CN109476469B

CN109476469B - Position setting device for traction machine

Info

Publication number: CN109476469B
Application number: CN201780043898.2A
Authority: CN
Inventors: 及川裕吾
Original assignee: Hitachi Industrial Equipment Systems Co Ltd
Current assignee: Hitachi Industrial Equipment Systems Co Ltd
Priority date: 2016-12-27
Filing date: 2017-05-29
Publication date: 2020-06-26
Anticipated expiration: 2037-05-29
Also published as: CN109476469A; JP6612474B2; WO2018123104A1; JPWO2018123104A1

Abstract

The input device for applying an operation instruction includes: an operation instruction unit for operating the hoisting machine; an upward operation instruction section that instructs switching between upward low-speed operation and upward high-speed operation; and a downward operation instruction section that instructs switching between the downward low-speed operation and the downward high-speed operation. When the operation indicating section is set to the operation non-permission state, the upward operation indicating section or the downward operation indicating section is operated to shift to the position setting mode, and at least one position among an upper limit stop point position, a lower limit stop point position, an upward shift point position, and a downward shift point position of the hook is set.

Description

Position setting device for traction machine

Technical Field

The present invention relates to a position setting device for a hoisting machine.

Background

Generally, an inverter type hoisting machine has an electronic upper and lower limit stop function and an upward and downward shift point function. The upper and lower limit stop function is a function of prohibiting an operation beyond a set position by setting an arbitrary position by a user. By setting the upper and lower limit stop function in accordance with the installation environment, it is possible to prevent the suspended heavy object from colliding with the building structure or the like.

The upward/downward shift point function is a function of prohibiting a high-speed operation when a position is set by a user and the position is exceeded. With this upward-downward shift point function, it is possible to alleviate the impact when the heavy object is landed and to notify the operator of the approach to the upper and lower limit positions.

In the upper and lower limit stop function and the upward and downward shift point function, an arbitrary position can be set. In this case, the circuit board mounted on the control panel needs to be operated to set an arbitrary position. However, the control panel is usually installed on the top of a building having a hoisting machine. Therefore, in order to set an arbitrary position, the operator must go to the top of the building.

Thus, patent document 1 describes a position setting device for a hoisting machine that enables an operator to set an arbitrary position without going to the top of a building. Specifically, in patent document 1, the emergency stop button of the push button switch located at the hand of the operator is turned on to switch from the operation mode to the setting mode, and the upper operation button or the lower operation button is operated to release or set the setting position.

Documents of the prior art

Patent document

Patent document 1: japanese laid-open patent publication No. 2010-148243 (patent No. 5234779)

Disclosure of Invention

Technical problem to be solved by the invention

However, in patent document 1, when the emergency stop button is turned on, the power supply to the control circuit board and the common line of the other operation buttons are disconnected. Therefore, a control structure is required in which even when the emergency stop button is turned on, the power supply to the control circuit board and the common line of the other operation buttons are not disconnected. In general, in view of safety, even if the emergency stop button is turned off, the power supply to the control circuit board and the common line of the other operation buttons are not disconnected.

Therefore, in patent document 1, it is difficult to set the upper and lower limit stop positions or the upward and downward shift position at arbitrary positions using a switch located at the hand of the operator unless a control structure is employed in which the power supply to the control circuit board and the collinearity of the other operation buttons are not disconnected.

The invention aims to provide a position setting device of a tractor, which can set an upper and lower limit stop position or an up-down gear position at an arbitrary position by using an input device positioned at the hand of an operator without adopting a complicated control structure.

Means for solving the problems

One aspect of the present invention is a position setting device for a hoisting machine for setting a position of a hook of the hoisting machine, the position setting device including: a control part for controlling the position of the hook; and an input device for giving an operation instruction, the input device including: an operation instruction unit for causing the control unit to be in an operation permission state or an operation non-permission state; an upward operation indicating part for indicating the switching between the upward low-speed operation and the upward high-speed operation of the hook; and a downward operation instructing unit that instructs switching between a downward low-speed operation and a downward high-speed operation of the hook, wherein the control unit shifts to a position setting mode in accordance with an operation instruction from the upward operation instructing unit or the downward operation instructing unit when the operation instructing unit is in the operation non-permitted state, and sets at least one of an upper limit stop point position, a lower limit stop point position, an upward shift point position, and a downward shift point position of the hook.

