A combined crane with synchronous coordination function

Abstract

The present invention provides a crane with a winding and lifting synchronous coordination function, which can synchronize and coordinate the load sharing of each hook when three or more hooks are used for joint lifting. The present invention controls the speed of the winding and lifting motors (IM) of the plurality of hooks (H) by respectively controlling the speed to become slower when the motor load becomes larger during winding and faster when the motor load becomes smaller, and to become faster when the motor load becomes smaller during winding and lowering, respectively. Thus, the following actions are performed, namely: during winding and lifting, the speed of the winding and lifting motors (IM) of the plurality of hooks (H) is controlled to become slower when the motor load becomes larger and faster when the motor load becomes smaller. When the lifting and closing hoisting is in linkage, the speed of the hook (H) with a larger load share than other hooks (H) becomes slower than that of other hooks (H), and the speed of the hook (H) with a smaller load share than other hooks (H) becomes faster than that of other hooks (H); and when the lowering and closing hoisting is in linkage, the speed of the hook (H) with a larger load share than other hooks (H) becomes faster than that of other hooks (H), and the speed of the hook (H) with a smaller load share than other hooks (H) becomes slower than that of other hooks (H). Thus, when multiple hooks (H) are in linkage for closing and closing, the multiple hooks (H) share the load with each other.

Description

Technical Field

[0001] The present invention relates to a combined lifting linkage crane for transporting long objects and heavy objects by using a plurality of lifting hooks for combined lifting linkage, and in particular to a combined lifting linkage crane with a synchronous coordination function for this purpose. Background Art

[0002] When transporting long objects or heavy objects, two cranes are sometimes used for joint lifting. For example, a long object such as a railway vehicle with load points near both ends can be reasonably transported by two joint cranes.

[0003] Furthermore, when transporting huge heavy objects, using two cranes for hanging them can disperse the load applied to the building or foundation over a wider range through each crane, compared to using one huge crane for hanging them, thereby making it possible to reduce the cost of the building or foundation.

[0004] In addition, in the case of a bridge crane, it is possible to lower the building ceiling or to bring the crane closer to the end of the building.

[0005] Furthermore, when heavy objects are not transported, the work can be divided and performed by each crane, which has various advantages such as high work efficiency.

[0006] In order to meet the demand for joint lifting using two cranes, various technologies have been proposed in the past (for example, refer to Patent Documents 1 to 3).

[0007] Prior Art Literature

[0008] Patent Literature

[0009] Patent Document 1: Japanese Patent Application Laid-Open No. 7-237885

[0010] Patent Document 2: Japanese Patent Application Laid-Open No. 8-217378

[0011] Patent Document 3: Japanese Patent Application Publication No. 2016-147726 Summary of the invention

[0012] Problems to be solved by the invention

[0013] In addition, if the hoisted transported object becomes longer and larger, it may be necessary to use three or more cranes (three or more hooks) instead of two cranes (two hooks) to lift it, thereby achieving a cost-effective system.

[0014] However, in the technologies disclosed in the above-mentioned patent documents 1 to 3, if more than three cranes (more than three hooks) are used to carry out lifting in a coordinated manner, there may be phenomena such as one of the hooks becoming overloaded or one of the hooks floating. The coordinated lifting of more than three hooks is difficult to achieve with the previous technology, and new technology is needed to carry out the coordinated lifting of more than three hooks.

[0015] Here, in the case of linking and lifting more than three hooks, in order to simultaneously give winding-up and lifting / winding-down instructions to multiple cranes, a serial communication device using wireless, light, etc. as a medium is used, so that signals can be reasonably sent to each crane. However, when using serial communication, the timing of receiving the signal by each crane will deviate slightly, so there will be a slight deviation in the timing of starting, which will cause an imbalance in load sharing among more than three hooks.

[0016] In addition, in the winding and lifting control, when the hanging load is light, a light-load high-speed operation control that increases the speed by exceeding the rated speed is sometimes adopted. However, since the state of exceeding the rated speed is a state of reduced motor torque, if the load sharing rate of the linked hook changes during high-speed operation, there is a risk of insufficient torque. Therefore, light-load high-speed operation during linked operation is usually not adopted.

[0017] The present invention has been made in view of the above-mentioned problems in the case of conventionally performing interlocking lifting using three or more hooks, and an object of the present invention is to provide an interlocking lifting crane having a synchronous coordination function for performing interlocking lifting using three or more hooks.

[0018] Solutions to Solve Problems

[0019] In order to solve the above-mentioned problems, in the combined lifting linkage crane with synchronous coordination function of the present invention, the method of making the position and speed consistent is not adopted in the previous combined lifting linkage crane, but it is controlled in a way that allows a certain change in the position and speed to a certain extent and makes the torque generated by each linked winding and lifting motor equal. As a result, combined lifting linkage based on more than three hooks can be carried out.

