 2020-01-02
Also published as: CN111542484B; JP2020001898A; CN111542484A; JP7105634B2

Abstract

The purpose of the present invention is to provide a crane device that has a plurality of winches installed on a single transverse device, wherein the crane device can suppress load vibration. For this purpose, a crane device according to the invention comprises: a transverse motor 9 that moves a transverse device 10; a main hoist side hoisting motor 3 and an auxiliary hoist side hoisting motor 7 that are installed on the transverse device 10; an operation input device 18 to input instructions for the main hoist side hoisting motor 3 and the auxiliary hoist side hoisting motor 7; and a main hoist side inverter control unit 19 that controls the main hoist side hoisting motor 3 and an auxiliary hoist side inverter control unit 25 that controls the auxiliary hoist side hoisting motor 7, according to the operation of the operation input device 18. A main hoist side encoder 23 that detects the speed of the main hoist side hoisting motor 3 and an auxiliary hoist side encoder 28 that detects the speed of the auxiliary hoist side hoisting motor 7 are provided, and the main hoist side inverter control unit 19 controls the moving speed of the transverse device 10 using the information detected by the main hoist side encoder 23 and the auxiliary hoist side encoder 28.

Description

Crane equipment

The present invention relates to a crane device.

For example, crane systems for hanging luggage are provided in buildings such as factories. The crane system is moved along the building walls by running rails and laterally by traversing girders. A hoisting machine that lifts and lowers luggage is mounted on the traversing device.

クレーン In such a crane system, if the crane is moved with the load suspended, the suspended load may swing back and forth and right and left.

For crane systems, it is required to reduce the load swing during transportation for safe and efficient transportation of suspended loads. As a technique for reducing the load deflection, there is, for example, Patent Document 1. In Patent Document 1, a suspended load suspended on a wire rope is regarded as a pendulum, and information on the length of the wire rope on which the suspended load is suspended is acquired by a sensor such as an encoder, so that the pendulum swings, that is, the load. The transport speed is controlled based on the shake model.

JP 2018-2391A

In the technology described in Patent Literature 1, although consideration is given to suppressing load swing of a crane device in which one hoist is mounted on one traversing device, a plurality of hoists are mounted on one traversing device. No consideration has been given to suppressing the run-out of a crane device equipped with a. In Patent Literature 1, it is not possible to acquire information on the length of a wire rope on which a suspended load is suspended for a plurality of hoists. For this reason, the operator could not know which of the plurality of hoists installed in one traversing device should be used, and the workability was poor.

An object of the present invention is to solve the above-mentioned problems and to provide a crane device in which a plurality of hoists are mounted on a single traversing device, which can suppress load swing.

In order to achieve the above object, the present invention is characterized by a traversing device capable of moving a traversing girder, a traversing motor for moving the traversing device, and a main winding hoist placed on the traversing device. An electric motor, a hoist-side hoisting motor mounted on the traversing device, a main hoist crane hook connected to the main hoist-side hoisting motor via a main hoist wire rope, A hoist-side crane hook connected to the upper motor via a hoist-side wire rope, an operation input device for inputting instructions to the main hoist-side hoisting motor and the auxiliary hoist-side hoisting motor, and the operation input A main winding-side control unit that controls the main winding-side hoisting motor in accordance with an operation of the device, and an auxiliary winding-side control unit that controls the auxiliary winding-side hoisting motor in response to an operation of the operation input device. , A crane device comprising: A main winding side encoder for detecting a rotation speed of the machine, and a auxiliary winding side encoder for detecting a rotation speed of the auxiliary winding side electric motor, wherein the main winding side control unit includes the main winding side encoder and the auxiliary winding side. It is to control the moving speed of the traversing device based on information detected by the winding-side encoder.

The present invention is characterized in that, in addition to the above, the main winding side control section operates either the main winding side hoisting motor or the auxiliary winding side hoisting motor from an input of the operation input device. Is determined, and the position information of the operating main winding-side hoisting motor or the auxiliary winding-side hoisting motor is detected from the rotation speed detected by the main winding-side encoder and the auxiliary winding-side encoder. It is another object of the present invention to control the moving speed of the traversing device based on the detected position information.

According to the present invention, it is possible to provide a crane device capable of suppressing load swing in a crane device in which a plurality of hoists are mounted on one traversing device.