Effects of the invention

According to the present invention, the upper and lower limit stop positions or the upward and downward shift position can be set at arbitrary positions using the input device located at the hand of the operator, without using a complicated control structure.

Drawings

Fig. 1 is a block diagram showing a control configuration of a position setting device for a hoisting machine according to an embodiment of the present invention.

Fig. 2 is a perspective view showing the overall structure of the inverter-type crane apparatus.

Fig. 3 is a block diagram showing a configuration of a control unit of the inverter-type crane device.

Fig. 4 is a diagram for explaining the operation of the upper and lower limit stop function.

Fig. 5 is a diagram for explaining the operation of the upward-downward shift point function.

Fig. 6 is a flowchart showing the position setting process.

Detailed Description

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

First, the structure of the inverter-type crane apparatus will be described with reference to fig. 2 and 3. As shown in fig. 2 and 3, the inverter-type crane apparatus includes a hook 1, a cable 2, a hoisting induction motor (motor) 3, a hoisting device 4, a lateral traveling induction motor (motor) 5, a lateral traveling device 6, a lateral traveling truss 7, a traveling induction motor (motor) 8, a traveling device 9, a traveling truss 10, a hoisting/lateral traveling inverter device (hereinafter, referred to as a main control unit) 11, an input device 13, and a traveling inverter device 18. The lift induction motor 3 incorporates an induction motor brake 16 and an encoder 17, and the traverse induction motor 5 and the travel induction motor 8 each incorporate an induction motor brake 16.

The hoist/traverse inverter device 11 incorporates a hoist/traverse inverter control unit 12, a hoist inverter 14, and a traverse inverter 15. The travel inverter device 18 incorporates a travel inverter control unit 19 and a travel inverter 20. The hoisting inverter 14, the lateral traveling inverter 15, and the traveling inverter 20 are connected to a three-phase power supply 30, respectively. The hoist/lateral travel inverter control section 12 and the travel inverter control section 19 are connected to the input device 13.

The inverter type crane apparatus moves a weight attached to the hook 1 in the Y direction (indicated by arrows in the Y direction and the-Y direction), that is, in the up-down direction by raising and lowering the cable 2 by a raising device 4 having a raising induction motor 3. Further, in the X direction (indicated by an arrow in the X direction or the — X direction), the traverse induction motor 5 rotates a wheel positioned in the traverse device 6, and moves in the X direction along the traverse truss 7. In the Z direction (indicated by arrows in the Z direction and the-Z direction), the travel induction motor 8 rotates wheels provided in the travel device 9 and moves in the Z direction along the travel truss 10.

The lift induction motor 3 and the lateral travel induction motor 5 are controlled by a lift/lateral travel inverter control unit 12 shown in fig. 2 provided in a lift/lateral travel inverter device 11. That is, when an operator (operator) inputs a predetermined instruction from the input device 13, the hoist/lateral travel inverter control unit 12 controls the hoist inverter 14 and the lateral travel inverter 15. The frequency, voltage, and current necessary for control are applied to the lift induction motor 3 and the lateral travel induction motor 5 from the lift inverter 14 and the lateral travel inverter 15, and the induction motor brake 16 is controlled to be released. Thus, in the case of the lifting device 4, the weight attached to the hook 1 moves in the Y direction without falling. On the other hand, in the case of the lateral traveling device 6, the lifting device 4 moves in the X direction along the lateral traveling truss 7.

The lifting/traversing inverter control unit 12 takes in information from an encoder 17 that detects the rotation speed of the motor 3, determines the position of the hook 1, and uses the determined position for operation control. Similarly, when the operator inputs a predetermined instruction from the input device 13, the travel induction motor 8 attached to the travel device 9 controls the travel inverter 20 by the travel inverter control unit 19 shown in fig. 2 provided in the travel inverter device 18. The frequency, voltage, and current necessary for control are applied from the traveling inverter 20 to the traveling induction motor (motor) 8, and the brake 16 for the induction motor is released and controlled, whereby the lifting device 4 moves in the Z direction along the traveling truss 10.