[0020] Specifically, in a crane that uses more than three hooks for combined lifting, it is characterized in that the speed control of the winding and lifting motors of the multiple hooks is controlled by respectively controlling that when the winding and lifting is performed, the speed becomes slower when the motor load becomes larger, and the speed becomes faster when the motor load becomes smaller, and when the winding and falling is performed, the speed becomes faster when the motor load becomes larger, and the speed becomes slower when the motor load becomes smaller. Thus, the actions are respectively performed in the following manners, namely, when the winding and lifting are combined, the speed of the hook that shares a larger load than other hooks becomes slower than the other hooks, and the speed of the hook that shares a smaller load than other hooks becomes faster than the other hooks, and when the winding and falling are combined, the speed of the hook that shares a larger load than other hooks becomes faster than the other hooks, and the speed of the hook that shares a smaller load than other hooks becomes slower than the other hooks. Thus, when the multiple hooks are combined, the multiple hooks share the load with each other.

[0021] In this case, the setting of the winding and lifting control device of the multiple hooks can be controlled in the following manner: when the capacity of the winding and lifting devices of the multiple hooks is equal, the speed change rate relative to the motor load is made the same; when the capacity of the winding and lifting devices of the multiple hooks is different, the speed change rate relative to the motor load is set to be smaller according to the ratio of the capacity of the winding and lifting devices of each hook, thereby making the load sharing relative to the capacity of the winding and lifting devices of each hook equal.

[0022] In addition, during the winding and lifting linkage or the winding and lowering linkage, with respect to the output speed characteristics when the motor is started, during the winding and lifting, a characteristic that does not generate speed is set in an overload state, and a characteristic that generates low speed is set when the load is reduced. During the winding and lowering, a characteristic that does not generate speed is set when the load is zero, and a characteristic that generates low speed is set when the load is applied. By accelerating after waiting for the linkage time to obtain the load sharing of all hooks after the brake is released, it is possible to prevent overload from being applied to one of the winding and lifting devices in the linkage due to deviations in the reception timing between cranes of the serial communication used as an operating signal, deviations in the characteristics of the brake release, etc.

[0023] In addition, during the winding and lifting linkage or the winding and lowering linkage, each crane is temporarily accelerated to the rated speed, and the light load and high speed speed that can be output by the load torque at the rated speed is calculated in each crane, and the speed is sent to the other cranes that are performing the linkage, and the light load and high speed speed sent from each crane is received. Among the speeds including the light load and high speed speed of its own crane, the slowest speed is used as the speed command value for high-speed operation. When performing light load and high speed operation, the speed is controlled to become slower as the motor load becomes larger during winding and faster as the motor load becomes smaller, and the speed is controlled to become faster as the motor load becomes larger during winding and slower as the motor load becomes smaller during winding. In addition, when winding and lowering, the speed becomes faster as the motor load becomes larger and slower as the motor load becomes smaller. This can prevent the load sharing from deviating during light load and high speed operation.

[0024] That is, during the light-load high-speed operation in the interlocking operation, the load sharing of each hook is controlled to be equal through the above control.

[0025] In this situation, first, each hook is accelerated to the rated speed, the torque value generated by the winding and hoisting motor of each hook at this time is sampled, and the speed that can be accelerated is sent to other cranes. And, among the speeds that can be accelerated of each crane sent by each crane, including its own crane, the slowest speed is set as the speed that can be accelerated of the crane, so that each crane is operated at high speed. At this time, by controlling in such a way that the speed becomes slower as the motor load becomes larger during winding and becomes faster as the motor load becomes smaller, and the speed becomes faster as the motor load becomes smaller during winding and falling, the load sharing ratio between each hook is prevented from changing from the time of torque sampling, thereby preventing the motor torque shortage accompanying the change of the load sharing ratio in the light load high-speed operation.

[0026] In addition, by using a balance between the hooks of the cranes to mechanically allow the linkage deviation between the cranes, it is possible to adopt a linkage structure only within the cranes and improve the reliability of the linkage, for example, it is possible to prevent the torsion of the long object.

[0027] Specifically, the first level can be hoisted together with the first hook of the first crane and the first hook of the adjacent second crane, the second level can be hoisted together with the second hook of the first crane and the second hook of the adjacent second crane, the first level can be hoisted with the first slinging wire rope, the third level can be hoisted together with the first hook of the third crane and the first hook of the adjacent fourth crane, the fourth level can be hoisted together with the second hook of the third crane and the second hook of the adjacent fourth crane, the second slinging rope can be hung with the third and fourth level, and the hanging load of the long object can be hung with the first slinging rope and the second slinging rope.

