WO2023074069A1 - Dispositif de grue - Google Patents

Dispositif de grue Download PDF

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Publication number
WO2023074069A1
WO2023074069A1 PCT/JP2022/028896 JP2022028896W WO2023074069A1 WO 2023074069 A1 WO2023074069 A1 WO 2023074069A1 JP 2022028896 W JP2022028896 W JP 2022028896W WO 2023074069 A1 WO2023074069 A1 WO 2023074069A1
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WO
WIPO (PCT)
Prior art keywords
inverter
operation information
hoisting
unit
function
Prior art date
Application number
PCT/JP2022/028896
Other languages
English (en)
Japanese (ja)
Inventor
僚哉 竹脇
康治 堀川
裕吾 及川
健一 塩出
真弘 大槻
達也 田上
Original Assignee
株式会社日立産機システム
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社日立産機システム filed Critical 株式会社日立産機システム
Priority to CN202280071842.9A priority Critical patent/CN118159485A/zh
Publication of WO2023074069A1 publication Critical patent/WO2023074069A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/42—Control devices non-automatic
    • B66D1/46—Control devices non-automatic electric

Definitions

  • the present invention relates to a crane device, and more particularly to an inverter-type crane device that inverter-controls a drive motor.
  • a hoisting motor that moves suspended loads such as manufactured structural parts in the vertical direction
  • a moving motor that moves suspended loads along rails installed on the ceiling side.
  • a crane device equipped with an electric motor is installed.
  • the hoisting electric motor and the moving electric motor may be referred to as driving electric motors below.
  • the hoisting electric motor runs along the rail laid along the ceiling of the building, and the hoisting electric motor is equipped with a rope drum around which the wire rope is wound.
  • This rope drum is rotated by a hoisting electric motor, and has a function of winding and unreeling a wire rope connected to a suspended load.
  • the crane device is provided with a moving electric motor for traveling on the rail, and by driving the moving electric motor, the hoisting electric motor is moved along the rail.
  • Such a crane device is described, for example, in Patent Document 1 (Japanese Unexamined Patent Application Publication No. 07-13094).
  • the crane device described in Patent Document 1 aims to operate a plurality of drive motors in the crane device in accordance with various characteristics required for each. Power is supplied from the converter section, based on the instruction from the operation input device, the common calculation section reads the control conditions from the condition setting section of each drive motor, controls each inverter, and controls each inverter with a common regenerative power consumption resistor. It is configured to consume regenerative power.
  • An object of the present invention is to provide a crane device that can reduce the number of man-hours for setting operation information while using a general-purpose inverter, and that can easily check the operation information.
  • the present invention includes a plurality of means for solving the above problems.
  • a plurality of driving motors including at least a hoisting motor and a moving motor, a general-purpose inverter for controlling each of the driving motors, and a host controller connected to each inverter via a communication unit and controlling the inverter.
  • the host control means is provided with operation information conversion means for converting operation information into operation information corresponding to operation information of each inverter.
  • FIG. 4 is a block diagram showing the configuration of a higher-level control means;
  • FIG. FIG. 4 is an explanatory diagram for explaining operations of a display unit and an operation unit;
  • FIG. 10 is an explanatory diagram for explaining a method of setting function codes;
  • FIG. 4 is a configuration diagram showing a configuration (address map) for explaining functions of a motion information conversion unit;
  • FIG. 10 is a flow chart showing a processing flow for changing setting values;
  • FIG. FIG. 5 is an explanatory diagram for explaining how to change the unit of setting values;
  • FIG. 4 is an explanatory diagram illustrating how to convert an error code for each inverter into a unified error code;
  • Fig. 1 shows the overall configuration of an inverter-type crane device to which the present invention is applied
  • Fig. 2 shows the configuration of a control system for an inverter-type crane device according to an embodiment of the present invention.
  • the inverter type crane device includes a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting drum 4, a traversing induction motor 5, a traversing wheel 6, a traversing girder 7, a traveling induction motor 8, It is composed of traveling wheels 9, traveling girder 10, hoisting/traverse inverter control device 15, operation input device 12 suspended from a cable, traveling inverter control device 13, and the like.
  • Each of the hoisting induction motor 3, the traversing induction motor 5, and the traveling induction motor 8 incorporates an induction motor brake 14 (see FIG. 2).
  • the inverter-type crane device moves a load attached to a crane hook 1 vertically (Y direction, -Y direction arrows), i.e. move the load in the vertical direction.