It is a perspective view showing the whole crane device composition concerning a 1st example of the present invention. It is a block diagram showing composition of a control part of a crane device concerning a 1st example of the present invention. FIG. 4 is a diagram illustrating an example of a signal output of the operation input device according to the first embodiment of the present invention. 4 is a flowchart illustrating processing contents of a main winding inverter control unit according to the first embodiment of the present invention. It is an example of the figure showing the operation of the horizontal holding operation and the position holding operation of the hanging control. It is a figure showing an example of the signal output of the operation input device concerning a 2nd example of the present invention. It is a flow chart which shows the contents of processing of the main winding side inverter control part concerning a 2nd example of the present invention.

Hereinafter, an embodiment of a crane device according to the present invention will be described with reference to the drawings. The present invention is not limited to the following embodiments, but includes various modifications and applications within the technical concept of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing the entire configuration of the crane device according to the first embodiment of the present invention, and FIG. 2 is a block diagram showing the configuration of a control unit of the crane device according to the first embodiment of the present invention.

クレーン The crane device of this embodiment is an inverter-type auxiliary crane device. The inverter-type crane with auxiliary winding includes a main winding crane and an auxiliary winding crane. The main winding crane includes a main winding crane hook 1 for suspending a load, a main winding wire rope 2 connected to the main winding crane hook 1, and a main winding hoist motor for winding the main winding wire rope 2. 3 (motor) and a main winding side hoisting device 4 having a main winding side hoisting electric motor 3. The main winding crane hook 1 is connected to a main winding hoist motor 3 via a main winding wire rope 2.

The auxiliary hoist crane includes an auxiliary hoist crane hook 5 for suspending a load, an auxiliary hoist wire rope 6 connected to the auxiliary hoist crane hook 5, and an auxiliary hoist motor 7 for winding the auxiliary hoist wire rope 6. And a hoisting-side hoisting device 8 having a hoisting-side hoisting motor 7.

The inverter-type crane with auxiliary winding includes a traversing device 10 that can move the traversing girder 11, and the traversing device 10 includes a traversing motor 9 for driving wheels that travel on the traversing girder 11. I have. The traversing motor 9 moves the traversing device 10. The auxiliary hoist crane hook 5 is connected to an auxiliary hoist electric motor 7 via an auxiliary hoist wire rope 6. The main winding hoisting motor 3 and the auxiliary winding hoisting motor 7 are mounted on a traversing device 10 and are movable along a traversing girder 11.

The transverse girder 11 is placed on the traveling girder 14. The traversing girder 11 includes a traveling device 13 having a traveling electric motor 12. The traveling electric motor 12 drives wheels to be able to move on the traveling girder 14 in the Z direction and the −Z direction. .

The traversing device 10 further includes a main winding-side control device 15 for controlling the main winding-side crane and an auxiliary winding-side control device 16 for controlling the auxiliary winding-side crane. Further, the traverse girder 11 is provided with a travel control device 17 for controlling the traverse motor 9 and the travel motor 12. Commands to the main winding hoisting motor 3, the auxiliary hoisting hoisting motor 7, the traverse motor 9, and the traveling motor 12 are issued by the operator through the operation input device 18.

As shown in FIG. 2, the main winding-side hoisting electric motor 3 detects the main winding-side electric motor brake 22 that applies a braking force to the main winding-side hoisting electric motor 3 and the rotation speed of the main winding-side hoisting electric motor 3. The main winding encoder 23 is provided. The auxiliary winding motor 7 includes a auxiliary motor brake 27 that applies a braking force to the auxiliary winding motor 7 and an auxiliary encoder 28 that detects the number of rotations of the auxiliary winding motor 7. Provided.

The traversing motor 9 and the traveling motor 12 are provided with a traversing motor brake 24 and a traveling motor brake 31, respectively.

The main winding side control device 15 includes a main winding side inverter control unit 19 (main winding side control unit), a main winding side hoisting inverter 20, and a traversing inverter 21. Is provided with a hoisting-side inverter control unit 25 (a hoisting-side control unit) and a hoisting-side hoisting inverter 26. The traveling control device 17 includes a traveling inverter control unit 29 (a traveling control unit), And a traveling inverter 30.