[0028] Effects of the Invention

[0029] The combined lifting and linkage crane with synchronous coordination function according to the present invention can carry out combined lifting and linkage of more than three hooks, and can make each hook share the load appropriately. For huge products, very long products, etc., more than three hooks (more than three cranes) can safely carry out winding and lifting, winding and lowering of the hanging load without becoming an overload state.

[0030] This allows the load applied to the building to be dispersed, or when there are no large products, the cranes can be dispersed to perform a plurality of operations, thereby improving the operating efficiency of the cranes.

[0031] Furthermore, when three or more hooks are linked together, the motor can be operated at a speed exceeding the rated speed when there is a surplus of torque. Furthermore, since the load sharing can be kept constant during light-load high-speed operation, the efficiency of light-load high-speed operation can be improved without overloading any motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is an explanatory diagram of the overall system of the combined lifting linkage crane with a synchronous coordination function of the present invention.

[0033] Figure 2 This is a diagram to explain the communication mode of linked operation.

[0034] Figure 3 It is a control block diagram of a speed control system of a combined lifting linkage crane with a synchronous coordination function according to the present invention.

[0035] Figure 4 It is an explanatory diagram of the motor characteristics of the combined lifting linkage crane with synchronous coordination function of the present invention.

[0036] Figure 5 This is a diagram for explaining synchronous coordination control when the brake is released at start-up.

[0037] Figure 6 This is a diagram to illustrate light-load and high-speed linkage operation.

[0038] Figure 7 This is an explanatory diagram showing a use example of the combined crane with a synchronous coordination function according to the present invention.

[0039] Figure 8 This is an explanatory diagram showing an example of using a balance of a combined crane with a synchronous coordination function according to the present invention. DETAILED DESCRIPTION

[0040] Hereinafter, an embodiment of a combined crane with a synchronous coordination function according to the present invention will be described using the drawings.

[0041] Figure 1 It is an explanatory diagram of the overall system of the combined lifting linkage crane with a synchronous coordination function of the present invention.

[0042] In the past, two hooks were used for joint lifting.

[0043] This is the case when lifting with more than three hooks (four in the present embodiment) as in the present embodiment. For example, during a winding and lifting operation, when the start of one hook is delayed, the hook does not share the load. Conversely, when the start of one hook becomes faster, the other two of the four hooks do not share the load.

[0044] In the present invention, when hoisting with three or more hooks, synchronous coordination of load sharing is performed.

[0045] Here, Figure 1 The structure comprises four cranes, and an embodiment of the structure in which each crane is equipped with a hook is described, but the linkage of cranes with more than three hooks falls within the scope of application of the present invention. The case in which one crane is equipped with multiple hooks or the structure in which the number of cranes and hooks is five or more also falls within the scope of application of the present invention.

[0046] In each of the four cranes, from the No. 1 crane CR1 to the No. 4 crane CR4, the motor IM is controlled by the speed feedback of the detector of the pulse generator PG based on the command sent from the sequencer PLC to the speed control device INV, and the power of the motor IM is transmitted to the cable drum DR via the brake BR and the speed reducer GR, and the hook is hung by the cable rope WR wound on the cable drum DR, and the hanging load W is hoisted together from the four hooks hung from each crane. A load meter LC is installed on each hook to detect the load applied to each hook, and the overload caused by the imbalance of the load sharing of each hook is detected. However, the reaction speed of the load meter LC is slow, and even if the overload can be detected after the overload state is reached, it is impossible to prevent the overload from happening.

[0047] In this embodiment, by controlling the electric motor IM by the speed control device INV, an unbalanced state of load sharing between the hooks such as when the load meter LC operates is prevented from occurring, and synchronous coordination of load sharing between the hooks is performed.

[0048] exist Figure 2 The communication form of the linked operation of the crane is recorded in.

[0049] In order to operate four cranes, each crane is provided with a linkage wireless controller TCX and a corresponding linkage operation receiver RCX. When the crane operator OP operates the linkage wireless controller TCX, each crane can receive the same signal.

[0050] Furthermore, each of the cranes CR1 to CR4 is provided with each of the wireless controllers TC1 to TC4 and each of the operation receivers RC1 to RC4 for comparison between the cranes.

[0051] The linkage wireless controller TCX can select which crane to move or how many cranes to move, and in the cranes not selected by the linkage wireless controller TCX, the wireless controllers TC1 to TC4 and the operation receivers RC1 to RC4 of each crane can ensure the operation right, and the cranes can be separated from the linkage operation and moved individually. In addition, on the contrary, for the cranes for which the wireless controllers TC1 to TC4 and the operation receivers RC1 to RC4 of each crane have ensured the operation right, the operation right interlock is applied to each other so that the linkage cannot be selected by the linkage wireless controller TCX and the linkage operation receiver RCX.

