JP6352201B2 - Crane equipment - Google Patents

Description

  The present invention relates to a crane device that lifts and lowers an object together using a plurality of ropes.

  There is a drive device for a co-lifting machine that simultaneously operates two hoisting machines to perform co-hanging work (see, for example, Patent Document 1). In the drive device for this hoisting hoisting machine, if the speed of the two hoisting machines becomes constant after the two hoisting machines reach the constant speed state at the rated speed, the speed of one hoisting machine is adjusted. The speeds of the two hoisting machines are matched.

JP 2000-198679 A

  However, in the technique described in Patent Document 1, control is performed at the rated speed of the hoisting machine, and speed control is not performed during acceleration and deceleration of the hoisting machine. Further, in a crane apparatus, an inching operation may be performed in which the hoisting machine is operated from a stationary state for a short time to finely adjust the position of the hoist. When this inching operation is performed, there is a risk that the difference in the height position of the two lifting gears will gradually change due to a deviation in the operation timing of the two brakes or a mechanical error of the two hoisting machines. There is. By repeatedly performing the inching operation, there is a possibility that the difference in the height position of the suspension tool changes greatly.

  An object of this invention is to provide the crane apparatus which can suppress that the difference of the height position of a several lifting tool changes greatly at the time of the acceleration of a several lifting tool, or the deceleration.

The present invention is a crane apparatus that lifts and lowers an object by using a first rope body and a second rope body, and can wind and feed the first rope body on which a first suspension is suspended. The first hoisting machine, the second hoisting machine capable of winding and unwinding the second rope from which the second suspension is suspended, and the operations of the first hoisting machine and the second hoisting machine are controlled. The difference between the height position of the first suspension tool and the height position of the second suspension tool at the reference time point is the difference at the reference time, and the first suspension at the measurement time point after the reference time point A difference detection unit that detects a change amount that is a difference between a difference value at a reference time and a difference value at the time of measurement using a difference between the height position of the tool and the height position of the second suspension tool as a difference at the time of measurement. When provided with a control unit, a first crane及 accelerate or decelerate the first crane and the second crane in conjunction with the first hoisting machine and the second hoisting machine When performing the inching operation for adjusting the position of the second crane, when the amount of change is the difference of the values detected by the difference detection unit is acceptable outside a predetermined, so that the change amount is within the allowable range In addition, the rate of change of the winding speed or the feeding speed in at least one of the first hoisting machine and the second hoisting machine is changed.

  According to this crane apparatus, when accelerating or decelerating the first suspension and the second suspension, the amount of change in the difference between the height position of the first suspension and the height position of the second suspension is changed. The rate of change of the winding speed or the feeding speed in at least one of the first hoisting machine and the second hoisting machine is set so that the change amount is within the predetermined allowable range when it is outside the predetermined allowable range. change. Thereby, the difference of the height position of a 1st hanger and the height position of a 2nd hanger is stored in a fixed range, and it suppresses that the difference of the height position of two hangers changes greatly. be able to. As a result, the posture of the object that is suspended by the first cable body and the second measure body can be reliably maintained.

  In addition, the control unit maintains the change rate until the change amount falls within the set range that is narrower than the allowable range, and if the change amount falls within the set range, returns the change rate to the value before the change. Also good. Thus, by maintaining the change rate change until the change amount falls within the set range that is narrower than the allowable range, the change amount is again outside the allowable range immediately after the change rate is returned to the value before the change. It can suppress becoming.

  In addition, when the amount of change is outside the allowable range when the first hanging tool and the second hanging tool are accelerated, the control unit has a higher winding speed or feeding speed when the change amount is out of the allowable range. The rate of change may be changed by reducing the acceleration of the winding speed or the feeding speed in the first hoisting machine or the second hoisting machine that is the hoisting machine. This reduces the acceleration of the hoist with the higher winding speed or feeding speed when the amount of change is outside the allowable range when the first and second suspension tools are accelerating. Further, the acceleration of one of the suspenders having the higher speed can be moderated, the acceleration of the other suspender can be maintained, and the other suspender can be brought closer to one of the suspenders. Therefore, the difference between the height position of the first suspender and the height position of the second suspender is accommodated within a predetermined allowable range, and the difference between the height positions of the two suspenders is suppressed from greatly changing. can do. “Acceleration” is the rate at which the speed increases. “When the amount of change is outside the allowable range” may include the time when the value reaches the boundary between the allowable range and the allowable range.

  In addition, the control unit is a hoisting machine that is a hoisting machine having a lower winding speed or feeding speed when the amount of change is out of the allowable range during deceleration of the first hoisting tool and the second hoisting tool. The rate of change may be changed by decreasing the deceleration of the winding speed or the feeding speed in the machine or the second hoisting machine. As a result, when the first suspension tool and the second suspension tool are decelerating, by reducing the deceleration of the hoisting machine having the lower winding speed or feeding speed, one of the lower suspension speeds is suspended. It is possible to loosen the deceleration of the tool, maintain the deceleration of the other suspension tool, and bring the other suspension tool closer to the one suspension tool. Therefore, the difference between the height position of the first suspender and the height position of the second suspender is accommodated within a predetermined allowable range, and the difference between the height positions of the two suspenders is suppressed from greatly changing. can do. “Deceleration” is the rate at which the speed decreases. “When the amount of change is outside the allowable range” may include the time when the value reaches the boundary between the allowable range and the allowable range.

