JP2015173531A - Inverter type crane device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that, in an inverter type crane device, since a connection is different from regular one in the case where a three-phase power source is a reverse phase, even when simple switching is performed in an operation direction similar to a positive phase, any unexpected problem such as damage of equipment may occur in accordance with the configuration of a control device and in the case where the power source is not grounded, there is the risk of electrical shock if a user touches a winch.SOLUTION: The inverter type crane device includes the three-phase power source, a device for winching including a motor for winching, a winch inverter device for controlling operation of the motor for winching, and a detection part for detecting whether any specific phase of the three-phase power source is grounded. The inverter type crane device also includes means for outputting information indicating that the specific phase is not grounded, to the outside in the case where it is detected by the detection part that the specific phase is not grounded. Thus, a grounded phase is monitored in the inverter type crane device and if the phase cannot be grounded, abnormality is reported, thereby preventing the electrical shock.

Description

  The present invention relates to an inverter type crane apparatus, and more particularly to a power supply monitoring apparatus.

  As background art of this technical field, there is JP-A-2001-251892 (Patent Document 1). This publication relates to a control device for an electric hoisting machine: “If the multiphase connection state of the power supply is open, the operation is not possible, and if it is normal phase or reverse phase, correct winding in accordance with the contents of the operation command. Or, a control device for a microcomputer-controlled electric hoist that performs a lowering operation is provided. "

JP 2001-251892 A

  In Patent Document 1, a control device is described in which operation is prohibited in the case of an open phase, and in the reverse phase, the operation direction is the same as in the normal phase by switching with a switch. Patent document 1 describes an electric hoist that is driven by supplying commercial power to a motor as it is. However, in the case of a so-called inverter-type crane apparatus that uses an inverter to control a motor, a complicated circuit is required between the power source and the motor, so a simple changeover switch cannot be used. In this case, since it is different from the regular connection, an unexpected problem such as damage to the device may occur depending on the configuration of the control device.

In Patent Document 1, an open phase and a reverse phase are detected, but a ground phase is not detected.
Therefore, when the power source is not grounded, there is a risk of electric shock when touching the hoist.

  Therefore, an object of the present invention is to prohibit the operation of the hoisting machine when an open phase or reverse phase is detected in the inverter type crane apparatus, monitor the ground phase, and notify the abnormality when the ground is not grounded. Thus, it is to provide an inverter type crane apparatus having a power supply monitoring device capable of preventing electric shock.

  In order to solve the above problems, for example, the configuration described in the claims is adopted.

  The present application includes a plurality of means for solving the above-described problems. To give an example, a three-phase power source, a hoisting device provided with a hoisting motor, and the operation of the hoisting motor are controlled. A hoisting inverter device, and a detecting unit for detecting whether a specific phase of the three-phase power source is grounded, and when the detecting unit detects that the phase is not grounded, the ungrounded information is externally Is provided with a means for outputting.

  According to the present invention, an electric shock can be prevented by monitoring the ground phase in the inverter crane apparatus and notifying the abnormality when the ground phase is not grounded.

It is a perspective view which shows the whole structure of an inverter type crane apparatus. It is a block diagram which shows the structure of the principal part of an inverter type crane apparatus. It is a circuit diagram which shows the structure of a phase loss / phase difference / ground phase detection part. It is a flowchart explaining a phase loss detection process. It is a flowchart explaining a phase difference detection process. It is a timing chart explaining the judgment method of a right phase by phase difference detection processing. It is a timing chart explaining the judgment method of a phase difference by a phase detection process. It is a flowchart explaining a ground phase detection process.

  Hereinafter, examples will be described with reference to the drawings.

  FIG. 1 is a perspective view showing an overall configuration of an inverter crane apparatus in which a power supply monitoring apparatus according to the present embodiment is installed, and FIG. 2 is a block diagram showing a configuration of a main part of the inverter crane apparatus.

  1 and 2, the inverter type crane device includes a crane hook 1, a wire rope 2, a hoisting induction motor 3, a hoisting device 4, a traverse induction motor 5, a traverse device 6, a traverse girder 7, and a travel guide Electric motor 8, traveling device 9, traveling girder 10, hoisting / traverse inverter device (referred to as main control unit) 11, hoisting / traverse inverter control unit 12, operation input device 13, hoisting inverter 14, traversing The inverter 15 is composed of an induction motor brake 16, a traveling inverter device 17, a traveling inverter control unit 18, and a traveling inverter 19.