[0052] Furthermore, in the communication between the cranes, inter-crane communication transmitters TM1 to TM4 and inter-crane communication receivers RM1 to RM4 are provided to perform minimum signal confirmation between the cranes.

[0053] A feature of this system is that it is a wireless structure, so that the interlocking operation can be easily performed or disengaged.

[0054] exist Figure 3 The control block diagram of the speed control system of the crane with synchronous coordination function of the present invention is shown in FIG.

[0055] use Figure 2 The linkage is selected by the wireless controller TCX, and when receiving the operation command and speed command, the speed control system part inside the speed control device INV issues a speed command value V * , through the linear acceleration converter LAD, the instantaneous speed target value ω is generated according to the acceleration time or deceleration time * . From the speed target value ω * The speed deviation is calculated by subtracting the actual speed detection value ω detected by the pulse generator PG, and the speed deviation is input to the proportional control PC by the automatic speed setting device ASR. The value obtained by passing through the limiter LM and cutting off the upper limit is used as the torque target value T * And perform current control of the motor.

[0056] Therefore, if Figure 4 As shown, it is possible to obtain a characteristic in which the speed decreases when the torque increases, and the speed increases when the torque increases toward the negative side.

[0057] If the Figure 4 If the characteristics shown are replaced with the winding and lifting operation of a crane, the positive side of the torque refers to the winding and lifting, and the negative side of the torque refers to the winding and falling.

[0058] By Figure 4 The characteristics shown are given to each motor IM, so that when the winding is lifted, the speed becomes slower when the motor load becomes larger, and the speed becomes faster when the motor load becomes smaller, and when the winding is lowered, the speed becomes faster when the motor load becomes larger, and the speed becomes slower when the motor load becomes smaller.

[0059] Thus, the operations are performed in the following manners, namely, during the winding and lifting linkage, the speed of the hook that bears a larger load than other hooks becomes slower than that of the other hooks, and the speed of the hook that bears a smaller load than other hooks becomes faster than that of the other hooks; and during the winding and lowering linkage, the speed of the hook that bears a larger load than other hooks becomes faster than that of the other hooks, and the speed of the hook that bears a smaller load than other hooks becomes slower than that of the other hooks. Thus, when a plurality of hooks are linked together, the operations are performed in such a manner that the plurality of hooks share the load with each other.

[0060] At this time, when the capacities of the winding and lifting devices in the combined hoisting linkage are equal, the control constants of the speed control devices of the winding and lifting devices are set to make Figure 4 The slopes of the characteristics shown are the same, thereby making the rate of change of the speed with respect to the load of each motor the same, and making it possible to evenly share the load on each hook in the combined hoisting linkage.

[0061] In addition, when the capacities of the winding and lifting devices are different, the winding and lifting devices are adjusted according to the ratio of the capacities of the winding and lifting devices. Figure 4 The slope of the characteristic shown is set small so as to increase the load sharing with respect to the rate of change of the motor speed. Thus, the load sharing with respect to the capacity of each winding and lifting device can be controlled to be equal.

[0062] For example, in the case of a combined lifting linkage with a winding and hoisting device having twice the capacity, if the speed control device Figure 4 By setting the slope of halved, the load sharing of the winding lifting device can be doubled.

[0063] In addition, in order to eliminate the synchronization deviation caused by the slight deviation of the reception timing at each crane and the slight deviation of the opening and closing timing of the brakes of each crane, the winding lifting / winding lowering command signal sent by the linkage wireless controller TCX is set to the winding lifting time. Figure 5 (2) The characteristics of Figure 5 In the slope characteristic of (2), the speed target value ω * The value is set so that the speed becomes zero when the torque limit value (usually 150%) is reached. Figure 5 The winding lift shown in (1) starts to match the time of SU and then shifts to acceleration.

[0064] As a result, the hook whose brake is released faster than the other hooks reaches the torque limit value (usually 150%) and stops at zero speed.

[0065] Then, if the other hooks also release their brakes and generate a winding and lifting torque, the load sharing of the hook that first released its brakes is reduced, and a winding and lifting speed is generated, and the load is evenly shared with other hooks at a low speed. Then, when the time (predetermined time) until the load is evenly shared has passed, the acceleration AC is transferred.

[0066] In this way, by performing synchronous tuning of load sharing in a low speed range from zero speed at the time of starting, and then shifting to the acceleration AC, it is possible to prevent the inertia force of the rotating part from being generated, and utilize the power transmission device assembled in the Figure 3The speed control system's limiter LM suppresses the torque generated by the motor to a torque below the limit value (usually 150%), thereby preventing a load exceeding the torque limit value from being applied due to a deviation in the starting timing, and preventing mechanical damage to the winding lifting device, etc., caused by a deviation in the starting timing.