  The crane device further includes a first inverter that supplies power to the first motor of the first hoisting machine, and a second inverter that supplies power to the second motor of the second hoisting machine, and the control unit includes: When the amount of change is outside the allowable range, the frequency of the electric power supplied to at least one of the first inverter and the second inverter is changed so that the amount of change falls within the allowable range. It may be configured to change the rate of change of the winding speed or the feeding speed in at least one of the two hoisting machines. Thereby, the change rate of the winding speed or the feeding speed in at least one of the first motor and the second motor is changed only by changing the frequency of the electric power supplied from the control unit to at least one of the first inverter and the second inverter. Can be changed.

  ADVANTAGE OF THE INVENTION According to this invention, the crane apparatus which can suppress that the difference of the height position of a some suspender changes largely at the time of the acceleration of a some suspender or the deceleration can be provided.

It is a front view of the crane apparatus of one Embodiment of this invention. It is a block diagram which shows the structure of a crane apparatus. It is a figure which shows the difference of the height position of a 1st hanger, and the height position of a 2nd hanger. It is a table | surface which shows the control content performed by the uniform speed control part at the time of winding operation or winding operation. It is a graph which shows the change of the speed of the 1st hanger and the 2nd hanger at the time of acceleration. It is a graph which shows the variation | change_quantity of the value of the difference of the height position of a 1st suspension tool, and the height position of a 2nd suspension tool. It is a flowchart chat which shows the control procedure performed with the control unit of a crane apparatus.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, preferred embodiments of the invention will be described in detail with reference to the drawings. In addition, in each figure, the same code | symbol is attached | subjected to the same part or an equivalent part, and the overlapping description is abbreviate | omitted.

  A crane apparatus 1 shown in FIG. 1 includes a girder 2, a first trolley 3, a second trolley 4, a first hoisting machine 5, a second hoisting machine 6, and a traveling device 9. The crane device 1 is, for example, an overhead crane installed in a factory building. Guide rails 8 for guiding the travel of the girder 2 are provided on a pair of opposing side walls 7 of the building. The girder 2 is bridged between a pair of opposing side walls 7. A traveling device 9 that travels along the guide rail 8 is provided at both ends of the girder 2 in the longitudinal direction. The traveling device 9 includes a known wheel and a motor that drives the wheel. The girder 2 can travel along the guide rail 8 by the traveling device 9.

  The first trolley 3 and the second trolley 4 can traverse along the longitudinal direction of the girder 2. On the top surface 2a of the girder 2, a traverse guide rail (not shown) for guiding the traversal of the first trolley 3 and the second trolley 4 is disposed. The first trolley 3 and the second trolley 4 are provided with a traversing device 10 that traverses along the traverse guide rail. The traversing device 10 includes a known wheel and a motor that drives the wheel. The traversing device 10 allows the first trolley 3 and the second trolley 4 to traverse along the traverse guide rail.

  The first hoisting machine 5 can wind and feed out the first wire rope (first rope) 12 from which the first hoisting tool 11 is suspended. The first hoisting machine 5 includes a first drum 13 around which the first wire rope 12 is wound and a first motor 14 that drives the first drum 13, and is mounted on the first trolley 3. A first hanging tool 11 for hanging a suspended load (object) is attached to the lower end portion of the first wire rope 12. The first drum 13 is wound around the first wire rope 12 by rotating with the rotational driving force transmitted from the first motor 14. As the first drum 13 rotates forward and winds up the first wire rope 12, the first lifting tool 11 is raised. Conversely, when the first drum 13 rotates in the reverse direction and the first wire rope 12 is fed out, the first hanger 11 is lowered.

  The second hoisting machine 6 can wind and feed out the second wire rope (second cord) 22 from which the second hoist 21 is suspended. The second hoisting machine 6 includes a second drum 23 around which the second wire rope 22 is wound, and a second motor 24 that drives the second drum 23, and is mounted on the second trolley 4. A second suspending tool 21 for suspending a suspended load is attached to the lower end portion of the second wire rope 22. The second drum 23 is wound around the second wire rope 22 by rotating with the rotational driving force transmitted from the second motor 24. When the second drum 23 rotates forward and winds up the second wire rope 22, the second lifting tool 21 rises. Conversely, when the second drum 23 rotates in the reverse direction and the second wire rope 22 is fed out, the second hanger 21 descends.

  Moreover, the crane apparatus 1 has the drive device 30 for driving the 1st hoisting machine 5 and the 2nd hoisting machine 6, as FIG. 2 shows. The drive device 30 includes an operation unit 31, a control unit (sequencer) 32, a first inverter 33, and a second inverter 34. The operation unit 31 is provided with a plurality of buttons operated by an operator. The operator operates or stops the first hoisting machine 5 and the second hoisting machine 6 individually by operating a plurality of buttons, or the first hoisting machine 5 and the second hoisting machine 6 are operated. It can be operated or stopped in conjunction with each other. The operation unit 31 may include, for example, an operation lever and a switch. The operation unit 31 outputs a command signal in response to an input operation by the operator. The command signal output from the operation unit 31 is input to the control unit 32.

  The control unit 32 includes a speed calculation unit 35, a difference detection unit 36, an output value calculation unit 37, and a uniform speed control unit 38. The control unit 32 includes a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], an input signal circuit, an output signal circuit, a power supply circuit, and the like. The control unit 32 is electrically connected to the operation unit 31, the first inverter 33, and the second inverter 34. Further, the control unit 32 has a storage unit that stores a history of the winding speed and the feeding speed. The storage unit stores values necessary for control by the control unit 32.

  The speed calculation unit 35 calculates the winding speed and the feeding speed of the first wire rope 12 in the first hoisting machine 5. Further, the speed calculation unit 35 calculates the winding speed and the feeding speed of the second wire rope 22 in the second hoisting machine 6. Specifically, the speed calculation unit 35 detects the rotation speed of the first drum 13, calculates the winding speed and the feeding speed in the first hoisting machine 5, and detects the rotation speed of the second drum 23. Thus, the winding speed and the feeding speed in the second hoisting machine 6 are calculated.