  The inverter type crane device is configured to wind and unload the load attached to the crane hook 1 by the hoisting device 4 provided with the hoisting induction motor 3 so as to wind the wire rope 2 in the Z direction (arrows in the Z direction and the −Z direction). In other words, the parcel is moved up and down. Further, in the X direction (indicated by arrows in the X direction and the −X direction), the traverse device 6 including the traverse induction motor 5 and the traverse girder 7 are moved in the X direction. Further, in the Y direction (indicated by arrows in the Y direction and the −Y direction), the traveling apparatus 9 including the traveling induction motor 8 and the traveling girder 10 move in the Y direction.

  The hoisting and traverse induction motors 5 and the traverse induction motor 5 are controlled by the hoisting / traverse inverter control unit 12 of FIG. That is, when the operator inputs a predetermined instruction from the operation input device 13, the hoisting / traverse inverter control unit 12 controls the hoisting inverter 14 and the traverse inverter 15, and the hoisting inverter 14 and the traverse inverter 15, the frequency, voltage, and current necessary for the control are applied to the hoisting induction motor 3 and the traverse induction motor 5, and simultaneously the opening brake of the induction motor brake 16 is controlled so that the load attached to the crane hook 1 falls. Move in the Z direction instead. In the case of the traversing device 6, the hoisting device 4 is moved in the X direction along the traversing girder 7. Similarly, when the operator inputs a predetermined instruction from the operation input device 13, the traveling induction motor 8 attached to the traveling device 9 causes the traveling inverter control unit 18 of FIG. 2 stored in the traveling inverter device 17 to travel. Winding along the traveling girder 10 by controlling the inverter 19 and applying the frequency, voltage and current necessary for the control from the traveling inverter 19 to the traveling induction motor 8 and simultaneously controlling the opening of the brake 16 for the induction motor. The upper device 4 is moved in the Y direction.

  Further, the hoisting / traversing inverter control unit 12 and the traveling inverter control unit 18 have a phase loss / phase difference / ground phase detection unit 20. The phase loss / phase difference / ground phase detection unit 20 detects the phase loss, phase difference, and ground status of the three-phase power supply.

  A specific detection method of the phase loss / phase difference / ground phase detection unit 20 will be described with reference to FIGS. 3 is a circuit diagram of the phase loss / phase difference / ground phase detection unit 20, FIG. 4 is a flow diagram of phase loss detection processing, FIG. 5 is a flow diagram of phase detection processing, and FIGS. 6A and 6B are phase detection methods. The timing chart shown in FIG. 7 is a flowchart of the ground phase detection process.

  First, a description will be given of the phase loss detection in the case where the multiphase connection state of the power supply is an unconnected phase. The phase loss detection is performed by the R, S, T phase detector 21 shown in FIG. The R, S, T phase detector 21 rectifies the AC voltage by half wave and inputs it to the microcomputer 22 as a pulse waveform of 5V. Therefore, “H” level and “L” level are alternately input to the microcomputer 22 at a predetermined cycle. On the other hand, when the three-phase power supply connection is broken or the like and no AC voltage is input, the microcomputer 22 is always input at the “H” level.

  The determination of the phase loss is performed, for example, by a timer interrupt process of the microcomputer 22. In the flow chart of the phase loss detection process of FIG. 4, first, it is confirmed whether or not the phase loss of the R, S, T phase has been detected (S101). If not detected, the input state of the R phase detection port is confirmed (S102). . If the input state of the R-phase detection port is “L”, the R-phase L count is incremented by 1 (S103). If the input state of the R-phase detection port is “H”, the R-phase H count is incremented by 1 (S104). Next, the R phase L count and H count values are summed, and if the total value is 20 times or more (S105), the R phase L count value is confirmed (S106). When the R-phase L count value is zero, the three-phase power supply connection is disconnected, and no AC voltage is input, so no pulse waveform is input to the microcomputer 22. Therefore, it is determined that the R phase is missing (S109). That is, when no AC voltage is input due to disconnection or the like, the input to the microcomputer 22 is always at the “H” level, and only the H count is added, so the L count value remains zero. is there. If the R-phase L count value is not zero, it indicates that the pulse waveform is normally input to the microcomputer 22, and therefore it is determined that the R-phase is normal (S107). In addition, the R phase L count and the H count value are summed, and after the processing of the total value of 20 times or more (S106) is performed, the R phase L that has been counted is detected again to detect an abnormality in the R phase. The count and H count values are cleared to zero (S108, S126).