[0067] On the other hand, when winding and falling, Figure 5 (3) characteristics, when the hook whose brake is released first moves slightly, the load sharing disappears, and the state becomes a stop state with zero torque and zero speed. Then, when the brakes of other hooks are released, the load sharing is equalized and the speed is synchronized to the low speed. Then, after passing Figure 5 After the winding and falling start of (1) matches the preset time of SD, acceleration AC is performed.

[0068] Thus, similarly to the winding lifting, even when the starting timing is deviated during winding lowering, the torque generated by the motor can be suppressed to a value below the limit value (usually 150%), thereby preventing mechanical damage to the winding lifting device, etc.

[0069] As a method for correcting such a synchronization deviation generated at the time of starting, Patent Document 3 describes the following technology: when a deviation in the positions of the two hooks is detected, the speed command value V of the speed control device for the two hooks is set to * The position deviation is corrected by giving a difference or changing the curve of the linear acceleration converter LAD in response to the position deviation detected during inching or acceleration. In this technology, since the linear acceleration converter LAD is dominant, high-speed synchronous tuning control response cannot be expected.

[0070] On the other hand, in the combined crane with synchronization function of the present invention which performs synchronization of three or more hooks, if the control loop is not bypassed at a high speed, the synchronization of load sharing will break down. Therefore, it is not necessary to control the load sharing by the speed command value V. * , the linear acceleration converter LAD is used for adjustment, but the speed target value ω after passing through the linear acceleration converter LAD * The high-speed operation loop of the automatic speed setter ASR is used to successively calculate the speed deviation from the actual speed detection value ω of the pulse generator PG that changes due to load changes and is input. Therefore, while applying corrections at high speed, it is possible to successively correct deviations caused during micro-motion and linear acceleration.

[0071] In this embodiment, a system is provided that, when the load is light, utilizes the spare power of the motor to increase the speed by more than 100% of the rated speed.

[0072] Since the output torque of the motor decreases when the rated speed is exceeded, the relationship between the load torque T and the speed V is limited so as to decrease quadratically according to the equation (1).

[0073] V=(1 / T) 1 / 2 Formula (1)

[0074] In the conventional synchronous coordination for performing synchronous coordination of position and speed, when operating at a speed exceeding the rated speed, if the load sharing changes, there is a risk that the motor on one side will become overloaded. However, in the combined crane with synchronous coordination function of the present invention, since the synchronous coordination control is performed in a manner to make the load sharing equal, there is no such risk and the crane can operate safely at a speed exceeding the rated speed.

[0075] However, when the speed of each crane is increased, if each crane determines the speed V based on the calculation result of formula (1), the value of the speed V of each crane becomes scattered due to the influence of the detection error of the load torque T and the like. In addition, in order to unify the light load and high speed of all cranes, if the calculation result of formula (1) is directly communicated between cranes, the amount of communication data increases. Therefore, Figure 6 As shown, the speed is divided into VH1 to VH5 for T1 to T5 in stages, and it is calculated whether any of the light-load high-speed speeds among VH1 to VH5 is taken out or not.

[0076] First, when winding up or winding down, Figure 5 Acceleration AC is performed as shown, and when the rated speed is reached, the motor output torque is sampled at the time of load torque detection HC. Each crane is controlled by Figure 6 Calculate light load high speed VH1~VH5 and use Figure 2 The inter-crane communication transmitters TM1 to TM4 shown transmit the results.

[0077] Here, the reason why the motor output torque is sampled by stopping acceleration AC at rated speed is that the faster the speed, the higher the detection accuracy of the motor torque, the detection accuracy of the motor torque during fixed speed operation is higher than that during acceleration, and the impact of the load torque detection HC time relative to the transmission time when stopping acceleration at a faster speed is smaller than when stopping acceleration at a low speed.

[0078] When each crane receives the light load high speed VH1 to VH5 reception results using the inter-crane communication receivers RM1 to RM4, each crane writes the lowest speed result among these results, including the light load high speed VH1 to VH5 of its own crane, into the speed command value V of the winding and hoisting speed control device INV.* , and speed up to Figure 5 Although each crane performs this processing independently, since the processing is performed based on the same data, all cranes derive the same results.