When the main hoist crane is used, the inverter type auxiliary hoisting crane device transfers the load attached to the main hoist crane hook 1 to the main hoist hoisting device 4 equipped with the main hoist motor 3. As a result, the luggage is moved in the Y direction (indicated by an arrow in the Y direction and the −Y direction), that is, in the up and down direction. When the auxiliary hoist crane is used, the luggage attached to the auxiliary hoist crane hook 5 is wound around the auxiliary hoist wire rope 6 by the auxiliary hoist apparatus 8 having the auxiliary hoist motor 7. As the main winding is performed, the luggage is moved in the vertical direction by lowering the upper winding.

Here, the inverter type auxiliary hoist crane apparatus of the present embodiment is provided with a control mechanism so that the main hoist crane and the auxiliary hoist crane cannot operate simultaneously.

The traversing device 10 moves in the X direction (indicated by arrows in the X direction and the −X direction) along the traversing girder 11 by driving wheels provided in the traversing device 10 by the traversing motor 9. The traversing device 10 (the traversing girder 11) drives wheels provided on the traveling device 13 with the traveling motor 12, so that the traversing device 10 (arrows in the Z direction and the −Z direction) travels along the traveling girder 14. ).

As shown in FIG. 2, the main winding hoist motor 3 and the traverse motor 9 are controlled by the main winding inverter control unit 19 stored in the main winding control device 15. The auxiliary winding hoist motor 7 is controlled by an auxiliary winding inverter control unit 25 stored in the auxiliary winding control device 16.

When an operator inputs an instruction to the main winding crane with the operation input device 18, the main winding control device 15 controls the main winding hoist inverter 20 and the traversing inverter 21, and the main winding hoist inverter. 20, a frequency, a voltage, and a current necessary for control are applied to the main winding hoist motor 3 and the traverse motor 9 from the traverse inverter 21. In addition, the main winding side control device 15 operates the main winding side hoisting electric motor 3 by controlling the release of the main winding side electric motor brake 22 and the traversing electric motor brake 24, so that the main winding side crane hook 1 can be operated. The attached luggage is moved in the Y direction.

Similarly, when the operator inputs an instruction to the auxiliary hoist crane with the operation input device 18, the auxiliary hoist control device 16 controls the auxiliary hoist inverter 26, and The frequency, voltage and current necessary for the control are applied to the auxiliary hoisting motor 7. In addition, the auxiliary winding-side control device 16 controls the release of the auxiliary winding-side electric motor brake 27 to operate the auxiliary winding-side electric motor 7 and move the load attached to the auxiliary winding crane hook 5 in the Y direction. Move to

Similarly, when the operator inputs an instruction to the traversing device 10 with the operation input device 18, the traversing motor 9 is driven, and the main winding side hoisting device 4 and the auxiliary winding side hoisting device are moved along the traversing girder 11. 8 moves in the X direction.

Similarly, when the operator inputs a predetermined instruction with the operation input device 18, the traveling control device 17 controls the traveling inverter control unit 29 and the traveling inverter 30, and outputs the frequency and voltage necessary for the control from the traveling inverter 30. , A current is applied to the traveling motor 12. In addition, the travel control device 17 controls the release of the brake 31 for the traveling electric motor to thereby control the main winding-side hoisting device 4, the auxiliary winding-side hoisting device 8, and the traversing device 10 along the traveling girder 14. Move in the Z direction.

Here, the main winding inverter control unit 19 that drives the traversing device 10 acquires information of the main winding encoder 23 that detects the rotation speed of the main winding hoisting electric motor 3 (motor). The information of the main winding encoder 23 is information (hereinafter, referred to as position information) on the length of the wire rope on which the suspended load is suspended for obtaining a model of load deflection.

At the same time, as for the position information of the auxiliary winding-side hoisting device 8 (the auxiliary winding-side electric motor 7), the auxiliary winding-side inverter control unit 25 acquires the position information of the auxiliary winding-side encoder 28. The detected position information of the auxiliary winding hoist motor 7 is transmitted to the main winding inverter control unit 19 via the main winding side and auxiliary winding side serial communication 32. The main winding-side inverter control unit 19 may directly obtain the information on the auxiliary winding-side encoder 28 without using the main winding side and the auxiliary winding side serial communication 32 for the position information on the auxiliary winding side. .