  Here, in this embodiment, the values of the R phase L count and the H count are summed, and it is determined that the total value is 20 times or more. This is because the number of timer interrupt processing is set to 20 times. It is because it is doing. If the power supply frequency is 60 Hz, for example, the pulse waveform cycle to the microcomputer 22 at that time is 1/60 = about 20 ms. If the interrupt cycle is 2 ms, the pulse waveform is observed for 20 cycles in 20 cycles. That is, erroneous detection is prevented by observing a plurality of periods. Therefore, in order to prevent erroneous detection, it is sufficient to observe multiple times, so if you want to increase the certainty, you can set it larger than 20 times, or you can set it smaller if you want to emphasize time reduction. .

  When the total value of the R phase L count and H count is less than 20 (S105), or after determining that the R phase is normal (S108), the S phase and T phase are determined in the same manner as the R phase missing phase determination. The phase loss determination is executed (after S110).

  When it is determined that there is an abnormality (open phase) in any of the R, S, and T phases, the operation of the inverter type crane apparatus is prohibited by inhibiting the operation of the inverter and braking the induction motor brake 16.

  Note that it is clear from FIG. 4 that once an abnormality (phase loss) is determined, the abnormal state is not canceled unless the microcomputer 22 RAM area is cleared by turning off the power.

  Next, a description will be given of detection of a phase difference when the connection state of the multiphase of the power supply is different from the normal connection and is connected incorrectly. The out-of-phase detection is performed by the R, S, T phase detection unit 21 in FIG.

  The determination of the phase difference is performed by, for example, a timer interrupt process of the microcomputer 22. In the flowchart of the phase detection process of FIG. 5, first, it is confirmed whether the phase detection has been completed (S201). If it is completed, the phase detection process is not performed. If not completed, the phase detection process is performed. Here, the reason for setting the phase detection processing execution condition is to reduce the processing amount of the microcomputer 22 since it is clear that the phase of the phase does not change until the power is turned off once the judgment is finished. is there.

  If the phase detection is not completed (S201), it is confirmed whether the phase detection can be started (S202). The start condition is when the R-phase detection port input state is “H” (S203, S204). Here, the start condition is set in order not to start detection in the state before the three-phase power supply is input.

  When the phase detection starts (S202), the end of detection of the R phase is confirmed (S205). If the detection is not finished, the R-phase detection port input state is confirmed (S206). If “L”, the S-phase detection port input state at that time is saved (S207), and the R-phase detection is finished. (S208). When the R-phase detection process ends (S205), the S-phase detection port input state is confirmed (S209). If “L”, the T-phase detection port input state at that time is stored (S210). After saving the T-phase detection port input status (S210), check the saved S and T-phase input status (S211). If both S and T phases are "H", normal (normal phase) Is determined (S212). If both the S and T phases are not “H”, it is determined that there is an abnormality (out of phase) (S213). If normal or abnormal is determined, the phase detection is terminated (S214).

  Here, the detailed description of the determination of the normal phase and the different phase will be described using the timing charts of FIGS. 6A and 6B.

  FIG. 6A is a timing chart when the phase is normal. 6A, description of (1) is processing S202 to S204 in FIG. 5, description of (2) is processing S205, S206, description of (3) is processing S207, description of (4) is S209, and (5). The description corresponds to S210, and the description of (6) corresponds to S211 to S212. That is, when the R, S, and T phases are correctly connected, the pulse waveform input to the microcomputer 22 is in a form in which the phases of the R, S, and T phases are sequentially shifted. The level of the S phase detection port is “H” at the timing of “L”, and the level of the T phase detection port is “H” at the timing from “H” to “L” of the S phase. If both the S phase and T phase in which the input state is stored are “H”, it can be determined as normal.

  On the other hand, in the case of a phase difference, the timing chart shown in FIG. 6B is obtained. As shown in FIG. 6B, there are five out-of-phase patterns, the level at which the S-phase detection port is stored at the timing of the R-phase “H” to “L”, and the subsequent S-phase detection port level is “L”. As shown in FIG. 6B, the levels at which the T-phase detection port is stored at the timing of both are not “H” in either case. Therefore, if both the S phase and T phase storing the input state are not “H”, it can be determined that the phases are different.

