[go: up one dir, main page]

WO2018135285A1 - Dispositif de commande de levage double destiné à une machine de levage et dispositif de levage destiné à une machine de levage - Google Patents

Dispositif de commande de levage double destiné à une machine de levage et dispositif de levage destiné à une machine de levage Download PDF

Info

Publication number
WO2018135285A1
WO2018135285A1 PCT/JP2017/047126 JP2017047126W WO2018135285A1 WO 2018135285 A1 WO2018135285 A1 WO 2018135285A1 JP 2017047126 W JP2017047126 W JP 2017047126W WO 2018135285 A1 WO2018135285 A1 WO 2018135285A1
Authority
WO
WIPO (PCT)
Prior art keywords
hoisting machine
hoisting
difference
drum
machine
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2017/047126
Other languages
English (en)
Japanese (ja)
Inventor
裕吾 及川
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Industrial Equipment Systems Co Ltd
Original Assignee
Hitachi Industrial Equipment Systems Co Ltd
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 Hitachi Industrial Equipment Systems Co Ltd filed Critical Hitachi Industrial Equipment Systems Co Ltd
Priority to CN201780083092.6A priority Critical patent/CN110167866B/zh
Publication of WO2018135285A1 publication Critical patent/WO2018135285A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • 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

Definitions

  • the present invention relates to a hoisting apparatus and a hoisting apparatus for a hoisting machine.
  • Patent Document 1 discloses a means for adjusting the speed between two hoisting machines.
  • the control part of an inverter drive hoist is provided with the communication part which supplies crane hook position data, operation speed data, and operation
  • Patent Document 1 hoisting and lowering operations are performed while maintaining a relative positional relationship based on acquired crane hook position data and the like.
  • amendment of the mechanical (mechanical) error by the diameter of the drum in which the wire rope of a winding machine is wound, or elongation of a wire rope is not implemented.
  • the conveyed product is inclined due to the difference in recognition of the hook block position data between the two hoisting machines.
  • An object of the present invention is to use two hoisting machines to prevent a tilted conveyance object from being inclined and convey the conveyance object.
  • One aspect of the present invention is a co-suspending control device for lifting a conveyed product using a first hoisting machine and a second hoisting machine, wherein the first hoisting machine and the second hoisting machine Correction means for correcting the mechanical position error in the vertical direction, and alignment means for performing relative alignment of the first hoisting machine and the second hoisting machine, The correction means corrects the mechanical position error before performing the alignment by the alignment means.
  • One aspect of the present invention is a lifting device having a first hoisting machine and a second hoisting machine, and means for specifying the positions of the first hoisting machine and the second hoisting machine; And a correction means for correcting the position of the first hoisting machine to a predesignated height and the position of the second hoisting machine to a predesignated height.
  • the transported object C is hoisted using two hoisting machines A and B.
  • the hoisting machine A includes a crane hook 1a, a wire rope 2a, a hoisting induction motor (motor) 3a, a hoisting device 4a, a traverse induction motor (motor) 5a, a traversing device 6a, a hoisting / traverse inverter device 8a, It consists of an input device 9 for operation and a three-phase power supply 16.
  • the hoisting machine B includes a crane hook 1b, a wire rope 2b, a hoisting induction motor (motor) 3b, a hoisting device 4b, a traverse induction motor (motor) 5b, a traversing device 6b, and a hoisting / traverse inverter device. (Control unit) 8b.
  • the hoisting induction motor (motor) 3a is provided with an induction motor brake 10a and an encoder 11a, and the traverse induction motor (motor) 5a is provided with an induction motor brake 10a.
  • the hoist / row inverter device 8a is provided with a hoist / row inverter control unit 12a, an inverter 13a for hoisting, and an inverter 14a for traversing.
  • the hoisting induction motor 3b is provided with an induction motor brake 10b and an encoder 11b
  • the traverse induction motor 5b is provided with an induction motor brake 10b.
  • the hoist / row inverter device 8b is provided with a hoist / row inverter control unit 12b, a hoist inverter 13b, and a traverse inverter 14b.