  A pulse generator (PG) 15 for detecting the rotational speed of the rotary shaft is attached to the rotary shaft of the first drum 13. Similarly, a pulse generator 25 for detecting the rotation speed of the rotation shaft is attached to the rotation shaft of the second drum 23. The pulse generators 15 and 25 output pulses according to the rotation angle of the rotation shaft. The pulse generators 15 and 25 output, for example, 600 pulses before the rotation shaft makes one rotation. The pulse generators 15 and 25 are electrically connected to the control unit 32, and the pulses output from the pulse generators 15 and 25 are input to the control unit 32.

  The speed calculation unit 35 counts the pulses output from the pulse generator 15, detects the rotational speed of the first drum 13, and calculates the winding speed and the feeding speed in the first hoisting machine 5. Similarly, the speed calculation unit 35 counts the pulses output from the pulse generator 25, detects the rotational speed of the second drum 23, and calculates the winding speed and the feeding speed in the second hoisting machine 6. The pulse generators 15 and 25 may be attached to the rotation shafts of the first motor 14 and the second motor 24. The speed calculation unit 35 detects the rotation speed of the rotation shaft of the first motor 14, calculates the winding speed and the feeding speed in the first hoisting machine 5, and the rotation speed of the rotation shaft of the second motor 24. May be detected and the winding speed and feeding speed in the second hoisting machine 6 may be calculated.

FIG. 3 is a diagram illustrating a difference between the height position of the first hanging tool 11 and the height position of the second hanging tool 21. The height position is a position in the vertical direction of the first hanger 11 or the second hanger 21. The difference detection unit 36 determines the difference Δht (Δht) between the height position h ₁ (h ₁₀ , h ₁₁ ) of the first hanger ₁₁ and the height position h ₂ (h ₂₀ , h ₂₁ ) of the second hanger 21. ₀ , Δht ₁ ) is detected. Further, the difference detection unit 36 calculates a change amount ΔHt ₁ (= Δht ₁ −Δht ₀ ) that is a difference between the value of the difference Δht ₀ at the reference time and the value of the difference Δht ₁ at the time of measurement. The meanings of “reference time” and “measurement time” will be described in a later paragraph.

In FIG. 3 (a), it shows the height _{h 10} of the first crane 11 at the reference time _{t 0} and the height position _{h 20} of the second crane 21. For example, at the reference time t ₀ , the height position h ₁₀ of the first hanger 11 and the height position h ₂₀ of the second hanger 21 are equal, and the value of the difference Δht ₀ between the height positions h ₁₀ and h ₂₀ Is h ₂₀ -h ₁₀ and is 0. The height positions h ₁₀ and h ₂₀ at the reference time may not be equal. The reference time is, for example, a position where the first lifting device 11 and the second lifting device 21 are stationary, for example, slightly from the point in time when the first hoisting machine 5 and the second hoisting machine 6 are started to interlock. It is the previous time. Note that the reference time is not limited to a stationary position, and may be, for example, immediately after the first hanging tool 11 or the second hanging tool 12 starts interlocking.

In FIG. 3 (b), it shows the height _{h 11} of the first crane 11 in the measurement time _{t 1} and the height position _{h 21} of the second crane 21. For example, at the measurement time t ₁ , the height position h ₁₁ of the first hanger ₁₁ is higher than the height position h ₂₁ of the second hanger 21. In this measurement the time t1, the height _{h 11} of the first crane 11 is the value of the difference Derutaht ₁ between the height position _{h 21} of the second crane _12, would be where the _{h 11} ≧ _{h 21} but h _21> would be the case of _{h 11,} but with h 11 _{-h 21.} The value of the difference Δht ₁ may be h ₂₁ −h ₁₁ , but it is preferable that the calculation formula of the difference Δht ₁ is not changed depending on the magnitude relationship between h ₁₁ and h ₂₁ . In the difference detection unit 36, for example, the height positions h ₁ and h ₂ of the first hoisting tool 11 and the second hoisting tool 21 are always obtained after the interlocking of the first hoisting machine 5 and the second hoisting machine 6 is started. Measuring. The time of measurement is a time point (measurement time point) after the reference time and when the height positions h ₁ and h ₂ are measured.

Then, in the case shown in FIG. 3, the difference variation DerutaHt ₁ is the value of the difference Derutaht ₀ value Derutaht ₁ of the difference between the measurement time _{t 1} of the reference time _{t 0} is Δht ₁ -Δht _0.

The measurement point of the height position h ₁ of the first crane 11 is, for example, a contact point 11a of the first crane 11 and the object (or object support which supports the). Measurement point height h ₁ of the first crane 11 may be in any position, the position change of the same measuring point at the time of measurement and the reference time may be any detectable. For example, it is also possible to the position of the upper end of the first crane 11 and the height position h _1. Similarly, the measurement point of the height h ₂ of the second crane 21 is, for example, a contact point 21a of the second crane 21 and the object (or object support which supports the). Measurement point height h ₂ of the second crane 21 may be in any position, the position change of the same measuring point at the time of measurement and the reference time may be any detectable. For example, it is also possible to the position of the upper end of the second crane 21 and the height position h _2. The method of measuring the height h ₁ and the height position h ₂ is not particularly limited and may be any method as long measurement height. For example, a method (measurement method) of measuring the distance from the floor surface to each of the first suspension tool 11 and the second suspension tool 21 using a laser distance meter provided on the floor surface of the building where the crane apparatus 1 is installed. Is mentioned. Further, the feeding amount of the first wire rope 12 (second wire rope 22) from the first drum 13 (second drum 23) and the height position h ₁ (high) of the first suspension 11 (second suspension 21). The height position h ₁ (high) is measured by measuring the relationship with the height position h ₂ ) in advance and measuring the feeding amount of the wire rope 12 (wire rope 22) from the first drum 13 (second drum 23). A method of indirectly measuring the position h ₂ ) (a method of calculating) is also included.