Here, a control structure of the position setting device of the hoisting machine according to the embodiment will be described with reference to fig. 1. The input device 13 for operation by the operator includes: an access button 21 (operation instructing unit) for operating the hoisting device 4 (hoisting machine); an upper button 22 (upward operation instructing portion) for instructing switching between the upward low-speed operation and the upward high-speed operation; and a lower button 23 (downward operation instructing portion) for instructing switching between the downward low-speed operation and the downward high-speed operation. When the access button 21 (operation instructing unit) is in the off state (operation non-permission state), the position setting mode is shifted by operating the up button 22 (upward operation instructing unit) or the down button 23 (downward operation instructing unit). In a state where the access button 21 (operation instructing section) is turned off (operation disabled state), an upper limit stop point position, a lower limit stop point position, an upward shift point position, or a downward shift point position of the hook 1 is set.

As shown in fig. 1, the access button 21 is provided in line with the input device 13, and the power is supplied to the operation buttons such as the up button 22 and the down button 23 by turning the access button 21 on (operation permission state). Further, the access button 21 is turned on, and thereby the main power switch 24 is energized. Thus, the power is supplied to the hoist inverter 14 and the like by turning on the contact of the main power switch 24. Further, by turning on the on button 21, the up/down inverter control unit 12 determines that it is in the on state, and enters the operation permission state.

The up button 22 and the down button 23 have, for example, a two-stage button configuration, and output a low-speed operation instruction in the first stage, and output a signal in the second stage by being further pressed, thereby outputting a high-speed operation instruction. Specifically, the up button 22 is pressed down at a first level to indicate upward low-speed operation, and pressed down at a second level to indicate upward high-speed operation. On the other hand, the down button 23 indicates a downward low-speed operation instruction with a first-stage depression, and indicates a downward high-speed operation with a second-stage depression.

Here, the upper and lower limit stop function and the upward and downward shift point function will be described with reference to fig. 4 and 5. As shown in fig. 4, the operator arbitrarily sets the position of the upper limit stop point 25 or the lower limit stop point 26, and prohibits the operation beyond the upper limit stop point 25 or the lower limit stop point 26. Further, by starting the forced deceleration just before the position of the upper limit stop point 25 or the lower limit stop point 26, the vehicle stops without exceeding the position of the upper limit stop point 25 or the lower limit stop point 26. The upper limit stop point 25 or the lower limit stop point 26 may be set for both or only one of them.

Here, the lift/lateral travel inverter control unit 12 performs automatic calculation based on the operating speed at each time point, and sets a position 27 at which forced deceleration is started. The initial setting of the position of the upper limit stop point 25 or the lower limit stop point 26 is performed by the operation of a key switch (not shown) provided in the lift/lateral travel inverter control unit 12. Specifically, after the mode is switched to the set mode by the operation of the key switch provided in the lift/lateral travel inverter control unit 12, the hook 1 is moved to a position at which it is actually intended to stop, and then the position is determined by the operation of the key switch of the lift/lateral travel inverter control unit 12.

Further, as shown in fig. 5, the operator arbitrarily sets the position of the upward shift point 28 or the downward shift point 29, thereby prohibiting high-speed operation beyond the upward shift point 28 or the downward shift point 29. Further, both the upward shift point 28 and the downward shift point 29 may be set, or only one may be set. The initial setting of the upward shift point 28 or the downward shift point 29 is performed by the operation of a key switch provided to the lift/lateral travel inverter control portion 12. Specifically, the hook 1 is moved to a position at which it is actually intended to be stopped after shifting to a setting mode by operation of a key switch provided in the lift/lateral travel inverter control unit 12, and then the position is determined by operation of the lift/lateral travel inverter control unit 12.

Here, there are two operation modes at the upward shift point 28 or the downward shift point 29, and the operation modes can be set at the time of setting the upward shift point 28 or the downward shift point 29. As shown in fig. 5, mode 1 is to operate the corresponding shift point in the operating direction. For example, since only the upper shift point 28 is operated during the upward operation, when the hook 1 is located below the set position of the lower shift point 29, the high-speed operation is performed without performing the low-speed operation even if the upward high-speed operation instruction is performed. In the mode 2, the low speed operation is performed based on the set position of the shift point regardless of the operation direction. For example, when the hook 1 is positioned below the set position of the downward shift point 29 and the upward high-speed operation instruction is given, the low-speed operation is performed.