  • the transported goods (baggage) C attached to the crane hooks 1a and 1b are wound with hoisting motors 3a and 3b.
  • the wire ropes 2a and 2b are moved up and down by the upper devices 4a and 4b, respectively, and moved up and down.
  • the hoisting machine A and the hoisting machine B are rotated along the traverse girder 7 by rotating the wheels (not shown) in the traversing apparatuses 6a and 6b by the traverse induction motors 5a and 5b. Moving.
  • the co-suspending control device has an interlocking mode and a single-action mode.
  • the interlocking mode is a mode in which the A-side hoisting machine A and the B-side hoisting machine B operate in conjunction with each other.
  • the single action mode is a mode in which only one of the A-side hoisting machine A and the B-side hoisting machine B operates.
  • the input device 9 shown in FIG. 2 is used to switch between the interlocking mode and the single-action mode, and the operation of the A-side hoisting machine A or the operation of the B-side hoisting machine B in the single-action mode.
  • the hoisting and induction motors 3a and 3b and the traverse induction motors 5a and 5b are respectively controlled by the hoisting and traverse inverter controllers 12a and 12b of FIG. 2 provided in the hoisting and traversing inverter devices 8a and 8b.
  • the hoisting and traverse inverter control units 12a and 12b control the hoisting inverters 13a and 13b and the traverse inverters 14a and 14b, respectively.
  • the hoisting devices 4a and 4b are moved in the lateral direction along the traverse girder 7, respectively.
  • the hoisting / traverse inverter control units 12a, 12b also provide information on the encoders 11a, 11b that detect the rotational speeds of the hoisting induction motors (motors) 3a, 3b, that is, position information. 12b is used to control suspension control.
  • the A-side hoisting machine A acquires the position information, speed information, and operating state information of the B-side hoisting machine B via the serial communication 15, and instructs the B-side hoisting machine B to operate.
  • serial communication not only serial communication but also wireless or infrared communication can be implemented. Note that when performing wired serial communication or parallel communication, it is effective because it is less affected by the surrounding environment.
  • the B-side hoisting machine B selects the operation speed by operating information from the input device 9 and operation instructions from the A-side hoisting machine A via the serial communication 15 with the A-side hoisting machine A. Works.
  • FIG. 3 shows that mechanical errors occur between the A-side hoisting machine A and the B-side hoisting machine B due to the drum diameter of the hoisting devices 4a and 4b and the elongation of the wire ropes 2a and 2b.
  • Position information from the encoders 11a and 11b is input to the hoisting and traverse inverter control units 12a and 12b as pulse waveforms, respectively, and the hoisting and traverse inverter control units 12a and 12b recognize the position based on the input number of pulses.
  • the encoders 11a and 11b that are generally used are an increment method, it is necessary to inform the hoist / row inverter control units 12a and 12b of the zero position. For example, the position (upper limit position) where the crane hooks 1a and 1b cannot move further upward is set to zero, that is, the number of pulses is zero.
  • the position is determined by counting the number of pulses.
  • the crane hooks 1a, 1b of the hoisting machine A on the A side and the hoisting machine B on the B side are moved near the ground as the lower limit position.
  • ⁇ ⁇ Mechanical errors occur when the horizontal position of the appearance is adjusted.
  • the number of detected pulses of the A-side hoisting machine A is 1006, and the number of detected pulses of the B-side hoisting machine is 1000, resulting in positional deviation.
  • the mechanical error correction process is performed by the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A.
  • the error correction process is preferably executed periodically, for example, every 10 ms.
  • the process start operation is started by operating a setting button (not shown) provided in the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A.
  • the operation for starting the processing may be started by a signal input state from the input device 9. If there is the acquisition operation, the pulse difference at that time (B side pulse-A side path) is taken in (S102), and the correction ratio is calculated (S103).