FIG. 3 is a diagram showing an example of a signal output of the operation input device according to the first embodiment of the present invention. The operation input device 18 is provided with an on / off switch and an instruction for the main hoist hoisting motor 3 to operate the main hoist crane hook 1 in the vertical direction (Y direction). And a traverse (east) switch and a traverse (west) switch for giving an instruction to the traverse motor 9 and moving the traverse device 10. The input information of these switches is transmitted to the main winding inverter control unit 19. Further, the operation input device 18 gives an instruction to the hoisting-side hoisting motor 7 to operate the hoisting-side crane hook 5 in the vertical direction (Y direction), a hoisting-side lowering switch, and a traveling motor. A travel (south) switch and a travel (north) switch for giving an instruction to the vehicle 12 and moving the traveling device 13 are provided. The input information of the auxiliary hoisting switch and the auxiliary winding side down switch is transmitted to the auxiliary winding side inverter control unit 25, and the input information of the traveling (south) switch and the traveling (north) switch is transmitted to the traveling inverter control unit 29. You.

(4) After acquiring the position information of the main winding side and the auxiliary winding side, the main winding side inverter control section 19 determines which position information is to be used when the traversing operation signal is input. The determination method will be described with reference to FIG. FIG. 4 is a flowchart showing the processing content of the main winding inverter control unit according to the first embodiment of the present invention.

In FIG. 4, the main winding inverter control unit 19 first determines which of the main winding side and the auxiliary winding side is currently operating, for example, based on an operation signal of the operation input device 18. As to which of the main winding side and the auxiliary winding side is operating, information of the main winding side encoder 23 and the auxiliary winding side encoder 28 may be used.

In S101, it is determined whether the main winding side is operating or not. If it is not the main winding side (No), it is determined whether the auxiliary winding side is operating (S102). If the main winding side is operating in S101 (Yes), the operation mode is set to "main winding" (S103). If the auxiliary winding side is operating in S102 (Yes), the operation mode is set to "auxiliary winding" (S104).

Here, whether or not the auxiliary winding side is operating is determined by acquiring the operation state by the serial communication 32 of the auxiliary winding side encoder 28 for acquiring position information. Alternatively, the auxiliary hoisting and auxiliary hoisting operation signals may be directly obtained without using the serial communication 32, and may be determined from the input state of the signals.

判定 The determination that the auxiliary winding side is not operating in S102 (No) is a case where the main winding side and the auxiliary winding side are stopped. When the main winding side and the auxiliary winding side are stopped, the operation mode is not updated and the state of the previous operation mode is maintained.However, when lifting the load, be sure to set either the main winding side or the auxiliary winding side. Since it is operated, there is no problem in determining the previous operation mode. The main winding inverter control unit 19 updates the operation mode when the main winding side or the auxiliary winding side different from the previous operation mode operates. The operation mode is stored in a storage element such as a CPU of the main winding inverter control unit 19 so that the operation mode is not initialized even when the power supply to the main winding inverter control unit 19 is cut off.

It is determined whether the operation mode set in S105 is the main winding side, and if it is the main winding side (Yes), the flow proceeds to S106 to read the position information of the main winding side. If the operation mode set in S105 is not the main winding side (No), the operation mode is updated to the auxiliary winding side, and the process proceeds to S107 to read the position information on the auxiliary winding side.

Then, the main winding inverter control unit 19 creates a load swing model from the main winding side or auxiliary winding side position information in S108. The load swing model serves as a speed command for the traversing electric motor 9 so as to control the moving speed of the traversing device 10 according to the lengths of the main winding wire rope 2 and the auxiliary winding wire rope 6. The speed command to the traverse motor 9 is given to the traverse motor 9 from the main winding inverter control unit 19 via the traveling inverter control unit 29.

Since the above-described processing is similarly performed by the traveling inverter control unit 29, the traveling inverter control unit 29 transmits the serial communication 33 shown in FIG. 3 showing the position information of the main winding side and the auxiliary winding side and the operation mode. Via the main winding inverter control unit 19

Here, for example, if the operation mode is the main winding side and the traversing device 10 is operated to operate in the X direction, and at least the auxiliary winding side is operated, the operation mode is switched to the auxiliary winding side, A run-out model is created based on the position information, and control for suppressing the run-out normally cannot be performed. In order to avoid such a state, in the present embodiment, as shown in FIG. 5, upper limit switches 34 and 35 are provided in the main winding side hoisting device 4 and the auxiliary winding side hoisting device 8, respectively. .