  • the traversing wheels 6 are rotated by the traversing induction motor 5 and moved in the left-right direction (indicated by arrows in the X direction and the -X direction) along the traversing girder 7 .
  • the traveling induction motor 8 rotates the traveling wheels 9 to move along the traveling girder 10 in the front-rear direction (indicated by arrows in the Z direction and the -Z direction).
  • the hoisting/traverse inverter control device 15 incorporates a hoisting/traverse inverter control section (control means in the claims) 15, a hoisting inverter 16, and a traversing inverter 17.
  • the running inverter control device 13 incorporates a running inverter control unit 18 and a running inverter 19 .
  • the hoisting/traverse inverter control section 15 and the traveling inverter control section 18 are connected by a communication line 20 .
  • the hoisting induction motor 3 and the traversing induction motor 5 are controlled by a hoisting/traversing inverter control unit 15 stored in the hoisting/traversing inverter control device 11 . That is, when the operator inputs a predetermined instruction from the operation input device 12, the hoisting/traverse inverter control unit 15 controls the hoisting inverter 16 and the traversing inverter 17, so that the hoisting inverter 16 and the traversing inverter 17 provides operational information necessary for control.
  • An encoder 21 is attached to the hoisting induction motor 3 , and rotation information of the hoisting induction motor 3 is input to the hoisting/traverse inverter control section 15 .
  • the hoisting inverter 16 and the traversing inverter 17 apply the necessary frequency, voltage, and current to the hoisting induction motor 3 and the traversing induction motor 5, and simultaneously control the opening of the induction motor brake 14.
  • the hoisting drum 4 the suspended load attached to the crane hook 1 is moved vertically without falling, and in the case of the traversing wheel 6, it traverses along the traversing girder 7. The wheel 6 is moved in the left-right direction.
  • the traveling induction motor 8 attached to the traveling wheels 9 causes the traveling inverter control unit 18 stored in the traveling inverter control device 13 to operate the traveling inverter.
  • the traction inverter 19 applies the required frequency, voltage, and current to the traction induction motor 8, and at the same time controls the release of the induction motor brake 14, thereby driving the traction wheel 9 along the traction girder 10. Move forward and backward.
  • the hoisting/traverse inverter control device 15 is provided with a cloud communication unit 22 , and the cloud communication unit 22 is connected to the hoisting/traverse inverter control unit 15 via a communication line 23 .
  • the communication unit 22 is connected by wireless communication to a cloud server 24 configured by a server having an arithmetic function, and the cloud server 24 is also connected by wireless communication to a portable display terminal 25 having a communication unit.
  • the cloud communication unit 22 is provided to remotely acquire and edit operation information without going to the location where the hoisting/traversing inverter device 11 is installed.
  • the cloud communication unit 22 can acquire the operation information and transmit it to the cloud server 24 via the Internet communication network.
  • the information to be displayed on the display terminal 25 may be directly transmitted using, for example, short-range communication without going through the Internet communication network.
  • a tablet terminal, a mobile phone (smartphone), a personal computer, or the like can be used as an example of the display terminal 25, a tablet terminal, a mobile phone (smartphone), a personal computer, or the like can be used.
  • FIG. 3 shows a schematic configuration of a host control means 30 that controls a plurality of general-purpose inverters.
  • the host control means 30 is a control device that controls two (plural) inverters, the hoisting inverter 16 and the traversing inverter 17 .
  • the host control means 30 includes a control section 31, an operation information conversion section 32, a storage section 33, a communication section 34, a display section 35, and an operation section 36, and further includes a rotation detection section for detecting the rotation of the hoisting induction motor 3.
  • a rotation signal from the unit 37 is input. Signals from other detectors are also input to the controller 31 .
  • the hoisting inverter 16 and the traversing inverter 17 are each connected to the communication section 34 of the upper control means 30 via the communication line 26 .
  • the operation information conversion unit 32 connected to the communication unit 34 selects operation information to be transmitted to each of the inverters 16 and 17, performs mutual conversion of operation information (for example, command values), and unifies error codes. do.
  • the storage unit 31 stores setting values such as operation information of the inverter type crane device and operation information. This saved information is used for the conversion operation of the action information conversion unit 32 .
  • the communication unit 34 is an interface for controlling the hoisting inverter 16 and the traversing inverter 17 via the communication means 26 .