  • the pulse difference is input by operating a setting button (not shown) provided in the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A. May be.
  • the pulse difference at the time when the pulse difference capturing signal from the input device 9 is input may be used.
  • the pulse of the A-side hoisting machine A is corrected according to the correction ratio.
  • the correction ratio acquisition operation is not performed, the number of pulses as detected can be obtained. Further, the calculated correction ratio is stored and stored in a storage unit (not shown) provided in the hoisting / running inverter control unit 12a.
  • the number of detected pulses of the A side hoisting machine A is 1006, and the number of detected pulses of the B side hoisting machine B is In the case of 1000, the pulse difference becomes -6 (the crane hook 1a of the A-side hoisting machine A is 6 pulses higher than the crane hook 1b of the B-side hoisting machine B).
  • the correction ratio becomes 1 + ( ⁇ 6 ⁇ 1006) ⁇ 0.9940, and when the number of pulses of the winding machine A on the A side is corrected, 1006 ⁇ 0.9940 ⁇ 1000. Accordingly, the correction can be normally performed because the number coincides with the number of detected pulses 1000 of the winding machine B on the B side.
  • the mechanical error correction process is a process that is executed periodically, it can be operated with the number of pulses corrected appropriately by executing the process before the alignment control.
  • the sling position for carrying out the co-hanging is often different between the A-side hoisting machine A and the B-side hoisting machine B.
  • FIG. 5 is a diagram showing the horizontal holding operation and the position holding operation of the co-suspending control.
  • the crane hooks 1a and 1b of the hoisting machine A on the A side and the hoisting machine B on the B side keep the horizontal position, that is, operate while controlling the speed so that the difference in the number of pulses becomes zero. It is a mode to do.
  • the difference in the positions of the crane hooks 1a and 1b of the hoisting machine A on the A side and the hoisting machine B on the B side is memorized to hold the difference in the number of pulses. It is a mode to drive while controlling the speed.
  • the co-suspending operation selection control process is performed by the hoisting / traversing inverter control unit 12a of the hoisting machine A on the A side.
  • the process is preferably executed periodically, for example, every 10 ms.
  • switching between the horizontal holding operation and the position holding operation is performed by confirming whether there is an instruction to select the co-suspending operation mode (S201).
  • the selection instruction is started by operating a setting button (not shown) provided in the hoisting / traverse inverter control unit 12a of the A-side hoisting machine A.
  • the selection instruction in the state of the horizontal holding operation instruction (S202), the horizontal holding operation (S203) or the position holding operation (S204) is selected.
  • the difference in the number of pulses used for each operation control, that is, the alignment reference is determined.
  • the co-suspending operation control mode is determined (S205).
  • the alignment reference is set to zero. If it is the position holding operation mode, the state of the “input” signal of the input device 9 is confirmed (S207). If this signal state is OFF, the difference between the current number of detection pulses on the A side and the number of detection pulses on the B side is calculated. The alignment reference is used (S209).
  • the “ON” signal state is ON, it is confirmed whether or not the single-action mode is switched to the interlocking mode (S208), and if it is switched, the difference between the current A-side detection pulse number and the B-side detection pulse number is The alignment reference is used (S209).
  • the correction ratio of the number of detected pulses can be corrected by calculating the correction ratio of the mechanical error between the two hoisting machines A and B due to the drum diameter and the elongation of the wire ropes 2a and 2b. it can. Thereby, the mechanical error between the hoisting machines A and B can be corrected.
  • the relative positional relationship can be easily set by operating the input device 9 according to the shape of the transported object (suspended load) D, and the mode to be operated can be easily set by operating the input device 9. can do.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