[0079] At this time, the timing of each crane's acceleration AC transfer from the rated speed to the light load high speed VHX is the timing when each crane receives the reception results of the light load high speed VH1~VH5 using the inter-crane communication receivers RM1~RM4 and applies the operation time of the sequencer PLC to it. All cranes accelerate to the same light load high speed VHX almost at the same time, but the timing is slightly offset. Since this slight timing deviation appears as a speed difference, it will appear as a load torque fluctuation and appear as Figure 3 The speed target value ω is shown * The deviation from the actual speed detection value ω is absorbed by the proportional control PC of the automatic speed setting device ASR, and the torque sharing of each crane can be kept balanced.

[0080] In addition, when a long and huge hanging load W is used as the object, in addition to Figure 1 In addition to the methods shown, Figure 7 As shown in FIG. 1 , there is also used a facility including four cranes CR1 to CR4 , two winches (Japanese: クラブ) of cable drums DR11 to DR42 mounted on the cranes CR1 to CR4 , and hooks H11 to H42 suspended from the cable drums DR11 to DR42 .

[0081] Moreover, in order to improve the reliability of synchronization coordination between cranes, such as Figure 8 As shown, a balance can be used.

[0082] Specifically, regarding the No. 1 crane CR1 and the No. 2 crane CR2, the positional deviation between the No. 11 hook H11 and the No. 12 hook H12 is mechanically canceled by the No. 1 scale BL1, and the positional deviation between the No. 21 hook H21 and the No. 22 hook H22 is mechanically canceled by the No. 2 scale BL2.

[0083] In addition, regarding the No. 3 crane CR3 and the No. 4 crane CR4, the positional deviation between the No. 31 hook H31 and the No. 41 hook H41 is mechanically eliminated by the No. 3 scale BL3, and the positional deviation between the No. 32 hook H32 and the No. 42 hook H42 is mechanically eliminated by the No. 4 scale BL4.

[0084] Furthermore, with respect to the position deviation between the group of cranes No. 1 CR1 and cranes No. 2 CR2 and the group of cranes No. 3 CR3 and cranes No. 4 CR4, the slinging load W suspended by the slinging wire 1SL1 suspended by the scales No. 1 BL1 and scales No. 2 BL2 and the slinging wire 2SL2 suspended by the scales No. 3 BL3 and scales No. 4 BL4 itself becomes a balance to eliminate the position deviation.

[0085] As a result, for the operation signal of the linkage wireless controller TCX, it is possible to mechanically eliminate the causes of deviation between cranes, such as the deviation of reception between cranes by the linkage operation receiver RCX mounted on each crane and the deviation of reception between cranes by the transceiver for communication between cranes.

[0086] However, in using Figure 8 In the method of mechanically eliminating the positional deviation between cranes by using a balance as shown, it is also impossible to mechanically eliminate the positional deviation between, for example, the No. 11 hook H11 and the No. 12 hook H12 in the crane. For example, when the synchronization is deviated and the No. 12 hook H12 is higher than the No. 11 hook H11, if the hanging load W is a light object, slippage occurs between the hanging load W and the hanging cable 1SL1, and the hanging load W and the hanging cable 1SL1 are damaged due to the friction. Or, if the hanging load W is an object with no torsion resistance, the hanging load W is twisted between the hanging cable 1SL1 and the hanging cable 2SL2, and the hanging load W is distorted. Or, if the hanging load W is a heavy object with strong torsion resistance, the No. 12 hook H12, the No. 22 hook H22, the No. 31 hook H31, and the No. 41 hook H41 become overloaded.

[0087] In the Figure 8 In the balance structure, by using the synchronous coordination function of the present invention, the synchronous coordination effect is exerted in the direction of achieving load sharing balance with respect to the force that attempts to cause slip between the hanging load W and the hanging cable, the force that attempts to twist the hanging load W, and the force that attempts to generate an overload due to the twisting. Therefore, it is possible to prevent slip between the hanging load W and the hanging cable, twisting of the hanging load W, and overload.

[0088] As described above, by using the combined lifting linkage crane with the synchronous coordination function of the present invention, even if there are more than three hooks, it is possible to perform combined lifting synchronous coordination, for example, Figure 1 , Figure 7 and Figure 8 As shown, by suspending the suspended load W using four cranes, the load applied to the building by the loads of the cranes and the suspended load can be dispersed over a wide range of the building.

[0089] In addition, by using a large number of cranes for hanging, the size of one crane can be reduced, the ceiling of the building can be reduced, or the hook of the crane can be moved closer to the end of the building. In addition, since the hanging load is assembled from smaller objects before it becomes a larger aggregate, the crane can be divided and operated when it is a smaller block before the final assembly, Figure 7 and Figure 8 In the embodiment, since the work can be dispersed to four locations, the work efficiency can be improved.