The upper limit switches 34 and 35 are provided so as to protrude downward from the traversing device 10, and the main winding crane hook 1 and the auxiliary winding crane hook 5 are connected to the main winding hoisting motor 3 and the auxiliary winding hoisting motor. 7, the main winding crane hook 1 and the auxiliary winding crane hook 5 come into contact with the upper limit switches 34 and 35, respectively. Then, if one upper limit switch is not operated, the main winding inverter control unit 19 prohibits the other operation. In other words, when one crane hook contacts the upper limit switch and the upper limit switch operates, the main winding inverter control unit 19 permits the other operation.

For example, in the state of pattern 2 shown in FIG. 5, since the auxiliary winding side is in contact with the upper limit switch 35, the operation of the main winding side is permitted, and the operation of the auxiliary winding side is prohibited. The crane device can be moved in the X direction and the Z direction using the main winding side. Conversely, in pattern 3, since the main winding side is in contact with the upper limit switch 34, the operation on the auxiliary winding side is permitted, and the operation on the main winding side is prohibited. The crane device can be moved in the X direction and the Z direction using the auxiliary winding side.
In pattern 1, since both the main winding side and the auxiliary winding side are in contact with the upper limit switches 34 and 35, the operation of both the main winding side and the auxiliary winding side is permitted. In such a case, the control in which the operation is not performed in the operation mode is prohibited, and the operation in the operation mode is performed, thereby performing control for normally suppressing the shake.

According to the present embodiment, the position information of the main winding side and the auxiliary winding side can be grasped, and a model of the run-out can be created using this position information. To provide a crane device.

Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 6 is a diagram illustrating an example of a signal output of the operation input device according to the second embodiment of the present invention.

The operation input device 18 includes an on / off switch, a main winding / auxiliary winding mode 37 for switching between main winding / auxiliary winding modes, and a main winding side hoisting motor 3 or an auxiliary winding side depending on the main winding / auxiliary winding mode. An instruction is given to the hoisting motor 7 to give instructions to the main hoisting switch, the main hoisting down switch, and the traversing motor 9 for operating the main winding crane hook 1 or the auxiliary winding crane hook 5 in the vertical direction (Y direction). , A traversing (east) switch for moving the traversing device 10, and a traversing (west) switch. The input information of these switches is transmitted to the main winding inverter control unit 19. Further, the operation input device 18 includes a travel (south) switch and a travel (north) switch for giving an instruction to the traveling motor 12 and moving the traveling device 13. The input information of the traveling (south) switch and the traveling (north) switch is transmitted to the traveling inverter control unit 29.

(4) After acquiring the position information of the main winding side and the auxiliary winding side, the main winding side inverter control unit 19 determines which position information is to be used when the traversing operation signal is input. The determination method will be described with reference to FIG. FIG. 7 is a flowchart showing the processing contents of the main winding inverter control unit according to the second embodiment of the present invention.

(4) The main winding inverter control unit 19 first determines whether the main winding side or the auxiliary winding side is currently operating (S201). Here, whether or not the auxiliary winding side is operating is determined by acquiring the operating state through the serial communication 32 for acquiring position information. Alternatively, the determination may be made from the input state of the input signal in the main winding / auxiliary winding mode 37. When both the main winding side and the auxiliary winding side are stopped (No in S201), it is determined based on the signal input state of the main winding / auxiliary winding mode 37 shown in FIG. 6 (S202). If the main volume is selected (Yes), the process proceeds to S203, and the operation mode is set to “main volume”. If the auxiliary winding is selected in the main winding / auxiliary winding mode 37 (No), the process proceeds to S204, and the operation mode is set to “auxiliary winding”. Next, in S205, the results of S203 and S204 are fetched, and it is determined whether or not the set operation mode is the main winding side, and if it is the main winding side, the position information of the main winding side is read (S206). If the set operation mode is the auxiliary winding side (No in S205), position information on the auxiliary winding side is read (S207).

Then, the main winding inverter control unit 19 creates a load swing model from the main winding side or auxiliary winding side position information in S208. The load swing model serves as a speed command for the traversing electric motor 9 so as to control the moving speed of the traversing device 10 according to the lengths of the main winding wire rope 2 and the auxiliary winding wire rope 6. The speed command to the traverse motor 9 is given to the traverse motor 9 from the main winding inverter control unit 19 via the traveling inverter control unit 29.