  • the control unit 31 has a calculation function for controlling the conversion operation of the motion information conversion unit 32, the storage operation of the storage unit 31, the display operation of the display unit 35, and the operation operation of the operation unit 36. Furthermore, the rotation information of the rotation detection unit 37 is input to the control unit 31 .
  • the rotation detector 37 reads the pulse output of the encoder attached to the hoisting induction motor 3, and obtains the rotation amount and rotation frequency of the motor in addition to the output frequency obtained from the inverter.
  • the rotation detection unit 37 can set the number of pulses of the connected encoder, and by performing this setting, it is possible to detect the amount of rotation even if the specifications of the encoder are different.
  • FIG. 4 a method of setting operation information by the display unit 35 and the operation unit 36 in the host control means 30 will be described with reference to FIGS. 4 and 5.
  • FIG. 4 a method of setting operation information by the display unit 35 and the operation unit 36 in the host control means 30 will be described with reference to FIGS. 4 and 5.
  • the host control means 30 (here, the hoisting/traverse inverter control section) includes, for example, a display section 35 indicated by a dashed line that displays a maximum of four digit numbers and characters, and a "vertical direction , ”OK”, and ”CANCEL”. Each button is provided with a symbol ( ⁇ , ⁇ , etc.) indicating its function.
  • the switch button (up scroll) Up has an upward scroll function
  • the switch button (down scroll) Dn has a downward scroll function
  • the switch button (determine) Et has a determination function
  • the switch button ( Cancel) Cn has a cancel function.
  • the display unit 35 is used to display the operating status of the crane device, function codes, setting values, error codes when errors are detected, and the like. For example, when displaying the error code "E01", a display such as the display example shown in FIG. 4B is performed.
  • Fig. 5 shows an example of selecting a function code.
  • the function code is a combination of alphabets and numbers assigned to functions such as confirmation of operation information and editing of setting items.
  • an example of selecting "F40" is shown.
  • This "F40" is a function code for selecting an inverter.
  • the normal state is a state in which the operating state is displayed on the display unit 35 (denoted as normal state), and by pressing the switch button (determination) Et, the function code selection state for each setting item is displayed. transition to
  • the function code selection state (denoted as function code selection state), the function code is displayed on the display unit 35, and the function code is displayed by pressing the switch button (up scroll) Up or the switch button (down scroll) Dn. become selectable.
  • the function code is "F01" -> "F02" -> ... -> “F40”, and the function code "F40" is selected.
  • the switch button (determination) Et By pressing the switch button (determination) Et in this state, the setting change state is entered.
  • the hoisting inverter or the traversing inverter is selected.
  • the display of the inverter is switched by operating the switch button (up scroll) Up and the switch button (down scroll) Dn.
  • the switch button (determination) Et in this state the value displayed on the display unit 35 is stored.
  • the operation information conversion unit 32 converts the address of the setting item, the change unit of the setting value, the setting range, the hoisting/traversing inverters 16, 17, and other inverters to the hoisting/traversing inverters 16, 17, and other inverters. , an error code for each error item, and a unified error code for the hoisting/traversing inverters 16, 17 and other inverters are stored in an address map. It should be noted that these specific usage methods will be described later.
  • step S10 a mode for changing set values is selected using the method shown in FIG. If a mode is selected, it will transfer to step S11.
  • step S11 the setting values stored in the storage unit 33 are updated.
  • the process proceeds to step S12.
  • step S12 it is determined whether or not the inverter address map shown in FIG. 6 has been selected. If the inverter address map has not been selected, the process proceeds to step S13. On the other hand, if the inverter address map is selected, the process proceeds to step S14.
  • Step S15>> it is determined whether or not the setting value updated in step S11 is within the setting range of the setting value in the inverter selected in step S14. If it is determined that it is not within the set range, the process proceeds to step S16. On the other hand, if it is determined that it is within the set range, the process proceeds to step S19.
  • step S19 since it is determined in step S15 that the set value is within the set range, it is determined in step S19 whether conversion of the set value is necessary. If it is determined that conversion of the setting value is unnecessary, the process proceeds to step S21. On the other hand, if it is determined that conversion of the setting value is necessary, the process proceeds to step S20.
  • the conversion of the setting value is executed by the action information conversion unit 32 according to the change unit value, as will be described later.