Next, a method of setting the positions of the upper limit stop point 25, the lower limit stop point 26, the upward shift point 28, and the downward shift point 29 using the input device 13 will be described with reference to fig. 6. This position setting process is performed by the lift/lateral travel inverter control unit 12. Further, the position setting process is periodically executed, for example, every 1 ms. Here, as described above, the initial setting of the positions of the upper limit stop point 25, the lower limit stop point 26, the upward shift point 28, and the downward shift point 29 is performed by the operation of the key switch (not shown) provided in the lift/lateral travel inverter control portion 12. However, in the present embodiment, the positions of the upper limit stop point 25, the lower limit stop point 26, the upward shift point 28, and the downward shift point 29 are arbitrarily set using the input device 13.

Hereinafter, a method of arbitrarily setting the positions of the upper limit stop point 25, the lower limit stop point 26, the upward shift point 28, and the downward shift point 29 using the input device 13 will be described in detail with reference to fig. 6.

It is first determined whether or not the setting mode is in (S101). If not, it is determined whether the operation is stopped at the upper limit stop point position or the lower limit stop point position (S102). If the vehicle is stopped at the upper limit stop point position or the lower limit stop point position, the operation input is determined (S103), and the vehicle shifts to any one of the setting modes according to the operation input state (S104 to S107).

Specifically, in a state where the on signal of the on button 21 indicates off (operation non-permission state), the upward low-speed operation is instructed by operating the up button 22, and the shift mode is shifted to the upward shift position setting mode (S104). Further, in a state where the on signal of the on button 21 indicates off, the downward low-speed operation is instructed by operating the down button 23, and the mode shifts to the downward shift position setting mode (S105). In a state where the on signal of the on button 21 indicates off, the upward high-speed operation is instructed by operating the up button 22, and the operation shifts to the upper limit stop point position setting mode (S106). Further, in a state where the on signal of the on button 21 indicates off, the down button 23 is operated to instruct high-speed operation, and the mode shifts to the lower limit stop point position setting mode (S107).

If the shift is not being performed at the stop point position but at the upward shift point position or the downward shift point position (S108), the operation input state (S109) is changed to the upward shift point position setting mode (S110) or the upward shift point position setting mode (S111). This is to shift to the set mode when only the upward-downward shift point function is used without using the upper-lower limit stop function.

Specifically, in a state where the on signal of the on button 21 indicates off, the up button 22 is operated to instruct the upward low-speed operation, and the shift mode is shifted to the upward shift position setting mode (S110). Further, in a state where the on signal of the on button 21 indicates off, the downward low-speed operation is instructed by operating the down button 23, and the mode is shifted to the downward shift position setting mode (S111).

Next, if the setting mode is being set (S101), the operations of the upper and lower limit stop function and the upward and downward shift point function are first stopped (S112). This is because, for example, when the upper limit stop point is set, there is a problem that the upper limit stop point cannot be moved upward, and the operation of the function is stopped so that an arbitrary position can be set.

Next, the state of the access signal of the access button 21 is determined (S113). Since the up-down operation is possible if the on signal indicates on (operation permission state), for example, when the current setting mode is the up shift position setting mode, the up button 22 or the down button 23 is operated to move the hook 1 to a position where the up shift position is desired to be set (S114). When the position is the position desired to be set, the access signal is turned off (S115), the setting mode is determined (S116), and the current position is set as the position corresponding to each setting mode and stored (S117 to S120).

Specifically, in the upward shift position setting mode, the current position is set as the upward shift position (S117). In the down-shift position setting mode, the current position is set to the down-shift position (S118). In the upper limit stop point position setting mode, the current position is set as the upper limit stop point position (S119). In the lower limit stop point position setting mode, the current position is set as the lower limit stop point position (S120). The stored set position is stored in the nonvolatile RAM so as not to be erased even when the power is turned off. After storing the position, the operation shifts to the normal mode (S121).

Here, the on button 21 is turned off, and the main power switch 24 is turned off, thereby stopping the supply of power. However, the operation information and the like are generally stored when the access signal of the access button 21 indicates off. Thus, the power supply to the up/down inverter control unit 12 for ensuring the storage processing time is performed by, for example, a discharge phenomenon of a capacitor. Therefore, even if the power supply is turned off, the power supply to the lift/lateral travel inverter control section 12 can be performed for a certain period of time, and therefore the process is not stopped.