The height position h ₁ and a reference position of the height position h ₂ of the second crane 21 of the first crane 11 (zero point) can be set appropriately, for example, the floor of the building crane device 1 is installed It can be the height position from the surface. The height position h ₁ and the height position h ₂ of the reference position of the second crane 21 (zero point) of the first crane 11 is suspended load is object placed are for example of the support base It may be on the top or another position.

When the uniform speed control unit 38 moves the first hoisting machine 5 and the second hoisting machine 6 together to suspend the object and raise or lower the object, the height position h of the first hoisting tool 11 is set. ₁ and performs the to fit assortment deceleration control difference (tolerance predetermined) to a given range of height h ₂ of the second crane 12. The uniform speed control unit 38 performs uniform speed control during acceleration or deceleration of the first hanging tool 11 and the second hanging tool 21. Specifically, the uniform speed control unit 38 is accelerating and decelerating when the object is raised (during the hoisting operation) and accelerating and decelerating when the object is lowered (during the hoisting operation). The uniform speed control is performed for each of the above.

  The uniform speed control unit 38 sets the first change amount ΔHt so that the change amount ΔHt falls within the allowable range R1 when the change amount ΔHt of the difference value detected by the difference detection unit 36 is outside the predetermined allowable range R1. A uniform speed control is executed to change the rate of change (acceleration or deceleration) of the winding speed or feeding speed in the hoisting machine 5 or the rate of change of the winding speed or feeding speed in the second hoisting machine 6. The uniform speed control unit 38 changes the frequency of the electric power supplied to the first inverter 33 or the second inverter 34 when the change amount ΔHt is outside the allowable range R1, and the winding speed in the first hoisting machine 5 is changed. Alternatively, the rate of change of the feeding speed, or the rate of change of the winding speed or the feeding speed in the second hoisting machine 6 can be changed. FIG. 4 is a table showing the control contents executed by the uniform speed control unit 38 during the hoisting operation or the lowering operation.

The “allowable range” can be arbitrarily set. For example, it may be a range in which the object can be reliably and stably held when co-suspending the object, and is narrower than this range, and a range in which the object can be more reliably and stably held. Alternatively, it may be a range set so that the amount of change does not fall outside a certain range.
It may be a range.

As a uniform speed control during acceleration during hoisting operation, the uniform speed control unit 38 determines that the change amount ΔHt is such that the change amount ΔHt is within the allowable range R1 when the change amount ΔHt is outside the allowable range R1. When it becomes out of the allowable range R1, the acceleration of the winding speed in the first hoisting machine 5 or the second hoisting machine 6 which is the higher hoisting machine is reduced. Assortment speed controller 38, when the change amount ΔHt allowable range R1 winding speed V ₁ of the first hoisting machine 5 when it becomes the outside is higher than the winding speed V ₂ of the second hoisting machine 6 The acceleration of the first hoisting machine 5 with the higher winding speed is decreased, and the acceleration of the second hoisting machine 6 with the lower winding speed is maintained. Further, Assortment speed control unit 38, when the change amount ΔHt allowable range R1 winding speed V ₂ of the second hoisting machine 6 when it becomes the outside is higher than the winding speed V ₁ of the first hoisting machine 5 First, the acceleration of the second hoisting machine 6 with the higher winding speed is decreased, and the acceleration of the first hoisting machine 5 with the lower winding speed is maintained.

As a uniform speed control during deceleration during hoisting operation, the uniform speed control unit 38 determines that the change amount ΔHt is such that the change amount ΔHt falls within the allowable range R1 when the change amount ΔHt is outside the allowable range R1. When it becomes out of the allowable range R1, the reduction of the winding speed in the first hoisting machine 5 or the second hoisting machine 6 which is the lower hoisting machine is reduced. Assortment speed controller 38, when the change amount ΔHt allowable range R1 winding speed V ₁ of the first hoisting machine 5 when it becomes the outside is lower than the winding speed V ₂ of the second hoisting machine 6 The deceleration of the first hoisting machine 5 with the lower winding speed is decreased, and the deceleration of the second hoisting machine 6 with the higher winding speed is maintained. Further, Assortment speed control unit 38, when the change amount ΔHt allowable range R1 winding speed V ₂ of the second hoisting machine 6 when it becomes the outside is lower than the winding speed V ₁ of the first hoisting machine 5 First, the deceleration of the second hoisting machine 6 with the lower winding speed is decreased, and the deceleration of the first hoisting machine 5 with the higher winding speed is maintained.

As a uniform speed control during acceleration during the winding operation, the uniform speed control unit 38 sets the variation amount ΔHt so that the variation amount ΔHt falls within the allowable range R1 when the variation amount ΔHt is outside the allowable range R1. When it is outside the allowable range R1, the acceleration of the feeding speed in the first hoisting machine 5 or the second hoisting machine 6, which is the hoisting machine having the higher feeding speed, is reduced. Assortment speed controller 38, when the change amount ΔHt allowable range R1 feeding velocity V ₁ of the first hoisting machine 5 when it becomes the outside is higher than the feeding speed V ₂ of the second hoisting machine 6 is feeding speed The acceleration of the first hoisting machine 5 having the higher speed is decreased, and the acceleration of the second hoisting machine 6 having the lower feeding speed is maintained. Further, Assortment speed controller 38, when the change amount ΔHt allowable range R1 feeding speed V ₂ of the second hoisting machine 6 when it becomes the outside is higher than the feeding speed V ₁ of the first hoisting machine 5, The acceleration of the second hoisting machine 6 with the higher feeding speed is decreased, and the acceleration of the first hoisting machine 5 with the lower feeding speed is maintained.