  Note that the input waveform to the R, S, T detection port is shown as 50% ON duty in the case of FIG. 6; however, the ON duty can be freely set by a circuit constant, and the judgment process of the in-phase is determined by the ON duty. Needless to say, it is necessary to create the ratio.

  When it is determined that any of the R, S, and T phases is out of phase, the operation of the inverter type crane apparatus is prohibited by inhibiting the operation of the inverter and braking the induction motor brake 16.

  Next, ground phase detection for detecting whether a specific ground phase to be grounded in a multiphase connection state of the power supply is grounded will be described. The ground phase detection is performed by, for example, the ground phase detection unit 23 in FIG. The ground phase detector 23 rectifies the AC voltage by half-wave and inputs it to the microcomputer 22 with a pulse waveform of 5V. When a specific grounded phase (usually the S phase) of the three-phase power supply is not grounded, a potential difference occurs, so that an AC voltage is input and a 5 V pulse waveform is input to the microcomputer 22. Therefore, “H” level and “L” level are alternately input to the microcomputer 22 at a predetermined cycle. On the other hand, when the ground phase is grounded, since the potential difference is zero, no AC voltage is input, and an “H” level is always input to the microcomputer 22.

  The determination of the ground phase is performed, for example, by a timer interrupt process of the microcomputer 22. In the flowchart of the ground phase detection process of FIG. 7, first, it is confirmed whether a ground phase abnormality has been detected (S301). If no abnormality has been detected, the ground phase detection port input state is confirmed (S302). If the input state of the ground phase detection port is “L”, the ground phase L count is incremented by 1 (S303). If the input state of the ground phase detection port is “H”, the ground phase H count is incremented by 1 (S304). Next, the values of the ground phase L count and the H count are summed, and if the total value is 20 times or more (S305), the ground phase L count value is confirmed (S306). If the ground phase L count value is not zero, the ground phase is not grounded, so it is determined that the ground phase is abnormal (SS09). That is, when the ground phase is not grounded, an AC voltage is input, and therefore, the “H” level and the “L” level are alternately input to the microcomputer 22 at a predetermined cycle, and the ground phase L count value is This is because it does not become zero. If the ground phase L count value is zero, it indicates that the ground phase is normally grounded, and therefore it is determined that the ground phase is normal (SS07).

  In addition, the values of the ground phase L count and the H count are summed, and after the processing of the total value of 20 times or more (S306) is performed, the ground phase L that has been counted is detected in order to detect the ground phase abnormality again. The count and H count values are cleared to zero (S308). In the present embodiment, the values of the ground phase L count and H count are summed, and the case where the total value is 20 times or more is determined. However, for the purpose of preventing false detection, it is not limited to 20 times. Other values may be set.

  When it is determined that the grounding phase is abnormal (not grounded), the inverter operation is prohibited and the induction motor brake 16 is braked, as in the case of the phase failure and the phase outbreak. Prohibit driving.

  If it is determined that there is an abnormality (not grounded) once, it is clear from FIG. 7 that the abnormal state is not canceled unless the RAM area of the microcomputer 22 is cleared by turning off the power.

  Abnormality detection of phase failure, phase difference, and grounding phase is carried out as described above, and when it is determined that there is an abnormality, for example, a signal is output from the hoisting / traverse inverter control unit 12 and the traveling inverter control unit 18 and externally attached lamp You can know the abnormality by lighting up.

  Moreover, an indicator may be provided in the hoisting / traverse inverter control unit 12 and the traveling inverter control unit 18 to display an abnormality on the indicator.

  As described above, according to the present embodiment, the three-phase power source, the hoisting device including the hoisting motor, the hoisting inverter device that controls the operation of the hoisting motor, and the three-phase power source Inverter-type crane apparatus comprising: a detecting unit that detects whether a specific phase of the sensor is grounded, and means for outputting the information that is not grounded to the outside when the detecting unit detects that the phase is not grounded Therefore, when the grounding is not possible, an electric shock can be prevented by notifying the abnormality. Moreover, when it detects that it is not earth | grounded by a detection part, it will not become an operation | movement which is not intended by providing the means to stop driving | operation, and safety improves.

  Further, an inverter type having a detection unit for detecting a phase loss or phase difference of the three-phase power source, and having means for outputting abnormality information to the outside when the three-phase power source is phased or out of phase by the detection unit By notifying the open phase and the out of phase with the crane device, it is possible to prevent an unexpected problem such as damage to the equipment from occurring. In addition, when the three-phase power supply is out of phase or out of phase by the detection unit, an inverter crane apparatus can be provided in which safety is improved without an unintended operation by providing a means for stopping operation.