Since the above-described processing is similarly performed by the traveling inverter control unit 29, the traveling inverter control unit 29 transmits the serial communication 33 shown in FIG. 6 showing the main winding side and auxiliary winding side position information and the operation mode. Via the main winding inverter control unit 19

Note that the present invention is not limited to the above-described embodiment, and includes various modifications.
The above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the described configurations.

DESCRIPTION OF SYMBOLS 1 ... Main winding side crane hook, 2 ... Main winding side wire rope, 3 ... Main winding side hoisting motor, 4 ... Main winding side hoisting device, 5 ... Supplementary winding side crane hook, 6 ... Supplementary winding side wire rope Reference numeral: 7: hoist-side hoisting motor; 8: hoist-side hoisting device; 9: traversing motor; 10: traversing device; 11: traversing girder; 12: traveling motor; 13: traveling device; Girder, 15: main winding side control device, 16: auxiliary winding side control device, 17: traveling control device, 18: operation input device, 19: main winding side inverter control unit, 20: main winding side hoisting inverter, Reference numeral 21: traverse inverter, 22: main winding motor brake, 23: main winding encoder, 24: traverse motor brake, 25: auxiliary winding inverter control unit, 26: auxiliary winding inverter, 27 … Brake for motor on auxiliary winding side, 28… Enco on auxiliary winding side D, 29: traveling inverter control unit, 30: traveling inverter, 31: traveling motor brake, 32: serial communication, 33: serial communication, 34: upper limit switch, 35: upper limit switch, 37: main winding / Compensation mode

Claims

A traversing device that can move the traversing girder, a traversing motor that moves the traversing device, a main winding-side hoisting motor mounted on the traversing device, and an auxiliary winding side hoisting mounted on the traversing device. An electric motor, a main hoist crane hook connected to the main hoist hoist electric motor via a main hoist wire rope, and an auxiliary hoist connected to the auxiliary hoist hoist electric motor via a auxiliary hoist wire rope. A side crane hook, an operation input device for inputting instructions to the main winding side hoisting motor and the auxiliary winding side hoisting motor, and controlling the main winding side hoisting motor in accordance with the operation of the operation input device A main winding side control unit, and a auxiliary winding side control unit that controls the auxiliary winding side hoisting motor in accordance with the operation of the operation input device.
A main winding encoder for detecting the rotation speed of the main winding hoist motor, and an auxiliary winding encoder for detecting the rotation speed of the auxiliary winding hoist motor,
The crane device according to claim 1, wherein the main winding side control unit controls a moving speed of the traversing device based on information detected by the main winding side encoder and the auxiliary winding side encoder.
In claim 1,
The main winding-side control unit determines from the input of the operation input device that the main winding-side hoisting motor, or any of the auxiliary winding-side hoisting motor is operating, and the main winding-side encoder and From the number of rotations detected by the auxiliary winding side encoder, position information of the operating main winding side electric motor or the auxiliary winding side electric motor is detected, and movement of the traversing device is detected from the detected position information. A crane device characterized by controlling a speed.
In claim 1,
The main winding-side control unit is configured to determine that either the main winding-side hoisting motor or the auxiliary winding-side hoisting motor is operating from information detected by the main winding-side encoder and the auxiliary winding-side encoder. Judgment, from the number of rotations detected by the main winding side encoder and the auxiliary winding side encoder, to detect the position information of the operating main winding side hoisting motor, or the auxiliary winding side hoisting motor, detected A moving speed of the traversing device based on the position information.
In claim 2,
The auxiliary winding-side control unit detects position information of the auxiliary winding-side hoisting motor from the rotation speed detected by the auxiliary winding-side encoder, and transmits the detected position information to the main winding-side control unit via serial communication. A crane device characterized by transmitting.
In claim 2,
The traversing device includes an upper limit switch that contacts each of the main winding crane hook and the auxiliary winding crane hook,
The main winding side control unit, when either the main winding side crane hook or the auxiliary winding side crane hook is operating in contact with the upper limit switch, permits the other operation. Crane equipment characterized.
In claim 2,
The main winding-side control unit sets the side on which the main winding-side hoisting motor, or the auxiliary winding-side hoisting motor is operating, as an operation mode, and the set main winding-side hoisting motor, or A crane device characterized by reading any position information of the auxiliary hoisting hoist motor.
In claim 6,
The crane device, wherein the main winding side control unit updates the operation mode when the main winding side hoisting motor different from the set operation mode or the auxiliary winding side hoisting motor operates. .