La présente invention comprend : un moyen de correction destiné à corriger une erreur dans les positions mécaniques d'une première machine de levage et d'une seconde machine de levage dans la direction ascendante-descendante ; et un moyen de positionnement destiné à positionner la première machine de levage et la seconde machine de levage l'une par rapport à l'autre. Le moyen de correction corrige l'erreur de position mécanique avant que le positionnement ne soit effectué à l'aide du moyen de positionnement.
PCT/JP2017/047126 2017-01-23 2017-12-27 Dispositif de commande de levage double destiné à une machine de levage et dispositif de levage destiné à une machine de levage Ceased WO2018135285A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201780083092.6A CN110167866B (zh) 2017-01-23 2017-12-27 卷扬机的共吊控制装置和卷扬机的起吊装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-009069 2017-01-23
JP2017009069A JP6731357B2 (ja) 2017-01-23 2017-01-23 巻上機の共吊制御装置および巻上機の吊上げ装置

Publications (1)

Publication Number Publication Date
WO2018135285A1 true WO2018135285A1 (fr) 2018-07-26

Family

ID=62908621

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2017/047126 Ceased WO2018135285A1 (fr) 2017-01-23 2017-12-27 Dispositif de commande de levage double destiné à une machine de levage et dispositif de levage destiné à une machine de levage

Country Status (3)

Country Link
JP (1) JP6731357B2 (fr)
CN (1) CN110167866B (fr)
WO (1) WO2018135285A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102473986B1 (ko) * 2020-12-22 2022-12-06 주식회사 부명 리프팅 장치들을 포함하는 시스템

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000053382A (ja) * 1998-08-11 2000-02-22 Hitachi Ltd ホイスト、及びこれを複数備えたホイスト設備
JP2005350223A (ja) * 2004-06-11 2005-12-22 Hitachi Home & Life Solutions Inc インバータ駆動共吊り巻上機
JP2014525381A (ja) * 2011-08-26 2014-09-29 デマグ クレインズ アンド コンポーネンツ ゲーエムベーハー 少なくとも２つの昇降装置、特にクレーンを平行して動作させるための方法及び制御アセンブリ

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103145041B (zh) * 2013-03-12 2015-01-21 中联重机股份有限公司 一种卷扬机构的卷扬位置的检测方法、控制器、检测系统及起重机
JP6623112B2 (ja) * 2016-04-15 2019-12-18 株式会社日立産機システム 巻上機および巻上機の制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000053382A (ja) * 1998-08-11 2000-02-22 Hitachi Ltd ホイスト、及びこれを複数備えたホイスト設備
JP2005350223A (ja) * 2004-06-11 2005-12-22 Hitachi Home & Life Solutions Inc インバータ駆動共吊り巻上機
JP2014525381A (ja) * 2011-08-26 2014-09-29 デマグ クレインズ アンド コンポーネンツ ゲーエムベーハー 少なくとも２つの昇降装置、特にクレーンを平行して動作させるための方法及び制御アセンブリ

Also Published As

Publication number Publication date
CN110167866B (zh) 2020-11-24
JP2018118791A (ja) 2018-08-02
JP6731357B2 (ja) 2020-07-29
CN110167866A (zh) 2019-08-23

Similar Documents

Publication Publication Date Title
US9405292B2 (en) Delivery vehicle and method and program for controlling drive of delivery vehicle
JP2006501115A (ja) 貨物の位置決め方法と装置
JPH10167662A (ja) クレーンの巻き下げ衝突防止装置
WO2018135285A1 (fr) Dispositif de commande de levage double destiné à une machine de levage et dispositif de levage destiné à une machine de levage
WO2014184926A1 (fr) Dispositif d'ascenseur
WO2019138616A1 (fr) Machine de levage
JP2008037539A (ja) クレーンおよびクレーンの制御方法
CN111542484B (zh) 起重机设备
JP2010095322A (ja) クレーン及びクレーンによるコンテナの吊り下ろし方法
JP6352201B2 (ja) クレーン装置
JP2000053382A (ja) ホイスト、及びこれを複数備えたホイスト設備
JP6777154B2 (ja) 走行台車システム及び走行制御方法
JP5809788B2 (ja) 地切り停止機構付き電動巻上機
JP2003012273A (ja) クレーン設備の同調装置
JP5399010B2 (ja) 物品収納設備
KR20180056081A (ko) 크레인의 안전 제어 장치 및 방법
JP6610999B2 (ja) 岸壁クレーン
JP2016055942A (ja) 搬送車システム
JP7405651B2 (ja) 電動巻上機における吊荷の着床制御方法
JP2001278579A (ja) 吊り荷の振れ止め制御方法および制御装置
JP6369671B2 (ja) デッキクレーンシステム、船舶および制御方法
KR101752551B1 (ko) 중량물 이동 크레인 유닛
CN113710605B (zh) 电动机控制装置、电动机信息计算程序及电动机信息计算方法
CN113302144B (zh) 电动机控制装置
JP2005350223A5 (fr)

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17892467

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 17892467

Country of ref document: EP

Kind code of ref document: A1