[0090] In addition, for the combined cranes with synchronous coordination function of the present invention, whether there are two cranes or three cranes, four cranes or more than four cranes, since the number of cranes can be increased in the same way and the load sharing of each crane can be synchronized and coordinated, for the hanging load whose weight increases with the progress of the operation, the number of cranes can be increased one by one while the operation can be efficiently promoted.

[0091] The combined crane with synchronous coordination function of the present invention is characterized in that the winding and lifting devices of the combined cranes do not exchange signals and perform synchronous coordination with each other, but each winding and lifting device operates independently in a manner matching with other winding and lifting devices. Since it is controlled in a closed manner inside the independent crane, it is possible to add it to the combined crane, or become a crane that operates independently, or change the number of combined cranes, making it a system that can be easily changed.

[0092] As mentioned above, the combined crane with a synchronous coordination function of the present invention has been described based on the present embodiment, but the present invention is not limited to the structure described in the above embodiment, and the structure can be appropriately changed within the scope of the present invention.

[0093] Industrial Applicability

[0094] According to the combined lifting linkage crane with synchronous coordination function of the present invention, since it is possible to carry out synchronous coordination of load sharing by combining more than three hooks, it is possible to link multiple smaller cranes to hang a larger hanging load. Along with this, compared with the case of hanging with two cranes, it has various advantages such as dispersing the load applied to the building, improving the approach size of the crane, lowering the ceiling of the building, or dispersing the cranes for operation before the hanging load becomes a larger aggregate, and the industrial utilization value is very high.

[0095] Description of Reference Numerals

[0096] CR1 Crane No. 1

[0097] CR2 No. 2 crane

[0098] CR3 No. 3 crane

[0099] CR4 Crane No. 4

[0100] H11 No. 11 hook

[0101] H12 No. 12 hook

[0102] H21 No. 21 hook

[0103] H22 No. 22 hook

[0104] H31 No. 31 hook

[0105] H32 No. 32 hook

[0106] H41 No. 41 hook

[0107] H42 No. 42 hook

[0108] W Suspension load

[0109] WR Cable Rope

[0110] DR Cable Reel

[0111] LC Load Meter

[0112] GR reducer

[0113] BR Brakes

[0114] IM Motors

[0115] INV speed control device

[0116] PG Pulse Generator

[0117] PLC Sequencer

[0118] OP Crane Operator

[0119] Wireless controller for TCX linkage

[0120] TC1 No. 1 Wireless Controller

[0121] TC2 No. 2 Wireless Controller

[0122] TC3 No. 3 Wireless Controller

[0123] TC4 No. 4 Wireless Controller

[0124] RCX Linked Operation Receiver

[0125] RC1 No. 1 Operation Receiver

[0126] RC2 No. 2 Operation Receiver

[0127] RC3 No. 3 Operation Receiver

[0128] RC4 No. 4 Operation Receiver

[0129] TM1 No. 1 inter-crane communication transmitter

[0130] TM2 No. 2 inter-crane communication transmitter

[0131] TM3 No. 3 inter-crane communication transmitter

[0132] TM4 No. 4 inter-crane communication transmitter

[0133] RM1 No. 1 inter-crane communication receiver

[0134] RM2 No. 2 inter-crane communication receiver

[0135] RM3 No. 3 inter-crane communication receiver

[0136] RM4 No. 4 inter-crane communication receiver

[0137] V * Speed ​​command value

[0138] LAD Linear Acceleration Converter

[0139] ω * Speed ​​target value

[0140] ω Actual speed detection value

[0141] ASR Automatic Speed ​​Setter

[0142] PC proportional control

[0143] LM Limiter

[0144] T * Torque target value

[0145] T Load torque

[0146] BRA Brake opening and closing

[0147] BRC Brake Closed

[0148] BRO Brake Open

[0149] SU winding lifting start matching

[0150] SD winding drop start matching

[0151] UP Winding Up

[0152] DW Winding and falling

[0153] AC Acceleration

[0154] DC Deceleration

[0155] HC load torque detection

[0156] VHX Light Load High Speed

[0157] V Speed

[0158] T1 Torque value 1 (25%)

[0159] T2 Torque value 2 (35%)

[0160] T3 torque value 3 (45%)

[0161] T4 Torque value 4 (60%)

[0162] T5 torque value 5 (75%)

[0163] VH1 Light load high speed 1 (200%)

[0164] VH2 Light load high speed 2 (169%)

[0165] VH3 Light load high speed 3 (149%)

[0166] VH4 Light load high speed 4 (129%)

[0167] VH5 Light load high speed 5 (115%)

[0168] DR11 No. 1 Cable Reel 1

[0169] DR12 No. 1 Cable Reel 2

[0170] DR21 No. 2 Cable Reel 1

[0171] DR22 No. 2 Cable Reel 2

[0172] DR31 No. 3 Cable Reel 1

[0173] DR32 No. 3 Cable Reel 2

[0174] DR41 No. 4 Cable Reel 1

[0175] DR42 No. 4 Cable Reel 2

[0176] BL1 No. 1 Balance

[0177] BL2 No. 2 Balance

[0178] BL3 No. 3 Balance

[0179] BL4 No. 4 balance

[0180] SL1 Suspension cable 1

[0181] SL2 Suspension Cable 2

[0182] SL3 Suspension Cable 3

[0183] SL4 Suspension cable 4.