As a uniform speed control during deceleration during the winding operation, the uniform speed control unit 38 sets the variation ΔHt so that the variation ΔHt falls within the allowable range R1 when the variation ΔHt is outside the allowable range R1. When it is out of the allowable range R1, the deceleration of the feeding speed in the first hoisting machine 5 or the second hoisting machine 6 which is the lower hoisting machine is decreased. Assortment speed controller 38, when the change amount ΔHt allowable range R1 feeding velocity V ₁ of the first hoisting machine 5 when it becomes the outside is lower than the feeding speed V ₂ of the second hoisting machine 6 is feeding The deceleration of the first hoisting machine 5 with the lower speed is decreased, and the deceleration of the second hoisting machine 6 with the higher feeding speed is maintained. Further, Assortment speed controller 38, when the change amount ΔHt allowable range R1 feeding speed V ₂ of the second hoisting machine 6 when it becomes the outside is lower than the feeding velocity V ₁ of the first hoisting machine 5 The deceleration of the second hoisting machine 6 with the lower feeding speed is decreased, and the deceleration of the first hoisting machine 5 with the higher feeding speed is maintained.

  Further, the uniform speed control unit 38 performs uniform speed control, and the change amount ΔHt of the difference value falls within the allowable range R1, and further, the change amount ΔHt is within the set range R2 (see FIG. 6) narrower than the allowable range R1. If it falls within the range, the uniform speed control is terminated. The uniform speed control unit 38 may not continue the uniform speed control until the change amount ΔHt falls within the set range R2, and may end the uniform speed control when the change amount ΔHt falls within the allowable range R1. However, by performing the uniform speed control until the variation amount ΔHt falls within the setting range R2 (see FIG. 6) narrower than the allowable range R1, the variation amount ΔHt again falls outside the allowable range R1 immediately after the uniform speed control is completed. Can be suppressed.

  The output value calculation unit 37 calculates an output value (addition value or subtraction value) to be output to the first inverter 33 and the second inverter 34 in the uniform speed control. The output value calculation unit 37 reduces the added value so as to reduce the acceleration during acceleration. Further, the output value calculation unit 37 reduces the subtraction value so as to reduce the deceleration during deceleration. The uniform speed control unit 38 outputs a speed command signal including the output value calculated by the output value calculation unit 37 to the first inverter 33 or the second inverter 34.

  The first inverter 33 supplies power to the first motor 14 and controls the rotational drive of the first motor 14. The first inverter 33 changes the rotation speed of the first motor 14 according to the speed command signal output from the control unit 32, and changes the winding speed or the feeding speed in the first hoisting machine 5.

  The second inverter 34 supplies power to the second motor 24 and controls the rotational drive of the second motor 24. The second inverter 34 changes the rotation speed of the second motor 24 in accordance with the speed command signal output from the control unit 32, and changes the winding speed or the feeding speed in the second hoisting machine 6.

FIG. 5 is a graph showing changes in the speeds of the first lifting device 11 and the second lifting device 21 during acceleration. Next, with reference to FIG. 5, the change of the speed of the 1st hanging tool 11 and the 2nd hanging tool 21 during the acceleration at the time of winding operation is demonstrated. In FIG. 5, the horizontal axis represents time, and the vertical axis represents speed. A speed V ₁ indicated by a solid line is a speed of the first hanging tool 11, and a speed V ₂ indicated by a broken line is a speed of the second hanging tool 21. In FIG. 5, the speed change of the 1st hanging tool 11 and the 2nd hanging tool 21 until it reaches a steady state from a stationary state is demonstrated.

At time t ₁₀ (reference time), the first hanging tool 11 and the second hanging tool 21 are stationary, and the speeds V ₁ and V ₂ are zero. At time t _10, the operation unit 31 by the operator is operated, the interlocking of the first hoisting machine 5 and the second hoisting machine 6 is started. At this time, the second hoisting machine 6 starts the feeding operation at time t11 later than the start of the feeding operation in the first hoisting machine 5 due to, for example, a mechanical error or a brake operation delay. .

For example, at time _{t 13,} the value of the change amount ΔHt of the difference Derutaht the height _{h 1} of the first crane 11 and the height position _{h 2} of the second crane _{21 (Δht = h 1 -h 2} ) And outside the allowable range R1 (below the lower limit allowable value J1). At this time, the first hanging tool 11 is faster than the second hanging tool 21 (V ₁ > V ₂ ). The uniform speed control unit 38 decreases the acceleration in the first hoisting machine 5 and maintains the acceleration in the second hoisting machine 6. From time t13 to time t15, the acceleration of the first hanger 11 is lower than the acceleration of the second hanger 21. The speed V1 of the first hanger 11 is changed to a low acceleration after time t13, and becomes lower than the speed V2 of the second hanger 21 after time t14. Thereby, the change amount ΔHt of the value of the difference Δht decreases.

At time t15, the amount of change in the value of the difference Δht the height _{h 1} of the first crane 11 and the height position _{h 2} of the second crane 21 DerutaHt is, falls within the set range R2 (the lower limit set value J3 Exceed). At this time, the uniform speed control is terminated, and the acceleration of the first hanger 11 is increased. Then, at time t16, the second hoisting machine 6 has a rated speed, and at time t17, the first hoisting machine 5 has a rated speed.