  • the conversion function by the operation information conversion unit 32 is a function for converting a set value into a setting value that can be used by the selected inverter. This step S20 will be described later with reference to FIG. After executing the conversion of the setting value, the process proceeds to step S21.
  • step S21 transmission data is created using the newly set setting values.
  • the address of the setting item selected in step S14 is added to the setting value to create transmission data.
  • the process proceeds to step S22.
  • step S22 the transmission data created in step S21 is transmitted to the selected inverter via the communication section .
  • the transmission is completed, it exits to the end and waits for the next start.
  • step S20 when changing the set value of the inverter, the set value of the storage section 33 is converted into a set value adapted to the change unit corresponding to the inverter selected by the inverter selection function.
  • transmission data (C) transmission data with an address of "008" and a set value of "300" is transmitted from the communication unit 34 to the hoisting inverter 16 to the hoisting inverter 16. It will be done. As a result, the hoisting inverter 16 is operated with the acceleration time set to 3 seconds.
  • the operation information conversion unit 30 has at least a function of specifying an inverter and a function of converting the set value of the operation information of the specified inverter into a set value suitable for the inverter.
  • the host control means 30 periodically transmits operation commands and receives operation information to the hoisting inverter 16 and the traversing inverter 17 via the communication unit 34 .
  • the operation command is a command related to motor control such as forward rotation, reverse rotation, and stop of the drive motor, frequency command, and the like.
  • the operational information is information that can be detected by the inverter, such as the output frequency, output current, DC voltage, and error detection state of the drive motor.
  • the upper control means 30 acquires an error code output by the hoisting inverter 16, for example, when the hoisting inverter 16 detects an error. Then, the operation information conversion unit 32 identifies a unified error code corresponding to the acquired error code from the error item of the selected hoisting inverter 16, stores it in the storage unit 33, and displays it in the display unit 35. display in .
  • FIG. A specific example of the error conversion map of the motion information conversion unit 32 is shown in FIG. For example, when the hoisting inverter 16 is selected and the hoisting inverter 16 detects an "acceleration overcurrent error", the host control means 30 outputs the error code "16" from the hoisting inverter 16. to get
  • the operation information conversion unit 32 outputs the unified error code "E10" corresponding to the acquired error code "16" in the error conversion map of the hoisting inverter 16, and outputs the error code "E10".
  • a current error is specified, and this is stored in the storage unit 33 and displayed on the display unit 35 .
  • the error codes "16" to “18" of the hoisting inverter 16 are defined as a unified error code "E10", and the error codes “32” to “34” are defined as a unified error code “E11”.
  • Code "81” is defined as a unified error code "E12”.
  • the error codes "1” to "4" of the traverse inverter 17 are set to the unified error code "E10”
  • the error codes "7" to "15” are set to the unified error code "E11”.
  • “9” is the unified error code "E12".
  • Other inverters are similar.
  • a display unit 35 having a display function and an operation unit 34 having an operation and setting function, which constitute the host control means 30, are provided in a display terminal 25 connected via a cloud server 24. Also good. In other words, by executing the display processing of the display unit 35 and the operation and setting processing of the operation unit 34 on the display terminal 25 via the cloud server 24, it is possible to remotely confirm error information, check function codes, and set values. etc. can be changed, and there is an effect that the operation and maintenance of the crane device are facilitated.
  • the setting work of the general-purpose inverter can be done only by changing the setting of the host control means, and there is no need to consider the difference for each inverter.
  • the present invention includes a plurality of driving motors including at least a hoisting motor and a moving motor, a general-purpose inverter for controlling each driving motor, and each inverter connected via a communication unit,
  • the high-level control means comprises operation information conversion means for converting operation information into operation information corresponding to operation information of each inverter.
  • the present invention is not limited to the several embodiments described above, and includes various modifications.
  • the above 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.
  • Other configurations can be added, deleted, or replaced with respect to the configuration of each embodiment.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control And Safety Of Cranes (AREA)
  • Inverter Devices (AREA)