Claims

1. A crane with synchronous coordination function, which is a crane that uses more than three hooks for linkage and hoisting, characterized in that: The speed control of the winding and lifting motors of the plurality of hooks is performed by respectively controlling the motors to slow down when the motor load increases during winding and lifting, and to speed up when the motor load decreases, and to speed up when the motor load increases during winding and falling, and to slow down when the motor load decreases. The operations are respectively performed in the following manner: when winding and lifting the lifting linkage, the speed of the hook with a larger load share than other hooks becomes slower than other hooks, and the speed of the hook with a smaller load share than other hooks becomes faster than other hooks; and when winding and lowering the lifting linkage, the speed of the hook with a larger load share than other hooks becomes faster than other hooks, and the speed of the hook with a smaller load share than other hooks becomes slower than other hooks. When multiple hooks are linked together, the load is shared by the hooks. The settings of the winding and lifting control devices of the multiple hooks are controlled in the following manner: when the capacities of the winding and lifting devices of the multiple hooks are equal, the speed change rate relative to the motor load is made the same; when the capacities of the winding and lifting devices of the multiple hooks are different, the speed change rate relative to the motor load is set to be smaller according to the ratio of the capacities of the winding and lifting devices of each hook, thereby making the load sharing relative to the capacity of the winding and lifting devices of each hook equal.

2. The combined lifting linkage crane with synchronous coordination function according to claim 1 is characterized in that: During the winding and lifting linkage or the winding and lowering linkage, with respect to the output speed characteristics when the motor is started, during winding and lifting, it is set to a characteristic that does not generate speed under overload conditions, and is set to a characteristic that generates low speed when the load is reduced. During winding and lowering, it is set to a characteristic that does not generate speed when the load is zero, and is set to a characteristic that generates low speed when the load is applied. After waiting for the linkage time required to obtain load sharing of all hooks after the brake is released, acceleration is performed.

3. The combined lifting and linkage crane with synchronous coordination function according to claim 1 is characterized in that: During the winding and lifting linkage or the winding and lowering linkage, each crane is temporarily accelerated to the rated speed, and the light load high speed speed that can be output by the load torque at the rated speed is calculated in each crane, and the speed is sent to other cranes that are performing the linkage, and the light load high speed speed sent from each crane is received. Among the speeds including the light load high speed speed of its own crane, the slowest speed is used as the speed command value for high-speed operation. When performing light load high speed operation, the speed is controlled to become slower as the motor load becomes larger during winding and faster as the motor load becomes smaller, and the speed becomes faster as the motor load becomes smaller during winding and lowering, and the speed becomes slower as the motor load becomes larger during winding and lowering, thereby having the function of preventing load sharing deviation during light load high speed operation.

4. The combined lifting linkage crane with synchronous coordination function according to claim 2 is characterized in that: During the winding and lifting linkage or the winding and lowering linkage, each crane is temporarily accelerated to the rated speed, and the light load high speed speed that can be output by the load torque at the rated speed is calculated in each crane, and the speed is sent to other cranes that are performing the linkage, and the light load high speed speed sent from each crane is received. Among the speeds including the light load high speed speed of its own crane, the slowest speed is used as the speed command value for high-speed operation. When performing light load high speed operation, the speed is controlled to become slower as the motor load becomes larger during winding and faster as the motor load becomes smaller, and the speed becomes faster as the motor load becomes smaller during winding and lowering, and the speed becomes slower as the motor load becomes larger during winding and lowering, thereby having the function of preventing load sharing deviation during light load high speed operation.

5. The combined lifting and linkage crane with synchronous coordination function according to claim 1, 2, 3 or 4, characterized in that: The first level is lifted together by the first hook of the first crane and the first hook of the adjacent second crane, the second level is lifted together by the second hook of the first crane and the second hook of the adjacent second crane, the first hanging rope is hung by the first level and the second level, the third level is lifted together by the first hook of the third crane and the first hook of the adjacent fourth crane, the fourth level is lifted together by the second hook of the third crane and the second hook of the adjacent fourth crane, the second hanging rope is hung by the third level and the fourth level, and the first hanging rope and the second hanging rope are used to suspend the hanging load of the long object.

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