Figure 6 is a graph showing an example of the height h ₁ of the first crane variation ΔHt of the value of the difference Δht the height h ₂ of the second crane. FIG. 6 shows a change amount ΔHt of the value of the difference Δht during acceleration during the winding operation. In FIG. 6, the vertical axis represents the change amount ΔHt, and the horizontal axis represents time. Since the origin O shown at the center of the vertical axis is a value obtained by subtracting the difference Δht at the reference time from the difference Δht at the reference time, the value is always 0. In addition, the graph which shows the change of variation | change_quantity (DELTA) Ht shown in FIG. 6 does not respond | correspond to the change of the speed of the 1st hanger 11 and the 2nd hanger 21 shown in FIG.

  In FIG. 6, a straight line indicated by a broken line indicates a lower limit allowable value J1 and an upper limit allowable value J2 in the allowable range R1. A straight line indicated by a one-dot chain line indicates a lower limit set value J3 and an upper limit set value J4 in the set range R2. For example, the lower limit allowable value J1 can be −10 mm, the upper limit allowable value J2 can be +10 mm, the lower limit set value J3 can be −5 mm, and the upper limit set value J4 can be +5 mm. The absolute values of the lower limit allowable value J1 and the upper limit allowable value J2 are not necessarily matched. Similarly, the absolute values of the lower limit set value J3 and the upper limit set value J4 do not necessarily have to match.

In the example shown in FIG. 6, at time t ₀ is a reference time, the height position h ₁ of the first crane 11 the height h ₂ of the second crane 21 have the same height, the difference Δht The value is assumed to be 0. It is assumed that after the interlocking by the first hoisting machine 5 and the second hoisting machine 6 is started, the first lifting device 11 has a higher acceleration than the second hoisting device 21 and has been lowered first. ΔHt is increased with the lapse of time (increase in the negative direction), at time t _21, it reaches the lower limit permissible value J1, assortment deceleration control unit 38 executes the assortment speed control.

  The uniform speed control unit 38 decreases the acceleration in the first hoisting machine 5 and maintains the acceleration in the second hoisting machine 6. Thereby, the acceleration in the 1st hoisting machine 5 becomes loose, the speed of the 2nd lifting tool 21 becomes higher than the speed of the 1st lifting tool 11, the difference (DELTA) ht becomes small, and variation | change_quantity (DELTA) Ht reduces (approaching 0). To decrease). When the change amount ΔHt decreases and reaches the lower limit set value J3 at time t22, the uniform speed control unit 38 ends the uniform speed control.

  After the time t22, when the difference Δht increases and ΔHt reaches the lower limit allowable value J1, the uniform speed control unit 38 executes the uniform speed control again. Thereby, an increase in the change amount ΔHt is suppressed. Note that the time when the lower limit allowable value J1 is reached may be regarded as being outside the allowable range R1. Similarly, when ΔHt> 0 or more, the time when ΔHt reaches the upper limit allowable value J2 may be regarded as being outside the allowable range R1.

Next, with reference to FIG. 7, the control procedure regarding the interlock operation performed by the control unit 32 of the crane apparatus 1 is performed. For example, during operation of the crane apparatus 1, when changing from normal operation (operation that individually drives the first suspension unit 11 and the second suspension unit 12) to interlock operation, the operator operates the operation unit 31. To perform linked operation. The control unit 32 starts the linked operation mode based on the command signal output from the operation unit 31 (START). When starting the interlocking of the first crane 11 and the second crane 12, the difference detecting unit 36 of the control unit 32, the height of the height position h ₁ and the second crane 21 of the first crane 11 at that time positioned h ₂ the reference value is set as (a height position at the time as a reference) (step S1).

  Next, the control unit 32 determines whether there is a command for winding or lowering (step S2). The control unit 32 determines whether there is a winding or lowering command based on the command signal input from the operation unit 31. If there is no winding or lowering command (step S2: NO), the process proceeds to step S3. If there is a winding or lowering command (step S2: YES), the process proceeds to step S4.

  In step S3, the control unit 32 determines whether or not to end the linked operation mode. For example, the control unit 32 determines whether or not to end the linked operation mode based on a command signal input from the operation unit 31. If it is determined that the linked operation mode is to be terminated (step S3: YES), the continuous operation mode is terminated and the control here is terminated. If it is determined to continue the linked operation mode (step S3: NO), the process returns to step S2.

  In step S4, the control unit 32 determines whether or not the first hanger 11 and the second hanger 21 are accelerating (or decelerating) (step S4). The uniform speed control section 38 of the control unit 32 is based on the winding speed or feeding speed in the first hoisting machine 5 calculated by the speed calculating section 35 and the winding speed or feeding speed in the second hoisting machine 6. Then, it is determined whether or not the first hanging tool 11 and the second hanging tool 21 are accelerating (or decelerating). When the first hanging tool 11 and the second hanging tool 21 are accelerating (or decelerating) (step S4: YES), the process proceeds to step S5. When the first hanger 11 and the second hanger 21 reach the rated speed, or when the first hanger 11 and the second hanger 21 are stopped (step S4: NO), the process returns to step S2.