  It also has a detection unit that detects whether the three-phase power supply is missing, out-of-phase, or a specific phase is grounded. The detection unit detects that the three-phase power supply is out of phase, out-of-phase, or grounded. In such a case, it is possible to prevent an unexpected problem such as damage to the equipment from being generated by the inverter-type crane apparatus having means for outputting the abnormality information to the outside. Inverter type that improves safety by providing a means to stop operation when the detector detects that the three-phase power supply is out of phase, out of phase, or grounded. A crane device can be provided.

  Further, the detection unit can detect an abnormality with a simple configuration by detecting the waveform of the three-phase power source and determining whether the phase is out of phase, out of phase or grounded from the detected waveform.

  That is, according to the present embodiment, it is possible to detect a phase failure, a phase error, and a ground phase abnormality. When an abnormality is detected, the operation of the inverter is prohibited and the brake for the induction motor is braked. The operation of the apparatus can be prohibited, and an unintended operation does not occur, improving safety. In addition, the abnormality detection state of the phase failure, phase difference, and ground phase can be output to the outside to notify the abnormality, so that the occurrence of the abnormality can be noticed.

  The present invention is not limited to the above-described embodiments, and includes various modifications. The above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. For example, only one of the phase failure, the phase difference, and the ground phase abnormality may be detected, or any combination may be detected. Further, when an abnormality is detected, it is only necessary to notify the abnormality, or the operation may be prohibited or the two may be combined.

1: Crane hook 2: Wire rope 3: Hoisting induction motor 4: Hoisting device 5: Traverse induction motor 6: Traverse device 7: Traverse girder 8: Traveling induction motor 9: Traveling device 10: Traveling girder 11: Hoisting and traverse inverter device 12: Hoisting and traverse inverter control unit 13: Operation input device 14: Hoisting inverter 15: Traverse inverter 16: Induction motor brake 17: Traveling inverter device 18: Traveling inverter control Unit 19: Traveling inverter 20: Phase loss / phase difference / ground phase detection unit 21: R, S, T phase detection unit 22: Microcomputer 23: Ground phase detection unit

Claims (8)

A three-phase power supply,
A hoisting device comprising a hoisting motor;
A hoisting inverter device for controlling the operation of the hoisting motor;
A detection unit for detecting whether a specific phase of the three-phase power supply is grounded,
An inverter type crane apparatus comprising means for outputting information that is not grounded to the outside when the detection unit detects that the ground is not grounded. It is an inverter type crane apparatus according to claim 1,
An inverter-type crane apparatus comprising means for stopping operation when it is detected by the detection unit that it is not grounded. A three-phase power supply,
A hoisting device comprising a hoisting motor;
A hoisting inverter device for controlling the operation of the hoisting motor;
A detection unit for detecting a phase failure or phase difference of the three-phase power source,
An inverter-type crane apparatus comprising: means for outputting abnormality information to the outside when the three-phase power supply is out of phase or out of phase by the detection unit. It is an inverter type crane apparatus according to claim 3,
An inverter type crane apparatus comprising means for stopping operation when the three-phase power source is out of phase or out of phase by the detection unit. A three-phase power supply,
A hoisting device comprising a hoisting motor;
A hoisting inverter device for controlling the operation of the hoisting motor;
A detection unit that detects whether the three-phase power supply is out of phase, out of phase, or a specific phase is grounded,
An inverter-type crane apparatus comprising: means for outputting the abnormality information to the outside when the detection unit detects that the three-phase power source is out of phase, out of phase, or grounded. The inverter type crane device according to claim 5,
An inverter type crane apparatus comprising means for stopping operation when the detection unit detects that the three-phase power source is out of phase, out of phase, or grounded. The inverter type crane apparatus according to any one of claims 1 to 6,
The inverter type crane apparatus, wherein the detection unit detects a waveform of the three-phase power supply and determines whether the phase is out of phase, out of phase, or grounded from the detected waveform. The inverter type crane apparatus according to any one of claims 1 to 7,
Furthermore, a traversing device equipped with a traversing electric motor,
A traveling device equipped with a traveling electric motor;
A hoisting and traverse inverter device that also serves as the hoisting inverter device that controls the operation of the traverse motor;
A traveling inverter device for controlling the operation of the traveling motor;
An inverter type crane apparatus characterized by comprising:

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