The input device 13 is configured to stop the energization of the operation buttons such as the upper button 22 and the lower button 23 by turning off the access button 21, but if the off detection timing of the access button 21 is shifted from the off detection timing of the upper button 22 and the lower button 23, only the access signal of the access button 21 can instruct the off state in the state where the operation buttons such as the upper button 22 and the lower button 23 are turned on. Alternatively, the state of the up operation or the down operation may be managed separately from the input detection under a specific condition. For example, if the upper operation state for position change is managed to be on when there is an upper operation in the upper limit stop state, only the on signal of the on button 21 indicates off in the state where the operations of the upper button 22 and the lower button 23 are on.

With the above embodiment, even if the power supply to the crane is turned off by turning off the access button 21 and the power supply to the other operation button circuits is turned off by turning off the access button 21, the input device 13 can perform the electronic upper and lower limit stop position setting and the cancellation or setting of the up and down shift position setting. This enables the operator to perform optimum setting in accordance with the work at each time.

Description of the reference numerals

1 lifting hook

2 Cable

3 lifting induction motor

4 lifting device

5 lateral travel induction motor

6 device for transverse travel

7 truss for transverse traveling

8-marching induction motor

9 traveling device

10 truss for traveling

11 hoisting/traversing inverter apparatus

12 hoist/lateral travel inverter control section

13 operation input device

14 inverter for hoisting

15 inverter for transverse travel

16 brake for induction motor

17 encoder

18-travel inverter device

19 travel inverter control unit

20 travel inverter

21 Access button

22 upper button

23 lower button

24 main power switch

25 upper limit stop point

26 lower limit stop point

27 position at which forced deceleration starts

28 upward shift point

29 downward shift point

30 three-phase power supply.

Claims

1. A position setting device for a hoisting machine for setting a position of a hook of the hoisting machine, comprising:

a control unit for controlling the position of the hook; and

an input device for giving an operation instruction,

the input device includes:

an operation instruction unit for causing the control unit to be in an operation permission state or an operation non-permission state;

an upward operation indicating section for indicating switching between upward low-speed operation and upward high-speed operation of the hook; and

a downward operation indicating part for indicating the switching between the downward low-speed operation and the downward high-speed operation of the hook,

the control unit shifts to a position setting mode in accordance with an operation instruction from the upward operation instructing unit or the downward operation instructing unit when the operation instructing unit is in the operation non-permission state, and sets at least one position of an upper limit stop point position, a lower limit stop point position, an upward shift point position, and a downward shift point position of the hook,

the control unit is configured to be able to shift to the position setting mode even in a state where the power supply to the upward operation instructing unit, the downward operation instructing unit, and the hoisting machine is disconnected by the operation non-permission state.

2. The position setting device of the hoisting machine according to claim 1, wherein:

the control unit sets the current position of the hook in the operation-prohibited state to the upper limit stop point position, the lower limit stop point position, the upward shift point position, or the downward shift point position in the position setting mode.

3. The position setting device of the hoisting machine according to claim 2, wherein:

the control section executes the following processing:

when the downward high-speed operation is instructed by the downward operation instructing section in a state where the operation instructing section is not permitted to perform the operation, the operation mode is shifted to a setting mode of the lower limit stop point position,

in the operation-prohibited state, when the downward low-speed operation is instructed by the downward operation instructing portion, the mode is shifted to a setting mode of the downward shift point position,

in the operation-prohibited state, when the upward low-speed operation is instructed by the upward operation instructing unit, the mode is shifted to a setting mode of the upward shift position,

in the operation non-permission state, when the upward operation instructing unit instructs the upward high-speed operation, the operation mode is shifted to a setting mode of the upper limit stop point position.

4. The position setting device of the hoisting machine according to claim 1, wherein:

the operation instructing unit is configured to make a transition to the position setting mode in the operation non-permitted state by utilizing a discharge phenomenon of a capacitor provided in the hoisting machine.

5. The position setting device of the hoisting machine according to claim 1, wherein:

the operation instructing unit is configured to shift to the position setting mode in the operation non-permission state, and the control unit detects that the detection timing of the operation instructing unit in the operation non-permission state is shifted from the detection timing of the upward operation instructing unit or the downward operation instructing unit.

6. The position setting device of the hoisting machine according to claim 1, wherein:

when the operation instructing unit is in the operation permission state, the control unit performs energization to the upward operation instructing unit and the downward operation instructing unit, and shifts to a normal operation mode in which the control unit is in the operation permission state to operate the hoisting machine.