In step S5, the control unit 32 includes a height position h ₁ of the first crane 11, or variation ΔHt of the difference value between the height position h ₂ of the second crane 21 is within the allowable range R1 Determine whether or not. The uniform speed control unit 38 determines whether the change amount ΔHt of the difference value calculated by the difference detection unit 36 is lower than the lower limit allowable value J1 or higher than the upper limit allowable value J2 at the time of measurement. If the change amount ΔHt is less than the lower limit allowable value J1 or exceeds the upper limit allowable value J2 (step S5: NO), the control unit S32 proceeds to step S6, where the change amount ΔHt is greater than or equal to the lower limit allowable value J1 and the upper limit. If it is equal to or smaller than the allowable value J2, the process of step S4 is repeated (in step S5, if the change amount ΔHt is outside the allowable range R1, the process proceeds to step S6).

  In step S6, the control unit 32 executes the uniform speed control. The control unit 32 decreases the rate of change (acceleration rate or deceleration rate) of the winding speed or the feeding speed in at least one of the first hoisting machine 5 and the second hoisting machine 6 according to the control content shown in FIG. . The control unit 32 transmits a speed command signal (output value) corresponding to the correction value calculated by the output value calculation unit 37 to the first inverter 33 or the second inverter 34. As a result, the first motor 14 or the second motor 24 is controlled so that the rate of change in the speed of the first hanger 11 or the second hanger is moderated, and the first hanger 11 and the second hanger 21 The height position difference is brought close to the reference value.

In step S7, the control unit 32 includes a height position h ₁ of the first crane 11, or the variation of the difference value between the height position h ₂ of the second crane 21 DerutaHt is within the set range R2 Determine whether or not. If the change amount ΔHt of the difference value calculated by the difference detection unit 36 is less than the lower limit set value J3 or exceeds the upper limit set value J4 (step S7: NO), the uniform speed control unit 38 performs the process of step S4. If the change amount ΔHt is not less than the lower limit set value J3 and not more than the upper limit set value J4 (step S7: YES), the process proceeds to step S8, the uniform speed control is terminated, and the process of step S5 is repeated. .

According to such a crane apparatus 1 according to the present embodiment, when the first hanging tool 11 and the second hanging tool 21 are accelerating, when the change amount ΔHt is outside the allowable range R1, the winding speed is increased. Alternatively, by decreasing the acceleration of the hoisting machines 5 and 6 with the higher feeding speed, the acceleration of the one of the lifting machines 11 and 21 with the higher speed is moderated and the acceleration of the other lifting machines 11 and 12 is maintained. Then, the other suspenders 11 and 21 can be brought close to one suspender. Therefore, matches the height h ₁ of the first crane 11 the difference between the height position h ₂ of the second crane 21 within a certain range, the height position h ₁ of the two crane 11, 21 , H ₂ can be prevented from greatly changing.

Further, in the crane apparatus 1, when the first hanging tool 11 and the second hanging tool 21 are decelerating, when the change amount ΔHt is outside the allowable range R1, the winding with the lower winding speed or feeding speed is performed. Decreasing the deceleration of the upper machines 5 and 6 makes the deceleration of the one of the lower suspenders 11 and 21 gradual, maintains the deceleration of the other suspenders 11 and 21, The suspenders 11 and 21 can be brought close to one of the suspenders 11 and 21. For this reason, the difference between the height position h ₁ of the first hanger 11 and the height position of the second hanger is within a certain range, and the height positions h ₁ , h _{2 of the} two hanger 11, 21. It is possible to suppress an increase in which the difference between the two greatly changes.

According to the crane device 1 of the present embodiment, when the suspended load that is the object is lifted together and lifted, even if the inching operation is repeated by repeatedly accelerating and decelerating, the first lifting tool 11 and the first lifting tool 11 2 The difference Δht between the height positions h ₁ and h ₂ of the hanger 21 can be kept within a certain range, and the posture of the object can be stabilized.

  The present invention is not limited to the above-described embodiments, and various modifications as described below are possible without departing from the gist of the present invention.

  In the said embodiment, when the variation | change_quantity of the difference of the height position of the 1st lifting tool 11 and the 2nd lifting tool 21 is outside an allowable range, the change of the winding speed or feeding speed of one hoisting machine Although the rate is changed, a configuration in which the rate of change of the winding speed or the feeding speed of both the hoisting machines 5 and 6 may be changed may be used. For example, as a uniform speed control during acceleration during winding operation, the acceleration of the winding speed in one winding machine with a higher winding speed is decreased, and the other winding machine with a lower winding speed is used. The acceleration of the winding speed may be increased.

  Further, in the embodiment, when the first hanging tool 11 and the second hanging tool 21 are accelerated, when the amount of change in the difference value is outside the allowable range, the hoisting machine having the higher winding speed or feeding speed. The first hoisting machine or the second hoisting machine, which is the first hoisting machine or the second hoisting machine, is reduced in the first hoisting machine or the second hoisting machine. The acceleration of the winding speed or feeding speed in the second hoisting machine may be increased. For example, as uniform speed control during acceleration during winding operation, the acceleration of the winding speed in one winding machine with a higher winding speed is maintained, and the other winding machine with a lower winding speed is used. The acceleration of the winding speed may be increased.

  In the above-described embodiment, when the first hanging tool 11 and the second hanging tool 21 are decelerated, when the amount of change in the difference value is out of the allowable range, the winding speed with the lower winding speed or feeding speed is set. The first winding which is the winding machine with the higher winding speed or feeding speed, although the reduction of the winding speed or feeding speed in the first winding machine or the second winding machine which is the upper machine is reduced. The deceleration of the winding speed or the feeding speed in the upper machine or the second hoisting machine may be increased. For example, as uniform speed control during acceleration during winding operation, the lowering of the winding speed in one of the lower winding machines is maintained, and the other winding machine of the higher winding speed is maintained. You may increase the deceleration of the winding speed at.