Abstract

L'invention concerne un dispositif de grue avec lequel il est possible de réduire la charge de travail nécessaire pour le réglage d'informations d'action lorsque des onduleurs à usage général sont utilisés, et avec lequel il est aussi possible de confirmer facilement les informations d'action.　Un dispositif de grue comprend une pluralité de moteurs électriques d'entraînement comprenant au moins un moteur électrique d'enroulement (3) et un moteur électrique de déplacement (5), des onduleurs à usage général (16, 17) permettant de commander chacun des moteurs électriques d'entraînement, et un moyen de commande de niveau supérieur (30) qui est connecté à chacun des onduleurs par l'intermédiaire d'une unité de communication et qui commande les onduleurs, le moyen de commande de niveau supérieur (30) étant pourvu d'un moyen de conversion d'informations d'action (32) permettant de convertir des informations d'action de façon à ce qu'elles correspondent à des informations d'action de chacun des onduleurs.
PCT/JP2022/028896 2021-10-27 2022-07-27 Dispositif de grue WO2023074069A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202280071842.9A CN118159485A (zh) 2021-10-27 2022-07-27 起重机装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2021-175533 2021-10-27
JP2021175533A JP2023065005A (ja) 2021-10-27 2021-10-27 クレーン装置

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WO2023074069A1 true WO2023074069A1 (fr) 2023-05-04

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CN (1) CN118159485A (fr)
WO (1) WO2023074069A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11215834A (ja) * 1998-01-28 1999-08-06 Toshiba Corp インバータ装置の通信用オプション装置およびこれを用いた通信システム
JP2000247574A (ja) * 1999-02-23 2000-09-12 Ohbayashi Corp クレーン運転データ作成システム及びクレーン運転制御システム
JP2005001804A (ja) * 2003-06-11 2005-01-06 Hitachi Ltd 自動クレーンシステム及びクレーン制御方法
JP2009183124A (ja) * 2008-02-01 2009-08-13 Hitachi Industrial Equipment Systems Co Ltd インバータ装置及び電動巻上機
JP2014050137A (ja) * 2012-08-29 2014-03-17 Toshiba Schneider Inverter Corp インバータ装置
WO2017138311A1 (fr) * 2016-02-10 2017-08-17 株式会社日立産機システム Machine de levage, système de gestion de machine de levage et procédé de gestion
WO2019111441A1 (fr) * 2017-12-06 2019-06-13 株式会社日立産機システム Système de gestion de machine de levage

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11215834A (ja) * 1998-01-28 1999-08-06 Toshiba Corp インバータ装置の通信用オプション装置およびこれを用いた通信システム
JP2000247574A (ja) * 1999-02-23 2000-09-12 Ohbayashi Corp クレーン運転データ作成システム及びクレーン運転制御システム
JP2005001804A (ja) * 2003-06-11 2005-01-06 Hitachi Ltd 自動クレーンシステム及びクレーン制御方法
JP2009183124A (ja) * 2008-02-01 2009-08-13 Hitachi Industrial Equipment Systems Co Ltd インバータ装置及び電動巻上機
JP2014050137A (ja) * 2012-08-29 2014-03-17 Toshiba Schneider Inverter Corp インバータ装置
WO2017138311A1 (fr) * 2016-02-10 2017-08-17 株式会社日立産機システム Machine de levage, système de gestion de machine de levage et procédé de gestion
WO2019111441A1 (fr) * 2017-12-06 2019-06-13 株式会社日立産機システム Système de gestion de machine de levage

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JP2023065005A (ja) 2023-05-12
CN118159485A (zh) 2024-06-07

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