  In the above embodiment, the uniform speed control is performed both during the hoisting operation and during the hoisting operation. However, the uniform speed control may be performed only during the hoisting operation. The uniform speed control may be performed only in this case. In the above-described embodiment, the uniform speed control is performed both during acceleration and deceleration of the suspension. However, the uniform speed control may be performed only during acceleration, and the uniform speed control only during deceleration. May be implemented.

  Moreover, in the said embodiment, although the crane apparatus is demonstrated as an overhead crane, a crane apparatus is not limited to an overhead crane, For example, bridge type crane, a portal crane, a jib crane, a conveying apparatus, etc. A crane apparatus having a machine may be used. Moreover, the crane apparatus is not limited to the one installed in the building, but may be one installed outdoors such as a shipyard or a port facility.

  Moreover, although the said embodiment demonstrated the case where the height position in the 1st hanger 11 and the 2nd hanger 21 in the reference time corresponds, in the reference time, the 1st hanger 11 and the 2nd. The height position of the hanger 21 does not need to match.

  In the above embodiment, when the determination of NO in step S7 is repeated a plurality of times (when a predetermined time elapses), or even when the uniform speed control is being performed, the change amount ΔHt is within the allowable range R1. When it becomes a wider range (abnormality determination range), the first hoisting machine 5 and the second hoisting machine 6 may be stopped.

  In the above embodiment, the uniform speed control during acceleration or deceleration is described. However, when the rated speed is reached, the uniform speed control is performed so that the difference in height position between the suspensions does not change greatly. May be executed.

Moreover, used in the above embodiment, although the change amount ΔHt ₁ = Δht ₁ -Δht _0, for example, as a change amount ΔHt ₁ = Δht ₀ -Δht _1, the change amount _{ΔHt 1 (= Δht 0 -Δht 1} ) Thus, it may be determined whether or not the uniform speed control is executed.

  In the above embodiment, when the change amount ΔHt is outside the allowable range, it is based on the magnitude relationship (whether it is high speed or low speed) of the winding speed or the reduction speed when the change amount is outside the allowable range. Although the control content in the uniform speed control is determined, the control content may be determined based on other information. For example, the amount of movement of the first hanger 11 and the second hanger 12 is calculated, and based on this amount of movement, it is determined which of the hanger has a larger amount of movement, and the hanger with the larger amount of movement is hung. By changing the rate of change (acceleration or deceleration) of the tool, the change amount ΔHt may fall within the allowable range. In addition, for example, the height positions of the first hanging tool 11 and the second hanging tool 12 are calculated, and based on this height position, it is determined whether the amount of movement of the hanging tool is large, and the control content May be determined.

  DESCRIPTION OF SYMBOLS 1 ... Crane apparatus, 5 ... 1st hoisting machine, 6 ... 2nd hoisting machine, 11 ... 1st lifting tool, 12 ... 1st wire rope (1st rope), 14 ... 1st motor, 21 ... 1st 2 suspenders, 22 ... second wire rope (second cord), 24 ... second motor, 33 ... first inverter, 34 ... second inverter, 38 ... uniform speed control section (control section), 36 ... difference detection Part, h1 ... height position of the first hanger, h2 ... height position of the second hanger, Δht ... difference, ΔHt ... change amount of the difference value.

Claims (5)

A crane device that lifts and lowers an object together using a first rope body and a second rope body,
A first hoisting machine capable of winding and unwinding the first cable body in which the first hanging tool is suspended;
A second hoisting machine capable of winding and unwinding the second cable body in which the second suspender is suspended;
A control unit for controlling operations of the first hoisting machine and the second hoisting machine;
The difference between the height position of the first suspension tool and the height position of the second suspension tool at the reference time point is defined as a reference time difference, and the first suspension tool at the measurement time point after the reference time point. A difference for detecting a change amount that is a difference between the difference value at the reference time and the difference value at the measurement time, with the difference between the height position of the second suspension tool and the height position of the second suspension tool as a difference at the time of measurement. A detection unit;
The controller is
Inching that adjusts the position of the first and second hoisting devices by accelerating or decelerating the first and second hoisting devices by interlocking the first hoisting device and the second hoisting device. When performing the operation, when the amount of change detected by the difference detection unit is outside a predetermined allowable range, the first hoisting machine and the The crane apparatus which changes the rate of change of the winding speed or the feeding speed in at least one of the second hoisting machines.   The control unit maintains the change rate until the change amount falls within a set range that is narrower than the allowable range. If the change amount falls within the set range, the change rate is changed before the change. The crane apparatus according to claim 1, wherein the crane apparatus is returned to the value of.   In the acceleration of the first suspension and the second suspension, when the amount of change is out of the allowable range, the control unit determines the winding speed or 2. The rate of change is changed by decreasing acceleration of the winding speed or the feeding speed in the first hoisting machine or the second hoisting machine that is the higher hoisting machine. Or the crane apparatus of 2.   When the change amount is outside the allowable range when the first suspension member and the second suspension member are decelerated, the control unit is configured to perform the winding speed or the winding speed when the change amount is outside the allowable range. The rate of change is changed by decreasing the winding speed or deceleration of the feeding speed in the first hoisting machine or the second hoisting machine which is the lower hoisting machine. The crane apparatus as described in any one of 1-3. A first inverter for supplying power to the first motor of the first hoisting machine;
A second inverter for supplying electric power to the second motor of the second hoisting machine,
The controller changes a frequency of power supplied to at least one of the first inverter and the second inverter when the amount of change is outside the allowable range, and the amount of change is within the allowable range. The crane apparatus according to any one of claims 1 to 4, wherein a change rate of the winding speed or the feeding speed in at least one of the first hoisting machine and the second hoisting machine is changed so as to be settled. .

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